version: 66.11
glider: 187
mission: 2
dive: 214
start: 11 1 112 21 51 3
data:
$ID,187
$MISSION,2
$DIVE,214
$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,450
$T_MISSION,500
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$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,150
$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,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$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,-1588019.5
$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,2175
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,24
$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,22
$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
$GPS1,011112,214335,4726.914,-12559.341,34,0.9,34,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-78.2
$GPS2,011112,215031,4726.875,-12559.277,16,1.0,16,18.7
$SPEED_LIMITS,0.127,0.220
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$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,44.9,76555,-13.4,-7.333,-18.42
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.48,-146.0,0.0,0.0,0,91,0.00,0.00,-71.80,0.000,2,0.000,0.000,113,2170,2717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.48,-146.0,3.3,-4.2,12,129,11.48,2.22,-14.40,0.000,4,0.223,0.063,3031,757,3392,0,0,0,0,0,0,25.08,25.51,25.96
$GC,367,-0.48,-146.0,53.1,-13.8,61,374,0.00,2.22,0.00,0.000,6,0.000,0.050,3023,2182,3396,0,0,0,0,0,0,28.83,25.64,28.83
$GC,685,-0.48,-146.0,97.4,-13.9,122,692,0.00,2.22,0.00,0.000,4,0.000,0.062,3012,3584,3397,0,0,0,0,0,0,28.83,25.69,28.83
$GC,761,-0.48,-146.0,108.0,-14.1,136,769,0.00,2.22,0.00,0.000,6,0.000,0.043,3012,2166,3397,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1083,-0.48,-146.0,148.3,-12.2,169,1085,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2164,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1384,-0.48,-146.0,184.2,-11.7,189,1385,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2164,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1693,-0.48,-146.0,219.7,-11.5,207,1698,0.00,2.25,0.00,0.000,4,0.000,0.063,3002,3586,3397,0,0,0,0,0,0,28.83,25.83,28.83
$GC,1754,-0.48,-146.0,226.6,-11.7,210,1760,0.10,2.12,0.00,0.000,6,0.109,0.044,3038,2179,3397,0,0,0,0,0,0,25.78,25.99,28.83
$GC,2073,-0.48,-146.0,255.5,-8.7,226,2074,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2177,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2375,-0.48,-146.0,281.8,-8.7,241,2376,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2177,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2674,-0.48,-146.0,307.5,-8.4,256,2679,0.00,2.25,0.00,0.000,4,0.000,0.064,3029,3583,3396,0,0,0,0,0,0,28.83,25.87,28.83
$GC,2717,-0.48,-146.0,310.9,-8.4,258,2721,0.00,2.15,0.00,0.000,6,0.000,0.045,3030,2171,3396,0,0,0,0,0,0,28.83,26.03,28.83
$GC,3029,-0.48,-146.0,338.4,-8.8,274,3034,0.00,2.28,0.00,0.000,4,0.000,0.064,3019,3594,3396,0,0,0,0,0,0,28.83,25.87,28.83
$GC,3062,-0.48,-146.0,340.2,-8.7,275,3069,0.00,2.17,0.00,0.000,6,0.000,0.045,3020,2166,3396,0,0,0,0,0,0,28.83,26.04,28.83
$GC,3369,-0.48,-146.0,371.8,-10.1,291,3370,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2164,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3668,-0.48,-146.0,401.3,-9.8,306,3674,0.00,2.28,0.00,0.000,4,0.000,0.064,3009,3587,3395,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3699,-0.48,-146.0,404.5,-9.9,307,3706,0.08,2.15,0.00,0.000,6,0.114,0.046,3038,2169,3395,0,0,0,0,0,0,25.87,26.06,28.83
$GC,4029,-0.48,-146.0,432.4,-8.1,318,4034,0.00,2.28,0.00,0.000,4,0.000,0.065,3029,3587,3394,0,0,0,0,0,0,28.83,25.88,28.83
