version: 66.11
glider: 187
mission: 2
dive: 286
start: 11 19 112 20 34 9
data:
$ID,187
$MISSION,2
$DIVE,286
$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,-1588117.6
$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,46
$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
$GPS1,191112,202700,4731.932,-12555.322,67,0.8,67,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-75.4
$GPS2,191112,203337,4731.864,-12555.342,10,2.0,10,18.7
$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,82.7,67210,-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,-146.0,0.0,0.0,0,84,0.00,0.00,-65.20,0.000,2,0.000,0.000,130,2188,2649,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.48,-146.0,3.5,-5.7,10,123,11.52,2.33,-16.25,0.000,4,0.223,0.076,3023,3613,3391,0,0,0,0,0,0,25.03,25.45,26.07
$GC,213,-0.48,-146.0,29.1,-17.2,32,220,0.00,2.22,0.00,0.000,6,0.000,0.044,3023,2213,3394,0,0,0,0,0,0,28.83,25.60,28.83
$GC,530,-0.48,-146.0,75.4,-12.3,93,538,0.00,2.20,0.00,0.000,4,0.000,0.049,3023,786,3395,0,0,0,0,0,0,28.83,25.64,28.83
$GC,667,-0.48,-146.0,91.8,-11.8,119,673,0.00,2.20,0.00,0.000,6,0.000,0.050,3013,2201,3395,0,0,0,0,0,0,28.83,25.67,28.83
$GC,984,-0.48,-146.0,129.3,-11.9,171,989,0.00,2.20,0.00,0.000,4,0.000,0.062,3003,3603,3395,0,0,0,0,0,0,28.83,25.63,28.83
$GC,1082,-0.48,-146.0,140.7,-12.3,177,1091,0.12,2.17,0.00,0.000,6,0.140,0.042,3038,2181,3395,0,0,0,0,0,0,25.63,25.84,28.83
$GC,1391,-0.48,-146.0,172.5,-9.7,198,1392,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2180,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1690,-0.48,-146.0,201.4,-10.2,218,1691,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2180,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1990,-0.48,-146.0,229.9,-9.2,233,1996,0.00,2.25,0.00,0.000,4,0.000,0.063,3029,3601,3396,0,0,0,0,0,0,28.83,25.68,28.83
$GC,2029,-0.48,-146.0,233.7,-9.4,235,2034,0.00,2.15,0.00,0.000,6,0.000,0.043,3029,2193,3395,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2349,-0.48,-146.0,263.7,-8.9,251,2355,0.00,2.12,0.00,0.000,4,0.000,0.050,3029,802,3395,0,0,0,0,0,0,28.83,25.78,28.83
$GC,2377,-0.48,-146.0,265.6,-8.9,252,2381,0.00,2.17,0.00,0.000,6,0.000,0.050,3021,2204,3395,0,0,0,0,0,0,28.83,25.78,28.83
$GC,2684,-0.48,-146.0,295.8,-9.6,267,2690,0.00,2.25,0.00,0.000,4,0.000,0.063,3010,3615,3395,0,0,0,0,0,0,28.83,25.68,28.83
$GC,2724,-0.48,-146.0,299.8,-9.8,269,2730,0.00,2.15,0.00,0.000,6,0.000,0.044,3010,2199,3395,0,0,0,0,0,0,28.83,25.92,28.83
$GC,3044,-0.48,-146.0,331.9,-10.2,285,3050,0.12,2.17,0.00,0.000,4,0.148,0.049,3051,793,3395,0,0,0,0,0,0,26.02,25.78,28.83
$GC,3067,-0.48,-146.0,333.8,-10.2,286,3071,0.00,2.20,0.00,0.000,6,0.000,0.051,3045,2208,3395,0,0,0,0,0,0,28.83,25.77,28.83
$GC,3379,-0.48,-146.0,358.4,-7.8,302,3385,0.00,2.20,0.00,0.000,4,0.000,0.063,3034,3602,3394,0,0,0,0,0,0,28.83,25.67,28.83
$GC,3419,-0.48,-146.0,361.7,-8.0,304,3424,0.00,2.15,0.00,0.000,6,0.000,0.044,3034,2194,3394,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3739,-0.48,-146.0,389.7,-9.1,320,3740,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2192,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4039,-0.48,-146.0,417.0,-9.2,332,4045,0.00,2.28,0.00,0.000,4,0.000,0.063,3024,3609,3394,0,0,0,0,0,0,28.83,25.65,28.83
$GC,4062,-0.48,-146.0,417.0,-9.2,332,4068,0.00,2.15,0.00,0.000,6,0.000,0.045,3024,2201,3393,0,0,0,0,0,0,28.83,25.91,28.83
