version: 66.11
glider: 187
mission: 2
dive: 205
start: 10 30 112 10 28 24
data:
$ID,187
$MISSION,2
$DIVE,205
$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,-1588007.6
$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,2175
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$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
$GPS1,301012,102105,4711.833,-12635.847,45,1.7,51,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-79.0
$GPS2,301012,102754,4711.825,-12635.848,10,1.6,15,18.6
$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,38.4,129700,-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,-146.0,0.0,0.0,0,73,0.00,0.00,-54.58,0.000,2,0.000,0.000,104,2175,2772,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.48,-146.0,3.3,-4.4,9,111,11.40,2.35,-12.50,0.000,4,0.221,0.075,3024,3589,3394,0,0,0,0,0,0,25.13,25.54,26.03
$GC,252,-0.48,-146.0,39.7,-13.3,41,259,0.00,2.20,0.00,0.000,6,0.000,0.044,3024,2169,3397,0,0,0,0,0,0,28.83,25.68,28.83
$GC,568,-0.48,-146.0,83.1,-13.2,102,575,0.00,2.15,0.00,0.000,4,0.000,0.051,3024,770,3399,0,0,0,0,0,0,28.83,25.72,28.83
$GC,593,-0.48,-146.0,86.3,-12.9,106,600,0.00,2.20,0.00,0.000,6,0.000,0.050,3014,2185,3399,0,0,0,0,0,0,28.83,25.73,28.83
$GC,905,-0.48,-146.0,127.7,-11.9,159,910,0.00,2.17,0.00,0.000,4,0.000,0.050,3014,764,3399,0,0,0,0,0,0,28.83,25.79,28.83
$GC,949,-0.48,-146.0,133.2,-12.2,162,955,0.10,2.17,0.00,0.000,6,0.120,0.050,3040,2177,3399,0,0,0,0,0,0,25.63,25.82,28.83
$GC,1267,-0.48,-146.0,164.3,-9.8,183,1272,0.00,2.20,0.00,0.000,4,0.000,0.063,3032,3580,3399,0,0,0,0,0,0,28.83,25.78,28.83
$GC,1328,-0.48,-146.0,170.4,-10.0,187,1332,0.00,2.17,0.00,0.000,6,0.000,0.044,3032,2166,3399,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1646,-0.48,-146.0,203.1,-10.2,208,1652,0.00,2.15,0.00,0.000,4,0.000,0.051,3031,766,3399,0,0,0,0,0,0,28.83,25.88,28.83
$GC,1673,-0.48,-146.0,205.1,-10.3,209,1677,0.00,2.17,0.00,0.000,6,0.000,0.050,3022,2175,3399,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1981,-0.48,-146.0,239.9,-11.4,224,1987,0.00,2.20,0.00,0.000,4,0.000,0.063,3012,3585,3399,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2000,-0.48,-146.0,242.2,-11.5,225,2006,0.00,2.15,0.00,0.000,6,0.000,0.044,3012,2175,3399,0,0,0,0,0,0,28.83,25.99,28.83
$GC,2320,-0.48,-146.0,279.0,-11.3,241,2326,0.00,2.15,0.00,0.000,4,0.000,0.052,3012,772,3399,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2343,-0.48,-146.0,281.3,-11.5,242,2348,0.12,2.17,0.00,0.000,6,0.148,0.051,3037,2179,3399,0,0,0,0,0,0,25.79,25.93,28.83
$GC,2656,-0.48,-146.0,309.9,-8.9,258,2662,0.00,2.22,0.00,0.000,4,0.000,0.064,3029,3584,3399,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2724,-0.48,-146.0,315.4,-9.2,261,2728,0.00,2.15,0.00,0.000,6,0.000,0.044,3029,2175,3398,0,0,0,0,0,0,28.83,26.03,28.83
$GC,3034,-0.48,-146.0,344.8,-9.4,276,3039,0.00,2.22,0.00,0.000,4,0.000,0.064,3019,3581,3398,0,0,0,0,0,0,28.83,25.87,28.83
$GC,3061,-0.48,-146.0,346.7,-9.3,277,3070,0.00,2.15,0.00,0.000,6,0.000,0.045,3019,2171,3398,0,0,0,0,0,0,28.83,26.03,28.83
$GC,3372,-0.48,-146.0,377.4,-9.3,293,3377,0.00,2.15,0.00,0.000,4,0.000,0.053,3019,777,3397,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3395,-0.48,-146.0,379.4,-9.3,294,3400,0.12,2.17,0.00,0.000,6,0.143,0.053,3045,2179,3397,0,0,0,0,0,0,25.83,25.96,28.83
$GC,3728,-0.48,-146.0,405.3,-7.6,310,3734,0.00,2.20,0.00,0.000,4,0.000,0.065,3036,3580,3397,0,0,0,0,0,0,28.83,25.87,28.83
