version: 66.11
glider: 187
mission: 2
dive: 548
start: 1 31 113 11 59 3
data:
$ID,187
$MISSION,2
$DIVE,548
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,200
$D_BOOST,4
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,470
$T_MISSION,520
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,10
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,140
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51761
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0031000001
$HD_B,0.0093
$HD_C,4.5000001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,3
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1588690.9
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3970
$C_PITCH,3195
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3800
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2325
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,2794
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,20
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-61.06522
$PRESSURE_SLOPE,0.0001138132
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,12
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.69999999
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043543722
$SEABIRD_T_H,0.00062483409
$SEABIRD_T_I,2.3277114e-05
$SEABIRD_T_J,2.4402393e-06
$SEABIRD_C_G,-9.9786949
$SEABIRD_C_H,1.1107863
$SEABIRD_C_I,-0.0017547003
$SEABIRD_C_J,0.0002234884
$GPS1,310113,115100,4732.431,-12555.145,43,1.1,43,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-76.2
$GPS2,310113,115830,4732.451,-12555.102,12,1.1,17,18.7
$SPEED_LIMITS,0.122,0.210
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,10000.000
$KALMAN_CONTROL,-0.160,-0.151
$KALMAN_X,28840.3,-242.5,2380.9,-124483.9,-7867.0
$KALMAN_Y,16218.2,688.6,-1323.7,-71650.8,4158.7
$MHEAD_RNG_PITCHd_Wd,42.1,66363,-13.3,-7.021,-18.50
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.47,-136.3,0.0,0.0,0,85,0.00,0.00,-65.82,0.000,2,0.000,0.000,110,2192,2660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.47,-136.3,3.1,-2.1,12,126,11.62,2.33,-18.52,0.000,4,0.216,0.076,3020,3609,3352,0,0,0,0,0,0,24.58,25.36,26.22
$GC,337,-0.47,-136.3,37.7,-14.0,59,344,0.00,2.20,0.00,0.000,6,0.000,0.044,3020,2193,3354,0,0,0,0,0,0,28.83,25.67,28.83
$GC,649,-0.47,-136.3,87.3,-13.5,120,656,0.00,2.17,0.00,0.000,4,0.000,0.051,3020,797,3354,0,0,0,0,0,0,28.83,25.58,28.83
$GC,724,-0.47,-136.3,96.7,-12.5,134,732,0.12,2.20,0.00,0.000,6,0.137,0.051,3046,2206,3354,0,0,0,0,0,0,25.48,25.60,28.83
$GC,1038,-0.47,-136.3,125.2,-8.5,187,1039,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2206,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1339,-0.47,-136.3,148.9,-7.6,207,1346,0.00,2.30,0.00,0.000,4,0.000,0.063,3037,3608,3354,0,0,0,0,0,0,28.83,25.50,28.83
$GC,1367,-0.47,-136.3,151.2,-7.6,210,1378,0.00,2.25,0.00,0.000,6,0.000,0.044,3037,2192,3354,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1678,-0.47,-136.3,176.7,-8.0,231,1686,0.00,2.20,0.00,0.000,4,0.000,0.050,3037,805,3354,0,0,0,0,0,0,28.83,25.63,28.83
$GC,1738,-0.47,-136.3,182.0,-8.6,237,1746,0.00,2.22,0.00,0.000,6,0.000,0.051,3029,2200,3354,0,0,0,0,0,0,28.83,25.63,28.83
$GC,2058,-0.47,-136.3,209.5,-8.8,257,2063,0.00,2.33,0.00,0.000,4,0.000,0.062,3019,3614,3354,0,0,0,0,0,0,28.83,25.49,28.83
$GC,2117,-0.47,-136.3,215.0,-9.1,260,2123,0.00,2.25,0.00,0.000,6,0.000,0.043,3018,2200,3354,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2438,-0.47,-136.3,245.8,-9.7,276,2440,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2198,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2740,-0.47,-136.3,275.6,-9.9,291,2744,0.00,2.30,0.00,0.000,4,0.000,0.064,3009,3617,3354,0,0,0,0,0,0,28.83,25.46,28.83
$GC,2789,-0.47,-136.3,280.3,-9.5,293,2794,0.08,2.25,0.00,0.000,6,0.106,0.043,3039,2194,3354,0,0,0,0,0,0,25.59,25.79,28.83
