version: 66.11
glider: 187
mission: 2
dive: 208
start: 10 31 112 6 22 14
data:
$ID,187
$MISSION,2
$DIVE,208
$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,-1588011.6
$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,29
$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
$GPS1,311012,061159,4717.318,-12623.735,57,1.2,57,18.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-77.5
$GPS2,311012,062144,4717.437,-12623.814,16,1.9,16,18.6
$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,49.8,111492,-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,-146.0,0.0,0.0,0,81,0.00,0.00,-62.35,0.000,2,0.000,0.000,109,2182,2676,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.48,-146.0,3.5,-6.6,10,120,11.38,2.28,-15.15,0.000,4,0.218,0.072,3026,3584,3392,0,0,0,0,0,0,25.08,25.48,25.98
$GC,262,-0.48,-146.0,40.5,-14.8,41,269,0.00,2.20,0.00,0.000,6,0.000,0.043,3026,2164,3395,0,0,0,0,0,0,28.83,25.65,28.83
$GC,586,-0.48,-146.0,85.6,-12.3,102,592,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2159,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,904,-0.48,-146.0,123.7,-11.4,159,910,0.00,2.25,0.00,0.000,4,0.000,0.062,3016,3583,3397,0,0,0,0,0,0,28.83,25.74,28.83
$GC,958,-0.48,-146.0,129.2,-12.0,162,965,0.00,2.20,0.00,0.000,6,0.000,0.043,3015,2169,3397,0,0,0,0,0,0,28.83,25.88,28.83
$GC,1265,-0.48,-146.0,164.4,-10.6,183,1271,0.00,2.12,0.00,0.000,4,0.000,0.050,3015,777,3397,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1318,-0.48,-146.0,169.2,-10.6,186,1326,0.08,2.20,0.00,0.000,6,0.129,0.050,3035,2172,3397,0,0,0,0,0,0,25.70,25.86,28.83
$GC,1628,-0.48,-146.0,196.5,-8.7,207,1634,0.00,2.22,0.00,0.000,4,0.000,0.063,3026,3585,3397,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1687,-0.48,-146.0,202.0,-9.1,211,1693,0.00,2.15,0.00,0.000,6,0.000,0.044,3026,2172,3397,0,0,0,0,0,0,28.83,25.97,28.83
$GC,2008,-0.48,-146.0,232.4,-9.8,227,2013,0.00,2.22,0.00,0.000,4,0.000,0.063,3016,3582,3397,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2050,-0.48,-146.0,236.7,-10.2,229,2054,0.00,2.15,0.00,0.000,6,0.000,0.044,3016,2179,3397,0,0,0,0,0,0,28.83,26.00,28.83
$GC,2363,-0.48,-146.0,269.5,-10.3,245,2364,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2175,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2663,-0.48,-146.0,300.2,-10.2,260,2668,0.00,2.20,0.00,0.000,4,0.000,0.064,3006,3576,3396,0,0,0,0,0,0,28.83,25.87,28.83
$GC,2710,-0.48,-146.0,304.5,-10.4,262,2715,0.12,2.15,0.00,0.000,6,0.132,0.045,3042,2172,3396,0,0,0,0,0,0,25.86,26.03,28.83
$GC,3018,-0.48,-146.0,329.9,-7.7,277,3019,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2168,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3319,-0.48,-146.0,352.2,-7.5,292,3324,0.00,2.22,0.00,0.000,4,0.000,0.064,3034,3576,3394,0,0,0,0,0,0,28.83,25.88,28.83
$GC,3360,-0.48,-146.0,355.3,-7.5,294,3364,0.00,2.15,0.00,0.000,6,0.000,0.046,3034,2174,3394,0,0,0,0,0,0,28.83,26.05,28.83
$GC,3672,-0.48,-146.0,379.9,-8.0,310,3678,0.00,2.25,0.00,0.000,4,0.000,0.065,3024,3583,3394,0,0,0,0,0,0,28.83,25.88,28.83
$GC,3701,-0.48,-146.0,381.6,-8.0,311,3705,0.00,2.15,0.00,0.000,6,0.000,0.046,3024,2175,3394,0,0,0,0,0,0,28.83,26.05,28.83
$GC,4018,-0.48,-146.0,409.5,-8.8,325,4019,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2173,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4317,-0.48,-146.0,437.1,-9.4,335,4323,0.00,2.25,0.00,0.000,4,0.000,0.066,3014,3581,3392,0,0,0,0,0,0,28.83,25.87,28.83
