version: 66.11
glider: 187
mission: 2
dive: 295
start: 11 22 112 8 13 20
data:
$ID,187
$MISSION,2
$DIVE,295
$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,-1588129.5
$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,37
$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
$GPS1,221112,080605,4740.010,-12529.785,30,1.2,30,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-74.5
$GPS2,221112,081248,4740.035,-12529.655,12,1.4,18,18.7
$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,22.2,32641,-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,13,begin dive
$GC,17,-0.48,-146.0,0.0,0.0,0,79,0.00,0.00,-59.70,0.000,2,0.000,0.000,107,2193,2657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.48,-146.0,3.2,-3.2,10,118,11.55,2.38,-17.45,0.000,4,0.221,0.075,3025,3617,3392,0,0,0,0,0,0,24.96,25.48,26.10
$GC,281,-0.48,-146.0,39.1,-17.4,45,288,0.00,2.17,0.00,0.000,6,0.000,0.041,3025,2199,3394,0,0,0,0,0,0,28.83,25.65,28.83
$GC,605,-0.48,-146.0,84.4,-12.8,106,612,0.00,2.15,0.00,0.000,4,0.000,0.048,3025,789,3396,0,0,0,0,0,0,28.83,25.64,28.83
$GC,662,-0.48,-146.0,91.1,-12.0,116,670,0.00,2.22,0.00,0.000,6,0.000,0.050,3015,2193,3397,0,0,0,0,0,0,28.83,25.65,28.83
$GC,991,-0.48,-146.0,132.8,-11.7,165,996,0.00,2.22,0.00,0.000,4,0.000,0.062,3005,3607,3397,0,0,0,0,0,0,28.83,25.60,28.83
$GC,1074,-0.48,-146.0,141.1,-11.2,170,1082,0.10,2.20,0.00,0.000,6,0.110,0.043,3051,2186,3397,0,0,0,0,0,0,25.56,25.83,28.83
$GC,1383,-0.48,-146.0,168.6,-8.8,191,1388,0.00,2.25,0.00,0.000,4,0.000,0.063,3043,3609,3397,0,0,0,0,0,0,28.83,25.62,28.83
$GC,1412,-0.48,-146.0,171.5,-9.1,193,1418,0.00,2.12,0.00,0.000,6,0.000,0.043,3043,2199,3397,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1732,-0.48,-146.0,202.1,-9.2,214,1733,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2195,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2033,-0.48,-146.0,227.7,-8.3,229,2035,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2195,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2332,-0.48,-146.0,251.9,-7.9,244,2333,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2195,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2631,-0.48,-146.0,275.7,-8.1,259,2637,0.00,2.28,0.00,0.000,4,0.000,0.063,3033,3618,3396,0,0,0,0,0,0,28.83,25.63,28.83
$GC,2664,-0.48,-146.0,277.3,-8.1,260,2672,0.00,2.15,0.00,0.000,6,0.000,0.042,3033,2193,3396,0,0,0,0,0,0,28.83,25.92,28.83
$GC,2972,-0.48,-146.0,305.7,-9.1,276,2977,0.00,2.10,0.00,0.000,4,0.000,0.049,3033,804,3396,0,0,0,0,0,0,28.83,25.77,28.83
$GC,3004,-0.48,-146.0,307.5,-9.1,277,3011,0.00,2.20,0.00,0.000,6,0.000,0.051,3025,2212,3396,0,0,0,0,0,0,28.83,25.75,28.83
$GC,3312,-0.48,-146.0,338.1,-9.2,293,3317,0.00,2.20,0.00,0.000,4,0.000,0.063,3015,3607,3395,0,0,0,0,0,0,28.83,25.63,28.83
$GC,3352,-0.48,-146.0,341.9,-9.2,295,3357,0.00,2.10,0.00,0.000,6,0.000,0.044,3015,2209,3395,0,0,0,0,0,0,28.83,25.90,28.83
$GC,3671,-0.48,-146.0,372.5,-9.7,311,3672,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2207,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3981,-0.48,-146.0,403.6,-10.1,326,3987,0.00,2.25,0.00,0.000,4,0.000,0.063,3004,3614,3395,0,0,0,0,0,0,28.83,25.62,28.83
$GC,4015,-0.48,-146.0,406.8,-10.3,327,4020,0.12,2.15,0.00,0.000,6,0.134,0.044,3040,2198,3395,0,0,0,0,0,0,25.70,25.89,28.83
$GC,4338,-0.48,-146.0,434.4,-8.3,338,4343,0.00,2.15,0.00,0.000,4,0.000,0.051,3041,793,3394,0,0,0,0,0,0,28.83,25.72,28.83
