version: 66.11
glider: 187
mission: 2
dive: 292
start: 11 21 112 12 11 8
data:
$ID,187
$MISSION,2
$DIVE,292
$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,-1588125.5
$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,35
$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
$GPS1,211112,120353,4734.254,-12539.973,39,2.0,39,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-76.4
$GPS2,211112,121036,4734.374,-12539.918,12,1.7,17,18.7
$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,27.9,49134,-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,14,begin dive
$GC,17,-0.48,-146.0,0.0,0.0,0,76,0.00,0.00,-56.67,0.000,2,0.000,0.000,115,2188,2751,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.48,-146.0,3.2,-3.2,9,114,11.52,2.17,-13.80,0.000,4,0.222,0.065,3033,787,3392,0,0,0,0,0,0,24.91,25.51,26.07
$GC,348,-0.48,-146.0,50.1,-12.7,59,355,0.00,2.20,0.00,0.000,6,0.000,0.050,3025,2201,3395,0,0,0,0,0,0,28.83,25.56,28.83
$GC,662,-0.48,-146.0,91.2,-12.2,120,669,0.00,2.28,0.00,0.000,4,0.000,0.062,3014,3607,3396,0,0,0,0,0,0,28.83,25.54,28.83
$GC,682,-0.48,-146.0,93.8,-12.9,123,689,0.00,2.15,0.00,0.000,6,0.000,0.042,3014,2191,3396,0,0,0,0,0,0,28.83,25.75,28.83
$GC,995,-0.48,-146.0,132.8,-11.7,170,1000,0.00,2.10,0.00,0.000,4,0.000,0.050,3014,802,3396,0,0,0,0,0,0,28.83,25.68,28.83
$GC,1040,-0.48,-146.0,137.9,-11.3,173,1047,0.12,2.17,0.00,0.000,6,0.138,0.050,3040,2200,3396,0,0,0,0,0,0,25.56,25.68,28.83
$GC,1359,-0.48,-146.0,165.4,-8.0,194,1364,0.00,2.20,0.00,0.000,4,0.000,0.062,3031,3605,3396,0,0,0,0,0,0,28.83,25.61,28.83
$GC,1433,-0.48,-146.0,171.8,-8.4,199,1439,0.00,2.10,0.00,0.000,6,0.000,0.042,3031,2200,3396,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1747,-0.48,-146.0,200.1,-9.6,220,1751,0.00,2.15,0.00,0.000,4,0.000,0.050,3031,794,3396,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1777,-0.48,-146.0,202.3,-9.7,221,1781,0.00,2.17,0.00,0.000,6,0.000,0.050,3023,2203,3396,0,0,0,0,0,0,28.83,25.73,28.83
$GC,2084,-0.48,-146.0,234.2,-9.9,236,2089,0.00,2.22,0.00,0.000,4,0.000,0.062,3012,3610,3396,0,0,0,0,0,0,28.83,25.63,28.83
$GC,2117,-0.48,-146.0,236.3,-10.1,237,2124,0.00,2.15,0.00,0.000,6,0.000,0.043,3012,2186,3396,0,0,0,0,0,0,28.83,25.88,28.83
$GC,2424,-0.48,-146.0,271.3,-10.9,253,2425,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2184,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2724,-0.48,-146.0,304.4,-11.1,268,2729,0.00,2.10,0.00,0.000,4,0.000,0.050,3012,796,3396,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2772,-0.48,-146.0,309.0,-11.4,270,2776,0.12,2.17,0.00,0.000,6,0.142,0.051,3039,2204,3396,0,0,0,0,0,0,25.61,25.75,28.83
$GC,3079,-0.48,-146.0,336.9,-8.3,285,3084,0.00,2.22,0.00,0.000,4,0.000,0.063,3031,3607,3396,0,0,0,0,0,0,28.83,25.61,28.83
$GC,3127,-0.48,-146.0,340.4,-8.5,287,3131,0.00,2.12,0.00,0.000,6,0.000,0.044,3031,2199,3396,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3439,-0.48,-146.0,367.6,-8.6,303,3440,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2197,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3740,-0.48,-146.0,394.0,-8.8,318,3741,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2197,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4060,-0.48,-146.0,420.6,-8.0,330,4065,0.00,2.28,0.00,0.000,4,0.000,0.065,3020,3612,3395,0,0,0,0,0,0,28.83,25.60,28.83
$GC,4112,-0.48,-146.0,423.0,-7.9,331,4119,0.00,2.15,0.00,0.000,6,0.000,0.045,3020,2193,3395,0,0,0,0,0,0,28.83,25.88,28.83
