version: 66.11
glider: 187
mission: 2
dive: 293
start: 11 21 112 18 48 7
data:
$ID,187
$MISSION,2
$DIVE,293
$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,-1588126.8
$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,32
$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
$GPS1,211112,184030,4736.170,-12537.238,70,1.1,70,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-74.3
$GPS2,211112,184737,4736.073,-12537.189,11,1.7,11,18.7
$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,31.2,44510,-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,-146.0,0.0,0.0,0,69,0.00,0.00,-49.95,0.000,2,0.000,0.000,130,2197,2567,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.48,-146.0,3.0,-2.4,8,113,11.38,2.20,-20.88,0.000,4,0.220,0.061,3032,779,3391,0,0,0,0,0,0,24.98,25.51,26.07
$GC,167,-0.48,-146.0,18.5,-15.9,24,175,0.00,2.28,0.00,0.000,6,0.000,0.051,3023,2201,3393,0,0,0,0,0,0,28.83,25.51,28.83
$GC,494,-0.48,-146.0,68.5,-14.8,85,500,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2201,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,807,-0.48,-146.0,109.7,-12.7,146,814,0.00,2.17,0.00,0.000,4,0.000,0.048,3023,784,3395,0,0,0,0,0,0,28.83,25.70,28.83
$GC,872,-0.48,-146.0,117.7,-11.8,158,880,0.00,2.22,0.00,0.000,6,0.000,0.050,3013,2209,3395,0,0,0,0,0,0,28.83,25.70,28.83
$GC,1194,-0.48,-146.0,157.0,-11.8,181,1199,0.00,2.17,0.00,0.000,4,0.000,0.049,3013,782,3395,0,0,0,0,0,0,28.83,25.74,28.83
$GC,1241,-0.48,-146.0,162.4,-11.8,184,1245,0.12,2.20,0.00,0.000,6,0.141,0.050,3039,2203,3395,0,0,0,0,0,0,25.61,25.74,28.83
$GC,1551,-0.48,-146.0,191.3,-8.9,204,1556,0.00,2.25,0.00,0.000,4,0.000,0.063,3031,3615,3395,0,0,0,0,0,0,28.83,25.65,28.83
$GC,1597,-0.48,-146.0,195.8,-9.5,207,1601,0.00,2.17,0.00,0.000,6,0.000,0.043,3031,2183,3395,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1912,-0.48,-146.0,225.7,-9.3,223,1917,0.00,2.08,0.00,0.000,4,0.000,0.049,3031,803,3395,0,0,0,0,0,0,28.83,25.78,28.83
$GC,1959,-0.48,-146.0,229.7,-9.6,225,1963,0.00,2.15,0.00,0.000,6,0.000,0.050,3023,2201,3395,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2265,-0.48,-146.0,259.8,-9.4,240,2271,0.00,2.22,0.00,0.000,4,0.000,0.063,3012,3609,3395,0,0,0,0,0,0,28.83,25.66,28.83
$GC,2313,-0.48,-146.0,263.8,-9.7,242,2317,0.00,2.12,0.00,0.000,6,0.000,0.043,3012,2201,3395,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2621,-0.48,-146.0,295.1,-9.7,257,2622,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2195,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2920,-0.48,-146.0,324.0,-9.6,272,2921,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2195,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3221,-0.48,-146.0,354.6,-9.9,287,3226,0.00,2.28,0.00,0.000,4,0.000,0.063,3002,3617,3395,0,0,0,0,0,0,28.83,25.66,28.83
$GC,3244,-0.48,-146.0,356.7,-9.8,288,3248,0.15,2.15,0.00,0.000,6,0.129,0.044,3045,2201,3395,0,0,0,0,0,0,25.68,25.91,28.83
$GC,3556,-0.48,-146.0,380.9,-7.5,304,3557,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2196,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3867,-0.48,-146.0,403.7,-7.4,319,3868,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2196,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4167,-0.48,-146.0,426.1,-7.4,329,4172,0.00,2.12,0.00,0.000,4,0.000,0.051,3045,797,3394,0,0,0,0,0,0,28.83,25.75,28.83
$GC,4219,-0.48,-146.0,428.5,-7.5,330,4226,0.00,2.17,0.00,0.000,6,0.000,0.052,3039,2201,3394,0,0,0,0,0,0,28.83,25.76,28.83
