version: 66.11
glider: 187
mission: 2
dive: 270
start: 11 15 112 10 45 13
data:
$ID,187
$MISSION,2
$DIVE,270
$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,-1588096.8
$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,44
$R_STBD_OVSHOOT,26
$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
$GPS1,151112,103823,4708.804,-12646.154,42,0.9,42,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-78.8
$GPS2,151112,104442,4708.808,-12646.137,11,1.0,16,18.6
$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,24.2,143406,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.48,-146.0,0.0,0.0,0,91,0.00,0.00,-71.35,0.000,2,0.000,0.000,116,2192,2744,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.48,-146.0,3.3,-2.7,12,129,11.48,2.25,-14.12,0.000,4,0.221,0.066,3031,796,3392,0,0,0,0,0,0,25.01,25.54,26.08
$GC,261,-0.48,-146.0,37.4,-15.2,41,268,0.00,2.20,0.00,0.000,6,0.000,0.051,3023,2200,3395,0,0,0,0,0,0,28.83,25.55,28.83
$GC,581,-0.48,-146.0,80.0,-13.4,102,588,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2200,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,894,-0.48,-146.0,120.1,-12.3,163,895,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2200,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1196,-0.48,-146.0,154.6,-10.9,183,1197,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2200,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1496,-0.48,-146.0,187.6,-11.1,203,1501,0.00,2.12,0.00,0.000,4,0.000,0.050,3023,805,3397,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1525,-0.48,-146.0,190.9,-11.0,205,1530,0.00,2.17,0.00,0.000,6,0.000,0.050,3013,2203,3396,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1836,-0.48,-146.0,226.2,-11.2,222,1842,0.00,2.22,0.00,0.000,4,0.000,0.062,3003,3609,3396,0,0,0,0,0,0,28.83,25.66,28.83
$GC,1868,-0.48,-146.0,228.6,-11.2,223,1875,0.12,2.17,0.00,0.000,6,0.135,0.044,3039,2188,3396,0,0,0,0,0,0,25.70,25.89,28.83
$GC,2175,-0.48,-146.0,257.2,-8.5,239,2176,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2185,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2475,-0.48,-146.0,282.2,-8.4,254,2476,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2185,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2774,-0.48,-146.0,307.1,-8.2,269,2780,0.00,2.30,0.00,0.000,4,0.000,0.063,3030,3617,3396,0,0,0,0,0,0,28.83,25.67,28.83
$GC,2815,-0.48,-146.0,310.7,-8.5,271,2820,0.00,2.15,0.00,0.000,6,0.000,0.044,3030,2203,3396,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3136,-0.48,-146.0,338.6,-8.9,287,3139,0.00,2.17,0.00,0.000,4,0.000,0.051,3030,800,3396,0,0,0,0,0,0,28.83,25.77,28.83
$GC,3165,-0.48,-146.0,340.9,-9.2,288,3169,0.00,2.17,0.00,0.000,6,0.000,0.052,3021,2200,3396,0,0,0,0,0,0,28.83,25.78,28.83
$GC,3473,-0.48,-146.0,371.4,-9.8,303,3474,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2200,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3773,-0.48,-146.0,399.7,-9.4,318,3778,0.00,2.22,0.00,0.000,4,0.000,0.065,3011,3611,3395,0,0,0,0,0,0,28.83,25.66,28.83
$GC,3825,-0.48,-146.0,402.5,-9.7,320,3832,0.00,2.17,0.00,0.000,6,0.000,0.045,3011,2191,3395,0,0,0,0,0,0,28.83,25.91,28.83
$GC,4133,-0.48,-146.0,436.2,-10.3,331,4134,0.12,0.00,0.00,0.000,6,0.146,0.000,3046,2188,3394,0,0,0,0,0,0,26.08,28.83,28.83
