version: 66.11
glider: 187
mission: 2
dive: 273
start: 11 16 112 6 45 8
data:
$ID,187
$MISSION,2
$DIVE,273
$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,-1588100.6
$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,2200
$C_ROLL_CLIMB,2325
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$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
$GPS1,161112,063805,4713.985,-12634.807,36,1.0,36,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-79.2
$GPS2,161112,064436,4714.036,-12634.794,17,1.0,17,18.6
$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,28.3,126309,-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,-146.0,0.0,0.0,0,91,0.00,0.00,-71.62,0.000,2,0.000,0.000,113,2196,2828,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.48,-146.0,3.3,-2.8,12,123,11.55,2.38,-11.57,0.000,4,0.221,0.073,3022,3611,3392,0,0,0,0,0,0,24.94,25.45,26.03
$GC,344,-0.48,-146.0,49.4,-13.0,57,351,0.00,2.22,0.00,0.000,6,0.000,0.044,3023,2185,3397,0,0,0,0,0,0,28.83,25.63,28.83
$GC,665,-0.48,-146.0,93.3,-13.2,118,672,0.00,2.15,0.00,0.000,4,0.000,0.050,3023,797,3398,0,0,0,0,0,0,28.83,25.61,28.83
$GC,717,-0.48,-146.0,99.8,-12.7,127,724,0.00,2.20,0.00,0.000,6,0.000,0.050,3013,2202,3399,0,0,0,0,0,0,28.83,25.64,28.83
$GC,1028,-0.48,-146.0,139.8,-12.8,168,1029,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2202,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1328,-0.48,-146.0,176.1,-11.8,188,1329,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2202,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1638,-0.48,-146.0,212.1,-11.3,207,1644,0.00,2.28,0.00,0.000,4,0.000,0.062,3003,3627,3398,0,0,0,0,0,0,28.83,25.63,28.83
$GC,1671,-0.48,-146.0,214.3,-11.3,208,1678,0.15,2.22,0.00,0.000,6,0.127,0.044,3046,2187,3398,0,0,0,0,0,0,25.64,25.85,28.83
$GC,1980,-0.48,-146.0,242.9,-8.6,224,1985,0.00,2.28,0.00,0.000,4,0.000,0.063,3037,3610,3399,0,0,0,0,0,0,28.83,25.63,28.83
$GC,2011,-0.48,-146.0,244.7,-8.6,225,2018,0.00,2.17,0.00,0.000,6,0.000,0.044,3037,2196,3398,0,0,0,0,0,0,28.83,25.87,28.83
$GC,2320,-0.48,-146.0,275.2,-9.5,241,2321,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2195,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2618,-0.48,-146.0,302.1,-8.7,256,2619,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2195,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2918,-0.48,-146.0,327.3,-8.2,271,2919,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2195,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3218,-0.48,-146.0,350.6,-7.7,286,3220,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2195,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3518,-0.48,-146.0,373.6,-7.8,301,3519,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2195,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3818,-0.48,-146.0,396.2,-7.4,316,3819,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2195,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4119,-0.48,-146.0,419.8,-8.1,327,4120,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2195,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4418,-0.48,-146.0,445.3,-8.5,337,4419,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2195,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4718,-0.48,-146.0,470.8,-8.4,347,4720,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2195,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5018,-0.48,-146.0,495.1,-8.0,357,5024,0.00,2.33,0.00,0.000,4,0.000,0.066,3027,3613,3394,0,0,0,0,0,0,28.83,25.60,28.83