$GC,4369,-0.48,-146.0,449.6,-9.7,343,4370,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2199,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4669,-0.48,-146.0,477.3,-9.0,353,4670,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2199,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4969,-0.48,-146.0,503.8,-8.6,363,4970,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2199,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5269,-0.48,-146.0,530.2,-8.7,373,5275,0.00,2.28,0.00,0.000,4,0.000,0.066,3014,3608,3391,0,0,0,0,0,0,28.83,25.62,28.83
$GC,5329,-0.48,-146.0,535.5,-8.7,375,5335,0.00,2.15,0.00,0.000,6,0.000,0.046,3014,2209,3391,0,0,0,0,0,0,28.83,25.90,28.83
$GC,5659,-0.48,-146.0,564.4,-8.6,386,5661,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2207,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5959,-0.48,-146.0,591.7,-9.4,396,5964,0.00,2.20,0.00,0.000,4,0.000,0.052,3014,789,3390,0,0,0,0,0,0,28.83,25.72,28.83
$GC,5989,-0.48,-146.0,594.5,-9.4,397,5995,0.10,2.20,0.00,0.000,6,0.114,0.054,3042,2201,3390,0,0,0,0,0,0,25.53,25.72,28.83
$GC,6319,-0.48,-146.0,619.7,-7.8,408,6324,0.00,2.28,0.00,0.000,4,0.000,0.066,3033,3619,3390,0,0,0,0,0,0,28.83,25.58,28.83
$GC,6367,-0.48,-146.0,622.1,-7.8,409,6371,0.00,2.20,0.00,0.000,6,0.000,0.045,3033,2186,3389,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6674,-0.48,-146.0,648.9,-8.2,419,6680,0.00,2.33,0.00,0.000,4,0.000,0.066,3023,3624,3390,0,0,0,0,0,0,28.83,25.58,28.83
$GC,6717,-0.48,-146.0,651.4,-8.2,420,6721,0.00,2.20,0.00,0.000,6,0.000,0.046,3023,2198,3390,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7029,-0.48,-146.0,678.9,-8.3,431,7035,0.00,2.30,0.00,0.000,4,0.000,0.066,3013,3614,3389,0,0,0,0,0,0,28.83,25.56,28.83
$GC,7060,-0.48,-146.0,681.5,-8.4,432,7065,0.00,2.17,0.00,0.000,6,0.000,0.047,3013,2197,3389,0,0,0,0,0,0,28.83,25.85,28.83
$GC,7389,-0.48,-146.0,710.8,-8.9,443,7390,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2195,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7689,-0.48,-146.0,737.4,-9.1,453,7695,0.00,2.30,0.00,0.000,4,0.000,0.067,3003,3610,3388,0,0,0,0,0,0,28.83,25.54,28.83
$GC,7758,-0.48,-146.0,743.2,-9.4,455,7762,0.12,2.20,0.00,0.000,6,0.134,0.047,3039,2189,3388,0,0,0,0,0,0,25.65,25.84,28.83
$GC,8076,-0.48,-146.0,767.7,-7.1,466,8077,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2186,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8376,-0.48,-146.0,787.2,-6.3,476,8381,0.00,2.33,0.00,0.000,4,0.000,0.067,3031,3624,3387,0,0,0,0,0,0,28.83,25.52,28.83
$GC,8439,-0.48,-146.0,791.4,-6.6,478,8443,0.00,2.20,0.00,0.000,6,0.000,0.046,3031,2196,3387,0,0,0,0,0,0,28.83,25.85,28.83
$GC,8761,-0.48,-146.0,813.6,-6.8,489,8767,0.00,2.28,0.00,0.000,4,0.000,0.067,3021,3607,3387,0,0,0,0,0,0,28.83,25.51,28.83
$GC,8792,-0.48,-146.0,815.7,-6.9,490,8798,0.00,2.17,0.00,0.000,6,0.000,0.047,3021,2195,3387,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9121,-0.48,-146.0,839.2,-6.9,501,9122,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2193,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9421,-0.48,-146.0,859.7,-6.7,511,9427,0.00,2.30,0.00,0.000,4,0.000,0.067,3011,3608,3386,0,0,0,0,0,0,28.83,25.49,28.83
$GC,9452,-0.48,-146.0,861.8,-6.7,512,9457,0.00,2.17,0.00,0.000,6,0.000,0.047,3011,2201,3385,0,0,0,0,0,0,28.83,25.81,28.83
$GC,9781,-0.48,-146.0,885.5,-7.4,523,9782,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2198,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10081,-0.48,-146.0,909.0,-8.0,533,10087,0.00,2.30,0.00,0.000,4,0.000,0.067,3001,3608,3385,0,0,0,0,0,0,28.83,25.47,28.83