$GC,4433,-0.48,-146.0,459.8,-7.8,341,4434,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2188,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4733,-0.48,-146.0,482.0,-7.2,351,4738,0.00,2.30,0.00,0.000,4,0.000,0.065,3038,3615,3393,0,0,0,0,0,0,28.83,25.65,28.83
$GC,4776,-0.48,-146.0,484.2,-7.2,352,4780,0.00,2.17,0.00,0.000,6,0.000,0.047,3037,2202,3394,0,0,0,0,0,0,28.83,25.90,28.83
$GC,5089,-0.48,-146.0,508.8,-7.5,363,5094,0.00,2.22,0.00,0.000,4,0.000,0.066,3027,3599,3393,0,0,0,0,0,0,28.83,25.63,28.83
$GC,5118,-0.48,-146.0,511.1,-7.6,364,5124,0.00,2.17,0.00,0.000,6,0.000,0.047,3027,2196,3393,0,0,0,0,0,0,28.83,25.89,28.83
$GC,5448,-0.48,-146.0,537.7,-8.2,375,5449,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2193,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5748,-0.48,-146.0,562.6,-8.4,385,5754,0.00,2.25,0.00,0.000,4,0.000,0.066,3017,3600,3391,0,0,0,0,0,0,28.83,25.61,28.83
$GC,5778,-0.48,-146.0,565.1,-8.4,386,5784,0.00,2.17,0.00,0.000,6,0.000,0.047,3017,2192,3391,0,0,0,0,0,0,28.83,25.87,28.83
$GC,6108,-0.48,-146.0,591.9,-8.1,397,6114,0.00,2.30,0.00,0.000,4,0.000,0.066,3007,3612,3391,0,0,0,0,0,0,28.83,25.60,28.83
$GC,6181,-0.48,-146.0,597.3,-8.5,399,6186,0.12,2.17,0.00,0.000,6,0.134,0.047,3042,2201,3390,0,0,0,0,0,0,25.70,25.87,28.83
$GC,6495,-0.48,-146.0,618.3,-6.0,410,6500,0.00,2.25,0.00,0.000,4,0.000,0.067,3034,3602,3390,0,0,0,0,0,0,28.83,25.58,28.83
$GC,6647,-0.48,-146.0,628.6,-7.0,415,6653,0.00,2.15,0.00,0.000,6,0.000,0.047,3034,2209,3390,0,0,0,0,0,0,28.83,25.87,28.83
$GC,6976,-0.48,-146.0,652.2,-7.3,426,6977,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2207,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7276,-0.48,-146.0,674.6,-7.5,436,7281,0.00,2.28,0.00,0.000,4,0.000,0.067,3024,3612,3389,0,0,0,0,0,0,28.83,25.57,28.83
$GC,7299,-0.48,-146.0,674.6,-7.5,436,7306,0.00,2.20,0.00,0.000,6,0.000,0.047,3024,2191,3389,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7606,-0.48,-146.0,700.2,-7.8,447,7611,0.00,2.28,0.00,0.000,4,0.000,0.067,3014,3605,3388,0,0,0,0,0,0,28.83,25.56,28.83
$GC,7636,-0.48,-146.0,702.6,-7.8,448,7641,0.00,2.20,0.00,0.000,6,0.000,0.047,3014,2190,3388,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7967,-0.48,-146.0,730.0,-8.2,459,7972,0.00,2.28,0.00,0.000,4,0.000,0.067,3004,3604,3388,0,0,0,0,0,0,28.83,25.56,28.83
$GC,8004,-0.48,-146.0,732.7,-8.3,460,8008,0.12,2.17,0.00,0.000,6,0.133,0.047,3040,2200,3388,0,0,0,0,0,0,25.66,25.84,28.83
$GC,8322,-0.48,-146.0,755.3,-6.8,471,8323,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2198,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8622,-0.48,-146.0,775.9,-7.1,481,8628,0.00,2.28,0.00,0.000,4,0.000,0.068,3031,3610,3387,0,0,0,0,0,0,28.83,25.53,28.83
$GC,8652,-0.48,-146.0,778.1,-7.1,482,8657,0.00,2.20,0.00,0.000,6,0.000,0.048,3031,2201,3387,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8982,-0.48,-146.0,802.1,-7.1,493,8987,0.00,2.28,0.00,0.000,4,0.000,0.067,3021,3609,3387,0,0,0,0,0,0,28.83,25.52,28.83
$GC,9015,-0.48,-146.0,804.3,-7.2,494,9019,0.00,2.20,0.00,0.000,6,0.000,0.048,3022,2193,3387,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9337,-0.48,-146.0,829.3,-7.7,505,9338,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2191,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9637,-0.48,-146.0,852.2,-7.6,515,9643,0.00,2.33,0.00,0.000,4,0.000,0.068,3012,3607,3386,0,0,0,0,0,0,28.83,25.51,28.83
$GC,9705,-0.48,-146.0,857.1,-7.8,517,9710,0.00,2.20,0.00,0.000,6,0.000,0.048,3012,2193,3386,0,0,0,0,0,0,28.83,25.81,28.83
