version: 66.11
glider: 187
mission: 2
dive: 209
start: 10 31 112 12 57 48
data:
$ID,187
$MISSION,2
$DIVE,209
$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,-1588012.9
$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,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
$GPS1,311012,125035,4719.004,-12619.639,34,1.1,34,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-73.7
$GPS2,311012,125718,4719.004,-12619.557,9,1.1,14,18.6
$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,50.9,105495,-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,-146.0,0.0,0.0,0,87,0.00,0.00,-68.20,0.000,2,0.000,0.000,111,2154,2695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.48,-146.0,3.2,-3.8,11,125,11.35,2.33,-14.82,0.000,4,0.219,0.073,3025,3592,3391,0,0,0,0,0,0,25.11,25.49,26.01
$GC,230,-0.48,-146.0,34.1,-17.4,36,238,0.00,2.25,0.00,0.000,6,0.000,0.043,3024,2175,3394,0,0,0,0,0,0,28.83,25.65,28.83
$GC,546,-0.48,-146.0,80.5,-14.5,97,552,0.00,2.17,0.00,0.000,4,0.000,0.050,3024,767,3397,0,0,0,0,0,0,28.83,25.71,28.83
$GC,580,-0.48,-146.0,85.4,-14.5,103,588,0.00,2.22,0.00,0.000,6,0.000,0.050,3014,2177,3396,0,0,0,0,0,0,28.83,25.72,28.83
$GC,903,-0.48,-146.0,129.8,-12.4,156,905,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2177,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1204,-0.48,-146.0,165.7,-12.0,176,1209,0.00,2.20,0.00,0.000,4,0.000,0.062,3004,3578,3397,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1233,-0.48,-146.0,169.5,-12.0,178,1240,0.12,2.17,0.00,0.000,6,0.135,0.044,3039,2166,3397,0,0,0,0,0,0,25.75,25.92,28.83
$GC,1551,-0.48,-146.0,197.5,-8.8,199,1552,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2163,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1860,-0.48,-146.0,225.3,-9.0,215,1861,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2163,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2158,-0.48,-146.0,252.3,-9.0,230,2159,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2163,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2458,-0.48,-146.0,278.2,-8.5,245,2460,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2163,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2759,-0.48,-146.0,303.2,-8.6,260,2764,0.00,2.25,0.00,0.000,4,0.000,0.063,3030,3585,3395,0,0,0,0,0,0,28.83,25.88,28.83
$GC,2791,-0.48,-146.0,304.9,-8.6,261,2798,0.00,2.17,0.00,0.000,6,0.000,0.045,3030,2164,3395,0,0,0,0,0,0,28.83,26.04,28.83
$GC,3098,-0.48,-146.0,334.1,-9.3,277,3100,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2164,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3399,-0.48,-146.0,362.1,-9.2,292,3405,0.00,2.28,0.00,0.000,4,0.000,0.064,3020,3584,3394,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3441,-0.48,-146.0,365.8,-9.2,294,3446,0.00,2.15,0.00,0.000,6,0.000,0.045,3020,2177,3394,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3754,-0.48,-146.0,395.5,-9.2,310,3755,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2175,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4054,-0.48,-146.0,424.5,-9.9,321,4059,0.00,2.25,0.00,0.000,4,0.000,0.065,3010,3593,3393,0,0,0,0,0,0,28.83,25.88,28.83
$GC,4086,-0.48,-146.0,427.6,-10.0,322,4091,0.12,2.17,0.00,0.000,6,0.130,0.046,3046,2175,3393,0,0,0,0,0,0,25.91,26.06,28.83
$GC,4409,-0.48,-146.0,453.6,-7.8,333,4410,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2171,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4709,-0.48,-146.0,475.3,-7.0,343,4715,0.00,2.25,0.00,0.000,4,0.000,0.066,3038,3587,3391,0,0,0,0,0,0,28.83,25.88,28.83
