version: 66.11
glider: 187
mission: 2
dive: 291
start: 11 21 112 5 26 3
data:
$ID,187
$MISSION,2
$DIVE,291
$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,-1588124.1
$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,29
$R_STBD_OVSHOOT,26
$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
$GPS1,211112,051824,4733.291,-12543.233,90,1.2,90,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-73.3
$GPS2,211112,052531,4733.189,-12543.287,16,1.0,16,18.7
$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,43.5,53736,-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,-146.0,0.0,0.0,0,76,0.00,0.00,-56.55,0.000,2,0.000,0.000,111,2205,2649,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.48,-146.0,3.2,-4.0,9,115,11.52,2.35,-17.60,0.000,4,0.220,0.075,3026,3616,3392,0,0,0,0,0,0,24.93,25.44,26.08
$GC,256,-0.48,-146.0,33.6,-15.1,41,264,0.00,2.20,0.00,0.000,6,0.000,0.043,3026,2183,3395,0,0,0,0,0,0,28.83,25.62,28.83
$GC,573,-0.48,-146.0,79.3,-13.2,102,580,0.00,2.12,0.00,0.000,4,0.000,0.050,3026,797,3397,0,0,0,0,0,0,28.83,25.60,28.83
$GC,644,-0.48,-146.0,88.3,-12.6,115,651,0.00,2.17,0.00,0.000,6,0.000,0.050,3017,2200,3397,0,0,0,0,0,0,28.83,25.62,28.83
$GC,955,-0.48,-146.0,127.6,-12.3,168,959,0.00,2.22,0.00,0.000,4,0.000,0.062,3007,3608,3396,0,0,0,0,0,0,28.83,25.57,28.83
$GC,990,-0.48,-146.0,131.6,-12.4,170,996,0.10,2.12,0.00,0.000,6,0.108,0.043,3042,2192,3397,0,0,0,0,0,0,25.57,25.80,28.83
$GC,1306,-0.48,-146.0,163.4,-9.8,191,1312,0.00,2.10,0.00,0.000,4,0.000,0.050,3042,800,3397,0,0,0,0,0,0,28.83,25.70,28.83
$GC,1368,-0.48,-146.0,169.1,-9.5,195,1372,0.00,2.17,0.00,0.000,6,0.000,0.050,3035,2202,3397,0,0,0,0,0,0,28.83,25.71,28.83
$GC,1681,-0.48,-146.0,200.3,-9.4,216,1686,0.00,2.22,0.00,0.000,4,0.000,0.063,3024,3611,3396,0,0,0,0,0,0,28.83,25.62,28.83
$GC,1728,-0.48,-146.0,204.4,-9.7,218,1732,0.00,2.12,0.00,0.000,6,0.000,0.044,3024,2203,3397,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2038,-0.48,-146.0,236.1,-9.7,233,2039,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2197,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2335,-0.48,-146.0,265.3,-9.9,248,2336,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2197,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2635,-0.48,-146.0,295.5,-10.2,263,2636,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2198,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2936,-0.48,-146.0,326.7,-10.2,278,2941,0.00,2.12,0.00,0.000,4,0.000,0.051,3024,797,3396,0,0,0,0,0,0,28.83,25.73,28.83
$GC,2975,-0.48,-146.0,331.0,-10.5,280,2981,0.00,2.17,0.00,0.000,6,0.000,0.051,3016,2206,3396,0,0,0,0,0,0,28.83,25.74,28.83
$GC,3295,-0.48,-146.0,364.2,-10.5,296,3301,0.00,2.22,0.00,0.000,4,0.000,0.063,3006,3612,3395,0,0,0,0,0,0,28.83,25.62,28.83
$GC,3329,-0.48,-146.0,366.3,-10.5,297,3337,0.12,2.15,0.00,0.000,6,0.132,0.044,3041,2188,3395,0,0,0,0,0,0,25.70,25.88,28.83
$GC,3635,-0.48,-146.0,392.9,-7.5,313,3641,0.00,2.28,0.00,0.000,4,0.000,0.063,3033,3618,3395,0,0,0,0,0,0,28.83,25.61,28.83
$GC,3663,-0.48,-146.0,394.5,-7.7,314,3667,0.00,2.15,0.00,0.000,6,0.000,0.043,3033,2192,3395,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3971,-0.48,-146.0,417.9,-7.2,325,3972,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2188,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4271,-0.48,-146.0,439.2,-7.1,335,4272,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2189,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4570,-0.48,-146.0,462.8,-8.1,345,4571,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2188,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4871,-0.48,-146.0,488.0,-8.4,355,4874,0.00,2.12,0.00,0.000,4,0.000,0.051,3033,801,3393,0,0,0,0,0,0,28.83,25.71,28.83