$GC,4526,-0.48,-146.0,454.3,-7.9,341,4532,0.00,2.25,0.00,0.000,4,0.000,0.064,3028,3616,3394,0,0,0,0,0,0,28.83,25.63,28.83
$GC,4587,-0.48,-146.0,459.4,-8.2,343,4593,0.00,2.17,0.00,0.000,6,0.000,0.045,3029,2196,3394,0,0,0,0,0,0,28.83,25.90,28.83
$GC,4916,-0.48,-146.0,488.7,-9.2,354,4922,0.00,2.28,0.00,0.000,4,0.000,0.065,3018,3616,3393,0,0,0,0,0,0,28.83,25.60,28.83
$GC,4969,-0.48,-146.0,491.4,-9.2,355,4976,0.00,2.15,0.00,0.000,6,0.000,0.045,3018,2200,3392,0,0,0,0,0,0,28.83,25.89,28.83
$GC,5277,-0.48,-146.0,523.9,-10.0,366,5278,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2199,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5576,-0.48,-146.0,552.4,-9.1,376,5582,0.00,2.28,0.00,0.000,4,0.000,0.065,3008,3618,3391,0,0,0,0,0,0,28.83,25.59,28.83
$GC,5614,-0.48,-146.0,555.3,-9.0,377,5619,0.12,2.17,0.00,0.000,6,0.133,0.044,3044,2198,3391,0,0,0,0,0,0,25.70,25.89,28.83
$GC,5933,-0.48,-146.0,578.7,-6.8,388,5939,0.00,2.12,0.00,0.000,4,0.000,0.051,3044,803,3391,0,0,0,0,0,0,28.83,25.70,28.83
$GC,5976,-0.48,-146.0,580.9,-6.8,389,5980,0.00,2.17,0.00,0.000,6,0.000,0.053,3037,2201,3391,0,0,0,0,0,0,28.83,25.71,28.83
$GC,6288,-0.48,-146.0,604.2,-7.1,400,6294,0.00,2.22,0.00,0.000,4,0.000,0.066,3027,3606,3391,0,0,0,0,0,0,28.83,25.58,28.83
$GC,6361,-0.48,-146.0,608.8,-7.4,402,6365,0.00,2.15,0.00,0.000,6,0.000,0.046,3027,2195,3390,0,0,0,0,0,0,28.83,25.86,28.83
$GC,6674,-0.48,-146.0,634.1,-7.9,413,6679,0.00,2.25,0.00,0.000,4,0.000,0.066,3017,3608,3390,0,0,0,0,0,0,28.83,25.55,28.83
$GC,6696,-0.48,-146.0,634.1,-7.9,413,6703,0.00,2.15,0.00,0.000,6,0.000,0.046,3017,2197,3390,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7004,-0.48,-146.0,662.4,-8.5,424,7009,0.00,2.12,0.00,0.000,4,0.000,0.053,3017,808,3390,0,0,0,0,0,0,28.83,25.68,28.83
$GC,7076,-0.48,-146.0,667.5,-8.5,426,7081,0.12,2.17,0.00,0.000,6,0.133,0.054,3044,2204,3390,0,0,0,0,0,0,25.58,25.67,28.83
$GC,7390,-0.48,-146.0,688.2,-6.1,437,7396,0.00,2.22,0.00,0.000,4,0.000,0.067,3036,3605,3389,0,0,0,0,0,0,28.83,25.53,28.83
$GC,7452,-0.48,-146.0,692.2,-6.4,439,7456,0.00,2.15,0.00,0.000,6,0.000,0.046,3036,2195,3389,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7774,-0.48,-146.0,714.9,-7.0,450,7780,0.00,2.25,0.00,0.000,4,0.000,0.067,3026,3606,3389,0,0,0,0,0,0,28.83,25.51,28.83
$GC,7818,-0.48,-146.0,717.2,-7.1,451,7822,0.00,2.15,0.00,0.000,6,0.000,0.047,3026,2198,3389,0,0,0,0,0,0,28.83,25.83,28.83
$GC,8130,-0.48,-146.0,743.0,-8.0,462,8131,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2195,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8431,-0.48,-146.0,766.5,-7.9,472,8432,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2195,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8731,-0.48,-146.0,790.4,-8.0,482,8732,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2195,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9030,-0.48,-146.0,813.3,-7.5,492,9036,0.00,2.30,0.00,0.000,4,0.000,0.067,3016,3614,3387,0,0,0,0,0,0,28.83,25.48,28.83
$GC,9068,-0.48,-146.0,815.6,-7.6,493,9072,0.00,2.20,0.00,0.000,6,0.000,0.047,3015,2190,3387,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9386,-0.48,-146.0,841.7,-8.1,504,9391,0.00,2.28,0.00,0.000,4,0.000,0.067,3006,3609,3387,0,0,0,0,0,0,28.83,25.48,28.83
$GC,9418,-0.48,-146.0,844.1,-8.0,505,9423,0.12,2.17,0.00,0.000,6,0.129,0.047,3043,2189,3387,0,0,0,0,0,0,25.63,25.80,28.83
