version: 66.11
glider: 187
mission: 2
dive: 217
start: 11 2 112 17 32 33
data:
$ID,187
$MISSION,2
$DIVE,217
$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,-1588023.4
$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,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
$GPS1,021112,172214,4733.280,-12547.727,71,2.3,90,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-67.4
$GPS2,021112,173203,4733.289,-12547.716,17,2.3,36,18.7
$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,74.4,57936,-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,-146.0,0.0,0.0,0,81,0.00,0.00,-61.83,0.000,2,0.000,0.000,105,2163,2821,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.48,-146.0,3.5,-3.6,10,114,11.52,2.38,-11.38,0.000,4,0.223,0.073,3025,3588,3392,0,0,0,0,0,0,25.08,25.51,26.01
$GC,261,-0.48,-146.0,39.1,-13.4,41,268,0.00,2.20,0.00,0.000,6,0.000,0.044,3024,2166,3395,0,0,0,0,0,0,28.83,25.66,28.83
$GC,586,-0.48,-146.0,78.3,-11.3,102,592,0.00,2.17,0.00,0.000,4,0.000,0.050,3024,760,3398,0,0,0,0,0,0,28.83,25.71,28.83
$GC,679,-0.48,-146.0,88.7,-11.7,119,685,0.00,2.20,0.00,0.000,6,0.000,0.050,3014,2182,3398,0,0,0,0,0,0,28.83,25.74,28.83
$GC,1007,-0.48,-146.0,130.2,-13.1,172,1012,0.00,2.20,0.00,0.000,4,0.000,0.062,3004,3579,3397,0,0,0,0,0,0,28.83,25.73,28.83
$GC,1060,-0.48,-146.0,136.2,-13.4,175,1068,0.12,2.15,0.00,0.000,6,0.139,0.044,3038,2168,3397,0,0,0,0,0,0,25.70,25.88,28.83
$GC,1369,-0.48,-146.0,169.4,-9.7,196,1370,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2165,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1667,-0.48,-146.0,197.8,-9.7,216,1668,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2166,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1977,-0.48,-146.0,226.5,-9.1,232,1978,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2165,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2279,-0.48,-146.0,252.5,-8.4,247,2284,0.00,2.12,0.00,0.000,4,0.000,0.051,3039,778,3398,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2310,-0.48,-146.0,254.3,-8.4,248,2318,0.00,2.17,0.00,0.000,6,0.000,0.051,3031,2176,3397,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2617,-0.48,-146.0,283.4,-9.3,264,2623,0.00,2.22,0.00,0.000,4,0.000,0.063,3020,3588,3396,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2665,-0.48,-146.0,287.3,-9.5,266,2669,0.00,2.15,0.00,0.000,6,0.000,0.044,3020,2178,3396,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2973,-0.48,-146.0,317.9,-9.6,281,2974,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2174,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3274,-0.48,-146.0,347.0,-9.9,296,3279,0.00,2.22,0.00,0.000,4,0.000,0.063,3010,3580,3395,0,0,0,0,0,0,28.83,25.85,28.83
$GC,3315,-0.48,-146.0,351.0,-9.9,298,3320,0.12,2.15,0.00,0.000,6,0.131,0.045,3045,2175,3395,0,0,0,0,0,0,25.86,26.03,28.83
$GC,3628,-0.48,-146.0,375.7,-7.6,314,3629,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2170,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3930,-0.48,-146.0,398.7,-7.8,329,3936,0.00,2.25,0.00,0.000,4,0.000,0.064,3037,3584,3394,0,0,0,0,0,0,28.83,25.84,28.83
$GC,3977,-0.48,-146.0,401.1,-7.9,331,3981,0.00,2.17,0.00,0.000,6,0.000,0.046,3038,2163,3394,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4285,-0.48,-146.0,428.8,-8.7,341,4290,0.00,2.25,0.00,0.000,4,0.000,0.065,3027,3581,3393,0,0,0,0,0,0,28.83,25.85,28.83
$GC,4316,-0.48,-146.0,431.6,-8.9,342,4320,0.00,2.17,0.00,0.000,6,0.000,0.046,3027,2164,3393,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4639,-0.48,-146.0,463.9,-10.0,353,4645,0.00,2.25,0.00,0.000,4,0.000,0.065,3016,3581,3394,0,0,0,0,0,0,28.83,25.84,28.83