$GC,3781,-0.48,-146.0,407.6,-7.6,311,3788,0.00,2.15,0.00,0.000,6,0.000,0.046,3036,2171,3396,0,0,0,0,0,0,28.83,26.04,28.83
$GC,4088,-0.48,-146.0,433.8,-7.8,322,4089,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2170,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4388,-0.48,-146.0,457.6,-8.0,332,4389,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2170,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4688,-0.48,-146.0,482.0,-8.1,342,4694,0.00,2.28,0.00,0.000,4,0.000,0.066,3026,3582,3394,0,0,0,0,0,0,28.83,25.87,28.83
$GC,4721,-0.48,-146.0,484.4,-8.1,343,4726,0.00,2.17,0.00,0.000,6,0.000,0.047,3026,2177,3395,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5043,-0.48,-146.0,511.9,-8.2,354,5045,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2174,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5344,-0.48,-146.0,537.1,-8.4,364,5345,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2174,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5644,-0.48,-146.0,563.8,-9.1,374,5645,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2174,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5944,-0.48,-146.0,590.9,-8.9,384,5945,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2174,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6243,-0.48,-146.0,617.0,-8.6,394,6249,0.00,2.28,0.00,0.000,4,0.000,0.067,3016,3582,3391,0,0,0,0,0,0,28.83,25.86,28.83
$GC,6287,-0.48,-146.0,619.6,-8.6,395,6291,0.00,2.17,0.00,0.000,6,0.000,0.048,3016,2167,3392,0,0,0,0,0,0,28.83,26.04,28.83
$GC,6599,-0.48,-146.0,648.4,-8.6,406,6600,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2165,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6899,-0.48,-146.0,674.1,-8.5,416,6900,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2165,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7199,-0.48,-146.0,698.6,-8.1,426,7200,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2165,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7500,-0.48,-146.0,721.6,-7.5,436,7505,0.00,2.28,0.00,0.000,4,0.000,0.068,3007,3592,3390,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7529,-0.48,-146.0,724.0,-7.6,437,7535,0.12,2.20,0.00,0.000,6,0.132,0.049,3043,2170,3390,0,0,0,0,0,0,25.88,26.03,28.83
$GC,7859,-0.48,-146.0,744.4,-6.0,448,7865,0.00,2.25,0.00,0.000,4,0.000,0.068,3035,3580,3390,0,0,0,0,0,0,28.83,25.83,28.83
$GC,7902,-0.48,-146.0,746.4,-6.1,449,7906,0.00,2.17,0.00,0.000,6,0.000,0.049,3034,2168,3390,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8215,-0.48,-146.0,767.2,-6.3,460,8220,0.00,2.25,0.00,0.000,4,0.000,0.069,3026,3579,3389,0,0,0,0,0,0,28.83,25.83,28.83
$GC,8263,-0.48,-146.0,769.2,-6.4,461,8267,0.00,2.17,0.00,0.000,6,0.000,0.050,3026,2168,3389,0,0,0,0,0,0,28.83,26.02,28.83
$GC,8570,-0.48,-146.0,790.7,-6.5,471,8575,0.00,2.25,0.00,0.000,4,0.000,0.069,3016,3579,3388,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8600,-0.48,-146.0,792.9,-6.7,472,8605,0.00,2.15,0.00,0.000,6,0.000,0.050,3016,2179,3388,0,0,0,0,0,0,28.83,26.02,28.83
$GC,8929,-0.48,-146.0,817.1,-7.5,483,8935,0.00,2.28,0.00,0.000,4,0.000,0.068,3007,3592,3388,0,0,0,0,0,0,28.83,25.81,28.83
$GC,8953,-0.48,-146.0,817.1,-7.5,483,8961,0.12,2.20,0.00,0.000,6,0.132,0.049,3043,2164,3388,0,0,0,0,0,0,25.86,26.01,28.83
$GC,9260,-0.48,-146.0,837.2,-6.1,494,9265,0.00,2.28,0.00,0.000,4,0.000,0.069,3035,3585,3387,0,0,0,0,0,0,28.83,25.80,28.83
