version: 66.11
glider: 187
mission: 2
dive: 201
start: 10 29 112 7 48 15
data:
$ID,187
$MISSION,2
$DIVE,201
$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,-1588002.4
$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,42
$R_STBD_OVSHOOT,25
$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
$GPS1,291012,074054,4704.229,-12652.145,41,1.7,41,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-74.8
$GPS2,291012,074743,4704.264,-12652.022,13,1.8,13,18.6
$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,36.3,154195,-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,-146.0,0.0,0.0,0,105,0.00,0.00,-86.25,0.000,2,0.000,0.000,106,2169,2822,0,0,0,0,0,0,28.83,28.83,28.83
$GC,109,-0.48,-146.0,3.2,-3.5,14,138,11.38,2.38,-11.48,0.000,4,0.220,0.073,3024,3597,3392,0,0,0,0,0,0,25.11,25.51,25.97
$GC,377,-0.48,-146.0,54.7,-12.2,63,384,0.00,2.20,0.00,0.000,6,0.000,0.043,3024,2169,3397,0,0,0,0,0,0,28.83,25.72,28.83
$GC,700,-0.48,-146.0,100.3,-11.6,124,707,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2163,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1025,-0.48,-146.0,136.1,-10.1,167,1031,0.00,2.22,0.00,0.000,4,0.000,0.062,3013,3578,3399,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1070,-0.48,-146.0,140.9,-10.4,170,1076,0.00,2.15,0.00,0.000,6,0.000,0.043,3013,2167,3398,0,0,0,0,0,0,28.83,25.92,28.83
$GC,1386,-0.48,-146.0,176.8,-11.8,191,1388,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2161,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1696,-0.48,-146.0,212.6,-11.4,210,1698,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2161,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1996,-0.48,-146.0,245.0,-10.7,225,1997,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2161,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2295,-0.48,-146.0,277.6,-10.9,240,2300,0.00,2.12,0.00,0.000,4,0.000,0.050,3013,771,3398,0,0,0,0,0,0,28.83,25.97,28.83
$GC,2328,-0.48,-146.0,279.8,-11.0,241,2335,0.12,2.17,0.00,0.000,6,0.148,0.052,3040,2182,3398,0,0,0,0,0,0,25.84,25.97,28.83
$GC,2636,-0.48,-146.0,308.9,-8.7,257,2641,0.00,2.20,0.00,0.000,4,0.000,0.064,3031,3584,3397,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2703,-0.48,-146.0,314.5,-9.2,260,2707,0.00,2.15,0.00,0.000,6,0.000,0.044,3031,2165,3397,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3010,-0.48,-146.0,343.7,-9.1,275,3011,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2162,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3310,-0.48,-146.0,370.2,-8.6,290,3316,0.00,2.28,0.00,0.000,4,0.000,0.066,3021,3583,3395,0,0,0,0,0,0,28.83,25.92,28.83
$GC,3352,-0.48,-146.0,373.8,-8.8,292,3357,0.00,2.12,0.00,0.000,6,0.000,0.046,3020,2176,3395,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3681,-0.48,-146.0,404.2,-9.0,308,3686,0.00,2.12,0.00,0.000,4,0.000,0.053,3020,779,3394,0,0,0,0,0,0,28.83,25.99,28.83
$GC,3713,-0.48,-146.0,406.9,-9.1,309,3717,0.00,2.15,0.00,0.000,6,0.000,0.054,3011,2173,3394,0,0,0,0,0,0,28.83,26.00,28.83
$GC,4035,-0.48,-146.0,438.1,-9.6,320,4036,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2174,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4336,-0.48,-146.0,467.2,-9.7,330,4339,0.00,2.25,0.00,0.000,4,0.000,0.067,3001,3582,3393,0,0,0,0,0,0,28.83,25.93,28.83
$GC,4420,-0.48,-146.0,473.6,-10.1,332,4429,0.15,2.15,0.00,0.000,6,0.128,0.046,3045,2167,3393,0,0,0,0,0,0,25.91,26.08,28.83
$GC,4727,-0.48,-146.0,500.4,-7.9,343,4728,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2167,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5028,-0.48,-146.0,523.6,-7.6,353,5033,0.00,2.25,0.00,0.000,4,0.000,0.067,3036,3588,3391,0,0,0,0,0,0,28.83,25.92,28.83
