version: 66.11
glider: 187
mission: 2
dive: 289
start: 11 20 112 16 2 21
data:
$ID,187
$MISSION,2
$DIVE,289
$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,-1588121.5
$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,33
$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
$GPS1,201112,155435,4732.750,-12549.002,26,1.2,26,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-73.0
$GPS2,201112,160149,4732.764,-12549.153,37,1.2,37,18.7
$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,68.9,59949,-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,-146.0,0.0,0.0,0,82,0.00,0.00,-63.28,0.000,2,0.000,0.000,130,2194,2562,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.48,-146.0,3.1,-4.1,10,126,11.43,2.30,-20.12,0.000,4,0.221,0.077,3023,3609,3393,0,0,0,0,0,0,25.00,25.46,26.08
$GC,211,-0.48,-146.0,25.5,-18.1,32,218,0.00,2.25,0.00,0.000,6,0.000,0.043,3022,2192,3395,0,0,0,0,0,0,28.83,25.60,28.83
$GC,530,-0.48,-146.0,70.5,-13.7,93,537,0.00,2.17,0.00,0.000,4,0.000,0.049,3022,786,3397,0,0,0,0,0,0,28.83,25.62,28.83
$GC,600,-0.48,-146.0,79.8,-12.6,106,607,0.00,2.20,0.00,0.000,6,0.000,0.050,3013,2201,3396,0,0,0,0,0,0,28.83,25.63,28.83
$GC,913,-0.48,-146.0,116.8,-10.1,167,920,0.00,2.25,0.00,0.000,4,0.000,0.061,3002,3610,3397,0,0,0,0,0,0,28.83,25.59,28.83
$GC,951,-0.48,-146.0,120.4,-10.8,173,956,0.15,2.17,0.00,0.000,6,0.130,0.043,3045,2194,3397,0,0,0,0,0,0,25.58,25.81,28.83
$GC,1261,-0.48,-146.0,145.6,-8.2,193,1262,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2187,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1559,-0.48,-146.0,172.4,-9.6,213,1565,0.00,2.12,0.00,0.000,4,0.000,0.049,3045,801,3397,0,0,0,0,0,0,28.83,25.74,28.83
$GC,1588,-0.48,-146.0,175.4,-9.8,215,1594,0.00,2.17,0.00,0.000,6,0.000,0.050,3039,2201,3397,0,0,0,0,0,0,28.83,25.74,28.83
$GC,1903,-0.48,-146.0,207.0,-10.4,235,1908,0.00,2.25,0.00,0.000,4,0.000,0.063,3028,3611,3397,0,0,0,0,0,0,28.83,25.64,28.83
$GC,1956,-0.48,-146.0,211.2,-10.4,237,1964,0.00,2.17,0.00,0.000,6,0.000,0.043,3028,2186,3397,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2264,-0.48,-146.0,246.0,-10.6,253,2270,0.00,2.10,0.00,0.000,4,0.000,0.050,3028,811,3397,0,0,0,0,0,0,28.83,25.76,28.83
$GC,2305,-0.48,-146.0,250.2,-10.6,255,2309,0.00,2.17,0.00,0.000,6,0.000,0.051,3019,2209,3397,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2618,-0.48,-146.0,281.8,-9.6,271,2623,0.00,2.20,0.00,0.000,4,0.000,0.063,3008,3601,3397,0,0,0,0,0,0,28.83,25.65,28.83
$GC,2658,-0.48,-146.0,285.8,-9.9,273,2664,0.12,2.15,0.00,0.000,6,0.134,0.043,3043,2195,3396,0,0,0,0,0,0,25.71,25.90,28.83
$GC,2978,-0.48,-146.0,311.5,-7.8,289,2979,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2191,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3278,-0.48,-146.0,335.9,-7.9,304,3279,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2191,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3578,-0.48,-146.0,359.8,-8.0,319,3583,0.00,2.28,0.00,0.000,4,0.000,0.063,3035,3607,3396,0,0,0,0,0,0,28.83,25.63,28.83
$GC,3602,-0.48,-146.0,361.3,-7.9,320,3606,0.00,2.17,0.00,0.000,6,0.000,0.044,3035,2192,3395,0,0,0,0,0,0,28.83,25.90,28.83
$GC,3914,-0.48,-146.0,387.5,-8.1,336,3915,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2187,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4224,-0.48,-146.0,411.5,-7.7,349,4229,0.00,2.30,0.00,0.000,4,0.000,0.063,3025,3614,3394,0,0,0,0,0,0,28.83,25.62,28.83
