version: 66.11
glider: 187
mission: 2
dive: 285
start: 11 19 112 14 10 27
data:
$ID,187
$MISSION,2
$DIVE,285
$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,-1588116.2
$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
$GPS1,191112,140305,4731.269,-12556.994,32,1.2,32,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-75.5
$GPS2,191112,140955,4731.375,-12556.941,15,1.2,15,18.7
$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,76.3,69366,-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,14,begin dive
$GC,17,-0.48,-146.0,0.0,0.0,0,76,0.00,0.00,-56.53,0.000,2,0.000,0.000,108,2188,2611,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.48,-146.0,3.1,-4.7,9,120,11.52,2.38,-19.00,0.000,4,0.221,0.076,3023,3610,3392,0,0,0,0,0,0,24.98,25.46,26.08
$GC,128,-0.48,-146.0,11.9,-16.8,16,135,0.00,2.25,0.00,0.000,6,0.000,0.044,3023,2198,3393,0,0,0,0,0,0,28.83,25.59,28.83
$GC,446,-0.48,-146.0,61.8,-14.3,77,452,0.00,2.30,0.00,0.000,4,0.000,0.060,3012,3616,3396,0,0,0,0,0,0,28.83,25.50,28.83
$GC,642,-0.48,-146.0,91.7,-15.3,115,649,0.00,2.20,0.00,0.000,6,0.000,0.042,3012,2184,3397,0,0,0,0,0,0,28.83,25.75,28.83
$GC,953,-0.48,-146.0,133.2,-11.9,162,959,0.00,2.15,0.00,0.000,4,0.000,0.049,3012,795,3397,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1029,-0.48,-146.0,141.8,-11.5,167,1035,0.10,2.17,0.00,0.000,6,0.116,0.050,3039,2199,3397,0,0,0,0,0,0,25.48,25.69,28.83
$GC,1347,-0.48,-146.0,170.5,-8.8,188,1353,0.00,2.22,0.00,0.000,4,0.000,0.062,3031,3609,3397,0,0,0,0,0,0,28.83,25.61,28.83
$GC,1376,-0.48,-146.0,173.4,-8.8,190,1381,0.00,2.17,0.00,0.000,6,0.000,0.042,3031,2191,3397,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1696,-0.48,-146.0,202.7,-9.1,211,1701,0.00,2.12,0.00,0.000,4,0.000,0.050,3030,803,3397,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1718,-0.48,-146.0,204.5,-9.1,212,1722,0.00,2.20,0.00,0.000,6,0.000,0.050,3021,2210,3396,0,0,0,0,0,0,28.83,25.73,28.83
$GC,2038,-0.48,-146.0,236.4,-9.6,228,2039,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2210,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2336,-0.48,-146.0,264.4,-9.1,243,2341,0.00,2.25,0.00,0.000,4,0.000,0.063,3011,3617,3397,0,0,0,0,0,0,28.83,25.64,28.83
$GC,2369,-0.48,-146.0,266.4,-9.1,244,2375,0.00,2.17,0.00,0.000,6,0.000,0.044,3011,2197,3397,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2677,-0.48,-146.0,298.9,-10.5,260,2679,0.12,0.00,0.00,0.000,6,0.148,0.000,3046,2194,3396,0,0,0,0,0,0,26.05,28.83,28.83
$GC,2976,-0.48,-146.0,322.1,-7.3,275,2981,0.00,2.25,0.00,0.000,4,0.000,0.063,3038,3607,3397,0,0,0,0,0,0,28.83,25.63,28.83
$GC,3009,-0.48,-146.0,323.7,-7.3,276,3016,0.00,2.17,0.00,0.000,6,0.000,0.044,3037,2188,3396,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3317,-0.48,-146.0,349.5,-8.4,292,3322,0.00,2.12,0.00,0.000,4,0.000,0.050,3037,804,3396,0,0,0,0,0,0,28.83,25.75,28.83
$GC,3344,-0.48,-146.0,351.3,-8.5,293,3348,0.00,2.17,0.00,0.000,6,0.000,0.051,3029,2203,3396,0,0,0,0,0,0,28.83,25.75,28.83
$GC,3651,-0.48,-146.0,380.5,-9.3,308,3656,0.00,2.22,0.00,0.000,4,0.000,0.063,3019,3606,3395,0,0,0,0,0,0,28.83,25.63,28.83
$GC,3699,-0.48,-146.0,384.4,-9.7,310,3703,0.00,2.17,0.00,0.000,6,0.000,0.044,3019,2188,3395,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4016,-0.48,-146.0,416.2,-9.7,323,4017,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2185,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4316,-0.48,-146.0,445.7,-9.6,333,4321,0.00,2.30,0.00,0.000,4,0.000,0.063,3009,3613,3394,0,0,0,0,0,0,28.83,25.61,28.83
