version: 66.11
glider: 187
mission: 2
dive: 216
start: 11 2 112 11 2 2
data:
$ID,187
$MISSION,2
$DIVE,216
$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,-1588022.1
$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,34
$R_STBD_OVSHOOT,22
$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
$GPS1,021112,105454,4731.787,-12551.832,43,0.9,43,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-74.7
$GPS2,021112,110130,4731.850,-12551.802,14,1.3,14,18.7
$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,77.0,63607,-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,17,-0.48,-146.0,0.0,0.0,0,79,0.00,0.00,-60.62,0.000,2,0.000,0.000,109,2167,2728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.48,-146.0,3.3,-3.3,10,118,11.35,2.33,-14.25,0.000,4,0.218,0.073,3022,3591,3391,0,0,0,0,0,0,25.07,25.46,25.97
$GC,250,-0.48,-146.0,37.7,-15.1,39,256,0.00,2.20,0.00,0.000,6,0.000,0.044,3022,2172,3395,0,0,0,0,0,0,28.83,25.63,28.83
$GC,573,-0.48,-146.0,80.5,-11.5,100,581,0.00,2.22,0.00,0.000,4,0.000,0.051,3022,764,3397,0,0,0,0,0,0,28.83,25.69,28.83
$GC,657,-0.48,-146.0,90.4,-12.2,115,663,0.00,2.20,0.00,0.000,6,0.000,0.050,3013,2183,3397,0,0,0,0,0,0,28.83,25.72,28.83
$GC,983,-0.48,-146.0,129.6,-12.3,168,984,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2183,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1284,-0.48,-146.0,165.8,-11.8,188,1289,0.00,2.22,0.00,0.000,4,0.000,0.063,3002,3583,3397,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1337,-0.48,-146.0,171.5,-12.4,191,1344,0.15,2.17,0.00,0.000,6,0.129,0.044,3045,2161,3397,0,0,0,0,0,0,25.72,25.91,28.83
$GC,1651,-0.48,-146.0,202.3,-9.2,212,1657,0.00,2.30,0.00,0.000,4,0.000,0.063,3037,3592,3397,0,0,0,0,0,0,28.83,25.78,28.83
$GC,1693,-0.48,-146.0,206.3,-9.4,214,1697,0.00,2.17,0.00,0.000,6,0.000,0.044,3037,2167,3397,0,0,0,0,0,0,28.83,25.95,28.83
$GC,2005,-0.48,-146.0,236.0,-9.0,230,2007,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2164,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2306,-0.48,-146.0,262.9,-8.9,245,2312,0.00,2.28,0.00,0.000,4,0.000,0.063,3027,3583,3396,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2358,-0.48,-146.0,266.9,-9.3,247,2365,0.00,2.15,0.00,0.000,6,0.000,0.044,3026,2172,3396,0,0,0,0,0,0,28.83,26.00,28.83
$GC,2665,-0.48,-146.0,297.3,-9.6,263,2667,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2171,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2966,-0.48,-146.0,324.8,-9.0,278,2967,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2171,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3267,-0.48,-146.0,351.4,-8.8,293,3272,0.00,2.25,0.00,0.000,4,0.000,0.063,3017,3586,3395,0,0,0,0,0,0,28.83,25.85,28.83
$GC,3318,-0.48,-146.0,354.8,-8.8,295,3325,0.00,2.15,0.00,0.000,6,0.000,0.045,3016,2177,3395,0,0,0,0,0,0,28.83,26.03,28.83
$GC,3626,-0.48,-146.0,385.2,-9.4,311,3627,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2175,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3935,-0.48,-146.0,413.9,-9.1,324,3937,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2176,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4235,-0.48,-146.0,441.2,-9.0,334,4241,0.00,2.25,0.00,0.000,4,0.000,0.065,3007,3588,3394,0,0,0,0,0,0,28.83,25.84,28.83
$GC,4279,-0.48,-146.0,444.0,-9.2,335,4284,0.12,2.15,0.00,0.000,6,0.134,0.046,3043,2179,3394,0,0,0,0,0,0,25.87,26.03,28.83
$GC,4592,-0.48,-146.0,470.0,-7.9,346,4597,0.00,2.25,0.00,0.000,4,0.000,0.065,3034,3582,3394,0,0,0,0,0,0,28.83,25.84,28.83
