version: 66.11
glider: 187
mission: 2
dive: 288
start: 11 20 112 9 32 39
data:
$ID,187
$MISSION,2
$DIVE,288
$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,-1588120.2
$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,47
$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
$GPS1,201112,092453,4731.896,-12551.215,98,0.9,98,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-77.2
$GPS2,201112,093207,4731.893,-12551.132,16,0.9,16,18.7
$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,66.2,62886,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.48,-146.0,0.0,0.0,0,64,0.00,0.00,-44.95,0.000,2,0.000,0.000,114,2191,2528,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-0.48,-146.0,3.0,-3.7,7,109,11.32,2.38,-22.90,0.000,4,0.214,0.076,3027,3609,3392,0,0,0,0,0,0,24.97,25.44,26.08
$GC,236,-0.48,-146.0,31.2,-19.9,37,244,0.00,2.17,0.00,0.000,6,0.000,0.043,3027,2209,3394,0,0,0,0,0,0,28.83,25.60,28.83
$GC,554,-0.48,-146.0,77.0,-13.9,98,561,0.00,2.20,0.00,0.000,4,0.000,0.049,3027,785,3396,0,0,0,0,0,0,28.83,25.60,28.83
$GC,665,-0.48,-146.0,91.4,-12.9,119,672,0.00,2.20,0.00,0.000,6,0.000,0.050,3017,2202,3396,0,0,0,0,0,0,28.83,25.63,28.83
$GC,987,-0.48,-146.0,132.9,-12.0,168,992,0.00,2.25,0.00,0.000,4,0.000,0.061,3007,3614,3397,0,0,0,0,0,0,28.83,25.58,28.83
$GC,1086,-0.48,-146.0,143.9,-12.1,174,1094,0.08,2.22,0.00,0.000,6,0.116,0.043,3044,2189,3397,0,0,0,0,0,0,25.57,25.82,28.83
$GC,1396,-0.48,-146.0,173.0,-9.1,195,1397,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2188,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1694,-0.48,-146.0,201.0,-9.4,215,1695,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2187,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1993,-0.48,-146.0,227.5,-8.6,230,1998,0.00,2.12,0.00,0.000,4,0.000,0.049,3044,800,3397,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2016,-0.48,-146.0,229.4,-8.7,231,2020,0.00,2.17,0.00,0.000,6,0.000,0.050,3037,2203,3396,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2328,-0.48,-146.0,258.7,-9.3,247,2334,0.00,2.22,0.00,0.000,4,0.000,0.063,3026,3608,3396,0,0,0,0,0,0,28.83,25.63,28.83
$GC,2401,-0.48,-146.0,264.4,-9.6,250,2408,0.00,2.15,0.00,0.000,6,0.000,0.043,3026,2195,3396,0,0,0,0,0,0,28.83,25.90,28.83
$GC,2709,-0.48,-146.0,297.7,-10.7,266,2710,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2194,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3009,-0.48,-146.0,327.5,-9.6,281,3015,0.00,2.25,0.00,0.000,4,0.000,0.063,3015,3610,3395,0,0,0,0,0,0,28.83,25.63,28.83
$GC,3048,-0.48,-146.0,331.3,-9.6,283,3053,0.00,2.15,0.00,0.000,6,0.000,0.044,3015,2205,3396,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3368,-0.48,-146.0,364.0,-10.1,299,3374,0.00,2.15,0.00,0.000,4,0.000,0.050,3015,800,3395,0,0,0,0,0,0,28.83,25.75,28.83
$GC,3391,-0.48,-146.0,366.0,-10.1,300,3396,0.12,2.17,0.00,0.000,6,0.138,0.051,3041,2199,3395,0,0,0,0,0,0,25.61,25.74,28.83
$GC,3704,-0.48,-146.0,390.9,-7.4,316,3709,0.00,2.25,0.00,0.000,4,0.000,0.064,3033,3606,3395,0,0,0,0,0,0,28.83,25.60,28.83
$GC,3768,-0.48,-146.0,395.5,-7.7,319,3773,0.00,2.15,0.00,0.000,6,0.000,0.044,3033,2200,3395,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4094,-0.48,-146.0,422.2,-8.2,331,4099,0.00,2.15,0.00,0.000,4,0.000,0.050,3033,803,3394,0,0,0,0,0,0,28.83,25.73,28.83
$GC,4123,-0.48,-146.0,424.9,-8.3,332,4129,0.00,2.20,0.00,0.000,6,0.000,0.052,3025,2209,3394,0,0,0,0,0,0,28.83,25.72,28.83