$GC,4359,-0.48,-146.0,448.7,-9.6,334,4364,0.12,2.17,0.00,0.000,6,0.134,0.045,3044,2199,3394,0,0,0,0,0,0,25.70,25.88,28.83
$GC,4672,-0.48,-146.0,474.7,-7.8,345,4673,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2197,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4972,-0.48,-146.0,497.6,-7.7,355,4978,0.00,2.28,0.00,0.000,4,0.000,0.065,3036,3607,3394,0,0,0,0,0,0,28.83,25.59,28.83
$GC,4995,-0.48,-146.0,497.6,-7.7,355,5003,0.00,2.17,0.00,0.000,6,0.000,0.046,3036,2193,3393,0,0,0,0,0,0,28.83,25.87,28.83
$GC,5302,-0.48,-146.0,524.5,-8.4,366,5308,0.00,2.30,0.00,0.000,4,0.000,0.065,3026,3616,3393,0,0,0,0,0,0,28.83,25.58,28.83
$GC,5332,-0.48,-146.0,527.2,-8.6,367,5338,0.00,2.20,0.00,0.000,6,0.000,0.046,3026,2197,3393,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5662,-0.48,-146.0,556.3,-8.8,378,5668,0.00,2.28,0.00,0.000,4,0.000,0.065,3015,3609,3392,0,0,0,0,0,0,28.83,25.57,28.83
$GC,5692,-0.48,-146.0,559.0,-8.8,379,5697,0.00,2.20,0.00,0.000,6,0.000,0.046,3015,2189,3392,0,0,0,0,0,0,28.83,25.86,28.83
$GC,6022,-0.48,-146.0,591.0,-9.9,390,6023,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2187,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6323,-0.48,-146.0,619.7,-9.5,400,6324,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2187,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6622,-0.48,-146.0,647.5,-9.2,410,6623,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2187,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6922,-0.48,-146.0,675.2,-9.2,420,6928,0.00,2.28,0.00,0.000,4,0.000,0.065,3005,3606,3390,0,0,0,0,0,0,28.83,25.55,28.83
$GC,6965,-0.48,-146.0,678.1,-9.4,421,6970,0.12,2.20,0.00,0.000,6,0.135,0.046,3041,2190,3390,0,0,0,0,0,0,25.65,25.84,28.83
$GC,7279,-0.48,-146.0,703.5,-7.6,432,7280,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2188,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7578,-0.48,-146.0,727.0,-7.9,442,7584,0.00,2.30,0.00,0.000,4,0.000,0.066,3033,3608,3390,0,0,0,0,0,0,28.83,25.52,28.83
$GC,7608,-0.48,-146.0,729.4,-8.0,443,7614,0.00,2.17,0.00,0.000,6,0.000,0.047,3033,2203,3389,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7939,-0.48,-146.0,757.0,-8.3,454,7944,0.00,2.25,0.00,0.000,4,0.000,0.067,3023,3599,3389,0,0,0,0,0,0,28.83,25.51,28.83
$GC,7968,-0.48,-146.0,759.5,-8.3,455,7974,0.00,2.17,0.00,0.000,6,0.000,0.047,3023,2199,3389,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8298,-0.48,-146.0,786.9,-8.3,466,8304,0.00,2.30,0.00,0.000,4,0.000,0.067,3013,3611,3388,0,0,0,0,0,0,28.83,25.50,28.83
$GC,8322,-0.48,-146.0,786.9,-8.3,466,8330,0.00,2.20,0.00,0.000,6,0.000,0.048,3013,2190,3388,0,0,0,0,0,0,28.83,25.80,28.83
$GC,8628,-0.48,-146.0,813.6,-7.9,477,8634,0.00,2.17,0.00,0.000,4,0.000,0.054,3013,799,3388,0,0,0,0,0,0,28.83,25.62,28.83
$GC,8671,-0.48,-146.0,816.1,-7.9,478,8676,0.12,2.20,0.00,0.000,6,0.140,0.055,3040,2200,3388,0,0,0,0,0,0,25.52,25.63,28.83
$GC,8985,-0.48,-146.0,835.7,-6.0,489,8991,0.00,2.28,0.00,0.000,4,0.000,0.067,3032,3609,3387,0,0,0,0,0,0,28.83,25.48,28.83
$GC,9045,-0.48,-146.0,839.7,-6.3,491,9050,0.00,2.20,0.00,0.000,6,0.000,0.047,3031,2188,3387,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9375,-0.48,-146.0,862.5,-7.1,502,9381,0.00,2.30,0.00,0.000,4,0.000,0.067,3022,3608,3387,0,0,0,0,0,0,28.83,25.46,28.83