$GC,5056,-0.48,-146.0,497.5,-7.9,358,5061,0.00,2.22,0.00,0.000,6,0.000,0.047,3027,2196,3394,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5374,-0.48,-146.0,524.2,-8.3,369,5375,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2193,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5674,-0.48,-146.0,549.4,-8.3,379,5675,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2193,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5974,-0.48,-146.0,573.5,-7.8,389,5980,0.00,2.30,0.00,0.000,4,0.000,0.066,3017,3606,3392,0,0,0,0,0,0,28.83,25.58,28.83
$GC,6012,-0.48,-146.0,575.9,-7.8,390,6016,0.00,2.20,0.00,0.000,6,0.000,0.047,3017,2196,3392,0,0,0,0,0,0,28.83,25.86,28.83
$GC,6334,-0.48,-146.0,603.3,-8.0,401,6335,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2193,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6635,-0.48,-146.0,627.7,-8.2,411,6640,0.00,2.28,0.00,0.000,4,0.000,0.067,3007,3606,3391,0,0,0,0,0,0,28.83,25.55,28.83
$GC,6664,-0.48,-146.0,630.2,-8.2,412,6670,0.12,2.20,0.00,0.000,6,0.132,0.047,3042,2196,3391,0,0,0,0,0,0,25.67,25.84,28.83
$GC,6994,-0.48,-146.0,650.5,-6.0,423,6996,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2192,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7295,-0.48,-146.0,669.0,-6.2,433,7300,0.00,2.28,0.00,0.000,4,0.000,0.067,3034,3606,3391,0,0,0,0,0,0,28.83,25.53,28.83
$GC,7327,-0.48,-146.0,671.1,-6.4,434,7331,0.00,2.20,0.00,0.000,6,0.000,0.048,3034,2190,3390,0,0,0,0,0,0,28.83,25.83,28.83
$GC,7650,-0.48,-146.0,694.3,-7.2,445,7655,0.00,2.28,0.00,0.000,4,0.000,0.067,3024,3600,3390,0,0,0,0,0,0,28.83,25.53,28.83
$GC,7682,-0.48,-146.0,696.7,-7.4,446,7686,0.00,2.17,0.00,0.000,6,0.000,0.048,3024,2197,3390,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8004,-0.48,-146.0,723.2,-8.3,457,8010,0.00,2.30,0.00,0.000,4,0.000,0.067,3014,3606,3390,0,0,0,0,0,0,28.83,25.51,28.83
$GC,8034,-0.48,-146.0,725.7,-8.3,458,8040,0.00,2.20,0.00,0.000,6,0.000,0.047,3014,2195,3389,0,0,0,0,0,0,28.83,25.80,28.83
$GC,8365,-0.48,-146.0,752.6,-7.9,469,8366,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2193,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8665,-0.48,-146.0,775.8,-7.8,479,8670,0.00,2.28,0.00,0.000,4,0.000,0.067,3004,3605,3389,0,0,0,0,0,0,28.83,25.49,28.83
$GC,8687,-0.48,-146.0,775.8,-7.8,479,8695,0.12,2.17,0.00,0.000,6,0.131,0.047,3040,2202,3389,0,0,0,0,0,0,25.63,25.79,28.83
$GC,8995,-0.48,-146.0,799.4,-7.4,490,8996,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2202,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9295,-0.48,-146.0,820.8,-7.1,500,9300,0.00,2.30,0.00,0.000,4,0.000,0.068,3032,3606,3388,0,0,0,0,0,0,28.83,25.47,28.83
$GC,9338,-0.48,-146.0,823.0,-7.1,501,9342,0.00,2.20,0.00,0.000,6,0.000,0.048,3032,2191,3388,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9651,-0.48,-146.0,846.3,-7.1,512,9656,0.00,2.28,0.00,0.000,4,0.000,0.068,3022,3600,3387,0,0,0,0,0,0,28.83,25.47,28.83
$GC,9680,-0.48,-146.0,848.4,-7.1,513,9686,0.00,2.20,0.00,0.000,6,0.000,0.048,3022,2194,3387,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10010,-0.48,-146.0,871.7,-6.9,524,10016,0.00,2.28,0.00,0.000,4,0.000,0.067,3012,3604,3387,0,0,0,0,0,0,28.83,25.46,28.83
$GC,10034,-0.48,-146.0,871.7,-6.9,524,10041,0.00,2.20,0.00,0.000,6,0.000,0.048,3013,2191,3387,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10341,-0.48,-146.0,897.1,-7.7,535,10342,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2190,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10640,-0.48,-146.0,920.6,-7.8,545,10646,0.00,2.33,0.00,0.000,4,0.000,0.067,3006,3614,3386,0,0,0,0,0,0,28.83,25.44,28.83
