version: 66.11
glider: 187
mission: 2
dive: 210
start: 10 31 112 19 36 33
data:
$ID,187
$MISSION,2
$DIVE,210
$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,-1588014.2
$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,27
$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
$GPS1,311012,192924,4720.927,-12615.605,43,1.0,43,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-75.8
$GPS2,311012,193601,4720.979,-12615.644,14,1.7,14,18.6
$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,59.0,99414,-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,-146.0,0.0,0.0,0,92,0.00,0.00,-73.30,0.000,2,0.000,0.000,112,2175,2714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.48,-146.0,3.1,-3.8,12,130,11.35,2.30,-14.38,0.000,4,0.219,0.073,3024,3592,3391,0,0,0,0,0,0,25.13,25.51,26.01
$GC,247,-0.48,-146.0,34.9,-13.5,39,255,0.00,2.25,0.00,0.000,6,0.000,0.043,3023,2151,3393,0,0,0,0,0,0,28.83,25.67,28.83
$GC,565,-0.48,-146.0,80.8,-14.0,100,571,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2147,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,876,-0.48,-146.0,120.5,-11.3,161,878,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2147,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1177,-0.48,-146.0,154.4,-11.1,181,1182,0.00,2.28,0.00,0.000,4,0.000,0.062,3013,3585,3396,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1200,-0.48,-146.0,156.2,-11.1,182,1207,0.00,2.20,0.00,0.000,6,0.000,0.044,3012,2174,3396,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1507,-0.48,-146.0,192.1,-11.1,203,1513,0.00,2.12,0.00,0.000,4,0.000,0.051,3013,778,3396,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1537,-0.48,-146.0,195.4,-11.0,205,1543,0.10,2.15,0.00,0.000,6,0.119,0.050,3040,2180,3396,0,0,0,0,0,0,25.72,25.90,28.83
$GC,1857,-0.48,-146.0,223.2,-8.8,222,1862,0.00,2.20,0.00,0.000,4,0.000,0.063,3032,3583,3396,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1924,-0.48,-146.0,228.8,-9.2,225,1928,0.00,2.17,0.00,0.000,6,0.000,0.044,3031,2162,3396,0,0,0,0,0,0,28.83,26.00,28.83
$GC,2232,-0.48,-146.0,259.5,-9.3,240,2238,0.00,2.28,0.00,0.000,4,0.000,0.063,3021,3595,3396,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2274,-0.48,-146.0,263.4,-9.3,242,2279,0.00,2.17,0.00,0.000,6,0.000,0.042,3021,2166,3396,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2587,-0.48,-146.0,294.1,-9.9,258,2592,0.00,2.12,0.00,0.000,4,0.000,0.050,3021,774,3395,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2609,-0.48,-146.0,296.2,-10.0,259,2613,0.00,2.17,0.00,0.000,6,0.000,0.051,3012,2179,3395,0,0,0,0,0,0,28.83,25.95,28.83
$GC,2923,-0.48,-146.0,329.5,-10.6,275,2928,0.00,2.20,0.00,0.000,4,0.000,0.064,3002,3583,3395,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2955,-0.48,-146.0,331.7,-10.8,276,2962,0.15,2.15,0.00,0.000,6,0.129,0.045,3045,2170,3395,0,0,0,0,0,0,25.85,26.04,28.83
$GC,3262,-0.48,-146.0,360.2,-8.6,292,3267,0.00,2.25,0.00,0.000,4,0.000,0.064,3037,3590,3394,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3285,-0.48,-146.0,362.0,-8.6,293,3289,0.00,2.17,0.00,0.000,6,0.000,0.045,3037,2165,3394,0,0,0,0,0,0,28.83,26.05,28.83
$GC,3597,-0.48,-146.0,389.4,-8.5,309,3599,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2163,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3918,-0.48,-146.0,415.8,-8.1,322,3923,0.00,2.25,0.00,0.000,4,0.000,0.065,3027,3585,3392,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3940,-0.48,-146.0,415.8,-8.1,322,3947,0.00,2.15,0.00,0.000,6,0.000,0.046,3026,2175,3392,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4247,-0.48,-146.0,444.5,-8.7,333,4249,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2174,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4548,-0.48,-146.0,471.3,-8.9,343,4553,0.00,2.25,0.00,0.000,4,0.000,0.066,3017,3591,3391,0,0,0,0,0,0,28.83,25.88,28.83