$GC,4420,-0.48,-146.0,449.1,-7.8,342,4426,0.00,2.10,0.00,0.000,4,0.000,0.051,3020,807,3394,0,0,0,0,0,0,28.83,25.72,28.83
$GC,4442,-0.48,-146.0,449.1,-7.8,342,4449,0.00,2.17,0.00,0.000,6,0.000,0.053,3012,2208,3395,0,0,0,0,0,0,28.83,25.72,28.83
$GC,4749,-0.48,-146.0,476.6,-8.5,353,4750,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2208,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5049,-0.48,-146.0,502.5,-8.8,363,5053,0.00,2.17,0.00,0.000,4,0.000,0.052,3012,804,3393,0,0,0,0,0,0,28.83,25.70,28.83
$GC,5081,-0.48,-146.0,505.4,-8.9,364,5088,0.10,2.15,0.00,0.000,6,0.114,0.053,3041,2195,3393,0,0,0,0,0,0,25.51,25.71,28.83
$GC,5411,-0.48,-146.0,528.9,-7.0,375,5417,0.00,2.22,0.00,0.000,4,0.000,0.067,3032,3605,3392,0,0,0,0,0,0,28.83,25.56,28.83
$GC,5494,-0.48,-146.0,533.6,-7.4,377,5501,0.00,2.12,0.00,0.000,6,0.000,0.045,3032,2201,3392,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5801,-0.48,-146.0,558.3,-7.5,388,5805,0.00,2.17,0.00,0.000,4,0.000,0.053,3032,799,3392,0,0,0,0,0,0,28.83,25.68,28.83
$GC,5836,-0.48,-146.0,560.9,-7.6,389,5840,0.00,2.17,0.00,0.000,6,0.000,0.053,3026,2200,3391,0,0,0,0,0,0,28.83,25.69,28.83
$GC,6158,-0.48,-146.0,587.6,-8.3,400,6164,0.00,2.25,0.00,0.000,4,0.000,0.066,3015,3610,3391,0,0,0,0,0,0,28.83,25.54,28.83
$GC,6207,-0.48,-146.0,590.1,-8.4,401,6211,0.00,2.15,0.00,0.000,6,0.000,0.046,3015,2197,3391,0,0,0,0,0,0,28.83,25.85,28.83
$GC,6513,-0.48,-146.0,620.5,-9.5,411,6514,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2194,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6813,-0.48,-146.0,648.9,-9.5,421,6819,0.00,2.28,0.00,0.000,4,0.000,0.067,3005,3608,3390,0,0,0,0,0,0,28.83,25.52,28.83
$GC,6862,-0.48,-146.0,651.8,-9.5,422,6867,0.12,2.15,0.00,0.000,6,0.131,0.046,3042,2195,3390,0,0,0,0,0,0,25.65,25.83,28.83
$GC,7168,-0.48,-146.0,677.7,-7.6,432,7169,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2193,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7469,-0.48,-146.0,700.2,-7.2,442,7475,0.00,2.25,0.00,0.000,4,0.000,0.067,3034,3605,3389,0,0,0,0,0,0,28.83,25.51,28.83
$GC,7499,-0.48,-146.0,702.4,-7.2,443,7504,0.00,2.15,0.00,0.000,6,0.000,0.047,3034,2195,3389,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7829,-0.48,-146.0,726.2,-7.0,454,7834,0.00,2.25,0.00,0.000,4,0.000,0.067,3024,3604,3389,0,0,0,0,0,0,28.83,25.49,28.83
$GC,7862,-0.48,-146.0,728.3,-7.0,455,7866,0.00,2.15,0.00,0.000,6,0.000,0.047,3024,2197,3389,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8185,-0.48,-146.0,751.1,-7.0,466,8190,0.00,2.25,0.00,0.000,4,0.000,0.067,3014,3604,3389,0,0,0,0,0,0,28.83,25.48,28.83
$GC,8222,-0.48,-146.0,753.3,-7.0,467,8226,0.00,2.15,0.00,0.000,6,0.000,0.047,3014,2195,3388,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8539,-0.48,-146.0,777.7,-7.4,478,8543,0.00,2.17,0.00,0.000,4,0.000,0.054,3014,793,3388,0,0,0,0,0,0,28.83,25.62,28.83
$GC,8579,-0.48,-146.0,780.2,-7.6,479,8584,0.12,2.20,0.00,0.000,6,0.137,0.055,3041,2199,3388,0,0,0,0,0,0,25.51,25.63,28.83
$GC,8898,-0.48,-146.0,799.6,-5.8,490,8903,0.00,2.22,0.00,0.000,4,0.000,0.067,3033,3599,3388,0,0,0,0,0,0,28.83,25.47,28.83
$GC,8958,-0.48,-146.0,803.3,-6.1,492,8962,0.00,2.17,0.00,0.000,6,0.000,0.045,3033,2191,3387,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9290,-0.48,-146.0,824.3,-6.3,503,9296,0.00,2.28,0.00,0.000,4,0.000,0.067,3023,3610,3387,0,0,0,0,0,0,28.83,25.46,28.83
