version: 66.11
glider: 187
mission: 2
dive: 346
start: 12 4 112 0 53 51
data:
$ID,187
$MISSION,2
$DIVE,346
$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,470
$T_MISSION,520
$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,140
$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,-1588201.8
$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,24
$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
$GPS1,041212,004636,4701.740,-12657.213,94,0.8,94,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-73.0
$GPS2,041212,005318,4701.742,-12657.118,11,0.9,23,18.6
$SPEED_LIMITS,0.122,0.210
$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,36.9,162059,-13.3,-7.021,-18.50
$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,16,-0.47,-136.3,0.0,0.0,0,85,0.00,0.00,-66.38,0.000,2,0.000,0.000,114,2195,2646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.47,-136.3,3.0,-2.0,11,123,11.55,2.38,-16.45,0.000,4,0.220,0.074,3029,3618,3352,0,0,0,0,0,0,24.90,25.48,26.14
$GC,204,-0.47,-136.3,23.1,-16.1,31,211,0.00,2.20,0.00,0.000,6,0.000,0.041,3029,2193,3356,0,0,0,0,0,0,28.83,25.65,28.83
$GC,519,-0.47,-136.3,75.5,-14.2,92,526,0.00,2.15,0.00,0.000,4,0.000,0.049,3028,790,3357,0,0,0,0,0,0,28.83,25.64,28.83
$GC,620,-0.47,-136.3,88.8,-12.8,111,627,0.00,2.20,0.00,0.000,6,0.000,0.049,3020,2211,3357,0,0,0,0,0,0,28.83,25.67,28.83
$GC,942,-0.47,-136.3,129.0,-11.1,164,943,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2211,3358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1243,-0.47,-136.3,160.1,-9.6,184,1247,0.00,2.20,0.00,0.000,4,0.000,0.049,3019,790,3358,0,0,0,0,0,0,28.83,25.73,28.83
$GC,1293,-0.47,-136.3,164.8,-9.8,187,1297,0.12,2.17,0.00,0.000,6,0.137,0.050,3046,2201,3358,0,0,0,0,0,0,25.62,25.75,28.83
$GC,1603,-0.47,-136.3,189.1,-7.9,207,1604,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2200,3358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1915,-0.47,-136.3,215.5,-8.7,225,1921,0.00,2.22,0.00,0.000,4,0.000,0.063,3037,3609,3358,0,0,0,0,0,0,28.83,25.66,28.83
$GC,1963,-0.47,-136.3,219.0,-8.6,227,1967,0.00,2.15,0.00,0.000,6,0.000,0.043,3037,2192,3358,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2273,-0.47,-136.3,244.9,-8.0,242,2278,0.00,2.25,0.00,0.000,4,0.000,0.062,3026,3610,3358,0,0,0,0,0,0,28.83,25.66,28.83
$GC,2301,-0.47,-136.3,246.5,-8.0,243,2309,0.00,2.15,0.00,0.000,6,0.000,0.043,3027,2194,3358,0,0,0,0,0,0,28.83,25.90,28.83
$GC,2611,-0.47,-136.3,274.9,-9.0,259,2617,0.00,2.15,0.00,0.000,4,0.000,0.050,3026,793,3358,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2655,-0.47,-136.3,278.8,-9.3,261,2659,0.00,2.17,0.00,0.000,6,0.000,0.050,3018,2200,3357,0,0,0,0,0,0,28.83,25.76,28.83
$GC,2967,-0.47,-136.3,310.1,-9.8,277,2972,0.00,2.15,0.00,0.000,4,0.000,0.050,3017,796,3357,0,0,0,0,0,0,28.83,25.75,28.83
$GC,3000,-0.47,-136.3,312.1,-9.8,278,3007,0.12,2.17,0.00,0.000,6,0.137,0.050,3044,2200,3357,0,0,0,0,0,0,25.63,25.75,28.83
$GC,3307,-0.47,-136.3,336.6,-7.4,294,3313,0.00,2.20,0.00,0.000,4,0.000,0.063,3035,3601,3356,0,0,0,0,0,0,28.83,25.63,28.83
$GC,3409,-0.47,-136.3,344.6,-8.0,299,3413,0.00,2.15,0.00,0.000,6,0.000,0.044,3035,2189,3356,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3722,-0.47,-136.3,371.5,-9.0,315,3728,0.00,2.25,0.00,0.000,4,0.000,0.063,3025,3604,3355,0,0,0,0,0,0,28.83,25.61,28.83