$GC,4247,-0.48,-146.0,411.5,-7.7,349,4254,0.00,2.17,0.00,0.000,6,0.000,0.044,3025,2198,3394,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4554,-0.48,-146.0,437.2,-7.8,360,4555,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2198,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4854,-0.48,-146.0,461.5,-8.1,370,4860,0.00,2.17,0.00,0.000,4,0.000,0.052,3025,803,3394,0,0,0,0,0,0,28.83,25.72,28.83
$GC,4883,-0.48,-146.0,464.1,-8.2,371,4889,0.00,2.20,0.00,0.000,6,0.000,0.053,3017,2208,3394,0,0,0,0,0,0,28.83,25.72,28.83
$GC,5215,-0.48,-146.0,493.7,-9.0,382,5220,0.00,2.22,0.00,0.000,4,0.000,0.064,3006,3606,3393,0,0,0,0,0,0,28.83,25.59,28.83
$GC,5257,-0.48,-146.0,496.5,-9.1,383,5262,0.12,2.15,0.00,0.000,6,0.134,0.044,3042,2202,3394,0,0,0,0,0,0,25.69,25.88,28.83
$GC,5570,-0.48,-146.0,521.0,-7.2,394,5576,0.00,2.25,0.00,0.000,4,0.000,0.065,3034,3605,3393,0,0,0,0,0,0,28.83,25.58,28.83
$GC,5608,-0.48,-146.0,523.3,-7.3,395,5612,0.00,2.15,0.00,0.000,6,0.000,0.045,3034,2200,3393,0,0,0,0,0,0,28.83,25.88,28.83
$GC,5926,-0.48,-146.0,547.6,-7.4,406,5927,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2198,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6226,-0.48,-146.0,568.9,-7.0,416,6227,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2198,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6526,-0.48,-146.0,590.2,-7.1,426,6532,0.00,2.30,0.00,0.000,4,0.000,0.067,3025,3624,3391,0,0,0,0,0,0,28.83,25.55,28.83
$GC,6564,-0.48,-146.0,592.4,-7.1,427,6568,0.00,2.22,0.00,0.000,6,0.000,0.046,3024,2194,3391,0,0,0,0,0,0,28.83,25.85,28.83
$GC,6881,-0.48,-146.0,615.6,-7.0,438,6883,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2192,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7181,-0.48,-146.0,637.2,-7.4,448,7182,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2192,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7481,-0.48,-146.0,660.1,-7.9,458,7482,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2192,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7781,-0.48,-146.0,683.8,-7.8,468,7786,0.00,2.30,0.00,0.000,4,0.000,0.066,3014,3609,3390,0,0,0,0,0,0,28.83,25.52,28.83
$GC,7825,-0.48,-146.0,686.2,-7.9,469,7829,0.00,2.17,0.00,0.000,6,0.000,0.047,3014,2203,3389,0,0,0,0,0,0,28.83,25.83,28.83
$GC,8137,-0.48,-146.0,713.1,-8.2,480,8138,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2201,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8437,-0.48,-146.0,737.5,-8.2,490,8443,0.00,2.25,0.00,0.000,4,0.000,0.067,3004,3600,3389,0,0,0,0,0,0,28.83,25.50,28.83
$GC,8485,-0.48,-146.0,740.2,-8.4,491,8490,0.12,2.17,0.00,0.000,6,0.133,0.047,3040,2192,3388,0,0,0,0,0,0,25.63,25.81,28.83
$GC,8792,-0.48,-146.0,761.3,-6.1,501,8797,0.00,2.28,0.00,0.000,4,0.000,0.067,3032,3602,3388,0,0,0,0,0,0,28.83,25.48,28.83
$GC,8835,-0.48,-146.0,763.2,-6.1,502,8839,0.00,2.17,0.00,0.000,6,0.000,0.046,3032,2192,3388,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9148,-0.48,-146.0,785.2,-6.9,513,9149,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2190,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9447,-0.48,-146.0,805.7,-6.8,523,9453,0.00,2.30,0.00,0.000,4,0.000,0.067,3023,3610,3387,0,0,0,0,0,0,28.83,25.47,28.83
$GC,9477,-0.48,-146.0,807.9,-6.8,524,9483,0.00,2.20,0.00,0.000,6,0.000,0.047,3022,2189,3387,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9808,-0.48,-146.0,832.3,-7.5,535,9809,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2187,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10107,-0.48,-146.0,854.9,-7.5,545,10113,0.00,2.30,0.00,0.000,4,0.000,0.067,3012,3607,3386,0,0,0,0,0,0,28.83,25.45,28.83