$GC,4600,-0.48,-146.0,474.1,-9.0,344,4607,0.00,2.17,0.00,0.000,6,0.000,0.047,3016,2170,3391,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4907,-0.48,-146.0,504.8,-9.3,355,4909,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2167,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5208,-0.48,-146.0,531.8,-8.9,365,5213,0.00,2.28,0.00,0.000,4,0.000,0.066,3007,3596,3390,0,0,0,0,0,0,28.83,25.87,28.83
$GC,5245,-0.48,-146.0,534.8,-9.1,366,5250,0.12,2.17,0.00,0.000,6,0.134,0.045,3043,2174,3390,0,0,0,0,0,0,25.90,26.07,28.83
$GC,5563,-0.48,-146.0,559.9,-7.4,377,5569,0.00,2.28,0.00,0.000,4,0.000,0.066,3034,3592,3389,0,0,0,0,0,0,28.83,25.87,28.83
$GC,5587,-0.48,-146.0,559.9,-7.4,377,5593,0.00,2.17,0.00,0.000,6,0.000,0.047,3034,2171,3389,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5894,-0.48,-146.0,585.0,-7.4,388,5895,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2170,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6194,-0.48,-146.0,606.2,-6.9,398,6199,0.00,2.30,0.00,0.000,4,0.000,0.067,3025,3594,3388,0,0,0,0,0,0,28.83,25.86,28.83
$GC,6232,-0.48,-146.0,608.3,-6.9,399,6236,0.00,2.17,0.00,0.000,6,0.000,0.046,3025,2171,3388,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6549,-0.48,-146.0,632.8,-7.9,410,6550,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2169,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6850,-0.48,-146.0,657.8,-8.5,420,6855,0.00,2.22,0.00,0.000,4,0.000,0.067,3014,3573,3386,0,0,0,0,0,0,28.83,25.86,28.83
$GC,6887,-0.48,-146.0,660.4,-8.5,421,6891,0.00,2.15,0.00,0.000,6,0.000,0.047,3014,2169,3386,0,0,0,0,0,0,28.83,26.04,28.83
$GC,7205,-0.48,-146.0,689.3,-8.8,432,7206,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2167,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7504,-0.48,-146.0,713.8,-8.1,442,7510,0.00,2.28,0.00,0.000,4,0.000,0.067,3005,3586,3386,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7552,-0.48,-146.0,716.4,-8.2,443,7557,0.12,2.17,0.00,0.000,6,0.134,0.048,3040,2168,3385,0,0,0,0,0,0,25.87,26.03,28.83
$GC,7860,-0.48,-146.0,737.1,-6.1,453,7866,0.00,2.30,0.00,0.000,4,0.000,0.067,3032,3603,3385,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7893,-0.48,-146.0,739.0,-6.3,454,7897,0.00,2.22,0.00,0.000,6,0.000,0.048,3032,2171,3384,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8215,-0.48,-146.0,761.7,-6.9,465,8221,0.00,2.25,0.00,0.000,4,0.000,0.067,3022,3582,3385,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8245,-0.48,-146.0,763.9,-7.0,466,8250,0.00,2.17,0.00,0.000,6,0.000,0.048,3022,2175,3384,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8575,-0.48,-146.0,788.4,-7.4,477,8580,0.00,2.28,0.00,0.000,4,0.000,0.068,3012,3585,3384,0,0,0,0,0,0,28.83,25.81,28.83
$GC,8618,-0.48,-146.0,790.9,-7.6,478,8622,0.00,2.17,0.00,0.000,6,0.000,0.048,3012,2177,3384,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8930,-0.48,-146.0,818.4,-8.4,489,8936,0.00,2.28,0.00,0.000,4,0.000,0.068,3002,3586,3384,0,0,0,0,0,0,28.83,25.80,28.83
$GC,8960,-0.48,-146.0,821.0,-8.5,490,8966,0.12,2.20,0.00,0.000,6,0.133,0.049,3038,2167,3384,0,0,0,0,0,0,25.85,26.01,28.83