$GC,3762,-0.47,-136.3,375.3,-9.3,317,3767,0.00,2.15,0.00,0.000,6,0.000,0.044,3024,2197,3355,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4072,-0.47,-136.3,404.1,-8.8,332,4073,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2193,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4373,-0.47,-136.3,429.5,-8.4,342,4378,0.00,2.12,0.00,0.000,4,0.000,0.052,3025,803,3353,0,0,0,0,0,0,28.83,25.72,28.83
$GC,4402,-0.47,-136.3,432.2,-8.6,343,4407,0.00,2.17,0.00,0.000,6,0.000,0.053,3016,2198,3354,0,0,0,0,0,0,28.83,25.72,28.83
$GC,4732,-0.47,-136.3,461.9,-9.0,354,4738,0.00,2.22,0.00,0.000,4,0.000,0.065,3006,3602,3353,0,0,0,0,0,0,28.83,25.58,28.83
$GC,4810,-0.47,-136.3,467.5,-9.2,356,4815,0.12,2.15,0.00,0.000,6,0.132,0.044,3042,2195,3353,0,0,0,0,0,0,25.69,25.86,28.83
$GC,5117,-0.47,-136.3,492.5,-7.6,366,5118,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2193,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5417,-0.47,-136.3,515.8,-7.7,376,5422,0.00,2.28,0.00,0.000,4,0.000,0.064,3034,3609,3352,0,0,0,0,0,0,28.83,25.56,28.83
$GC,5450,-0.47,-136.3,518.2,-7.8,377,5454,0.00,2.17,0.00,0.000,6,0.000,0.046,3034,2192,3352,0,0,0,0,0,0,28.83,25.85,28.83
$GC,5772,-0.47,-136.3,543.6,-7.5,388,5773,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2189,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6073,-0.47,-136.3,563.7,-6.5,398,6078,0.00,2.28,0.00,0.000,4,0.000,0.066,3024,3609,3351,0,0,0,0,0,0,28.83,25.54,28.83
$GC,6111,-0.47,-136.3,565.8,-6.6,399,6115,0.00,2.17,0.00,0.000,6,0.000,0.046,3024,2198,3351,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6428,-0.47,-136.3,590.8,-7.9,410,6432,0.00,2.20,0.00,0.000,4,0.000,0.053,3024,793,3351,0,0,0,0,0,0,28.83,25.65,28.83
$GC,6460,-0.47,-136.3,593.4,-8.0,411,6466,0.00,2.22,0.00,0.000,6,0.000,0.054,3015,2206,3350,0,0,0,0,0,0,28.83,25.65,28.83
$GC,6791,-0.47,-136.3,620.9,-8.2,422,6796,0.00,2.25,0.00,0.000,4,0.000,0.066,3005,3613,3349,0,0,0,0,0,0,28.83,25.51,28.83
$GC,6863,-0.47,-136.3,625.9,-8.3,424,6868,0.12,2.17,0.00,0.000,6,0.131,0.047,3041,2200,3349,0,0,0,0,0,0,25.64,25.82,28.83
$GC,7177,-0.47,-136.3,647.8,-6.5,435,7182,0.00,2.28,0.00,0.000,4,0.000,0.067,3034,3612,3349,0,0,0,0,0,0,28.83,25.48,28.83
$GC,7215,-0.47,-136.3,649.9,-6.6,436,7219,0.00,2.20,0.00,0.000,6,0.000,0.047,3034,2201,3348,0,0,0,0,0,0,28.83,25.80,28.83
$GC,7537,-0.47,-136.3,673.5,-7.3,447,7538,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2199,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7837,-0.47,-136.3,695.5,-7.4,457,7838,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2199,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8138,-0.47,-136.3,716.9,-7.0,467,8144,0.00,2.28,0.00,0.000,4,0.000,0.067,3024,3607,3347,0,0,0,0,0,0,28.83,25.46,28.83
$GC,8175,-0.47,-136.3,719.1,-7.1,468,8179,0.00,2.20,0.00,0.000,6,0.000,0.047,3024,2196,3347,0,0,0,0,0,0,28.83,25.79,28.83
$GC,8492,-0.47,-136.3,742.4,-7.1,479,8498,0.00,2.30,0.00,0.000,4,0.000,0.067,3014,3609,3347,0,0,0,0,0,0,28.83,25.44,28.83
$GC,8526,-0.47,-136.3,744.7,-7.2,480,8530,0.00,2.20,0.00,0.000,6,0.000,0.047,3014,2189,3346,0,0,0,0,0,0,28.83,25.78,28.83