$GC,4739,-0.48,-146.0,477.6,-7.0,344,4745,0.00,2.17,0.00,0.000,6,0.000,0.047,3037,2168,3392,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5070,-0.48,-146.0,501.5,-6.9,355,5071,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2165,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5369,-0.48,-146.0,522.8,-7.2,365,5375,0.00,2.25,0.00,0.000,4,0.000,0.066,3028,3583,3390,0,0,0,0,0,0,28.83,25.87,28.83
$GC,5422,-0.48,-146.0,524.9,-7.1,366,5429,0.00,2.17,0.00,0.000,6,0.000,0.047,3028,2165,3390,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5729,-0.48,-146.0,550.1,-7.8,377,5735,0.00,2.28,0.00,0.000,4,0.000,0.067,3017,3587,3390,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5759,-0.48,-146.0,552.6,-7.9,378,5765,0.00,2.17,0.00,0.000,6,0.000,0.047,3017,2176,3390,0,0,0,0,0,0,28.83,26.05,28.83
$GC,6089,-0.48,-146.0,581.0,-8.7,389,6090,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2175,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6389,-0.48,-146.0,607.1,-8.7,399,6395,0.00,2.22,0.00,0.000,4,0.000,0.067,3007,3580,3389,0,0,0,0,0,0,28.83,25.86,28.83
$GC,6432,-0.48,-146.0,610.0,-8.8,400,6437,0.12,2.17,0.00,0.000,6,0.132,0.047,3043,2176,3388,0,0,0,0,0,0,25.89,26.04,28.83
$GC,6745,-0.48,-146.0,634.7,-7.5,411,6750,0.00,2.28,0.00,0.000,4,0.000,0.067,3035,3590,3388,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6776,-0.48,-146.0,636.9,-7.5,412,6781,0.00,2.17,0.00,0.000,6,0.000,0.048,3034,2176,3388,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7105,-0.48,-146.0,661.6,-7.2,423,7111,0.00,2.22,0.00,0.000,4,0.000,0.068,3025,3580,3387,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7138,-0.48,-146.0,663.9,-7.2,424,7142,0.00,2.17,0.00,0.000,6,0.000,0.048,3025,2168,3387,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7461,-0.48,-146.0,688.0,-7.2,435,7462,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2165,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7760,-0.48,-146.0,709.2,-6.9,445,7766,0.00,2.30,0.00,0.000,4,0.000,0.068,3015,3586,3386,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7813,-0.48,-146.0,711.8,-7.2,446,7820,0.00,2.17,0.00,0.000,6,0.000,0.048,3015,2172,3386,0,0,0,0,0,0,28.83,26.02,28.83
$GC,8120,-0.48,-146.0,737.1,-7.9,457,8126,0.00,2.25,0.00,0.000,4,0.000,0.068,3005,3585,3385,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8153,-0.48,-146.0,739.6,-7.8,458,8158,0.12,2.17,0.00,0.000,6,0.132,0.048,3041,2174,3385,0,0,0,0,0,0,25.86,26.02,28.83
$GC,8476,-0.48,-146.0,761.5,-6.7,469,8477,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2171,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8777,-0.48,-146.0,782.1,-6.9,479,8782,0.00,2.25,0.00,0.000,4,0.000,0.068,3033,3580,3385,0,0,0,0,0,0,28.83,25.81,28.83
$GC,8849,-0.48,-146.0,786.4,-7.1,481,8853,0.00,2.17,0.00,0.000,6,0.000,0.049,3034,2171,3384,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9162,-0.48,-146.0,809.0,-6.9,492,9167,0.00,2.25,0.00,0.000,4,0.000,0.068,3024,3577,3384,0,0,0,0,0,0,28.83,25.80,28.83
$GC,9210,-0.48,-146.0,811.1,-7.0,493,9219,0.00,2.17,0.00,0.000,6,0.000,0.049,3024,2168,3384,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9521,-0.48,-146.0,835.7,-7.5,504,9522,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2167,3383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9821,-0.48,-146.0,857.2,-7.1,514,9827,0.00,2.28,0.00,0.000,4,0.000,0.069,3013,3583,3383,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9894,-0.48,-146.0,862.0,-7.5,516,9899,0.00,2.17,0.00,0.000,6,0.000,0.049,3013,2175,3383,0,0,0,0,0,0,28.83,26.00,28.83
