version: 66.11
glider: 187
mission: 2
dive: 219
start: 11 3 112 6 52 9
data:
$ID,187
$MISSION,2
$DIVE,219
$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,-1588026
$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,33
$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
$GPS1,031112,064423,4735.203,-12538.074,42,1.0,59,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-77.1
$GPS2,031112,065137,4735.188,-12537.969,14,1.5,14,18.7
$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,19.1,46323,-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,-146.0,0.0,0.0,0,75,0.00,0.00,-55.72,0.000,2,0.000,0.000,110,2180,2818,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-0.48,-146.0,3.3,-4.0,9,107,11.32,2.35,-11.77,0.000,4,0.216,0.073,3025,3587,3393,0,0,0,0,0,0,25.03,25.48,25.99
$GC,241,-0.48,-146.0,37.6,-13.2,38,249,0.00,2.25,0.00,0.000,6,0.000,0.044,3025,2163,3397,0,0,0,0,0,0,28.83,25.64,28.83
$GC,569,-0.48,-146.0,77.5,-11.1,99,576,0.00,2.15,0.00,0.000,4,0.000,0.050,3025,771,3398,0,0,0,0,0,0,28.83,25.68,28.83
$GC,647,-0.48,-146.0,85.8,-10.2,113,654,0.00,2.20,0.00,0.000,6,0.000,0.050,3015,2189,3398,0,0,0,0,0,0,28.83,25.72,28.83
$GC,976,-0.48,-146.0,122.3,-11.7,174,977,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2189,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1276,-0.48,-146.0,158.4,-12.7,194,1282,0.00,2.20,0.00,0.000,4,0.000,0.063,3005,3588,3398,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1324,-0.48,-146.0,164.2,-12.8,197,1330,0.10,2.15,0.00,0.000,6,0.110,0.044,3041,2167,3398,0,0,0,0,0,0,25.71,25.92,28.83
$GC,1642,-0.48,-146.0,195.3,-9.4,218,1647,0.00,2.25,0.00,0.000,4,0.000,0.062,3033,3584,3398,0,0,0,0,0,0,28.83,25.78,28.83
$GC,1678,-0.48,-146.0,198.3,-9.2,220,1687,0.00,2.20,0.00,0.000,6,0.000,0.044,3033,2168,3398,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2001,-0.48,-146.0,228.7,-9.3,237,2002,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2168,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2301,-0.48,-146.0,257.5,-9.7,252,2306,0.00,2.12,0.00,0.000,4,0.000,0.051,3033,775,3398,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2328,-0.48,-146.0,259.5,-9.8,253,2332,0.00,2.17,0.00,0.000,6,0.000,0.050,3024,2185,3398,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2637,-0.48,-146.0,290.7,-9.6,268,2642,0.00,2.20,0.00,0.000,4,0.000,0.063,3013,3584,3398,0,0,0,0,0,0,28.83,25.83,28.83
$GC,2665,-0.48,-146.0,292.5,-9.4,269,2674,0.00,2.15,0.00,0.000,6,0.000,0.044,3013,2171,3398,0,0,0,0,0,0,28.83,26.00,28.83
$GC,2976,-0.48,-146.0,324.2,-9.9,285,2977,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2171,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3275,-0.48,-146.0,355.9,-11.2,300,3279,0.00,2.15,0.00,0.000,4,0.000,0.052,3013,778,3398,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3306,-0.48,-146.0,358.3,-11.2,301,3311,0.12,2.15,0.00,0.000,6,0.146,0.051,3039,2174,3398,0,0,0,0,0,0,25.78,25.93,28.83
$GC,3612,-0.48,-146.0,388.5,-9.2,316,3618,0.00,2.25,0.00,0.000,4,0.000,0.065,3031,3591,3397,0,0,0,0,0,0,28.83,25.83,28.83
$GC,3652,-0.48,-146.0,392.3,-9.3,318,3658,0.00,2.17,0.00,0.000,6,0.000,0.045,3030,2174,3397,0,0,0,0,0,0,28.83,26.02,28.83
$GC,3963,-0.48,-146.0,420.9,-9.3,330,3964,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2170,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4262,-0.48,-146.0,447.5,-8.9,340,4263,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2169,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4562,-0.48,-146.0,475.7,-9.7,350,4568,0.00,2.28,0.00,0.000,4,0.000,0.064,3020,3588,3396,0,0,0,0,0,0,28.83,25.83,28.83