$GC,5060,-0.48,-146.0,526.0,-7.6,354,5065,0.00,2.15,0.00,0.000,6,0.000,0.047,3036,2179,3391,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5383,-0.48,-146.0,550.9,-7.6,365,5384,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2176,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5683,-0.48,-146.0,573.7,-7.6,375,5684,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2176,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5983,-0.48,-146.0,596.4,-7.6,385,5988,0.00,2.22,0.00,0.000,4,0.000,0.067,3026,3581,3389,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6020,-0.48,-146.0,598.7,-7.7,386,6024,0.00,2.15,0.00,0.000,6,0.000,0.047,3027,2173,3389,0,0,0,0,0,0,28.83,26.09,28.83
$GC,6338,-0.48,-146.0,625.6,-8.3,397,6343,0.00,2.22,0.00,0.000,4,0.000,0.067,3017,3579,3389,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6361,-0.48,-146.0,625.6,-8.3,397,6367,0.00,2.15,0.00,0.000,6,0.000,0.047,3016,2171,3389,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6667,-0.48,-146.0,654.8,-8.7,408,6673,0.00,2.15,0.00,0.000,4,0.000,0.054,3016,774,3389,0,0,0,0,0,0,28.83,25.98,28.83
$GC,6705,-0.48,-146.0,657.5,-8.7,409,6710,0.12,2.17,0.00,0.000,6,0.143,0.055,3043,2176,3388,0,0,0,0,0,0,25.86,25.98,28.83
$GC,7024,-0.48,-146.0,681.2,-7.1,420,7030,0.00,2.25,0.00,0.000,4,0.000,0.068,3034,3582,3387,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7086,-0.48,-146.0,686.0,-7.5,422,7090,0.00,2.15,0.00,0.000,6,0.000,0.048,3034,2175,3387,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7409,-0.48,-146.0,711.1,-7.6,433,7410,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2173,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7709,-0.48,-146.0,732.7,-7.0,443,7714,0.00,2.22,0.00,0.000,4,0.000,0.068,3024,3577,3386,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7732,-0.48,-146.0,732.7,-7.0,443,7738,0.00,2.15,0.00,0.000,6,0.000,0.048,3024,2174,3386,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8039,-0.48,-146.0,756.7,-7.3,454,8040,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2173,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8339,-0.48,-146.0,778.3,-7.4,464,8344,0.00,2.25,0.00,0.000,4,0.000,0.068,3014,3587,3385,0,0,0,0,0,0,28.83,25.87,28.83
$GC,8361,-0.48,-146.0,778.3,-7.4,464,8368,0.00,2.17,0.00,0.000,6,0.000,0.049,3014,2169,3385,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8668,-0.48,-146.0,804.6,-7.9,475,8674,0.00,2.28,0.00,0.000,4,0.000,0.068,3004,3587,3385,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8702,-0.48,-146.0,807.1,-8.0,476,8706,0.12,2.17,0.00,0.000,6,0.133,0.049,3040,2176,3385,0,0,0,0,0,0,25.89,26.05,28.83
$GC,9025,-0.48,-146.0,828.0,-6.2,487,9030,0.00,2.22,0.00,0.000,4,0.000,0.069,3032,3580,3385,0,0,0,0,0,0,28.83,25.86,28.83
$GC,9058,-0.48,-146.0,830.0,-6.3,488,9062,0.00,2.17,0.00,0.000,6,0.000,0.049,3031,2168,3384,0,0,0,0,0,0,28.83,26.05,28.83
$GC,9381,-0.48,-146.0,851.4,-6.4,499,9386,0.00,2.25,0.00,0.000,4,0.000,0.069,3022,3578,3384,0,0,0,0,0,0,28.83,25.85,28.83
$GC,9413,-0.48,-146.0,853.5,-6.4,500,9417,0.00,2.17,0.00,0.000,6,0.000,0.049,3022,2166,3384,0,0,0,0,0,0,28.83,26.04,28.83
$GC,9735,-0.48,-146.0,875.6,-6.8,511,9741,0.00,2.30,0.00,0.000,4,0.000,0.070,3012,3581,3385,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9759,-0.48,-146.0,875.6,-6.8,511,9766,0.00,2.17,0.00,0.000,6,0.000,0.049,3012,2168,3384,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10065,-0.48,-146.0,901.4,-7.9,522,10071,0.00,2.30,0.00,0.000,4,0.000,0.069,3003,3586,3384,0,0,0,0,0,0,28.83,25.83,28.83