$GC,10683,-0.48,-146.0,923.0,-8.0,546,10688,0.12,2.22,0.00,0.000,6,0.128,0.049,3043,2200,3386,0,0,0,0,0,0,25.60,25.75,28.83
$GC,10997,-0.48,-146.0,944.1,-6.2,557,11002,0.00,2.28,0.00,0.000,4,0.000,0.068,3034,3604,3386,0,0,0,0,0,0,28.83,25.43,28.83
$GC,11035,-0.48,-146.0,946.1,-6.3,558,11039,0.00,2.20,0.00,0.000,6,0.000,0.049,3034,2195,3385,0,0,0,0,0,0,28.83,25.75,28.83
$GC,11353,-0.48,-146.0,966.6,-6.0,569,11354,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2193,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11652,-0.48,-146.0,983.9,-5.7,579,11658,0.00,2.30,0.00,0.000,4,0.000,0.069,3025,3607,3386,0,0,0,0,0,0,28.83,25.40,28.83
$GC,11695,-0.48,-146.0,985.7,-5.8,580,11699,0.00,2.20,0.00,0.000,6,0.000,0.048,3025,2201,3385,0,0,0,0,0,0,28.83,25.75,28.83
$STATE,11765,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11765,begin apogee
$GC,11772,-0.22,0.0,990.8,-5.9,583,11906,0.28,0.00,129.00,1.180,6,0.108,0.000,3120,2327,2794,0,0,0,0,0,0,25.72,28.83,23.33
$STATE,11909,end apogee,CONTROL_FINISHED_OK
$STATE,11909,begin climb
$GC,11911,0.48,146.0,993.7,0.0,587,12064,0.65,2.62,137.32,1.140,4,0.077,0.067,3343,3733,2195,0,0,0,0,0,0,24.41,23.36,22.44
$GC,12070,0.48,162.8,985.0,6.7,593,12098,0.00,2.42,16.83,1.034,6,0.000,0.048,3354,2331,2128,0,0,0,0,0,0,28.83,23.69,22.60
$GC,12398,0.48,162.8,950.7,10.3,604,12403,0.00,2.30,0.00,0.000,4,0.000,0.057,3364,926,2120,0,0,0,0,0,0,28.83,24.84,28.83
$GC,12427,0.48,162.8,947.6,10.3,605,12433,0.00,2.30,0.00,0.000,6,0.000,0.057,3364,2321,2120,0,0,0,0,0,0,28.83,24.91,28.83
$GC,12757,0.48,162.8,912.3,10.8,616,12763,0.00,2.35,0.00,0.000,4,0.000,0.069,3364,3735,2119,0,0,0,0,0,0,28.83,25.25,28.83
$GC,12848,0.48,162.8,901.2,12.0,619,12854,0.00,2.25,0.00,0.000,6,0.000,0.051,3375,2324,2118,0,0,0,0,0,0,28.83,25.46,28.83
$GC,13177,0.48,162.8,864.3,11.2,630,13178,0.00,0.00,0.00,0.000,6,0.000,0.000,3374,2318,2118,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13477,0.48,162.8,831.0,11.1,640,13478,0.00,0.00,0.00,0.000,6,0.000,0.000,3375,2318,2117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13778,0.48,162.8,797.4,11.2,650,13783,0.00,2.33,0.00,0.000,4,0.000,0.069,3375,3734,2117,0,0,0,0,0,0,28.83,25.51,28.83
$GC,13831,0.48,162.8,793.6,11.4,651,13838,0.12,2.25,0.00,0.000,6,0.160,0.050,3355,2320,2117,0,0,0,0,0,0,25.48,25.70,28.83
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$STATE,23073,end climb,SURFACE_DEPTH_REACHED
$STATE,23073,begin surface coast
$FINISH,1.2,1.021797
$STATE,23118,end surface coast,CONTROL_FINISHED_OK
$STATE,23118,begin surface
$SM_CCo,23198,0.00,0.000,0,0,1418,337.53
$SM_GC,1.95,8.38,0.20,0.00,0.028,0.072,0.000,107,2195,1418,-9.48,0.82,337.53,0,0,0,0,0,0,25.89,25.84,28.83
$IRIDIUM_FIX,4726.11,-12541.18,161112,000006
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.29
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,15.40
$XPDR_PINGS,0
$24V_AH,22.4,38.495
$10V_AH,10.1,32.001
$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
$DEVICE_SECS,22.000,176.825,431.650,0.000,0.000,28.283,36.289,190.711,0.000,0.000,18.145,3341.408,16467.291,543.457,2834.253,395.482,0.000,1925.935,0.000,2549.737,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,890.018,744.129,519.268,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73505,1293
$CAP_FILE_SIZE,184146,0
$CFSIZE,260165632,235057152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.068,249.5,1
$GPS,161112,131305,4715.942,-12631.886,41,1.3,41,18.6