$GC,4601,-0.48,-146.0,478.8,-9.7,351,4605,0.00,2.17,0.00,0.000,6,0.000,0.046,3020,2165,3395,0,0,0,0,0,0,28.83,26.02,28.83
$GC,4923,-0.48,-146.0,513.1,-10.4,362,4928,0.00,2.28,0.00,0.000,4,0.000,0.064,3010,3584,3395,0,0,0,0,0,0,28.83,25.83,28.83
$GC,4976,-0.48,-146.0,516.2,-10.4,363,4982,0.00,2.15,0.00,0.000,6,0.000,0.046,3010,2175,3395,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5283,-0.48,-146.0,553.6,-11.2,374,5289,0.12,2.15,0.00,0.000,4,0.147,0.051,3051,777,3395,0,0,0,0,0,0,26.08,25.90,28.83
$GC,5306,-0.48,-146.0,553.6,-11.2,374,5312,0.00,2.17,0.00,0.000,6,0.000,0.053,3045,2180,3395,0,0,0,0,0,0,28.83,25.91,28.83
$GC,5613,-0.48,-146.0,582.5,-8.7,385,5618,0.00,2.20,0.00,0.000,4,0.000,0.065,3034,3579,3394,0,0,0,0,0,0,28.83,25.82,28.83
$GC,5656,-0.48,-146.0,585.3,-8.7,386,5660,0.00,2.15,0.00,0.000,6,0.000,0.047,3034,2175,3394,0,0,0,0,0,0,28.83,26.02,28.83
$GC,5969,-0.48,-146.0,613.3,-8.3,397,5970,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2173,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6268,-0.48,-146.0,637.6,-7.9,407,6274,0.00,2.28,0.00,0.000,4,0.000,0.067,3024,3590,3393,0,0,0,0,0,0,28.83,25.80,28.83
$GC,6311,-0.48,-146.0,640.2,-8.0,408,6315,0.00,2.17,0.00,0.000,6,0.000,0.047,3024,2172,3393,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6623,-0.48,-146.0,667.3,-8.4,419,6625,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2170,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6924,-0.48,-146.0,691.3,-8.0,429,6925,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2170,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7223,-0.48,-146.0,715.9,-8.0,439,7229,0.00,2.28,0.00,0.000,4,0.000,0.066,3014,3584,3391,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7277,-0.48,-146.0,718.4,-8.1,440,7284,0.00,2.17,0.00,0.000,6,0.000,0.047,3014,2168,3391,0,0,0,0,0,0,28.83,26.00,28.83
$GC,7583,-0.48,-146.0,744.3,-7.6,451,7589,0.00,2.28,0.00,0.000,4,0.000,0.067,3004,3583,3391,0,0,0,0,0,0,28.83,25.78,28.83
$GC,7602,-0.48,-146.0,744.3,-7.6,451,7607,0.12,2.17,0.00,0.000,6,0.135,0.048,3040,2170,3391,0,0,0,0,0,0,25.82,25.99,28.83
$GC,7910,-0.48,-146.0,763.8,-5.7,461,7915,0.00,2.25,0.00,0.000,4,0.000,0.067,3031,3577,3390,0,0,0,0,0,0,28.83,25.77,28.83
$GC,7939,-0.48,-146.0,765.7,-5.8,462,7944,0.00,2.17,0.00,0.000,6,0.000,0.048,3031,2165,3390,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8270,-0.48,-146.0,787.4,-6.6,473,8275,0.00,2.28,0.00,0.000,4,0.000,0.067,3021,3582,3390,0,0,0,0,0,0,28.83,25.76,28.83
$GC,8322,-0.48,-146.0,789.5,-6.7,474,8329,0.00,2.17,0.00,0.000,6,0.000,0.048,3021,2170,3390,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8629,-0.48,-146.0,814.6,-7.9,485,8630,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2170,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8928,-0.48,-146.0,838.5,-8.1,495,8934,0.00,2.30,0.00,0.000,4,0.000,0.068,3012,3583,3389,0,0,0,0,0,0,28.83,25.75,28.83
$GC,8989,-0.48,-146.0,843.7,-8.4,497,8994,0.00,2.17,0.00,0.000,6,0.000,0.049,3011,2173,3389,0,0,0,0,0,0,28.83,25.97,28.83
$GC,9318,-0.48,-146.0,871.2,-7.8,508,9324,0.00,2.30,0.00,0.000,4,0.000,0.067,3001,3592,3389,0,0,0,0,0,0,28.83,25.74,28.83
$GC,9372,-0.48,-146.0,873.6,-7.9,509,9379,0.15,2.20,0.00,0.000,6,0.126,0.048,3045,2170,3388,0,0,0,0,0,0,25.77,25.96,28.83