$GC,10099,-0.48,-146.0,909.0,-8.0,533,10104,0.15,2.20,0.00,0.000,6,0.125,0.048,3045,2193,3385,0,0,0,0,0,0,25.58,25.78,28.83
$GC,10407,-0.48,-146.0,929.6,-6.0,543,10408,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2191,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10706,-0.48,-146.0,946.3,-5.5,553,10712,0.00,2.33,0.00,0.000,4,0.000,0.068,3037,3607,3385,0,0,0,0,0,0,28.83,25.46,28.83
$GC,10730,-0.48,-146.0,946.3,-5.5,553,10737,0.00,2.20,0.00,0.000,6,0.000,0.048,3037,2192,3384,0,0,0,0,0,0,28.83,25.78,28.83
$GC,11036,-0.48,-146.0,965.8,-6.2,564,11037,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2191,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11337,-0.48,-146.0,985.7,-6.8,574,11342,0.00,2.33,0.00,0.000,4,0.000,0.068,3027,3608,3384,0,0,0,0,0,0,28.83,25.44,28.83
$GC,11390,-0.48,-146.0,987.7,-6.8,575,11396,0.00,2.20,0.00,0.000,6,0.000,0.048,3027,2192,3384,0,0,0,0,0,0,28.83,25.76,28.83
$STATE,11423,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11423,begin apogee
$GC,11430,-0.22,0.0,992.3,-7.2,577,11563,0.28,0.00,128.68,1.176,6,0.109,0.000,3122,2335,2794,0,0,0,0,0,0,25.72,28.83,23.33
$STATE,11566,end apogee,CONTROL_FINISHED_OK
$STATE,11566,begin climb
$GC,11569,0.48,146.0,996.5,0.0,581,11717,0.65,2.53,137.00,1.141,4,0.079,0.066,3344,3727,2197,0,0,0,0,0,0,24.44,23.37,22.41
$GC,11733,0.50,212.4,992.3,4.8,586,11801,0.00,2.40,61.70,1.113,6,0.000,0.048,3355,2328,1929,0,0,0,0,0,0,28.83,23.76,22.38
$GC,12110,0.50,212.4,951.6,9.8,599,12111,0.00,0.00,0.00,0.000,6,0.000,0.000,3355,2328,1919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12410,0.50,212.4,919.9,10.7,609,12415,0.00,2.28,0.00,0.000,4,0.000,0.057,3365,914,1917,0,0,0,0,0,0,28.83,25.34,28.83
$GC,12448,0.50,212.4,916.6,10.8,610,12452,0.00,2.25,0.00,0.000,6,0.000,0.057,3365,2317,1917,0,0,0,0,0,0,28.83,25.37,28.83
$GC,12765,0.50,212.4,879.6,11.5,621,12767,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,2317,1917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13065,0.50,212.4,844.0,11.9,631,13071,0.00,2.30,0.00,0.000,4,0.000,0.068,3365,3738,1916,0,0,0,0,0,0,28.83,25.53,28.83
$GC,13098,0.50,212.4,840.1,12.1,632,13102,0.00,2.25,0.00,0.000,6,0.000,0.050,3375,2318,1916,0,0,0,0,0,0,28.83,25.69,28.83
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$STATE,21717,end climb,SURFACE_DEPTH_REACHED
$STATE,21717,begin surface coast
$FINISH,1.2,1.024594
$STATE,21781,end surface coast,CONTROL_FINISHED_OK
$STATE,21781,begin surface
$SM_CCo,21862,0.00,0.000,0,0,1530,310.06
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$IRIDIUM_FIX,4710.21,-12613.35,191112,141405
$TT8_MAMPS,0.026964,0.026964
$HUMID,45.15
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,16.20
$XPDR_PINGS,0
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$10V_AH,10.1,33.473
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.100,201.675,408.450,0.000,0.000,25.281,41.454,201.091,0.000,0.000,11.501,3272.202,15181.936,524.857,2876.865,396.585,0.000,1937.010,0.000,2578.320,0.000,0.535,0.000
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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,296792
$DATA_FILE_SIZE,70349,1249
$CAP_FILE_SIZE,186260,0
$CFSIZE,260165632,233934848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.173,300.0,1
$GPS,201112,024023,4732.168,-12553.318,56,1.4,74,18.7