$GC,4454,-0.48,-146.0,453.6,-8.7,343,4459,0.00,2.22,0.00,0.000,4,0.000,0.064,3015,3606,3394,0,0,0,0,0,0,28.83,25.59,28.83
$GC,4526,-0.48,-146.0,459.1,-8.8,345,4531,0.00,2.15,0.00,0.000,6,0.000,0.044,3015,2199,3394,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4839,-0.48,-146.0,489.4,-9.3,356,4844,0.00,2.17,0.00,0.000,4,0.000,0.051,3015,790,3394,0,0,0,0,0,0,28.83,25.71,28.83
$GC,4869,-0.48,-146.0,492.2,-9.3,357,4875,0.08,2.20,0.00,0.000,6,0.118,0.053,3034,2203,3394,0,0,0,0,0,0,25.54,25.70,28.83
$GC,5199,-0.48,-146.0,517.4,-7.4,368,5204,0.00,2.25,0.00,0.000,4,0.000,0.065,3026,3609,3392,0,0,0,0,0,0,28.83,25.56,28.83
$GC,5262,-0.48,-146.0,522.1,-7.6,370,5267,0.00,2.17,0.00,0.000,6,0.000,0.044,3025,2190,3393,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5585,-0.48,-146.0,550.2,-8.8,381,5591,0.00,2.28,0.00,0.000,4,0.000,0.065,3015,3608,3392,0,0,0,0,0,0,28.83,25.56,28.83
$GC,5607,-0.48,-146.0,550.2,-8.8,381,5615,0.00,2.17,0.00,0.000,6,0.000,0.045,3015,2190,3392,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5914,-0.48,-146.0,580.1,-8.7,392,5920,0.00,2.33,0.00,0.000,4,0.000,0.065,3005,3618,3391,0,0,0,0,0,0,28.83,25.55,28.83
$GC,5953,-0.48,-146.0,582.6,-8.6,393,5958,0.12,2.17,0.00,0.000,6,0.134,0.044,3042,2201,3391,0,0,0,0,0,0,25.67,25.87,28.83
$GC,6271,-0.48,-146.0,605.4,-6.8,404,6272,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2199,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6571,-0.48,-146.0,626.5,-7.0,414,6577,0.00,2.25,0.00,0.000,4,0.000,0.066,3033,3604,3390,0,0,0,0,0,0,28.83,25.55,28.83
$GC,6602,-0.48,-146.0,628.7,-7.0,415,6607,0.00,2.15,0.00,0.000,6,0.000,0.046,3033,2210,3390,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6931,-0.48,-146.0,654.7,-8.0,426,6932,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2208,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7231,-0.48,-146.0,677.4,-7.5,436,7232,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2208,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7532,-0.48,-146.0,699.9,-7.5,446,7533,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2208,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7831,-0.48,-146.0,722.2,-7.4,456,7836,0.00,2.30,0.00,0.000,4,0.000,0.067,3023,3620,3389,0,0,0,0,0,0,28.83,25.49,28.83
$GC,7894,-0.48,-146.0,726.7,-7.5,458,7898,0.00,2.20,0.00,0.000,6,0.000,0.045,3023,2190,3389,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8217,-0.48,-146.0,750.4,-7.0,469,8218,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2187,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8516,-0.48,-146.0,771.1,-7.0,479,8522,0.00,2.30,0.00,0.000,4,0.000,0.067,3013,3610,3388,0,0,0,0,0,0,28.83,25.48,28.83
$GC,8554,-0.48,-146.0,773.2,-7.0,480,8559,0.00,2.17,0.00,0.000,6,0.000,0.047,3013,2202,3388,0,0,0,0,0,0,28.83,25.81,28.83
$GC,8872,-0.48,-146.0,798.1,-7.9,491,8877,0.00,2.28,0.00,0.000,4,0.000,0.067,3004,3607,3387,0,0,0,0,0,0,28.83,25.47,28.83
$GC,8954,-0.48,-146.0,803.3,-8.3,493,8963,0.12,2.20,0.00,0.000,6,0.131,0.047,3040,2195,3387,0,0,0,0,0,0,25.63,25.79,28.83
$GC,9262,-0.48,-146.0,826.5,-6.8,504,9268,0.00,2.28,0.00,0.000,4,0.000,0.067,3031,3603,3387,0,0,0,0,0,0,28.83,25.45,28.83
$GC,9285,-0.48,-146.0,826.5,-6.8,504,9292,0.00,2.17,0.00,0.000,6,0.000,0.047,3031,2196,3387,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9591,-0.48,-146.0,851.3,-7.7,515,9597,0.00,2.33,0.00,0.000,4,0.000,0.068,3021,3614,3387,0,0,0,0,0,0,28.83,25.44,28.83