$GC,9291,-0.48,-146.0,844.6,-7.2,501,9292,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2164,3383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9591,-0.48,-146.0,866.1,-7.1,511,9596,0.00,2.25,0.00,0.000,4,0.000,0.069,3030,3576,3383,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9643,-0.48,-146.0,868.0,-7.1,512,9650,0.00,2.17,0.00,0.000,6,0.000,0.050,3030,2165,3383,0,0,0,0,0,0,28.83,26.00,28.83
$GC,9951,-0.48,-146.0,891.4,-6.9,523,9952,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2165,3383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10251,-0.48,-146.0,910.7,-6.3,533,10256,0.00,2.30,0.00,0.000,4,0.000,0.069,3021,3582,3382,0,0,0,0,0,0,28.83,25.78,28.83
$GC,10294,-0.48,-146.0,912.9,-6.4,534,10298,0.00,2.17,0.00,0.000,6,0.000,0.050,3021,2173,3382,0,0,0,0,0,0,28.83,25.99,28.83
$GC,10607,-0.48,-146.0,935.4,-6.8,545,10608,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2173,3382,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10906,-0.48,-146.0,955.2,-6.7,555,10912,0.00,2.25,0.00,0.000,4,0.000,0.069,3012,3575,3382,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10954,-0.48,-146.0,957.1,-6.7,556,10959,0.00,2.17,0.00,0.000,6,0.000,0.050,3011,2168,3381,0,0,0,0,0,0,28.83,25.98,28.83
$GC,11261,-0.48,-146.0,981.2,-7.6,566,11267,0.00,2.28,0.00,0.000,4,0.000,0.069,3002,3584,3381,0,0,0,0,0,0,28.83,25.76,28.83
$GC,11299,-0.48,-146.0,983.7,-7.8,567,11304,0.15,2.17,0.00,0.000,6,0.123,0.050,3045,2175,3381,0,0,0,0,0,0,25.80,25.98,28.83
$STATE,11404,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11404,begin apogee
$GC,11411,-0.22,0.0,990.9,-6.2,571,11543,0.22,0.00,126.82,1.183,6,0.112,0.000,3126,2306,2793,0,0,0,0,0,0,25.95,28.83,23.56
$STATE,11546,end apogee,CONTROL_FINISHED_OK
$STATE,11546,begin climb
$GC,11549,0.48,146.0,994.2,0.0,575,11688,0.62,0.00,136.05,1.151,6,0.079,0.000,3342,2306,2198,0,0,0,0,0,0,24.51,28.83,22.73
$GC,11977,0.48,146.0,963.0,8.5,590,11982,0.00,2.35,0.00,0.000,4,0.000,0.069,3342,3694,2188,0,0,0,0,0,0,28.83,24.82,28.83
$GC,12016,0.48,146.0,960.1,8.6,591,12022,0.00,2.25,0.00,0.000,6,0.000,0.050,3352,2310,2187,0,0,0,0,0,0,28.83,25.00,28.83
$GC,12337,0.48,146.0,929.9,9.1,602,12338,0.00,0.00,0.00,0.000,6,0.000,0.000,3352,2305,2186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12637,0.48,146.0,901.6,9.4,612,12643,0.00,2.28,0.00,0.000,4,0.000,0.059,3362,891,2185,0,0,0,0,0,0,28.83,25.52,28.83
$GC,12669,0.48,146.0,898.7,9.5,613,12673,0.00,2.28,0.00,0.000,6,0.000,0.058,3363,2299,2185,0,0,0,0,0,0,28.83,25.53,28.83
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$STATE,22858,end climb,SURFACE_DEPTH_REACHED
$STATE,22858,begin surface coast
$FINISH,1.1,1.005793
$STATE,22901,end surface coast,CONTROL_FINISHED_OK
$STATE,22901,begin surface
$SM_CCo,22981,0.00,0.000,0,0,1230,383.40
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$IRIDIUM_FIX,4700.70,-12617.28,311012,121232
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.48
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,19.00
$XPDR_PINGS,1
$24V_AH,22.7,30.236
$10V_AH,10.2,25.287
$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,21.800,184.000,456.500,0.000,0.000,28.187,41.351,196.164,0.250,0.000,15.354,3294.856,16291.051,593.999,2804.608,386.625,0.000,1959.182,0.000,2516.659,0.000,0.536,0.000
$DEVICE_MAMPS,218.790,88.740,1182.690,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,873.284,728.241,487.615,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70219,1270
$CAP_FILE_SIZE,184815,0
$CFSIZE,260165632,240185344
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.071,295.5,1
$GPS,011112,020124,4721.875,-12611.424,72,1.1,72,18.6