$GC,9741,-0.48,-146.0,864.7,-6.1,516,9742,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2186,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10042,-0.48,-146.0,882.1,-5.6,526,10043,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2186,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10341,-0.48,-146.0,898.0,-5.1,536,10347,0.00,2.28,0.00,0.000,4,0.000,0.067,3034,3603,3386,0,0,0,0,0,0,28.83,25.44,28.83
$GC,10389,-0.48,-146.0,899.7,-5.4,537,10393,0.00,2.15,0.00,0.000,6,0.000,0.047,3034,2199,3386,0,0,0,0,0,0,28.83,25.79,28.83
$GC,10697,-0.48,-146.0,919.7,-6.4,547,10701,0.00,2.30,0.00,0.000,4,0.000,0.069,3025,3612,3386,0,0,0,0,0,0,28.83,25.44,28.83
$GC,10732,-0.48,-146.0,921.9,-6.4,548,10736,0.00,2.20,0.00,0.000,6,0.000,0.048,3025,2191,3385,0,0,0,0,0,0,28.83,25.77,28.83
$GC,11060,-0.48,-146.0,944.6,-7.0,559,11061,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2189,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11360,-0.48,-146.0,966.9,-7.5,569,11365,0.00,2.28,0.00,0.000,4,0.000,0.069,3015,3605,3385,0,0,0,0,0,0,28.83,25.41,28.83
$GC,11397,-0.48,-146.0,969.1,-7.5,570,11401,0.00,2.17,0.00,0.000,6,0.000,0.048,3015,2202,3385,0,0,0,0,0,0,28.83,25.75,28.83
$STATE,11657,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11657,begin apogee
$GC,11664,-0.22,0.0,990.8,-8.0,579,11797,0.32,0.00,129.27,1.180,6,0.109,0.000,3126,2330,2794,0,0,0,0,0,0,25.62,28.83,23.29
$STATE,11801,end apogee,CONTROL_FINISHED_OK
$STATE,11801,begin climb
$GC,11804,0.48,146.0,995.4,0.0,583,11947,0.65,0.00,138.10,1.144,6,0.076,0.000,3349,2330,2197,0,0,0,0,0,0,24.44,28.83,22.37
$GC,12227,0.48,146.0,965.3,8.6,598,12233,0.00,2.35,0.00,0.000,4,0.000,0.067,3349,3734,2187,0,0,0,0,0,0,28.83,24.80,28.83
$GC,12250,0.48,146.0,965.3,8.6,598,12258,0.00,2.28,0.00,0.000,6,0.000,0.047,3359,2333,2187,0,0,0,0,0,0,28.83,24.98,28.83
$GC,12557,0.48,146.0,934.7,8.8,609,12563,0.00,2.25,0.00,0.000,4,0.000,0.056,3370,916,2186,0,0,0,0,0,0,28.83,25.34,28.83
$GC,12587,0.48,146.0,932.3,8.7,610,12593,0.00,2.22,0.00,0.000,6,0.000,0.057,3370,2313,2185,0,0,0,0,0,0,28.83,25.37,28.83
$GC,12917,0.48,146.0,900.3,10.0,621,12923,0.00,2.33,0.00,0.000,4,0.000,0.069,3370,3743,2184,0,0,0,0,0,0,28.83,25.44,28.83
$GC,13007,0.48,146.0,889.8,11.4,624,13013,0.12,2.22,0.00,0.000,6,0.164,0.048,3350,2326,2184,0,0,0,0,0,0,25.41,25.65,28.83
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$STATE,23834,end climb,SURFACE_DEPTH_REACHED
$STATE,23834,begin surface coast
$FINISH,1.8,1.024807
$STATE,23873,end surface coast,CONTROL_FINISHED_OK
$STATE,23875,begin surface
$SM_CCo,23956,0.00,0.000,0,0,1330,359.36
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$TT8_MAMPS,0.026964,0.026964
$HUMID,44.01
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,16.40
$XPDR_PINGS,1
$24V_AH,22.4,41.249
$10V_AH,10.1,34.292
$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
$DEVICE_SECS,22.175,208.625,447.875,0.000,0.000,27.348,45.204,217.098,0.250,0.000,14.236,3448.975,16888.598,559.798,3048.182,425.024,0.000,2049.328,0.000,2725.668,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,907.375,770.591,529.680,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296768
$DATA_FILE_SIZE,73600,1319
$CAP_FILE_SIZE,198104,0
$CFSIZE,260165632,233308160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.022,217.1,1
$GPS,221112,012836,4738.013,-12533.714,35,1.1,35,18.7