$GC,4702,-0.48,-146.0,470.3,-10.3,355,4707,0.00,2.15,0.00,0.000,6,0.000,0.046,3017,2174,3393,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5024,-0.48,-146.0,504.0,-10.0,366,5031,0.00,2.28,0.00,0.000,4,0.000,0.065,3006,3593,3392,0,0,0,0,0,0,28.83,25.83,28.83
$GC,5057,-0.48,-146.0,507.1,-10.1,367,5062,0.12,2.17,0.00,0.000,6,0.133,0.046,3042,2175,3392,0,0,0,0,0,0,25.86,26.02,28.83
$GC,5380,-0.48,-146.0,533.2,-7.6,378,5381,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2168,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5681,-0.48,-146.0,554.9,-7.2,388,5686,0.00,2.25,0.00,0.000,4,0.000,0.065,3034,3584,3391,0,0,0,0,0,0,28.83,25.82,28.83
$GC,5741,-0.48,-146.0,559.4,-7.3,390,5747,0.00,2.17,0.00,0.000,6,0.000,0.047,3034,2169,3391,0,0,0,0,0,0,28.83,26.02,28.83
$GC,6071,-0.48,-146.0,584.9,-7.6,401,6076,0.00,2.15,0.00,0.000,4,0.000,0.054,3034,768,3391,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6103,-0.48,-146.0,587.2,-7.6,402,6107,0.00,2.17,0.00,0.000,6,0.000,0.054,3026,2175,3390,0,0,0,0,0,0,28.83,25.92,28.83
$GC,6427,-0.48,-146.0,613.7,-8.5,413,6432,0.00,2.20,0.00,0.000,4,0.000,0.067,3016,3580,3390,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6463,-0.48,-146.0,616.4,-8.6,414,6467,0.00,2.15,0.00,0.000,6,0.000,0.047,3016,2173,3390,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6781,-0.48,-146.0,646.9,-9.7,425,6786,0.00,2.25,0.00,0.000,4,0.000,0.066,3006,3587,3389,0,0,0,0,0,0,28.83,25.81,28.83
$GC,6824,-0.48,-146.0,649.9,-9.7,426,6829,0.12,2.17,0.00,0.000,6,0.132,0.047,3042,2169,3389,0,0,0,0,0,0,25.84,26.01,28.83
$GC,7137,-0.48,-146.0,674.8,-7.3,437,7143,0.00,2.30,0.00,0.000,4,0.000,0.067,3034,3584,3390,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7190,-0.48,-146.0,677.1,-7.3,438,7197,0.00,2.17,0.00,0.000,6,0.000,0.047,3034,2166,3389,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7497,-0.48,-146.0,702.8,-7.7,449,7503,0.00,2.28,0.00,0.000,4,0.000,0.067,3024,3587,3389,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7526,-0.48,-146.0,705.2,-7.7,450,7532,0.00,2.17,0.00,0.000,6,0.000,0.047,3024,2178,3389,0,0,0,0,0,0,28.83,26.00,28.83
$GC,7857,-0.48,-146.0,731.3,-7.7,461,7858,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2177,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8157,-0.48,-146.0,753.8,-7.4,471,8162,0.00,2.28,0.00,0.000,4,0.000,0.067,3013,3591,3387,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8247,-0.48,-146.0,761.0,-7.9,474,8252,0.00,2.20,0.00,0.000,6,0.000,0.048,3014,2167,3387,0,0,0,0,0,0,28.83,25.99,28.83
$GC,8578,-0.48,-146.0,787.3,-7.7,485,8583,0.00,2.25,0.00,0.000,4,0.000,0.067,3004,3577,3386,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8625,-0.48,-146.0,789.7,-7.7,486,8630,0.12,2.17,0.00,0.000,6,0.132,0.049,3040,2166,3386,0,0,0,0,0,0,25.82,25.98,28.83
$GC,8932,-0.48,-146.0,810.0,-6.2,496,8933,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2164,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9233,-0.48,-146.0,829.8,-6.7,506,9234,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2163,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9532,-0.48,-146.0,848.6,-6.2,516,9538,0.00,2.30,0.00,0.000,4,0.000,0.068,3031,3585,3385,0,0,0,0,0,0,28.83,25.75,28.83
$GC,9570,-0.48,-146.0,850.7,-6.4,517,9574,0.00,2.20,0.00,0.000,6,0.000,0.049,3031,2167,3385,0,0,0,0,0,0,28.83,25.97,28.83