$GC,4350,-0.48,-146.0,440.0,-9.6,336,4354,0.00,2.17,0.00,0.000,6,0.000,0.047,3014,2164,3391,0,0,0,0,0,0,28.83,26.05,28.83
$GC,4672,-0.48,-146.0,471.9,-9.7,347,4674,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2163,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4973,-0.48,-146.0,500.3,-9.4,357,4978,0.00,2.25,0.00,0.000,4,0.000,0.067,3004,3580,3390,0,0,0,0,0,0,28.83,25.88,28.83
$GC,5016,-0.48,-146.0,503.5,-9.5,358,5021,0.12,2.15,0.00,0.000,6,0.135,0.047,3039,2177,3390,0,0,0,0,0,0,25.89,26.05,28.83
$GC,5329,-0.48,-146.0,529.5,-7.9,369,5335,0.00,2.22,0.00,0.000,4,0.000,0.067,3031,3580,3390,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5367,-0.48,-146.0,532.1,-8.0,370,5371,0.00,2.17,0.00,0.000,6,0.000,0.047,3031,2164,3390,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5685,-0.48,-146.0,559.0,-8.3,381,5690,0.00,2.30,0.00,0.000,4,0.000,0.067,3021,3585,3389,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5732,-0.48,-146.0,561.7,-8.3,382,5736,0.00,2.17,0.00,0.000,6,0.000,0.047,3021,2168,3389,0,0,0,0,0,0,28.83,26.05,28.83
$GC,6039,-0.48,-146.0,590.6,-9.0,392,6040,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2166,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6339,-0.48,-146.0,616.1,-8.2,402,6345,0.00,2.25,0.00,0.000,4,0.000,0.067,3011,3581,3388,0,0,0,0,0,0,28.83,25.86,28.83
$GC,6402,-0.48,-146.0,621.3,-8.5,404,6406,0.00,2.17,0.00,0.000,6,0.000,0.048,3011,2167,3387,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6724,-0.48,-146.0,649.9,-8.6,415,6725,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2164,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7025,-0.48,-146.0,675.7,-8.8,425,7031,0.10,2.25,0.00,0.000,4,0.161,0.067,3030,3579,3386,0,0,0,0,0,0,26.20,25.84,28.83
$GC,7072,-0.48,-146.0,678.2,-8.7,426,7076,0.00,2.17,0.00,0.000,6,0.000,0.048,3030,2168,3386,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7379,-0.48,-146.0,702.8,-7.4,436,7384,0.00,2.28,0.00,0.000,4,0.000,0.068,3021,3580,3385,0,0,0,0,0,0,28.83,25.83,28.83
$GC,7409,-0.48,-146.0,705.1,-7.5,437,7415,0.00,2.15,0.00,0.000,6,0.000,0.048,3021,2181,3385,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7739,-0.48,-146.0,730.1,-7.4,448,7745,0.00,2.25,0.00,0.000,4,0.000,0.068,3011,3581,3385,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7769,-0.48,-146.0,732.3,-7.3,449,7775,0.00,2.17,0.00,0.000,6,0.000,0.048,3011,2168,3385,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8099,-0.48,-146.0,757.4,-7.6,460,8100,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2167,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8399,-0.48,-146.0,780.8,-7.7,470,8404,0.00,2.28,0.00,0.000,4,0.000,0.068,3001,3581,3384,0,0,0,0,0,0,28.83,25.81,28.83
$GC,8447,-0.48,-146.0,783.3,-7.8,471,8452,0.15,2.17,0.00,0.000,6,0.125,0.049,3045,2170,3384,0,0,0,0,0,0,25.84,26.01,28.83
$GC,8755,-0.48,-146.0,804.1,-6.1,481,8761,0.00,2.30,0.00,0.000,4,0.000,0.069,3038,3584,3384,0,0,0,0,0,0,28.83,25.80,28.83
$GC,8802,-0.48,-146.0,806.0,-6.1,482,8806,0.00,2.17,0.00,0.000,6,0.000,0.049,3038,2174,3384,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9109,-0.48,-146.0,827.0,-6.3,492,9115,0.00,2.25,0.00,0.000,4,0.000,0.069,3028,3579,3383,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9148,-0.48,-146.0,829.0,-6.4,493,9152,0.00,2.17,0.00,0.000,6,0.000,0.049,3028,2171,3384,0,0,0,0,0,0,28.83,26.00,28.83