$GC,10022,-0.48,-146.0,882.0,-7.5,528,10024,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2191,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10322,-0.48,-146.0,905.2,-7.7,538,10328,0.00,2.33,0.00,0.000,4,0.000,0.067,3002,3616,3385,0,0,0,0,0,0,28.83,25.50,28.83
$GC,10361,-0.48,-146.0,907.4,-7.5,539,10366,0.15,2.22,0.00,0.000,6,0.124,0.049,3046,2191,3385,0,0,0,0,0,0,25.60,25.79,28.83
$GC,10679,-0.48,-146.0,925.4,-5.1,550,10685,0.00,2.28,0.00,0.000,4,0.000,0.068,3038,3598,3385,0,0,0,0,0,0,28.83,25.48,28.83
$GC,10712,-0.48,-146.0,927.2,-5.3,551,10716,0.00,2.17,0.00,0.000,6,0.000,0.049,3038,2202,3385,0,0,0,0,0,0,28.83,25.79,28.83
$GC,11035,-0.48,-146.0,945.1,-5.4,562,11036,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2200,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11334,-0.48,-146.0,961.6,-5.6,572,11340,0.00,2.30,0.00,0.000,4,0.000,0.069,3028,3606,3384,0,0,0,0,0,0,28.83,25.46,28.83
$GC,11382,-0.48,-146.0,963.2,-5.5,573,11387,0.00,2.20,0.00,0.000,6,0.000,0.050,3028,2195,3384,0,0,0,0,0,0,28.83,25.78,28.83
$GC,11690,-0.48,-146.0,983.0,-6.1,583,11695,0.00,2.28,0.00,0.000,4,0.000,0.069,3018,3602,3384,0,0,0,0,0,0,28.83,25.46,28.83
$GC,11722,-0.48,-146.0,984.8,-6.1,584,11726,0.00,2.20,0.00,0.000,6,0.000,0.049,3018,2192,3384,0,0,0,0,0,0,28.83,25.77,28.83
$STATE,11802,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11802,begin apogee
$GC,11810,-0.22,0.0,990.5,-6.5,587,11943,0.30,0.00,128.55,1.179,6,0.112,0.000,3120,2333,2794,0,0,0,0,0,0,25.67,28.83,23.37
$STATE,11946,end apogee,CONTROL_FINISHED_OK
$STATE,11946,begin climb
$GC,11948,0.48,146.0,993.7,0.0,591,12090,0.65,0.00,137.12,1.141,6,0.079,0.000,3343,2333,2198,0,0,0,0,0,0,24.43,28.83,22.46
$GC,12371,0.48,146.0,961.3,8.9,606,12376,0.00,2.38,0.00,0.000,4,0.000,0.068,3343,3725,2187,0,0,0,0,0,0,28.83,24.73,28.83
$GC,12410,0.48,146.0,958.5,9.0,607,12416,0.00,2.28,0.00,0.000,6,0.000,0.050,3354,2332,2187,0,0,0,0,0,0,28.83,24.94,28.83
$GC,12731,0.48,146.0,928.0,9.0,618,12732,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,2326,2186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13031,0.48,146.0,899.8,9.4,628,13036,0.00,2.33,0.00,0.000,4,0.000,0.068,3354,3727,2185,0,0,0,0,0,0,28.83,25.39,28.83
$GC,13054,0.48,146.0,899.8,9.4,628,13060,0.00,2.25,0.00,0.000,6,0.000,0.050,3365,2315,2185,0,0,0,0,0,0,28.83,25.56,28.83
$GC,13361,0.48,146.0,866.2,10.1,639,13362,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,2309,2184,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,23638,end climb,SURFACE_DEPTH_REACHED
$STATE,23639,begin surface coast
$FINISH,1.2,1.024298
$STATE,23687,end surface coast,CONTROL_FINISHED_OK
$STATE,23687,begin surface
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$HUMID,44.92
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$TCM_TEMP,15.40
$XPDR_PINGS,2
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$10V_AH,10.1,31.662
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.025,197.625,413.375,0.000,0.000,28.553,34.796,181.854,0.500,0.000,17.683,3432.016,16783.717,530.792,2973.327,419.008,0.000,1995.852,0.000,2696.520,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296772
$DATA_FILE_SIZE,73465,1305
$CAP_FILE_SIZE,194812,0
$CFSIZE,260165632,235307008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.074,193.2,1
$GPS,151112,172236,4710.513,-12642.736,38,1.0,38,18.6