$GC,10208,-0.48,-146.0,886.0,-7.2,527,10213,0.00,2.25,0.00,0.000,4,0.000,0.068,3004,3578,3383,0,0,0,0,0,0,28.83,25.78,28.83
$GC,10250,-0.48,-146.0,888.5,-7.5,528,10255,0.12,2.20,0.00,0.000,6,0.132,0.049,3040,2167,3383,0,0,0,0,0,0,25.83,25.98,28.83
$GC,10563,-0.48,-146.0,908.3,-6.1,539,10569,0.00,2.25,0.00,0.000,4,0.000,0.069,3032,3576,3383,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10596,-0.48,-146.0,910.5,-6.3,540,10600,0.00,2.17,0.00,0.000,6,0.000,0.050,3032,2171,3383,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10919,-0.48,-146.0,932.4,-6.6,551,10924,0.00,2.25,0.00,0.000,4,0.000,0.069,3022,3577,3382,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10972,-0.48,-146.0,934.5,-6.7,552,10978,0.00,2.17,0.00,0.000,6,0.000,0.050,3022,2171,3382,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11279,-0.48,-146.0,956.9,-6.7,563,11284,0.00,2.30,0.00,0.000,4,0.000,0.069,3012,3584,3382,0,0,0,0,0,0,28.83,25.75,28.83
$GC,11311,-0.48,-146.0,959.1,-6.8,564,11315,0.00,2.20,0.00,0.000,6,0.000,0.050,3012,2172,3382,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11639,-0.48,-146.0,982.8,-7.1,575,11644,0.00,2.25,0.00,0.000,4,0.000,0.069,3003,3576,3381,0,0,0,0,0,0,28.83,25.75,28.83
$GC,11671,-0.48,-146.0,985.2,-7.2,576,11676,0.12,2.17,0.00,0.000,6,0.132,0.050,3038,2172,3381,0,0,0,0,0,0,25.82,25.96,28.83
$STATE,11751,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11751,begin apogee
$GC,11759,-0.22,0.0,990.3,-6.5,579,11890,0.22,0.00,126.40,1.184,6,0.113,0.000,3119,2313,2793,0,0,0,0,0,0,25.92,28.83,23.57
$STATE,11893,end apogee,CONTROL_FINISHED_OK
$STATE,11893,begin climb
$GC,11897,0.48,146.0,993.5,0.0,583,12036,0.68,0.00,135.70,1.152,6,0.079,0.000,3349,2313,2198,0,0,0,0,0,0,24.53,28.83,22.73
$GC,12327,0.48,146.0,957.6,9.9,598,12333,0.00,2.33,0.00,0.000,4,0.000,0.068,3349,3695,2188,0,0,0,0,0,0,28.83,24.82,28.83
$GC,12374,0.48,146.0,954.2,10.1,599,12378,0.00,2.28,0.00,0.000,6,0.000,0.050,3359,2306,2187,0,0,0,0,0,0,28.83,25.01,28.83
$GC,12682,0.48,146.0,920.2,10.3,609,12683,0.00,0.00,0.00,0.000,6,0.000,0.000,3359,2299,2186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12981,0.48,146.0,888.3,10.9,619,12986,0.00,2.33,0.00,0.000,4,0.000,0.069,3359,3702,2185,0,0,0,0,0,0,28.83,25.47,28.83
$GC,13029,0.48,146.0,884.9,11.0,620,13033,0.00,2.25,0.00,0.000,6,0.000,0.051,3370,2291,2185,0,0,0,0,0,0,28.83,25.60,28.83
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$STATE,23292,end climb,SURFACE_DEPTH_REACHED
$STATE,23292,begin surface coast
$FINISH,0.9,1.001530
$STATE,23335,end surface coast,CONTROL_FINISHED_OK
$STATE,23335,begin surface
$SM_CCo,23415,0.00,0.000,0,0,1066,423.63
$SM_GC,1.84,8.35,0.20,0.00,0.028,0.072,0.000,112,2175,1066,-9.46,0.93,423.63,0,0,0,0,0,0,25.81,25.76,28.83
$IRIDIUM_FIX,4703.87,-12626.16,311012,060644
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.92
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,15.50
$XPDR_PINGS,0
$24V_AH,22.7,30.099
$10V_AH,10.2,25.177
$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,21.900,188.100,487.775,0.000,0.000,25.451,35.513,205.855,0.000,0.000,17.524,3343.168,16585.867,604.577,2870.686,401.960,0.000,2013.643,0.000,2577.437,0.000,0.535,0.000
$DEVICE_MAMPS,218.790,84.150,1184.220,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,883.646,737.360,506.447,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296800
$DATA_FILE_SIZE,73652,1285
$CAP_FILE_SIZE,189940,0
$CFSIZE,260165632,240267264
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.087,314.4,1
$GPS,311012,192924,4720.927,-12615.605,43,1.0,43,18.6