$GC,9679,-0.48,-146.0,894.0,-5.9,520,9680,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2168,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9979,-0.48,-146.0,910.2,-5.3,530,9984,0.00,2.33,0.00,0.000,4,0.000,0.069,3037,3590,3387,0,0,0,0,0,0,28.83,25.72,28.83
$GC,10042,-0.48,-146.0,913.6,-5.5,532,10046,0.00,2.20,0.00,0.000,6,0.000,0.049,3037,2169,3387,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10364,-0.48,-146.0,929.6,-4.5,543,10365,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2167,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10664,-0.48,-146.0,943.3,-4.7,553,10670,0.00,2.28,0.00,0.000,4,0.000,0.069,3027,3579,3386,0,0,0,0,0,0,28.83,25.71,28.83
$GC,10702,-0.48,-146.0,944.9,-4.8,554,10707,0.00,2.17,0.00,0.000,6,0.000,0.049,3027,2175,3386,0,0,0,0,0,0,28.83,25.94,28.83
$GC,11020,-0.48,-146.0,961.4,-5.0,565,11021,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2173,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11320,-0.48,-146.0,977.0,-5.3,575,11325,0.00,2.28,0.00,0.000,4,0.000,0.070,3018,3586,3386,0,0,0,0,0,0,28.83,25.70,28.83
$GC,11389,-0.48,-146.0,980.4,-5.5,577,11394,0.00,2.20,0.00,0.000,6,0.000,0.050,3018,2166,3386,0,0,0,0,0,0,28.83,25.94,28.83
$STATE,11557,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11557,begin apogee
$GC,11564,-0.22,0.0,991.8,-6.4,583,11696,0.30,0.00,127.72,1.187,6,0.113,0.000,3120,2308,2794,0,0,0,0,0,0,25.78,28.83,23.53
$STATE,11699,end apogee,CONTROL_FINISHED_OK
$STATE,11699,begin climb
$GC,11702,0.48,146.0,994.9,0.0,587,11842,0.65,0.00,135.20,1.152,6,0.080,0.000,3343,2308,2198,0,0,0,0,0,0,24.50,28.83,22.69
$GC,12129,0.48,146.0,961.6,9.0,602,12135,0.00,2.38,0.00,0.000,4,0.000,0.069,3343,3705,2188,0,0,0,0,0,0,28.83,24.81,28.83
$GC,12173,0.48,146.0,958.4,9.3,603,12177,0.00,2.28,0.00,0.000,6,0.000,0.050,3354,2309,2187,0,0,0,0,0,0,28.83,25.00,28.83
$GC,12485,0.48,146.0,926.3,9.7,614,12491,0.00,2.28,0.00,0.000,4,0.000,0.058,3364,890,2187,0,0,0,0,0,0,28.83,25.32,28.83
$GC,12518,0.48,146.0,923.5,9.7,615,12523,0.00,2.28,0.00,0.000,6,0.000,0.057,3364,2303,2186,0,0,0,0,0,0,28.83,25.35,28.83
$GC,12841,0.48,146.0,891.1,9.8,626,12846,0.00,2.30,0.00,0.000,4,0.000,0.069,3364,3712,2185,0,0,0,0,0,0,28.83,25.47,28.83
$GC,12873,0.48,146.0,888.0,9.8,627,12877,0.00,2.25,0.00,0.000,6,0.000,0.051,3375,2300,2185,0,0,0,0,0,0,28.83,25.60,28.83
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$STATE,23146,end climb,SURFACE_DEPTH_REACHED
$STATE,23146,begin surface coast
$FINISH,3.7,1.024474
$STATE,23153,end surface coast,CONTROL_FINISHED_OK
$STATE,23154,begin surface
$SM_CCo,23235,0.00,0.000,0,0,1381,346.61
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$TT8_MAMPS,0.026964,0.026964
$HUMID,43.73
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,16.30
$XPDR_PINGS,0
$24V_AH,22.7,31.458
$10V_AH,10.2,26.326
$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,22.200,200.925,426.125,0.000,0.000,24.748,41.595,230.331,0.000,0.000,15.603,3412.277,16286.717,531.332,3020.048,409.133,0.000,1993.463,0.000,2694.803,0.000,0.536,0.000
$DEVICE_MAMPS,215.730,84.150,1187.280,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,892.557,770.052,533.889,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73564,1297
$CAP_FILE_SIZE,192022,0
$CFSIZE,260165632,239398912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.095,132.6,1
$GPS,031112,132035,4736.675,-12533.986,33,1.2,33,18.7