$GC,4615,-0.48,-146.0,470.0,-7.9,346,4621,0.00,2.15,0.00,0.000,6,0.000,0.047,3034,2171,3394,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4923,-0.48,-146.0,498.8,-8.8,357,4924,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2171,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5222,-0.48,-146.0,525.5,-9.1,367,5227,0.00,2.28,0.00,0.000,4,0.000,0.066,3025,3593,3392,0,0,0,0,0,0,28.83,25.83,28.83
$GC,5312,-0.48,-146.0,534.2,-9.6,370,5317,0.00,2.17,0.00,0.000,6,0.000,0.047,3025,2174,3392,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5643,-0.48,-146.0,566.0,-9.6,381,5648,0.00,2.25,0.00,0.000,4,0.000,0.067,3014,3585,3391,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5690,-0.48,-146.0,568.9,-9.6,382,5694,0.00,2.15,0.00,0.000,6,0.000,0.047,3014,2177,3391,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5997,-0.48,-146.0,600.8,-9.6,392,6000,0.00,2.17,0.00,0.000,4,0.000,0.054,3014,774,3391,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6062,-0.48,-146.0,607.1,-9.9,394,6066,0.12,2.17,0.00,0.000,6,0.145,0.054,3040,2178,3391,0,0,0,0,0,0,25.79,25.93,28.83
$GC,6385,-0.48,-146.0,631.7,-7.2,405,6391,0.00,2.22,0.00,0.000,4,0.000,0.067,3031,3583,3390,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6525,-0.48,-146.0,641.3,-7.9,409,6533,0.00,2.12,0.00,0.000,6,0.000,0.047,3031,2181,3390,0,0,0,0,0,0,28.83,26.02,28.83
$GC,6834,-0.48,-146.0,668.5,-8.3,420,6836,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2179,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7134,-0.48,-146.0,692.6,-8.0,430,7140,0.00,2.28,0.00,0.000,4,0.000,0.067,3021,3587,3389,0,0,0,0,0,0,28.83,25.80,28.83
$GC,7165,-0.48,-146.0,695.0,-8.1,431,7171,0.00,2.17,0.00,0.000,6,0.000,0.047,3021,2169,3389,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7495,-0.48,-146.0,722.4,-8.2,442,7496,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2167,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7794,-0.48,-146.0,746.4,-8.0,452,7796,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2167,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8095,-0.48,-146.0,769.1,-7.5,462,8101,0.00,2.30,0.00,0.000,4,0.000,0.067,3011,3590,3388,0,0,0,0,0,0,28.83,25.79,28.83
$GC,8142,-0.48,-146.0,771.5,-7.6,463,8146,0.00,2.17,0.00,0.000,6,0.000,0.048,3012,2175,3387,0,0,0,0,0,0,28.83,26.00,28.83
$GC,8450,-0.48,-146.0,800.2,-9.4,473,8455,0.00,2.25,0.00,0.000,4,0.000,0.067,3002,3583,3387,0,0,0,0,0,0,28.83,25.78,28.83
$GC,8503,-0.48,-146.0,803.1,-9.5,474,8510,0.15,2.17,0.00,0.000,6,0.125,0.048,3045,2168,3387,0,0,0,0,0,0,25.81,25.99,28.83
$GC,8810,-0.48,-146.0,827.3,-7.1,485,8815,0.00,2.25,0.00,0.000,4,0.000,0.068,3037,3577,3386,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8858,-0.48,-146.0,829.5,-7.2,486,8862,0.00,2.17,0.00,0.000,6,0.000,0.049,3037,2168,3386,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9165,-0.48,-146.0,853.1,-6.7,496,9171,0.00,2.30,0.00,0.000,4,0.000,0.068,3028,3581,3386,0,0,0,0,0,0,28.83,25.76,28.83
$GC,9218,-0.48,-146.0,855.0,-6.6,497,9225,0.00,2.17,0.00,0.000,6,0.000,0.049,3027,2168,3386,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9525,-0.48,-146.0,877.9,-6.9,508,9531,0.00,2.28,0.00,0.000,4,0.000,0.068,3018,3584,3385,0,0,0,0,0,0,28.83,25.75,28.83
$GC,9556,-0.48,-146.0,880.2,-7.0,509,9561,0.00,2.17,0.00,0.000,6,0.000,0.049,3018,2173,3386,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9885,-0.48,-146.0,904.9,-7.2,520,9890,0.00,2.28,0.00,0.000,4,0.000,0.068,3009,3583,3385,0,0,0,0,0,0,28.83,25.75,28.83
