version: 66.11
glider: 187
mission: 2
dive: 280
start: 11 18 112 5 26 55
data:
$ID,187
$MISSION,2
$DIVE,280
$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,-1588109.8
$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,36
$R_STBD_OVSHOOT,23
$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
$GPS1,181112,051908,4724.382,-12608.961,37,1.0,37,18.6
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-76.0
$GPS2,181112,052625,4724.410,-12608.853,18,1.2,18,18.6
$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,31.7,88858,-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,-59.70,0.000,2,0.000,0.000,130,2197,2607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.48,-146.0,3.1,-3.5,10,123,11.40,2.35,-19.10,0.000,4,0.219,0.075,3024,3610,3392,0,0,0,0,0,0,24.99,25.47,26.07
$GC,273,-0.48,-146.0,37.4,-18.7,44,282,0.00,2.25,0.00,0.000,6,0.000,0.044,3024,2192,3394,0,0,0,0,0,0,28.83,25.62,28.83
$GC,598,-0.48,-146.0,83.8,-14.1,105,605,0.00,2.17,0.00,0.000,4,0.000,0.050,3024,785,3396,0,0,0,0,0,0,28.83,25.63,28.83
$GC,800,-0.48,-146.0,109.6,-11.4,143,807,0.00,2.20,0.00,0.000,6,0.000,0.049,3014,2203,3396,0,0,0,0,0,0,28.83,25.68,28.83
$GC,1115,-0.48,-146.0,146.0,-11.2,174,1116,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2203,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1412,-0.48,-146.0,178.8,-11.0,194,1413,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2204,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1728,-0.48,-146.0,214.1,-10.9,213,1733,0.00,2.22,0.00,0.000,4,0.000,0.061,3003,3610,3396,0,0,0,0,0,0,28.83,25.66,28.83
$GC,1751,-0.48,-146.0,216.4,-10.8,214,1756,0.12,2.20,0.00,0.000,6,0.137,0.043,3038,2184,3396,0,0,0,0,0,0,25.69,25.89,28.83
$GC,2065,-0.48,-146.0,244.4,-8.6,230,2066,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2178,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2364,-0.48,-146.0,269.3,-7.8,245,2370,0.00,2.30,0.00,0.000,4,0.000,0.062,3030,3608,3396,0,0,0,0,0,0,28.83,25.66,28.83
$GC,2392,-0.48,-146.0,271.0,-7.9,246,2396,0.00,2.17,0.00,0.000,6,0.000,0.044,3029,2189,3396,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2699,-0.48,-146.0,299.6,-9.5,261,2700,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2185,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2999,-0.48,-146.0,327.2,-9.1,276,3000,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2185,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3299,-0.48,-146.0,353.3,-8.9,291,3305,0.00,2.28,0.00,0.000,4,0.000,0.063,3020,3608,3395,0,0,0,0,0,0,28.83,25.66,28.83
$GC,3321,-0.48,-146.0,355.0,-8.8,292,3325,0.00,2.17,0.00,0.000,6,0.000,0.044,3020,2192,3395,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3634,-0.48,-146.0,384.3,-9.2,308,3635,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2188,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3935,-0.48,-146.0,411.6,-9.2,321,3940,0.00,2.25,0.00,0.000,4,0.000,0.063,3009,3603,3394,0,0,0,0,0,0,28.83,25.65,28.83
$GC,3964,-0.48,-146.0,414.7,-9.4,322,3970,0.12,2.17,0.00,0.000,6,0.132,0.044,3044,2192,3394,0,0,0,0,0,0,25.72,25.90,28.83
$GC,4294,-0.48,-146.0,440.3,-8.0,333,4295,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2188,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4594,-0.48,-146.0,462.0,-7.0,343,4600,0.00,2.28,0.00,0.000,4,0.000,0.064,3037,3610,3393,0,0,0,0,0,0,28.83,25.63,28.83