$GC,9614,-0.48,-146.0,851.3,-7.7,515,9621,0.00,2.20,0.00,0.000,6,0.000,0.047,3022,2197,3386,0,0,0,0,0,0,28.83,25.78,28.83
$GC,9923,-0.48,-146.0,875.8,-7.2,526,9928,0.00,2.33,0.00,0.000,4,0.000,0.068,3012,3624,3386,0,0,0,0,0,0,28.83,25.44,28.83
$GC,9965,-0.48,-146.0,878.0,-7.2,527,9969,0.00,2.22,0.00,0.000,6,0.000,0.047,3012,2190,3386,0,0,0,0,0,0,28.83,25.78,28.83
$GC,10277,-0.48,-146.0,903.3,-7.8,538,10279,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2188,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10578,-0.48,-146.0,927.9,-8.3,548,10579,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2188,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10878,-0.48,-146.0,951.3,-7.6,558,10883,0.00,2.33,0.00,0.000,4,0.000,0.068,3002,3613,3385,0,0,0,0,0,0,28.83,25.41,28.83
$GC,10937,-0.48,-146.0,956.0,-7.6,560,10944,0.15,2.20,0.00,0.000,6,0.123,0.048,3045,2201,3385,0,0,0,0,0,0,25.56,25.75,28.83
$GC,11268,-0.48,-146.0,974.4,-5.5,571,11269,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2199,3385,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11565,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11565,begin apogee
$GC,11572,-0.22,0.0,990.4,-5.3,581,11705,0.22,0.00,128.85,1.180,6,0.111,0.000,3127,2342,2794,0,0,0,0,0,0,25.85,28.83,23.30
$STATE,11708,end apogee,CONTROL_FINISHED_OK
$STATE,11708,begin climb
$GC,11711,0.48,146.0,994.0,0.0,585,11859,0.62,2.50,137.45,1.142,4,0.075,0.053,3354,927,2196,0,0,0,0,0,0,24.44,23.39,22.38
$GC,11916,0.48,164.6,984.2,6.6,591,11939,0.00,2.38,17.67,1.055,6,0.000,0.055,3354,2317,2123,0,0,0,0,0,0,28.83,24.01,22.77
$GC,12248,0.48,164.6,948.9,10.4,603,12253,0.00,2.35,0.00,0.000,4,0.000,0.067,3354,3730,2117,0,0,0,0,0,0,28.83,24.93,28.83
$GC,12296,0.48,164.6,945.4,10.7,604,12300,0.00,2.25,0.00,0.000,6,0.000,0.047,3364,2337,2116,0,0,0,0,0,0,28.83,25.15,28.83
$GC,12602,0.48,164.6,908.4,11.4,614,12604,0.00,0.00,0.00,0.000,6,0.000,0.000,3364,2330,2115,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12902,0.48,164.6,875.0,10.9,624,12904,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,2330,2114,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13203,0.48,164.6,842.1,10.9,634,13208,0.00,2.30,0.00,0.000,4,0.000,0.068,3364,3739,2114,0,0,0,0,0,0,28.83,25.50,28.83
$GC,13233,0.48,164.6,838.5,11.1,635,13238,0.00,2.25,0.00,0.000,6,0.000,0.049,3375,2318,2113,0,0,0,0,0,0,28.83,25.69,28.83
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$STATE,22736,end climb,SURFACE_DEPTH_REACHED
$STATE,22736,begin surface coast
$FINISH,1.2,1.008183
$STATE,22773,end surface coast,CONTROL_FINISHED_OK
$STATE,22773,begin surface
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$TT8_MAMPS,0.027713,0.027713
$HUMID,45.03
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,19.30
$XPDR_PINGS,1
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$10V_AH,10.1,33.705
$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
$DEVICE_SECS,21.725,179.575,475.075,0.000,0.000,28.141,44.474,223.334,0.250,0.000,19.431,3313.664,16079.853,559.489,2933.495,389.464,0.000,1970.770,0.000,2603.178,0.000,0.535,0.000
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$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,73557,1280
$CAP_FILE_SIZE,184305,0
$CFSIZE,260165632,233762816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.159,284.3,1
$GPS,201112,155435,4732.750,-12549.002,26,1.2,26,18.7