$GC,3108,-0.47,-136.3,304.7,-7.3,309,3113,0.00,2.22,0.00,0.000,4,0.000,0.050,3038,803,3354,0,0,0,0,0,0,28.83,25.60,28.83
$GC,3176,-0.47,-136.3,309.2,-7.4,312,3180,0.00,2.25,0.00,0.000,6,0.000,0.050,3033,2201,3354,0,0,0,0,0,0,28.83,25.60,28.83
$GC,3478,-0.47,-136.3,332.9,-7.7,327,3479,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2201,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3780,-0.47,-136.3,356.4,-7.9,342,3784,0.00,2.28,0.00,0.000,4,0.000,0.064,3022,3612,3354,0,0,0,0,0,0,28.83,25.44,28.83
$GC,3808,-0.47,-136.3,358.7,-7.9,343,3814,0.00,2.28,0.00,0.000,6,0.000,0.044,3022,2183,3353,0,0,0,0,0,0,28.83,25.76,28.83
$GC,4130,-0.47,-136.3,385.5,-8.6,359,4131,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2181,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4428,-0.47,-136.3,411.9,-8.9,372,4433,0.00,2.38,0.00,0.000,4,0.000,0.063,3012,3613,3353,0,0,0,0,0,0,28.83,25.45,28.83
$GC,4487,-0.47,-136.3,417.6,-9.2,374,4494,0.12,2.28,0.00,0.000,6,0.122,0.045,3050,2193,3353,0,0,0,0,0,0,25.59,25.74,28.83
$GC,4818,-0.47,-136.3,440.7,-6.7,385,4819,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2192,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5119,-0.47,-136.3,460.3,-6.4,395,5123,0.00,2.33,0.00,0.000,4,0.000,0.065,3041,3623,3352,0,0,0,0,0,0,28.83,25.40,28.83
$GC,5166,-0.47,-136.3,462.3,-6.4,396,5170,0.00,2.28,0.00,0.000,6,0.000,0.045,3042,2202,3352,0,0,0,0,0,0,28.83,25.73,28.83
$GC,5468,-0.47,-136.3,483.1,-6.3,406,5469,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2200,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5769,-0.47,-136.3,500.9,-5.8,416,5770,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2200,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6069,-0.47,-136.3,516.9,-5.2,426,6070,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2200,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6368,-0.47,-136.3,532.3,-5.1,436,6374,0.00,2.33,0.00,0.000,4,0.000,0.066,3031,3602,3351,0,0,0,0,0,0,28.83,25.37,28.83
$GC,6417,-0.47,-136.3,534.1,-5.3,437,6426,0.00,2.25,0.00,0.000,6,0.000,0.046,3031,2199,3351,0,0,0,0,0,0,28.83,25.70,28.83
$GC,6728,-0.47,-136.3,553.4,-5.9,448,6729,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2198,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7028,-0.47,-136.3,570.7,-5.7,458,7029,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2199,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7329,-0.47,-136.3,588.0,-5.7,468,7330,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2199,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7628,-0.47,-136.3,605.2,-5.8,478,7629,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2199,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7928,-0.47,-136.3,624.4,-6.8,488,7929,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2199,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8228,-0.47,-136.3,645.3,-6.8,498,8234,0.00,2.25,0.00,0.000,4,0.000,0.054,3031,803,3350,0,0,0,0,0,0,28.83,25.48,28.83
$GC,8259,-0.47,-136.3,647.3,-6.8,499,8263,0.00,2.25,0.00,0.000,6,0.000,0.054,3024,2200,3350,0,0,0,0,0,0,28.83,25.51,28.83
$GC,8588,-0.47,-136.3,669.5,-6.5,510,8593,0.00,2.33,0.00,0.000,4,0.000,0.066,3013,3600,3349,0,0,0,0,0,0,28.83,25.32,28.83
$GC,8656,-0.47,-136.3,673.4,-6.6,512,8660,0.00,2.28,0.00,0.000,6,0.000,0.047,3013,2193,3349,0,0,0,0,0,0,28.83,25.67,28.83
$GC,8969,-0.47,-136.3,696.1,-7.6,523,8970,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2192,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9268,-0.47,-136.3,718.3,-7.3,533,9269,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2192,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9568,-0.47,-136.3,741.3,-7.7,543,9569,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2192,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9869,-0.47,-136.3,764.8,-7.7,553,9871,0.10,0.00,0.00,0.000,6,0.151,0.000,3042,2191,3348,0,0,0,0,0,0,26.13,28.83,28.83