$GC,4370,-0.48,-146.0,437.1,-8.4,339,4374,0.00,2.20,0.00,0.000,6,0.000,0.052,3034,2210,3394,0,0,0,0,0,0,28.83,25.72,28.83
$GC,4693,-0.48,-146.0,466.2,-8.9,350,4699,0.00,2.20,0.00,0.000,4,0.000,0.065,3024,3603,3394,0,0,0,0,0,0,28.83,25.60,28.83
$GC,4746,-0.48,-146.0,469.0,-9.0,351,4752,0.00,2.15,0.00,0.000,6,0.000,0.044,3023,2187,3394,0,0,0,0,0,0,28.83,25.89,28.83
$GC,5053,-0.48,-146.0,498.0,-8.6,362,5054,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2186,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5353,-0.48,-146.0,523.5,-8.5,372,5359,0.00,2.25,0.00,0.000,4,0.000,0.065,3013,3603,3393,0,0,0,0,0,0,28.83,25.58,28.83
$GC,5383,-0.48,-146.0,526.2,-8.6,373,5389,0.00,2.12,0.00,0.000,6,0.000,0.044,3013,2202,3393,0,0,0,0,0,0,28.83,25.88,28.83
$GC,5713,-0.48,-146.0,556.2,-9.3,384,5718,0.00,2.25,0.00,0.000,4,0.000,0.065,3003,3609,3392,0,0,0,0,0,0,28.83,25.56,28.83
$GC,5731,-0.48,-146.0,556.2,-9.3,384,5736,0.12,2.15,0.00,0.000,6,0.135,0.045,3039,2200,3391,0,0,0,0,0,0,25.66,25.85,28.83
$GC,6038,-0.48,-146.0,581.5,-7.4,394,6039,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2197,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6338,-0.48,-146.0,603.0,-6.8,404,6339,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2198,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6638,-0.48,-146.0,623.6,-6.9,414,6639,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2198,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6938,-0.48,-146.0,643.8,-6.6,424,6944,0.00,2.28,0.00,0.000,4,0.000,0.067,3031,3610,3390,0,0,0,0,0,0,28.83,25.52,28.83
$GC,6986,-0.48,-146.0,645.9,-6.8,425,6990,0.00,2.17,0.00,0.000,6,0.000,0.046,3031,2190,3390,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7293,-0.48,-146.0,670.6,-7.8,435,7294,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2187,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7593,-0.48,-146.0,693.7,-7.7,445,7599,0.00,2.28,0.00,0.000,4,0.000,0.066,3021,3607,3389,0,0,0,0,0,0,28.83,25.51,28.83
$GC,7641,-0.48,-146.0,696.3,-7.9,446,7645,0.00,2.17,0.00,0.000,6,0.000,0.047,3021,2189,3389,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7948,-0.48,-146.0,722.6,-8.0,456,7953,0.00,2.28,0.00,0.000,4,0.000,0.067,3010,3606,3388,0,0,0,0,0,0,28.83,25.49,28.83
$GC,7980,-0.48,-146.0,724.9,-7.9,457,7985,0.12,2.17,0.00,0.000,6,0.126,0.046,3046,2191,3388,0,0,0,0,0,0,25.65,25.82,28.83
$GC,8303,-0.48,-146.0,744.6,-5.9,468,8309,0.00,2.28,0.00,0.000,4,0.000,0.067,3038,3606,3388,0,0,0,0,0,0,28.83,25.47,28.83
$GC,8342,-0.48,-146.0,746.5,-6.1,469,8346,0.00,2.17,0.00,0.000,6,0.000,0.047,3038,2192,3388,0,0,0,0,0,0,28.83,25.81,28.83
$GC,8659,-0.48,-146.0,768.6,-6.8,480,8665,0.00,2.30,0.00,0.000,4,0.000,0.067,3028,3609,3388,0,0,0,0,0,0,28.83,25.46,28.83
$GC,8689,-0.48,-146.0,770.7,-6.8,481,8695,0.00,2.15,0.00,0.000,6,0.000,0.047,3029,2210,3388,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9019,-0.48,-146.0,794.8,-7.5,492,9020,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2208,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9319,-0.48,-146.0,817.2,-7.6,502,9320,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2209,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9619,-0.48,-146.0,839.4,-7.4,512,9624,0.00,2.28,0.00,0.000,4,0.000,0.067,3019,3607,3386,0,0,0,0,0,0,28.83,25.44,28.83