$GC,9407,-0.48,-146.0,864.6,-7.2,503,9411,0.00,2.20,0.00,0.000,6,0.000,0.047,3022,2189,3387,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9729,-0.48,-146.0,891.2,-8.5,514,9735,0.00,2.33,0.00,0.000,4,0.000,0.067,3012,3615,3387,0,0,0,0,0,0,28.83,25.46,28.83
$GC,9778,-0.48,-146.0,893.9,-8.6,515,9782,0.00,2.20,0.00,0.000,6,0.000,0.047,3012,2197,3387,0,0,0,0,0,0,28.83,25.78,28.83
$GC,10084,-0.48,-146.0,923.2,-8.6,525,10090,0.00,2.33,0.00,0.000,4,0.000,0.068,3002,3612,3387,0,0,0,0,0,0,28.83,25.45,28.83
$GC,10117,-0.48,-146.0,925.7,-8.6,526,10122,0.15,2.20,0.00,0.000,6,0.123,0.047,3046,2200,3386,0,0,0,0,0,0,25.58,25.77,28.83
$GC,10441,-0.48,-146.0,946.4,-5.9,537,10442,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2198,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10740,-0.48,-146.0,964.3,-6.0,547,10746,0.00,2.28,0.00,0.000,4,0.000,0.069,3038,3604,3385,0,0,0,0,0,0,28.83,25.43,28.83
$GC,10783,-0.48,-146.0,966.1,-6.0,548,10787,0.00,2.20,0.00,0.000,6,0.000,0.048,3038,2198,3385,0,0,0,0,0,0,28.83,25.77,28.83
$GC,11101,-0.48,-146.0,987.0,-6.4,559,11102,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2197,3385,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11157,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11157,begin apogee
$GC,11164,-0.22,0.0,990.7,-6.2,561,11298,0.25,0.00,129.15,1.177,6,0.111,0.000,3125,2339,2794,0,0,0,0,0,0,25.79,28.83,23.31
$STATE,11301,end apogee,CONTROL_FINISHED_OK
$STATE,11301,begin climb
$GC,11304,0.48,146.0,994.1,0.0,565,11446,0.65,0.00,138.90,1.142,6,0.077,0.000,3348,2339,2198,0,0,0,0,0,0,24.44,28.83,22.39
$GC,11725,0.48,146.0,961.7,9.2,580,11727,0.00,0.00,0.00,0.000,6,0.000,0.000,3347,2339,2188,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12025,0.48,146.0,934.8,9.0,590,12026,0.00,0.00,0.00,0.000,6,0.000,0.000,3347,2339,2186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12326,0.48,146.0,908.5,8.6,600,12332,0.00,2.30,0.00,0.000,4,0.000,0.068,3347,3735,2185,0,0,0,0,0,0,28.83,25.41,28.83
$GC,12343,0.48,146.0,908.5,8.6,600,12347,0.00,2.22,0.00,0.000,6,0.000,0.050,3357,2335,2185,0,0,0,0,0,0,28.83,25.57,28.83
$GC,12650,0.48,146.0,877.8,9.4,610,12651,0.00,0.00,0.00,0.000,6,0.000,0.000,3357,2328,2184,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12951,0.48,146.0,849.2,9.5,620,12957,0.00,2.33,0.00,0.000,4,0.000,0.069,3358,3727,2184,0,0,0,0,0,0,28.83,25.52,28.83
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$STATE,22373,end climb,SURFACE_DEPTH_REACHED
$STATE,22373,begin surface coast
$FINISH,1.2,1.013627
$STATE,22409,end surface coast,CONTROL_FINISHED_OK
$STATE,22409,begin surface
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$TT8_MAMPS,0.026964,0.026964
$HUMID,44.32
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,19.20
$XPDR_PINGS,1
$24V_AH,22.4,40.167
$10V_AH,10.1,33.361
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.150,192.950,473.325,0.000,0.000,27.691,41.005,208.950,0.250,0.000,15.994,3229.212,15850.606,594.741,2801.347,415.161,0.000,1964.888,0.000,2503.121,0.000,0.536,0.000
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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,70282,1238
$CAP_FILE_SIZE,184167,0
$CFSIZE,260165632,234024960
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.203,295.0,1
$GPS,191112,202700,4731.932,-12555.322,67,0.8,67,18.7