$GC,10168,-0.47,-136.3,785.3,-7.3,563,10174,0.00,2.35,0.00,0.000,4,0.000,0.067,3033,3601,3347,0,0,0,0,0,0,28.83,25.29,28.83
$GC,10198,-0.47,-136.3,787.6,-7.4,564,10204,0.00,2.28,0.00,0.000,6,0.000,0.047,3034,2200,3347,0,0,0,0,0,0,28.83,25.65,28.83
$GC,10529,-0.47,-136.3,809.0,-6.0,575,10534,0.00,2.28,0.00,0.000,4,0.000,0.055,3034,796,3347,0,0,0,0,0,0,28.83,25.43,28.83
$GC,10558,-0.47,-136.3,810.9,-6.2,576,10564,0.00,2.28,0.00,0.000,6,0.000,0.055,3034,2202,3347,0,0,0,0,0,0,28.83,25.44,28.83
$GC,10889,-0.47,-136.3,831.3,-5.9,587,10894,0.00,2.33,0.00,0.000,4,0.000,0.067,3024,3606,3347,0,0,0,0,0,0,28.83,25.27,28.83
$GC,10957,-0.47,-136.3,835.3,-6.3,589,10963,0.00,2.28,0.00,0.000,6,0.000,0.047,3023,2197,3347,0,0,0,0,0,0,28.83,25.64,28.83
$GC,11278,-0.47,-136.3,855.8,-6.1,600,11280,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2196,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11578,-0.47,-136.3,875.0,-6.6,610,11584,0.00,2.35,0.00,0.000,4,0.000,0.067,3014,3605,3346,0,0,0,0,0,0,28.83,25.26,28.83
$GC,11616,-0.47,-136.3,877.0,-6.7,611,11621,0.00,2.28,0.00,0.000,6,0.000,0.047,3014,2199,3346,0,0,0,0,0,0,28.83,25.62,28.83
$GC,11929,-0.47,-136.3,900.2,-7.2,622,11934,0.00,2.25,0.00,0.000,4,0.000,0.054,3014,804,3346,0,0,0,0,0,0,28.83,25.41,28.83
$GC,11967,-0.47,-136.3,902.4,-7.3,623,11972,0.12,2.30,0.00,0.000,6,0.134,0.055,3041,2212,3346,0,0,0,0,0,0,25.31,25.41,28.83
$GC,12281,-0.47,-136.3,920.0,-5.1,634,12285,0.00,2.33,0.00,0.000,4,0.000,0.068,3033,3608,3346,0,0,0,0,0,0,28.83,25.24,28.83
$GC,12328,-0.47,-136.3,921.4,-5.0,635,12332,0.00,2.28,0.00,0.000,6,0.000,0.048,3033,2201,3346,0,0,0,0,0,0,28.83,25.61,28.83
$GC,12630,-0.47,-136.3,937.5,-5.1,645,12631,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2200,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12931,-0.47,-136.3,953.3,-5.2,655,12935,0.00,2.30,0.00,0.000,4,0.000,0.069,3023,3607,3345,0,0,0,0,0,0,28.83,25.22,28.83
$GC,12960,-0.47,-136.3,955.0,-5.2,656,12966,0.00,2.28,0.00,0.000,6,0.000,0.048,3023,2195,3345,0,0,0,0,0,0,28.83,25.59,28.83
$GC,13290,-0.47,-136.3,973.4,-5.3,667,13292,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2193,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13590,-0.47,-136.3,988.5,-5.0,677,13596,0.00,2.35,0.00,0.000,4,0.000,0.067,3013,3602,3345,0,0,0,0,0,0,28.83,25.22,28.83
$STATE,13617,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13617,begin apogee
$GC,13627,-0.22,0.0,990.1,-5.0,678,13757,0.30,0.00,126.32,1.156,6,0.106,0.000,3118,2320,2793,0,0,0,0,0,0,25.59,28.83,22.54
$STATE,13757,end apogee,CONTROL_FINISHED_OK
$STATE,13758,begin climb
$GC,13760,0.47,136.3,992.3,0.0,682,13902,0.68,2.65,134.40,1.120,4,0.070,0.066,3347,3735,2237,0,0,0,0,0,0,24.35,23.34,21.75
$GC,13943,0.47,136.3,981.1,8.0,689,13947,0.00,2.40,0.00,0.000,6,0.000,0.048,3358,2331,2233,0,0,0,0,0,0,28.83,24.00,28.83
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$STATE,26309,end climb,SURFACE_DEPTH_REACHED
$STATE,26309,begin surface coast
$FINISH,1.4,1.002788
$STATE,26352,end surface coast,CONTROL_FINISHED_OK
$STATE,26352,begin surface
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$TT8_MAMPS,0.027713,0.027713
$HUMID,46.92
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,18.80
$XPDR_PINGS,1
$24V_AH,21.8,76.547
$10V_AH,9.8,60.049
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.250,234.125,438.100,0.000,0.000,27.125,38.751,232.623,0.250,0.000,18.612,3690.434,19319.988,767.961,2610.464,482.547,0.000,2073.202,0.000,2290.485,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,979.158,727.688,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296912
$DATA_FILE_SIZE,76893,1422
$CAP_FILE_SIZE,203904,0
$CFSIZE,260165632,211591168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.072,246.5,1
$GPS,310113,192054,4734.029,-12550.820,41,1.6,41,18.7