$GC,9283,-0.48,-146.0,837.2,-6.1,494,9289,0.00,2.17,0.00,0.000,6,0.000,0.050,3035,2174,3387,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9590,-0.48,-146.0,859.7,-7.0,505,9596,0.00,2.25,0.00,0.000,4,0.000,0.069,3026,3581,3387,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9613,-0.48,-146.0,859.7,-7.0,505,9619,0.00,2.17,0.00,0.000,6,0.000,0.050,3025,2171,3387,0,0,0,0,0,0,28.83,26.00,28.83
$GC,9920,-0.48,-146.0,883.5,-7.2,516,9926,0.00,2.28,0.00,0.000,4,0.000,0.068,3016,3582,3387,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9950,-0.48,-146.0,885.8,-7.2,517,9956,0.00,2.15,0.00,0.000,6,0.000,0.050,3016,2179,3386,0,0,0,0,0,0,28.83,26.00,28.83
$GC,10280,-0.48,-146.0,910.8,-7.6,528,10281,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2177,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10580,-0.48,-146.0,932.8,-7.2,538,10585,0.00,2.25,0.00,0.000,4,0.000,0.069,3007,3585,3386,0,0,0,0,0,0,28.83,25.79,28.83
$GC,10612,-0.48,-146.0,935.0,-7.1,539,10617,0.12,2.20,0.00,0.000,6,0.130,0.050,3043,2163,3386,0,0,0,0,0,0,25.84,25.98,28.83
$GC,10936,-0.48,-146.0,953.0,-5.4,550,10941,0.00,2.28,0.00,0.000,4,0.000,0.069,3036,3580,3386,0,0,0,0,0,0,28.83,25.78,28.83
$GC,10979,-0.48,-146.0,954.8,-5.5,551,10983,0.00,2.17,0.00,0.000,6,0.000,0.050,3036,2172,3386,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11292,-0.48,-146.0,973.6,-5.8,562,11297,0.00,2.25,0.00,0.000,4,0.000,0.069,3026,3577,3385,0,0,0,0,0,0,28.83,25.77,28.83
$GC,11322,-0.48,-146.0,975.4,-5.7,563,11327,0.00,2.17,0.00,0.000,6,0.000,0.050,3026,2170,3385,0,0,0,0,0,0,28.83,25.98,28.83
$STATE,11558,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11559,begin apogee
$GC,11566,-0.22,0.0,990.1,-6.1,571,11698,0.28,0.00,127.38,1.181,6,0.112,0.000,3121,2310,2794,0,0,0,0,0,0,25.85,28.83,23.57
$STATE,11701,end apogee,CONTROL_FINISHED_OK
$STATE,11701,begin climb
$GC,11703,0.48,146.0,993.4,0.0,575,11843,0.65,0.00,136.00,1.154,6,0.080,0.000,3343,2310,2198,0,0,0,0,0,0,24.50,28.83,22.73
$GC,12131,0.48,146.0,960.1,9.1,590,12137,0.00,2.38,0.00,0.000,4,0.000,0.069,3343,3708,2187,0,0,0,0,0,0,28.83,24.81,28.83
$GC,12154,0.48,146.0,960.1,9.1,590,12161,0.00,2.30,0.00,0.000,6,0.000,0.050,3353,2302,2187,0,0,0,0,0,0,28.83,24.95,28.83
$GC,12462,0.48,146.0,928.2,9.6,601,12467,0.00,2.33,0.00,0.000,4,0.000,0.070,3354,3699,2186,0,0,0,0,0,0,28.83,25.27,28.83
$GC,12491,0.48,146.0,925.1,9.8,602,12497,0.00,2.25,0.00,0.000,6,0.000,0.051,3363,2289,2186,0,0,0,0,0,0,28.83,25.40,28.83
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$STATE,23248,end climb,SURFACE_DEPTH_REACHED
$STATE,23249,begin surface coast
$FINISH,1.2,1.023787
$STATE,23291,end surface coast,CONTROL_FINISHED_OK
$STATE,23291,begin surface
$SM_CCo,23373,0.00,0.000,0,0,1044,429.27
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$TT8_MAMPS,0.026964,0.026964
$HUMID,43.93
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,19.10
$XPDR_PINGS,1
$24V_AH,22.7,29.538
$10V_AH,10.1,24.727
$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,22.175,214.075,493.350,0.000,0.000,26.714,41.069,206.386,0.250,0.000,16.089,3360.592,16504.691,607.087,2895.469,403.650,0.000,2039.186,0.000,2592.291,0.000,0.536,0.000
$DEVICE_MAMPS,221.085,84.150,1181.160,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,889.520,747.878,514.838,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296772
$DATA_FILE_SIZE,73584,1294
$CAP_FILE_SIZE,194245,0
$CFSIZE,260165632,240611328
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.063,336.7,1
$GPS,301012,165905,4714.082,-12631.967,30,1.2,30,18.6