$GC,4905,-0.48,-146.0,490.8,-8.4,356,4909,0.00,2.17,0.00,0.000,6,0.000,0.053,3025,2200,3394,0,0,0,0,0,0,28.83,25.71,28.83
$GC,5228,-0.48,-146.0,519.0,-8.9,367,5233,0.00,2.22,0.00,0.000,4,0.000,0.065,3016,3608,3393,0,0,0,0,0,0,28.83,25.57,28.83
$GC,5296,-0.48,-146.0,524.4,-8.8,369,5300,0.00,2.12,0.00,0.000,6,0.000,0.045,3015,2203,3393,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5613,-0.48,-146.0,554.2,-9.1,380,5614,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2201,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5914,-0.48,-146.0,581.2,-8.8,390,5915,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2201,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6214,-0.48,-146.0,607.5,-8.7,400,6220,0.00,2.28,0.00,0.000,4,0.000,0.066,3007,3614,3391,0,0,0,0,0,0,28.83,25.55,28.83
$GC,6276,-0.48,-146.0,612.9,-8.9,402,6281,0.12,2.17,0.00,0.000,6,0.133,0.047,3042,2190,3391,0,0,0,0,0,0,25.66,25.84,28.83
$GC,6599,-0.48,-146.0,636.5,-7.2,413,6604,0.00,2.25,0.00,0.000,4,0.000,0.066,3034,3606,3391,0,0,0,0,0,0,28.83,25.53,28.83
$GC,6653,-0.48,-146.0,638.8,-7.3,414,6659,0.00,2.17,0.00,0.000,6,0.000,0.046,3034,2189,3391,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6959,-0.48,-146.0,663.3,-7.4,425,6965,0.00,2.30,0.00,0.000,4,0.000,0.066,3024,3615,3390,0,0,0,0,0,0,28.83,25.52,28.83
$GC,7019,-0.48,-146.0,667.9,-7.6,427,7025,0.00,2.17,0.00,0.000,6,0.000,0.047,3025,2195,3390,0,0,0,0,0,0,28.83,25.83,28.83
$GC,7350,-0.48,-146.0,693.6,-7.7,438,7351,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2193,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7649,-0.48,-146.0,716.2,-7.3,448,7655,0.00,2.25,0.00,0.000,4,0.000,0.067,3014,3607,3390,0,0,0,0,0,0,28.83,25.51,28.83
$GC,7703,-0.48,-146.0,718.5,-7.3,449,7710,0.00,2.15,0.00,0.000,6,0.000,0.047,3014,2194,3390,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8009,-0.48,-146.0,744.7,-8.0,460,8010,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2194,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8310,-0.48,-146.0,768.1,-7.9,470,8315,0.00,2.25,0.00,0.000,4,0.000,0.067,3004,3605,3389,0,0,0,0,0,0,28.83,25.48,28.83
$GC,8342,-0.48,-146.0,770.7,-8.0,471,8347,0.12,2.15,0.00,0.000,6,0.133,0.047,3040,2195,3389,0,0,0,0,0,0,25.62,25.80,28.83
$GC,8666,-0.48,-146.0,791.7,-6.2,482,8667,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2194,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8965,-0.48,-146.0,809.9,-6.1,492,8971,0.00,2.28,0.00,0.000,4,0.000,0.067,3032,3610,3388,0,0,0,0,0,0,28.83,25.46,28.83
$GC,9003,-0.48,-146.0,811.7,-6.1,493,9007,0.00,2.15,0.00,0.000,6,0.000,0.047,3032,2206,3388,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9321,-0.48,-146.0,833.9,-7.0,504,9322,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2204,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9621,-0.48,-146.0,853.9,-6.7,514,9626,0.00,2.25,0.00,0.000,4,0.000,0.067,3023,3607,3387,0,0,0,0,0,0,28.83,25.45,28.83
$GC,9659,-0.48,-146.0,855.9,-6.7,515,9663,0.00,2.17,0.00,0.000,6,0.000,0.047,3022,2189,3387,0,0,0,0,0,0,28.83,25.78,28.83