$GC,9682,-0.48,-146.0,843.9,-7.4,514,9686,0.00,2.17,0.00,0.000,6,0.000,0.047,3018,2196,3386,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10004,-0.48,-146.0,869.0,-7.6,525,10005,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2194,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10304,-0.48,-146.0,891.4,-7.5,535,10305,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2194,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10605,-0.48,-146.0,914.0,-7.4,545,10610,0.00,2.28,0.00,0.000,4,0.000,0.068,3009,3606,3386,0,0,0,0,0,0,28.83,25.41,28.83
$GC,10642,-0.48,-146.0,916.3,-7.5,546,10647,0.12,2.17,0.00,0.000,6,0.126,0.047,3045,2198,3386,0,0,0,0,0,0,25.60,25.76,28.83
$GC,10960,-0.48,-146.0,935.6,-5.8,557,10961,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2195,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11260,-0.48,-146.0,954.1,-6.3,567,11266,0.00,2.28,0.00,0.000,4,0.000,0.068,3037,3606,3385,0,0,0,0,0,0,28.83,25.40,28.83
$GC,11313,-0.48,-146.0,956.1,-6.3,568,11320,0.00,2.17,0.00,0.000,6,0.000,0.048,3037,2198,3385,0,0,0,0,0,0,28.83,25.75,28.83
$GC,11620,-0.48,-146.0,977.0,-6.2,579,11621,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2197,3385,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11827,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11827,begin apogee
$GC,11834,-0.22,0.0,990.3,-6.3,586,11968,0.25,0.00,128.98,1.180,6,0.110,0.000,3124,2340,2794,0,0,0,0,0,0,25.77,28.83,23.28
$STATE,11971,end apogee,CONTROL_FINISHED_OK
$STATE,11971,begin climb
$GC,11974,0.48,146.0,994.3,0.0,590,12124,0.65,2.58,138.45,1.141,4,0.075,0.066,3348,3726,2195,0,0,0,0,0,0,24.43,23.37,22.35
$GC,12143,0.49,184.6,987.4,5.8,596,12187,0.00,2.35,36.60,1.094,6,0.000,0.048,3358,2336,2041,0,0,0,0,0,0,28.83,23.80,22.44
$GC,12487,0.49,184.6,951.4,10.0,608,12493,0.00,2.33,0.00,0.000,4,0.000,0.057,3369,917,2029,0,0,0,0,0,0,28.83,24.91,28.83
$GC,12510,0.49,184.6,951.4,10.0,608,12518,0.00,2.30,0.00,0.000,6,0.000,0.057,3369,2325,2028,0,0,0,0,0,0,28.83,24.96,28.83
$GC,12817,0.49,184.6,915.2,11.2,619,12823,0.00,2.33,0.00,0.000,4,0.000,0.068,3369,3741,2027,0,0,0,0,0,0,28.83,25.31,28.83
$GC,12850,0.49,184.6,911.3,11.5,620,12854,0.00,2.25,0.00,0.000,6,0.000,0.050,3379,2326,2026,0,0,0,0,0,0,28.83,25.47,28.83
$GC,13173,0.49,184.6,871.7,12.0,631,13178,0.00,2.20,0.00,0.000,4,0.000,0.057,3390,920,2026,0,0,0,0,0,0,28.83,25.53,28.83
$GC,13202,0.49,184.6,868.1,12.0,632,13209,0.15,2.25,0.00,0.000,6,0.148,0.057,3351,2329,2026,0,0,0,0,0,0,25.36,25.54,28.83
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$STATE,22833,end climb,SURFACE_DEPTH_REACHED
$STATE,22833,begin surface coast
$FINISH,1.4,1.016349
$STATE,22870,end surface coast,CONTROL_FINISHED_OK
$STATE,22870,begin surface
$SM_CCo,22950,0.00,0.000,0,0,1189,393.46
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$IRIDIUM_FIX,4722.92,-12532.26,221112,010136
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.89
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,19.60
$XPDR_PINGS,1
$24V_AH,22.4,41.530
$10V_AH,10.0,34.512
$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
$DEVICE_SECS,21.950,165.050,477.000,0.000,0.000,26.379,39.112,199.385,0.250,0.000,19.032,3263.701,16357.507,576.159,2769.337,379.812,0.000,1910.919,0.000,2468.726,0.000,0.536,0.000
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$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,296792
$DATA_FILE_SIZE,70163,1272
$CAP_FILE_SIZE,178812,0
$CFSIZE,260165632,233156608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.012,216.7,1
$GPS,221112,143706,4742.560,-12525.921,38,1.1,38,18.7