$GC,9323,-0.48,-146.0,826.3,-6.4,504,9327,0.00,2.17,0.00,0.000,6,0.000,0.047,3023,2192,3387,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9646,-0.48,-146.0,848.8,-6.8,515,9651,0.00,2.28,0.00,0.000,4,0.000,0.067,3013,3609,3387,0,0,0,0,0,0,28.83,25.44,28.83
$GC,9678,-0.48,-146.0,851.0,-7.0,516,9683,0.00,2.17,0.00,0.000,6,0.000,0.047,3013,2190,3387,0,0,0,0,0,0,28.83,25.78,28.83
$GC,10000,-0.48,-146.0,875.2,-7.6,527,10006,0.00,2.30,0.00,0.000,4,0.000,0.067,3003,3610,3386,0,0,0,0,0,0,28.83,25.44,28.83
$GC,10031,-0.48,-146.0,877.7,-7.6,528,10037,0.10,2.15,0.00,0.000,6,0.105,0.047,3041,2202,3386,0,0,0,0,0,0,25.55,25.77,28.83
$GC,10361,-0.48,-146.0,896.9,-5.6,539,10366,0.00,2.25,0.00,0.000,4,0.000,0.067,3032,3608,3386,0,0,0,0,0,0,28.83,25.44,28.83
$GC,10384,-0.48,-146.0,896.9,-5.6,539,10391,0.00,2.17,0.00,0.000,6,0.000,0.046,3032,2186,3386,0,0,0,0,0,0,28.83,25.79,28.83
$GC,10692,-0.48,-146.0,917.8,-6.4,550,10697,0.00,2.28,0.00,0.000,4,0.000,0.067,3023,3605,3386,0,0,0,0,0,0,28.83,25.42,28.83
$GC,10721,-0.48,-146.0,919.7,-6.5,551,10726,0.00,2.17,0.00,0.000,6,0.000,0.048,3023,2190,3386,0,0,0,0,0,0,28.83,25.76,28.83
$GC,11052,-0.48,-146.0,942.4,-6.8,562,11057,0.00,2.28,0.00,0.000,4,0.000,0.067,3013,3605,3385,0,0,0,0,0,0,28.83,25.41,28.83
$GC,11083,-0.48,-146.0,944.5,-6.8,563,11087,0.00,2.17,0.00,0.000,6,0.000,0.048,3013,2191,3385,0,0,0,0,0,0,28.83,25.76,28.83
$GC,11406,-0.48,-146.0,968.1,-7.0,574,11412,0.00,2.33,0.00,0.000,4,0.000,0.068,3004,3613,3385,0,0,0,0,0,0,28.83,25.40,28.83
$GC,11439,-0.48,-146.0,970.2,-7.1,575,11444,0.12,2.20,0.00,0.000,6,0.132,0.048,3040,2191,3385,0,0,0,0,0,0,25.58,25.75,28.83
$GC,11762,-0.48,-146.0,989.5,-5.9,586,11768,0.00,2.28,0.00,0.000,4,0.000,0.068,3032,3604,3384,0,0,0,0,0,0,28.83,25.39,28.83
$STATE,11789,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11789,begin apogee
$GC,11798,-0.22,0.0,991.4,-6.1,587,11933,0.25,0.00,129.40,1.181,6,0.109,0.000,3120,2323,2794,0,0,0,0,0,0,25.77,28.83,23.27
$STATE,11937,end apogee,CONTROL_FINISHED_OK
$STATE,11937,begin climb
$GC,11939,0.48,146.0,995.5,0.0,591,12088,0.65,2.55,137.82,1.145,4,0.077,0.066,3343,3736,2196,0,0,0,0,0,0,24.44,23.36,22.34
$GC,12139,0.49,166.7,986.1,6.5,597,12165,0.00,2.35,20.27,1.067,6,0.000,0.046,3354,2329,2114,0,0,0,0,0,0,28.83,24.03,22.71
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$STATE,23133,end climb,SURFACE_DEPTH_REACHED
$STATE,23133,begin surface coast
$FINISH,1.4,1.024761
$STATE,23174,end surface coast,CONTROL_FINISHED_OK
$STATE,23174,begin surface
$SM_CCo,23254,0.00,0.000,0,0,1494,318.89
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$IRIDIUM_FIX,4713.38,-12540.78,211112,050527
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.95
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,19.60
$XPDR_PINGS,3
$24V_AH,22.3,41.112
$10V_AH,10.1,34.174
$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,22.275,216.650,422.750,0.000,0.000,27.486,39.563,197.187,0.750,0.000,18.138,3418.748,16253.604,534.868,3004.362,435.828,0.000,2015.750,0.000,2710.928,0.000,0.536,0.000
$DEVICE_MAMPS,221.850,71.145,1181.160,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,895.086,763.708,535.959,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73612,1300
$CAP_FILE_SIZE,198692,0
$CFSIZE,260165632,233398272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.057,233.5,1
$GPS,211112,184030,4736.170,-12537.238,70,1.1,70,18.7