$GC,9915,-0.48,-146.0,907.3,-7.3,521,9921,0.10,2.20,0.00,0.000,6,0.144,0.049,3041,2168,3385,0,0,0,0,0,0,25.82,25.96,28.83
$GC,10245,-0.48,-146.0,926.0,-5.6,532,10251,0.00,2.28,0.00,0.000,4,0.000,0.069,3033,3579,3384,0,0,0,0,0,0,28.83,25.74,28.83
$GC,10307,-0.48,-146.0,929.6,-5.7,534,10311,0.00,2.20,0.00,0.000,6,0.000,0.050,3033,2163,3385,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10636,-0.48,-146.0,950.4,-6.5,545,10641,0.00,2.28,0.00,0.000,4,0.000,0.069,3023,3579,3385,0,0,0,0,0,0,28.83,25.75,28.83
$GC,10727,-0.48,-146.0,956.6,-6.8,548,10731,0.00,2.17,0.00,0.000,6,0.000,0.050,3023,2173,3384,0,0,0,0,0,0,28.83,25.95,28.83
$GC,11050,-0.48,-146.0,978.4,-6.7,559,11056,0.00,2.28,0.00,0.000,4,0.000,0.069,3014,3581,3384,0,0,0,0,0,0,28.83,25.72,28.83
$GC,11110,-0.48,-146.0,982.7,-6.9,561,11114,0.00,2.20,0.00,0.000,6,0.000,0.050,3014,2174,3384,0,0,0,0,0,0,28.83,25.94,28.83
$STATE,11229,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11230,begin apogee
$GC,11237,-0.22,0.0,991.6,-7.3,565,11368,0.32,0.00,127.18,1.183,6,0.112,0.000,3125,2314,2794,0,0,0,0,0,0,25.76,28.83,23.56
$STATE,11372,end apogee,CONTROL_FINISHED_OK
$STATE,11372,begin climb
$GC,11374,0.48,146.0,995.1,0.0,569,11514,0.65,0.00,135.85,1.149,6,0.078,0.000,3348,2314,2198,0,0,0,0,0,0,24.52,28.83,22.73
$GC,11802,0.48,146.0,961.9,8.8,584,11808,0.00,2.35,0.00,0.000,4,0.000,0.069,3348,3715,2188,0,0,0,0,0,0,28.83,24.83,28.83
$GC,11855,0.48,146.0,959.0,8.9,585,11862,0.00,2.28,0.00,0.000,6,0.000,0.050,3359,2309,2187,0,0,0,0,0,0,28.83,25.03,28.83
$GC,12162,0.48,146.0,928.9,8.7,596,12168,0.00,2.33,0.00,0.000,4,0.000,0.069,3359,3708,2186,0,0,0,0,0,0,28.83,25.31,28.83
$GC,12230,0.48,146.0,922.7,9.4,598,12234,0.00,2.25,0.00,0.000,6,0.000,0.050,3370,2294,2186,0,0,0,0,0,0,28.83,25.47,28.83
$GC,12548,0.48,146.0,890.6,10.2,609,12549,0.00,0.00,0.00,0.000,6,0.000,0.000,3370,2288,2185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12847,0.48,146.0,856.2,11.7,619,12853,0.00,2.33,0.00,0.000,4,0.000,0.069,3369,3710,2185,0,0,0,0,0,0,28.83,25.58,28.83
$GC,12880,0.48,146.0,852.5,11.9,620,12885,0.12,2.22,0.00,0.000,6,0.168,0.051,3350,2302,2184,0,0,0,0,0,0,25.50,25.72,28.83
$GC,13203,0.48,146.0,817.9,10.5,631,13209,0.00,2.28,0.00,0.000,4,0.000,0.070,3350,3700,2184,0,0,0,0,0,0,28.83,25.64,28.83
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$STATE,22567,end climb,SURFACE_DEPTH_REACHED
$STATE,22567,begin surface coast
$FINISH,1.3,1.013023
$STATE,22604,end surface coast,CONTROL_FINISHED_OK
$STATE,22604,begin surface
$SM_CCo,22683,0.00,0.000,0,0,1408,339.99
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$IRIDIUM_FIX,4710.21,-12545.96,021112,040412
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.73
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,19.30
$XPDR_PINGS,1
$24V_AH,22.7,31.062
$10V_AH,10.1,25.969
$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
$DEVICE_SECS,22.000,192.825,421.475,0.000,0.000,25.154,36.864,201.999,0.250,0.000,17.031,3347.896,15787.065,577.316,2960.972,397.639,0.000,1997.511,0.000,2669.344,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
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$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,73541,1280
$CAP_FILE_SIZE,188663,0
$CFSIZE,260165632,239665152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.151,344.3,1
$GPS,021112,172214,4733.280,-12547.727,71,2.3,90,18.7