$GC,9465,-0.48,-146.0,850.6,-6.5,504,9470,0.00,2.25,0.00,0.000,4,0.000,0.069,3019,3575,3383,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9497,-0.48,-146.0,852.7,-6.5,505,9502,0.00,2.17,0.00,0.000,6,0.000,0.049,3019,2167,3383,0,0,0,0,0,0,28.83,26.00,28.83
$GC,9820,-0.48,-146.0,876.1,-7.4,516,9826,0.00,2.30,0.00,0.000,4,0.000,0.069,3009,3580,3383,0,0,0,0,0,0,28.83,25.78,28.83
$GC,9850,-0.48,-146.0,878.3,-7.4,517,9856,0.10,2.20,0.00,0.000,6,0.143,0.050,3040,2166,3382,0,0,0,0,0,0,25.86,25.99,28.83
$GC,10180,-0.48,-146.0,900.1,-6.7,528,10185,0.00,2.28,0.00,0.000,4,0.000,0.069,3033,3584,3382,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10233,-0.48,-146.0,902.1,-6.6,529,10240,0.00,2.20,0.00,0.000,6,0.000,0.050,3033,2164,3382,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10540,-0.48,-146.0,924.7,-6.8,540,10545,0.00,2.28,0.00,0.000,4,0.000,0.069,3024,3581,3382,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10583,-0.48,-146.0,927.0,-6.8,541,10588,0.00,2.17,0.00,0.000,6,0.000,0.049,3024,2173,3382,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10896,-0.48,-146.0,949.1,-6.6,552,10901,0.00,2.25,0.00,0.000,4,0.000,0.069,3014,3579,3381,0,0,0,0,0,0,28.83,25.76,28.83
$GC,10934,-0.48,-146.0,951.2,-6.7,553,10938,0.00,2.17,0.00,0.000,6,0.000,0.050,3014,2175,3381,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11251,-0.48,-146.0,974.7,-7.3,564,11257,0.00,2.30,0.00,0.000,4,0.000,0.069,3004,3604,3381,0,0,0,0,0,0,28.83,25.75,28.83
$GC,11281,-0.48,-146.0,976.9,-7.5,565,11288,0.10,2.20,0.00,0.000,6,0.105,0.050,3041,2182,3380,0,0,0,0,0,0,25.78,25.97,28.83
$STATE,11518,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11519,begin apogee
$GC,11526,-0.22,0.0,991.4,-5.9,573,11657,0.22,0.00,126.60,1.184,6,0.115,0.000,3123,2308,2794,0,0,0,0,0,0,25.93,28.83,23.56
$STATE,11660,end apogee,CONTROL_FINISHED_OK
$STATE,11660,begin climb
$GC,11663,0.48,146.0,994.5,0.0,577,11803,0.65,0.00,136.10,1.151,6,0.080,0.000,3344,2308,2198,0,0,0,0,0,0,24.51,28.83,22.73
$GC,12091,0.48,146.0,962.2,8.7,592,12097,0.00,2.35,0.00,0.000,4,0.000,0.069,3344,3701,2188,0,0,0,0,0,0,28.83,24.82,28.83
$GC,12123,0.48,146.0,959.3,8.7,593,12128,0.00,2.30,0.00,0.000,6,0.000,0.050,3354,2307,2187,0,0,0,0,0,0,28.83,24.98,28.83
$GC,12446,0.48,146.0,928.7,9.0,604,12447,0.00,0.00,0.00,0.000,6,0.000,0.000,3355,2300,2187,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12746,0.48,146.0,901.6,9.0,614,12752,0.00,2.30,0.00,0.000,4,0.000,0.070,3355,3701,2186,0,0,0,0,0,0,28.83,25.47,28.83
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$STATE,23102,end climb,SURFACE_DEPTH_REACHED
$STATE,23102,begin surface coast
$FINISH,0.9,1.014615
$STATE,23149,end surface coast,CONTROL_FINISHED_OK
$STATE,23149,begin surface
$SM_CCo,23229,0.00,0.000,0,0,1164,399.84
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$TT8_MAMPS,0.026964,0.026964
$HUMID,44.60
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,19.10
$XPDR_PINGS,0
$24V_AH,22.7,29.956
$10V_AH,10.1,25.065
$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
$DEVICE_SECS,22.175,228.375,468.200,0.000,0.000,54.070,118.623,212.707,0.000,0.000,17.439,3405.712,16255.026,608.337,3120.043,414.233,0.000,2090.857,0.000,2695.671,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,891.290,748.414,519.064,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73646,1296
$CAP_FILE_SIZE,200498,0
$CFSIZE,260165632,240349184
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.059,307.6,1
$GPS,311012,125035,4719.004,-12619.639,34,1.1,34,18.6