$GC,4059,-0.48,-146.0,434.8,-8.1,319,4065,0.00,2.17,0.00,0.000,6,0.000,0.046,3029,2163,3394,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4389,-0.48,-146.0,461.9,-8.3,330,4394,0.00,2.28,0.00,0.000,4,0.000,0.065,3019,3588,3393,0,0,0,0,0,0,28.83,25.88,28.83
$GC,4419,-0.48,-146.0,464.6,-8.5,331,4424,0.00,2.15,0.00,0.000,6,0.000,0.046,3019,2178,3393,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4749,-0.48,-146.0,494.6,-9.0,342,4754,0.00,2.25,0.00,0.000,4,0.000,0.066,3010,3584,3392,0,0,0,0,0,0,28.83,25.87,28.83
$GC,4787,-0.48,-146.0,497.4,-9.1,343,4792,0.12,2.17,0.00,0.000,6,0.132,0.047,3045,2164,3392,0,0,0,0,0,0,25.90,26.05,28.83
$GC,5105,-0.48,-146.0,522.9,-7.8,354,5111,0.00,2.30,0.00,0.000,4,0.000,0.066,3037,3584,3392,0,0,0,0,0,0,28.83,25.87,28.83
$GC,5135,-0.48,-146.0,525.3,-7.9,355,5141,0.00,2.17,0.00,0.000,6,0.000,0.047,3037,2168,3391,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5465,-0.48,-146.0,552.3,-8.1,366,5466,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2166,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5765,-0.48,-146.0,577.0,-8.2,376,5771,0.00,2.28,0.00,0.000,4,0.000,0.067,3028,3584,3391,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5788,-0.48,-146.0,577.0,-8.2,376,5795,0.00,2.15,0.00,0.000,6,0.000,0.047,3028,2177,3391,0,0,0,0,0,0,28.83,26.04,28.83
$GC,6096,-0.48,-146.0,605.9,-8.7,387,6097,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2175,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6395,-0.48,-146.0,631.8,-8.5,397,6401,0.00,2.28,0.00,0.000,4,0.000,0.067,3018,3583,3390,0,0,0,0,0,0,28.83,25.85,28.83
$GC,6428,-0.48,-146.0,634.5,-8.5,398,6432,0.00,2.17,0.00,0.000,6,0.000,0.048,3018,2164,3390,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6750,-0.48,-146.0,662.5,-8.6,409,6756,0.00,2.25,0.00,0.000,4,0.000,0.067,3009,3578,3389,0,0,0,0,0,0,28.83,25.85,28.83
$GC,6773,-0.48,-146.0,662.5,-8.6,409,6780,0.12,2.15,0.00,0.000,6,0.132,0.048,3044,2174,3389,0,0,0,0,0,0,25.88,26.03,28.83
$GC,7080,-0.48,-146.0,687.5,-7.5,420,7086,0.00,2.28,0.00,0.000,4,0.000,0.067,3036,3593,3388,0,0,0,0,0,0,28.83,25.83,28.83
$GC,7118,-0.48,-146.0,689.7,-7.5,421,7122,0.00,2.20,0.00,0.000,6,0.000,0.048,3036,2170,3388,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7436,-0.48,-146.0,714.2,-7.3,432,7437,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2168,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7736,-0.48,-146.0,735.5,-7.2,442,7741,0.00,2.25,0.00,0.000,4,0.000,0.067,3026,3580,3387,0,0,0,0,0,0,28.83,25.83,28.83
$GC,7780,-0.48,-146.0,737.7,-7.2,443,7784,0.00,2.17,0.00,0.000,6,0.000,0.048,3026,2166,3387,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8092,-0.48,-146.0,761.1,-6.9,454,8093,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2163,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8392,-0.48,-146.0,782.0,-7.0,464,8397,0.00,2.28,0.00,0.000,4,0.000,0.067,3017,3584,3386,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8446,-0.48,-146.0,784.2,-7.1,465,8452,0.00,2.17,0.00,0.000,6,0.000,0.049,3017,2168,3386,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8752,-0.48,-146.0,810.1,-7.7,476,8757,0.00,2.30,0.00,0.000,4,0.000,0.068,3008,3584,3386,0,0,0,0,0,0,28.83,25.81,28.83
$GC,8791,-0.48,-146.0,812.5,-7.7,477,8798,0.12,2.17,0.00,0.000,6,0.131,0.049,3043,2170,3386,0,0,0,0,0,0,25.86,26.01,28.83
$GC,9112,-0.48,-146.0,831.7,-5.5,488,9114,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2167,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9412,-0.48,-146.0,848.4,-5.8,498,9416,0.00,2.30,0.00,0.000,4,0.000,0.068,3035,3585,3385,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9477,-0.48,-146.0,852.3,-6.1,500,9481,0.00,2.17,0.00,0.000,6,0.000,0.049,3035,2171,3385,0,0,0,0,0,0,28.83,26.00,28.83