$GC,4637,-0.48,-146.0,464.3,-7.0,344,4641,0.00,2.17,0.00,0.000,6,0.000,0.045,3037,2195,3393,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4949,-0.48,-146.0,489.4,-7.8,355,4955,0.00,2.28,0.00,0.000,4,0.000,0.064,3027,3607,3392,0,0,0,0,0,0,28.83,25.62,28.83
$GC,4982,-0.48,-146.0,491.9,-7.9,356,4987,0.00,2.17,0.00,0.000,6,0.000,0.045,3026,2191,3392,0,0,0,0,0,0,28.83,25.89,28.83
$GC,5304,-0.48,-146.0,520.7,-9.0,367,5306,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2188,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5605,-0.48,-146.0,546.6,-8.4,377,5606,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2188,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5905,-0.48,-146.0,569.9,-7.6,387,5911,0.00,2.33,0.00,0.000,4,0.000,0.065,3016,3613,3390,0,0,0,0,0,0,28.83,25.59,28.83
$GC,5927,-0.48,-146.0,569.9,-7.6,387,5934,0.00,2.20,0.00,0.000,6,0.000,0.047,3016,2192,3391,0,0,0,0,0,0,28.83,25.86,28.83
$GC,6234,-0.48,-146.0,596.3,-8.3,398,6236,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2190,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6535,-0.48,-146.0,620.4,-7.8,408,6541,0.00,2.33,0.00,0.000,4,0.000,0.065,3007,3611,3390,0,0,0,0,0,0,28.83,25.58,28.83
$GC,6602,-0.48,-146.0,625.3,-8.0,410,6607,0.12,2.20,0.00,0.000,6,0.131,0.047,3043,2190,3390,0,0,0,0,0,0,25.68,25.85,28.83
$GC,6921,-0.48,-146.0,644.9,-5.9,421,6922,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2187,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7221,-0.48,-146.0,661.8,-5.5,431,7222,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2187,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7521,-0.48,-146.0,681.3,-6.9,441,7526,0.00,2.28,0.00,0.000,4,0.000,0.066,3034,3603,3388,0,0,0,0,0,0,28.83,25.56,28.83
$GC,7554,-0.48,-146.0,683.5,-7.0,442,7558,0.00,2.17,0.00,0.000,6,0.000,0.047,3034,2198,3388,0,0,0,0,0,0,28.83,25.85,28.83
$GC,7877,-0.48,-146.0,707.3,-7.6,453,7878,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2196,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8176,-0.48,-146.0,730.7,-8.0,463,8181,0.00,2.30,0.00,0.000,4,0.000,0.067,3025,3608,3387,0,0,0,0,0,0,28.83,25.53,28.83
$GC,8224,-0.48,-146.0,733.0,-7.9,464,8228,0.00,2.20,0.00,0.000,6,0.000,0.047,3024,2190,3387,0,0,0,0,0,0,28.83,25.83,28.83
$GC,8531,-0.48,-146.0,758.8,-8.1,474,8537,0.00,2.33,0.00,0.000,4,0.000,0.066,3014,3612,3387,0,0,0,0,0,0,28.83,25.52,28.83
$GC,8574,-0.48,-146.0,761.4,-8.2,475,8578,0.00,2.20,0.00,0.000,6,0.000,0.047,3013,2194,3387,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8886,-0.48,-146.0,790.5,-9.1,486,8892,0.00,2.30,0.00,0.000,4,0.000,0.066,3004,3607,3387,0,0,0,0,0,0,28.83,25.51,28.83
$GC,8909,-0.48,-146.0,790.5,-9.1,486,8917,0.12,2.17,0.00,0.000,6,0.131,0.047,3040,2196,3387,0,0,0,0,0,0,25.65,25.82,28.83
$GC,9217,-0.48,-146.0,815.3,-7.5,497,9218,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2196,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9516,-0.48,-146.0,836.2,-6.9,507,9522,0.00,2.33,0.00,0.000,4,0.000,0.067,3032,3616,3386,0,0,0,0,0,0,28.83,25.48,28.83
$GC,9565,-0.48,-146.0,838.3,-7.0,508,9569,0.00,2.20,0.00,0.000,6,0.000,0.047,3032,2198,3386,0,0,0,0,0,0,28.83,25.80,28.83
$GC,9871,-0.48,-146.0,861.8,-7.1,518,9873,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2197,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10172,-0.48,-146.0,883.1,-7.3,528,10177,0.00,2.28,0.00,0.000,4,0.000,0.067,3023,3601,3385,0,0,0,0,0,0,28.83,25.48,28.83
$GC,10220,-0.48,-146.0,885.4,-7.3,529,10224,0.00,2.17,0.00,0.000,6,0.000,0.047,3023,2200,3385,0,0,0,0,0,0,28.83,25.79,28.83