$GC,10160,-0.48,-146.0,857.0,-7.4,546,10167,0.00,2.20,0.00,0.000,6,0.000,0.047,3012,2186,3387,0,0,0,0,0,0,28.83,25.78,28.83
$GC,10468,-0.48,-146.0,883.6,-8.0,557,10471,0.00,2.17,0.00,0.000,4,0.000,0.054,3012,799,3387,0,0,0,0,0,0,28.83,25.58,28.83
$GC,10500,-0.48,-146.0,886.3,-8.0,558,10506,0.10,2.20,0.00,0.000,6,0.111,0.055,3041,2203,3386,0,0,0,0,0,0,25.41,25.59,28.83
$GC,10830,-0.48,-146.0,907.2,-6.1,569,10835,0.00,2.25,0.00,0.000,4,0.000,0.067,3033,3604,3386,0,0,0,0,0,0,28.83,25.44,28.83
$GC,10893,-0.48,-146.0,911.4,-6.6,571,10899,0.00,2.17,0.00,0.000,6,0.000,0.045,3033,2191,3386,0,0,0,0,0,0,28.83,25.79,28.83
$GC,11220,-0.48,-146.0,936.0,-7.7,582,11221,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2189,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11519,-0.48,-146.0,960.1,-8.0,592,11525,0.00,2.33,0.00,0.000,4,0.000,0.067,3023,3610,3385,0,0,0,0,0,0,28.83,25.41,28.83
$GC,11543,-0.48,-146.0,960.1,-8.0,592,11550,0.00,2.20,0.00,0.000,6,0.000,0.048,3023,2190,3385,0,0,0,0,0,0,28.83,25.75,28.83
$GC,11849,-0.48,-146.0,986.2,-7.7,603,11850,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2190,3385,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11907,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11907,begin apogee
$GC,11914,-0.22,0.0,990.5,-7.5,605,12047,0.28,0.00,129.40,1.178,6,0.112,0.000,3118,2335,2794,0,0,0,0,0,0,25.70,28.83,23.30
$STATE,12051,end apogee,CONTROL_FINISHED_OK
$STATE,12051,begin climb
$GC,12054,0.48,146.0,995.1,0.0,609,12196,0.68,0.00,138.73,1.143,6,0.080,0.000,3346,2335,2198,0,0,0,0,0,0,24.43,28.83,22.37
$GC,12474,0.48,146.0,963.5,9.0,624,12475,0.00,0.00,0.00,0.000,6,0.000,0.000,3346,2335,2187,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12775,0.48,146.0,935.7,9.4,634,12776,0.00,0.00,0.00,0.000,6,0.000,0.000,3346,2335,2186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13074,0.48,146.0,907.6,9.6,644,13080,0.00,2.30,0.00,0.000,4,0.000,0.069,3346,3731,2185,0,0,0,0,0,0,28.83,25.41,28.83
$GC,13114,0.48,146.0,904.4,9.8,645,13120,0.00,2.20,0.00,0.000,6,0.000,0.048,3357,2337,2184,0,0,0,0,0,0,28.83,25.60,28.83
$GC,13435,0.48,146.0,870.4,10.5,656,13440,0.00,2.20,0.00,0.000,4,0.000,0.056,3367,924,2184,0,0,0,0,0,0,28.83,25.56,28.83
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$STATE,23537,end climb,SURFACE_DEPTH_REACHED
$STATE,23537,begin surface coast
$FINISH,1.1,1.001921
$STATE,23586,end surface coast,CONTROL_FINISHED_OK
$STATE,23586,begin surface
$SM_CCo,23666,0.00,0.000,0,0,1173,397.63
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$TT8_MAMPS,0.026964,0.026964
$HUMID,44.88
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,19.40
$XPDR_PINGS,1
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$10V_AH,10.1,33.821
$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
$DEVICE_SECS,22.100,201.200,477.900,0.000,0.000,26.002,41.725,209.724,0.250,0.000,40.244,3399.785,16700.592,630.328,2953.149,408.016,0.000,2058.398,0.000,2617.736,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,901.810,764.520,537.935,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73524,1312
$CAP_FILE_SIZE,192797,0
$CFSIZE,260165632,233664512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.121,272.3,1
$GPS,201112,223806,4732.822,-12546.312,41,1.7,41,18.7