$GC,9888,-0.48,-146.0,873.6,-7.3,528,9889,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2165,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10188,-0.48,-146.0,894.0,-6.6,538,10189,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2165,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10488,-0.48,-146.0,914.1,-6.8,548,10493,0.00,2.28,0.00,0.000,4,0.000,0.068,3022,3581,3385,0,0,0,0,0,0,28.83,25.73,28.83
$GC,10591,-0.48,-146.0,920.7,-7.3,551,10595,0.00,2.20,0.00,0.000,6,0.000,0.050,3022,2165,3384,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10908,-0.48,-146.0,944.6,-7.3,562,10914,0.00,2.28,0.00,0.000,4,0.000,0.069,3012,3579,3384,0,0,0,0,0,0,28.83,25.73,28.83
$GC,10939,-0.48,-146.0,946.4,-7.1,563,10944,0.00,2.17,0.00,0.000,6,0.000,0.050,3012,2172,3384,0,0,0,0,0,0,28.83,25.95,28.83
$GC,11268,-0.48,-146.0,971.5,-7.9,574,11269,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2170,3384,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11535,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11535,begin apogee
$GC,11542,-0.22,0.0,991.5,-7.3,583,11674,0.32,0.00,127.35,1.183,6,0.112,0.000,3122,2314,2793,0,0,0,0,0,0,25.75,28.83,23.57
$STATE,11678,end apogee,CONTROL_FINISHED_OK
$STATE,11678,begin climb
$GC,11681,0.48,146.0,994.8,0.0,587,11827,0.65,2.55,134.62,1.150,4,0.080,0.056,3355,903,2197,0,0,0,0,0,0,24.51,23.53,22.73
$GC,11843,0.48,147.5,985.1,7.3,593,11848,0.00,2.40,0.00,0.000,6,0.000,0.055,3355,2295,2194,0,0,0,0,0,0,28.83,23.86,28.83
$GC,12166,0.48,147.5,951.1,10.4,604,12171,0.00,2.38,0.00,0.000,4,0.000,0.069,3355,3712,2187,0,0,0,0,0,0,28.83,24.94,28.83
$GC,12240,0.48,147.5,943.7,11.3,606,12246,0.00,2.28,0.00,0.000,6,0.000,0.050,3365,2306,2187,0,0,0,0,0,0,28.83,25.17,28.83
$GC,12556,0.48,147.5,907.5,10.2,617,12562,0.00,2.30,0.00,0.000,4,0.000,0.069,3366,3706,2186,0,0,0,0,0,0,28.83,25.37,28.83
$GC,12588,0.48,147.5,904.1,10.3,618,12592,0.00,2.25,0.00,0.000,6,0.000,0.051,3376,2299,2186,0,0,0,0,0,0,28.83,25.50,28.83
$GC,12911,0.48,147.5,868.7,11.1,629,12916,0.00,2.30,0.00,0.000,4,0.000,0.070,3376,3708,2186,0,0,0,0,0,0,28.83,25.52,28.83
$GC,12964,0.48,147.5,865.0,11.3,630,12971,0.15,2.25,0.00,0.000,6,0.160,0.051,3349,2289,2185,0,0,0,0,0,0,25.41,25.65,28.83
$GC,13271,0.48,147.5,834.0,8.7,641,13277,0.00,2.22,0.00,0.000,4,0.000,0.059,3357,891,2184,0,0,0,0,0,0,28.83,25.65,28.83
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$STATE,23049,end climb,SURFACE_DEPTH_REACHED
$STATE,23049,begin surface coast
$FINISH,1.3,1.014523
$STATE,23081,end surface coast,CONTROL_FINISHED_OK
$STATE,23081,begin surface
$SM_CCo,23163,0.00,0.000,0,0,1381,346.61
$SM_GC,1.97,8.30,2.53,0.00,0.027,0.044,0.000,139,2155,1381,-9.45,0.68,346.61,0,0,0,0,0,0,25.77,25.67,28.83
$IRIDIUM_FIX,4713.38,-12540.78,021112,171711
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.62
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,19.30
$XPDR_PINGS,1
$24V_AH,22.7,31.198
$10V_AH,10.2,26.088
$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,22.200,202.275,428.675,0.000,0.000,59.187,106.153,204.736,0.250,0.000,37.935,3416.455,16180.823,522.785,3218.604,402.822,0.000,2032.865,0.000,2788.943,0.000,0.536,0.000
$DEVICE_MAMPS,223.380,83.385,1182.690,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,890.811,762.840,523.104,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73561,1294
$CAP_FILE_SIZE,196213,0
$CFSIZE,260165632,239575040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.109,351.2,1
$GPS,031112,000036,4734.686,-12543.254,82,1.5,82,18.7