$GC,9977,-0.48,-146.0,878.4,-7.0,526,9978,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2187,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10276,-0.48,-146.0,900.7,-7.6,536,10281,0.00,2.30,0.00,0.000,4,0.000,0.067,3012,3610,3387,0,0,0,0,0,0,28.83,25.44,28.83
$GC,10329,-0.48,-146.0,903.1,-7.8,537,10337,0.00,2.17,0.00,0.000,6,0.000,0.048,3012,2189,3386,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10636,-0.48,-146.0,928.8,-7.7,548,10641,0.00,2.30,0.00,0.000,4,0.000,0.068,3002,3607,3386,0,0,0,0,0,0,28.83,25.42,28.83
$GC,10696,-0.48,-146.0,933.7,-8.0,550,10702,0.12,2.17,0.00,0.000,6,0.131,0.047,3042,2193,3386,0,0,0,0,0,0,25.58,25.76,28.83
$GC,11027,-0.48,-146.0,953.4,-6.0,561,11028,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2191,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11326,-0.48,-146.0,970.1,-5.4,571,11332,0.00,2.28,0.00,0.000,4,0.000,0.068,3035,3606,3385,0,0,0,0,0,0,28.83,25.40,28.83
$GC,11374,-0.48,-146.0,971.7,-5.4,572,11378,0.00,2.15,0.00,0.000,6,0.000,0.048,3035,2204,3385,0,0,0,0,0,0,28.83,25.76,28.83
$STATE,11679,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11679,begin apogee
$GC,11686,-0.22,0.0,990.9,-6.0,582,11821,0.25,0.00,129.10,1.177,6,0.112,0.000,3121,2331,2793,0,0,0,0,0,0,25.77,28.83,23.28
$STATE,11824,end apogee,CONTROL_FINISHED_OK
$STATE,11824,begin climb
$GC,11827,0.48,146.0,994.5,0.0,586,11969,0.65,0.00,138.15,1.142,6,0.078,0.000,3344,2331,2198,0,0,0,0,0,0,24.44,28.83,22.37
$GC,12252,0.48,146.0,963.6,9.0,601,12257,0.00,2.33,0.00,0.000,4,0.000,0.068,3344,3730,2188,0,0,0,0,0,0,28.83,24.79,28.83
$GC,12289,0.48,146.0,960.7,9.1,602,12293,0.00,2.25,0.00,0.000,6,0.000,0.049,3354,2331,2187,0,0,0,0,0,0,28.83,25.00,28.83
$GC,12606,0.48,146.0,928.1,9.7,613,12612,0.00,2.22,0.00,0.000,4,0.000,0.058,3365,915,2186,0,0,0,0,0,0,28.83,25.34,28.83
$GC,12629,0.48,146.0,928.1,9.7,613,12637,0.00,2.25,0.00,0.000,6,0.000,0.057,3365,2321,2185,0,0,0,0,0,0,28.83,25.35,28.83
$GC,12936,0.48,146.0,895.2,10.0,624,12942,0.00,2.33,0.00,0.000,4,0.000,0.070,3364,3743,2184,0,0,0,0,0,0,28.83,25.42,28.83
$GC,12997,0.48,146.0,888.2,10.8,626,13002,0.00,2.20,0.00,0.000,6,0.000,0.050,3376,2331,2184,0,0,0,0,0,0,28.83,25.60,28.83
$GC,13326,0.48,146.0,852.1,10.8,637,13332,0.00,2.22,0.00,0.000,4,0.000,0.058,3387,909,2184,0,0,0,0,0,0,28.83,25.56,28.83
$GC,13345,0.48,146.0,852.1,10.8,637,13356,0.15,2.25,0.00,0.000,6,0.154,0.058,3348,2328,2184,0,0,0,0,0,0,25.36,25.56,28.83
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$STATE,23666,end climb,SURFACE_DEPTH_REACHED
$STATE,23666,begin surface coast
$FINISH,1.2,1.024637
$STATE,23712,end surface coast,CONTROL_FINISHED_OK
$STATE,23712,begin surface
$SM_CCo,23793,0.00,0.000,0,0,1510,314.72
$SM_GC,1.95,8.30,2.47,0.00,0.024,0.044,0.000,115,2190,1510,-9.46,0.79,314.72,0,0,0,0,0,0,25.76,25.52,28.83
$IRIDIUM_FIX,4716.56,-12540.78,201112,222207
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.68
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,16.10
$XPDR_PINGS,1
$24V_AH,22.4,40.978
$10V_AH,10.1,34.058
$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
$DEVICE_SECS,22.250,213.000,409.100,0.000,0.000,25.491,41.724,220.064,0.250,0.000,19.164,3529.639,16586.662,556.259,3130.958,407.034,0.000,2053.369,0.000,2800.472,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,920.331,779.786,556.948,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,76801,1337
$CAP_FILE_SIZE,199962,0
$CFSIZE,260165632,233484288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.048,219.7,1
$GPS,211112,120353,4734.254,-12539.973,39,2.0,39,18.7