$GC,10095,-0.48,-146.0,903.9,-8.1,523,10102,0.12,2.17,0.00,0.000,6,0.132,0.049,3039,2179,3384,0,0,0,0,0,0,25.87,26.03,28.83
$GC,10426,-0.48,-146.0,924.2,-5.8,534,10431,0.00,2.25,0.00,0.000,4,0.000,0.069,3030,3588,3384,0,0,0,0,0,0,28.83,25.82,28.83
$GC,10478,-0.48,-146.0,926.1,-5.9,535,10485,0.00,2.17,0.00,0.000,6,0.000,0.049,3030,2171,3383,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10786,-0.48,-146.0,945.6,-5.7,546,10791,0.00,2.25,0.00,0.000,4,0.000,0.069,3021,3581,3383,0,0,0,0,0,0,28.83,25.82,28.83
$GC,10808,-0.48,-146.0,945.6,-5.7,546,10815,0.00,2.17,0.00,0.000,6,0.000,0.049,3020,2168,3383,0,0,0,0,0,0,28.83,26.02,28.83
$GC,11116,-0.48,-146.0,964.6,-5.6,557,11121,0.00,2.25,0.00,0.000,4,0.000,0.070,3011,3580,3383,0,0,0,0,0,0,28.83,25.82,28.83
$GC,11154,-0.48,-146.0,966.4,-5.5,558,11158,0.00,2.17,0.00,0.000,6,0.000,0.050,3011,2169,3383,0,0,0,0,0,0,28.83,26.01,28.83
$GC,11472,-0.48,-146.0,986.6,-6.5,569,11473,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2168,3383,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11528,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11528,begin apogee
$GC,11535,-0.22,0.0,990.6,-6.8,571,11667,0.32,0.00,126.72,1.187,6,0.115,0.000,3121,2312,2793,0,0,0,0,0,0,25.79,28.83,23.60
$STATE,11671,end apogee,CONTROL_FINISHED_OK
$STATE,11671,begin climb
$GC,11674,0.48,146.0,993.8,0.0,575,11813,0.65,0.00,135.70,1.153,6,0.081,0.000,3342,2311,2198,0,0,0,0,0,0,24.53,28.83,22.76
$GC,12101,0.48,146.0,958.2,9.7,590,12102,0.00,0.00,0.00,0.000,6,0.000,0.000,3343,2311,2188,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12401,0.48,146.0,929.5,9.4,600,12402,0.00,0.00,0.00,0.000,6,0.000,0.000,3343,2311,2186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12701,0.48,146.0,901.4,9.2,610,12707,0.00,2.30,0.00,0.000,4,0.000,0.070,3343,3710,2185,0,0,0,0,0,0,28.83,25.47,28.83
$GC,12734,0.48,146.0,898.3,9.6,611,12738,0.00,2.22,0.00,0.000,6,0.000,0.050,3353,2309,2184,0,0,0,0,0,0,28.83,25.60,28.83
$GC,13056,0.48,146.0,864.6,10.3,622,13058,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,2303,2184,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13356,0.48,146.0,834.1,10.1,632,13362,0.00,2.28,0.00,0.000,4,0.000,0.070,3354,3701,2184,0,0,0,0,0,0,28.83,25.66,28.83
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$STATE,23452,end climb,SURFACE_DEPTH_REACHED
$STATE,23452,begin surface coast
$FINISH,3.0,1.024165
$STATE,23476,end surface coast,CONTROL_FINISHED_OK
$STATE,23476,begin surface
$SM_CCo,23558,0.00,0.000,0,0,1100,415.54
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$IRIDIUM_FIX,4644.93,-12651.56,291012,000030
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.14
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,20.10
$XPDR_PINGS,0
$24V_AH,22.8,28.999
$10V_AH,10.2,24.272
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,22.125,186.500,479.150,0.000,0.000,25.012,39.091,210.581,0.000,0.000,14.482,3474.942,16472.137,609.884,3005.360,395.861,0.000,2051.564,0.000,2699.953,0.000,0.535,0.000
$DEVICE_MAMPS,219.555,84.150,1186.515,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,925.354,786.259,591.095,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296764
$DATA_FILE_SIZE,76778,1346
$CAP_FILE_SIZE,191011,0
$CFSIZE,260165632,240955392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.021, 73.1,1
$GPS,291012,142205,4706.070,-12647.751,34,1.1,34,18.6