$GC,9800,-0.48,-146.0,872.8,-6.3,511,9806,0.00,2.25,0.00,0.000,4,0.000,0.069,3026,3579,3384,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9852,-0.48,-146.0,874.9,-6.4,512,9859,0.00,2.17,0.00,0.000,6,0.000,0.049,3025,2166,3384,0,0,0,0,0,0,28.83,25.99,28.83
$GC,10160,-0.48,-146.0,897.6,-6.8,523,10166,0.00,2.30,0.00,0.000,4,0.000,0.068,3017,3584,3384,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10183,-0.48,-146.0,897.6,-6.8,523,10190,0.00,2.20,0.00,0.000,6,0.000,0.049,3017,2168,3384,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10489,-0.48,-146.0,921.1,-7.2,534,10495,0.00,2.20,0.00,0.000,4,0.000,0.056,3017,763,3384,0,0,0,0,0,0,28.83,25.86,28.83
$GC,10522,-0.48,-146.0,923.3,-7.2,535,10527,0.12,2.22,0.00,0.000,6,0.140,0.056,3043,2178,3384,0,0,0,0,0,0,25.77,25.88,28.83
$GC,10846,-0.48,-146.0,942.9,-6.0,546,10851,0.00,2.22,0.00,0.000,4,0.000,0.069,3034,3580,3383,0,0,0,0,0,0,28.83,25.76,28.83
$GC,10913,-0.48,-146.0,946.8,-6.1,548,10917,0.00,2.17,0.00,0.000,6,0.000,0.050,3034,2170,3384,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11231,-0.48,-146.0,967.9,-6.5,559,11237,0.00,2.28,0.00,0.000,4,0.000,0.069,3025,3584,3383,0,0,0,0,0,0,28.83,25.75,28.83
$GC,11263,-0.48,-146.0,969.9,-6.5,560,11267,0.00,2.17,0.00,0.000,6,0.000,0.050,3025,2175,3383,0,0,0,0,0,0,28.83,25.97,28.83
$STATE,11553,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11553,begin apogee
$GC,11560,-0.22,0.0,990.4,-7.1,570,11692,0.28,0.00,126.93,1.181,6,0.111,0.000,3120,2304,2793,0,0,0,0,0,0,25.84,28.83,23.58
$STATE,11695,end apogee,CONTROL_FINISHED_OK
$STATE,11695,begin climb
$GC,11698,0.48,146.0,993.8,0.0,574,11837,0.65,0.00,135.93,1.150,6,0.080,0.000,3343,2304,2197,0,0,0,0,0,0,24.51,28.83,22.73
$GC,12126,0.48,146.0,960.8,9.2,589,12132,0.00,2.35,0.00,0.000,4,0.000,0.068,3343,3694,2188,0,0,0,0,0,0,28.83,24.84,28.83
$GC,12155,0.48,146.0,957.8,9.4,590,12162,0.00,2.28,0.00,0.000,6,0.000,0.050,3354,2306,2188,0,0,0,0,0,0,28.83,24.99,28.83
$GC,12485,0.48,146.0,925.4,9.7,601,12491,0.00,2.33,0.00,0.000,4,0.000,0.070,3354,3702,2186,0,0,0,0,0,0,28.83,25.32,28.83
$GC,12523,0.48,146.0,922.1,9.9,602,12528,0.00,2.25,0.00,0.000,6,0.000,0.051,3364,2294,2186,0,0,0,0,0,0,28.83,25.45,28.83
$GC,12841,0.48,146.0,888.0,10.3,613,12842,0.00,0.00,0.00,0.000,6,0.000,0.000,3364,2289,2185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13141,0.48,146.0,857.6,10.0,623,13146,0.00,2.33,0.00,0.000,4,0.000,0.070,3364,3709,2185,0,0,0,0,0,0,28.83,25.59,28.83
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$STATE,23152,end climb,SURFACE_DEPTH_REACHED
$STATE,23152,begin surface coast
$FINISH,1.1,1.012797
$STATE,23196,end surface coast,CONTROL_FINISHED_OK
$STATE,23196,begin surface
$SM_CCo,23275,0.00,0.000,0,0,1187,394.20
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$TT8_MAMPS,0.026964,0.026964
$HUMID,43.81
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$TCM_TEMP,15.20
$XPDR_PINGS,1
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$10V_AH,10.2,25.742
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.075,206.375,466.475,0.000,0.000,23.834,46.590,210.300,0.250,0.000,18.834,3393.817,16311.639,610.905,2958.988,407.606,0.000,2052.072,0.000,2653.679,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
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$MEM,296800
$DATA_FILE_SIZE,73540,1303
$CAP_FILE_SIZE,192918,0
$CFSIZE,260165632,239833088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.067,338.6,1
$GPS,021112,042006,4729.121,-12555.248,30,1.0,30,18.7