$GC,10527,-0.48,-146.0,908.1,-6.8,539,10528,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2198,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10827,-0.48,-146.0,928.3,-6.9,549,10833,0.00,2.33,0.00,0.000,4,0.000,0.067,3013,3613,3384,0,0,0,0,0,0,28.83,25.46,28.83
$GC,10865,-0.48,-146.0,930.5,-7.0,550,10869,0.00,2.22,0.00,0.000,6,0.000,0.048,3013,2190,3384,0,0,0,0,0,0,28.83,25.77,28.83
$GC,11183,-0.48,-146.0,954.4,-7.2,561,11184,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2188,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11483,-0.48,-146.0,975.4,-6.9,571,11488,0.00,2.28,0.00,0.000,4,0.000,0.067,3003,3601,3384,0,0,0,0,0,0,28.83,25.44,28.83
$GC,11521,-0.48,-146.0,977.8,-7.1,572,11526,0.12,2.17,0.00,0.000,6,0.129,0.048,3038,2199,3384,0,0,0,0,0,0,25.60,25.77,28.83
$STATE,11746,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11746,begin apogee
$GC,11753,-0.22,0.0,991.2,-5.3,580,11886,0.22,0.00,128.45,1.177,6,0.112,0.000,3120,2329,2794,0,0,0,0,0,0,25.83,28.83,23.35
$STATE,11889,end apogee,CONTROL_FINISHED_OK
$STATE,11890,begin climb
$GC,11892,0.48,146.0,994.3,0.0,584,12034,0.65,0.00,138.35,1.138,6,0.078,0.000,3343,2329,2199,0,0,0,0,0,0,24.44,28.83,22.44
$GC,12314,0.48,146.0,961.3,8.7,599,12320,0.00,2.38,0.00,0.000,4,0.000,0.068,3344,3728,2187,0,0,0,0,0,0,28.83,24.77,28.83
$GC,12337,0.48,146.0,961.3,8.7,599,12344,0.00,2.28,0.00,0.000,6,0.000,0.049,3354,2332,2187,0,0,0,0,0,0,28.83,24.94,28.83
$GC,12645,0.48,146.0,930.4,9.3,610,12651,0.00,2.28,0.00,0.000,4,0.000,0.057,3365,917,2186,0,0,0,0,0,0,28.83,25.31,28.83
$GC,12674,0.48,146.0,927.4,9.3,611,12680,0.00,2.28,0.00,0.000,6,0.000,0.057,3365,2323,2186,0,0,0,0,0,0,28.83,25.34,28.83
$GC,13005,0.48,146.0,895.4,9.8,622,13010,0.00,2.30,0.00,0.000,4,0.000,0.069,3365,3729,2185,0,0,0,0,0,0,28.83,25.43,28.83
$GC,13057,0.48,146.0,892.2,10.0,623,13063,0.00,2.22,0.00,0.000,6,0.000,0.050,3375,2325,2185,0,0,0,0,0,0,28.83,25.60,28.83
$GC,13364,0.48,146.0,855.6,11.2,634,13370,0.00,2.30,0.00,0.000,4,0.000,0.068,3376,3733,2184,0,0,0,0,0,0,28.83,25.50,28.83
$GC,13394,0.48,146.0,852.0,11.5,635,13400,0.15,2.25,0.00,0.000,6,0.162,0.050,3348,2319,2184,0,0,0,0,0,0,25.39,25.67,28.83
$GC,13725,0.48,146.0,821.5,8.9,646,13730,0.00,2.30,0.00,0.000,4,0.000,0.069,3348,3727,2183,0,0,0,0,0,0,28.83,25.53,28.83
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$STATE,23401,end climb,SURFACE_DEPTH_REACHED
$STATE,23401,begin surface coast
$FINISH,1.2,1.024380
$STATE,23434,end surface coast,CONTROL_FINISHED_OK
$STATE,23437,begin surface
$SM_CCo,23517,0.00,0.000,0,0,1155,402.05
$SM_GC,1.90,8.35,0.17,0.00,0.027,0.076,0.000,118,2196,1155,-9.47,1.24,402.05,0,0,0,0,0,0,25.73,25.77,28.83
$IRIDIUM_FIX,4707.04,-12609.59,171112,222213
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.48
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,14.60
$XPDR_PINGS,2
$24V_AH,22.4,39.467
$10V_AH,10.1,32.799
$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,21.900,184.975,477.850,0.000,0.000,25.556,36.297,235.522,0.500,0.000,19.357,3326.363,16786.982,593.838,2813.276,422.745,0.000,1953.750,0.000,2495.485,0.000,0.536,0.000
$DEVICE_MAMPS,218.790,86.445,1177.335,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,881.176,742.562,491.824,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296792
$DATA_FILE_SIZE,73535,1281
$CAP_FILE_SIZE,186148,0
$CFSIZE,260165632,234446848
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.079,248.0,1
$GPS,181112,120024,4726.221,-12606.229,54,1.2,54,18.7