$GC,8848,-0.47,-136.3,769.0,-7.3,491,8849,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2187,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9148,-0.47,-136.3,789.6,-6.9,501,9149,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2187,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9449,-0.47,-136.3,810.5,-7.1,511,9454,0.00,2.30,0.00,0.000,4,0.000,0.067,3004,3608,3345,0,0,0,0,0,0,28.83,25.42,28.83
$GC,9491,-0.47,-136.3,812.7,-7.1,512,9496,0.15,2.22,0.00,0.000,6,0.121,0.047,3048,2189,3345,0,0,0,0,0,0,25.57,25.77,28.83
$GC,9804,-0.47,-136.3,831.0,-5.4,523,9809,0.00,2.30,0.00,0.000,4,0.000,0.068,3040,3610,3345,0,0,0,0,0,0,28.83,25.41,28.83
$GC,9835,-0.47,-136.3,832.8,-5.5,524,9840,0.00,2.17,0.00,0.000,6,0.000,0.047,3040,2207,3345,0,0,0,0,0,0,28.83,25.76,28.83
$GC,10164,-0.47,-136.3,852.5,-6.0,535,10165,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2206,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10464,-0.47,-136.3,869.7,-5.6,545,10470,0.00,2.33,0.00,0.000,4,0.000,0.068,3030,3616,3345,0,0,0,0,0,0,28.83,25.39,28.83
$GC,10503,-0.47,-136.3,871.5,-5.8,546,10507,0.00,2.22,0.00,0.000,6,0.000,0.048,3030,2197,3345,0,0,0,0,0,0,28.83,25.73,28.83
$GC,10820,-0.47,-136.3,891.8,-6.3,557,10826,0.00,2.30,0.00,0.000,4,0.000,0.068,3021,3612,3345,0,0,0,0,0,0,28.83,25.37,28.83
$GC,10853,-0.47,-136.3,893.7,-6.3,558,10857,0.00,2.20,0.00,0.000,6,0.000,0.048,3020,2202,3344,0,0,0,0,0,0,28.83,25.72,28.83
$GC,11176,-0.47,-136.3,917.1,-7.4,569,11177,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2200,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11475,-0.47,-136.3,938.8,-7.2,579,11481,0.00,2.30,0.00,0.000,4,0.000,0.068,3011,3612,3344,0,0,0,0,0,0,28.83,25.36,28.83
$GC,11513,-0.47,-136.3,941.1,-7.3,580,11518,0.12,2.20,0.00,0.000,6,0.123,0.049,3047,2200,3344,0,0,0,0,0,0,25.56,25.70,28.83
$GC,11832,-0.47,-136.3,961.2,-6.1,591,11833,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2197,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12132,-0.47,-136.3,979.1,-5.9,601,12137,0.00,2.30,0.00,0.000,4,0.000,0.069,3039,3613,3344,0,0,0,0,0,0,28.83,25.34,28.83
$GC,12180,-0.47,-136.3,980.9,-5.8,602,12184,0.00,2.22,0.00,0.000,6,0.000,0.049,3039,2188,3343,0,0,0,0,0,0,28.83,25.70,28.83
$STATE,12334,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12334,begin apogee
$GC,12341,-0.22,0.0,991.1,-5.7,607,12468,0.25,0.00,121.68,1.175,6,0.109,0.000,3126,2331,2794,0,0,0,0,0,0,25.76,28.83,23.20
$STATE,12471,end apogee,CONTROL_FINISHED_OK
$STATE,12471,begin climb
$GC,12474,0.47,136.3,994.3,0.0,611,12616,0.62,2.58,130.43,1.133,4,0.073,0.067,3344,3718,2236,0,0,0,0,0,0,24.46,23.35,22.21
$GC,12632,0.48,163.4,988.1,5.9,616,12670,0.00,2.38,26.75,1.069,6,0.000,0.047,3354,2330,2126,0,0,0,0,0,0,28.83,23.75,22.32
$GC,12969,0.48,163.4,952.6,9.8,628,12971,0.00,0.00,0.00,0.000,6,0.000,0.000,3355,2330,2118,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,24181,end climb,SURFACE_DEPTH_REACHED
$STATE,24181,begin surface coast
$FINISH,1.1,1.024170
$STATE,24243,end surface coast,CONTROL_FINISHED_OK
$STATE,24244,begin surface
$SM_CCo,24324,0.00,0.000,0,0,1554,304.17
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$IRIDIUM_FIX,4644.93,-12705.45,031212,171731
$TT8_MAMPS,0.026964,0.026964
$HUMID,45.47
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,15.60
$XPDR_PINGS,2
$24V_AH,22.2,48.091
$10V_AH,10.0,39.685
$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,22.150,201.225,396.000,0.000,0.000,28.565,37.917,191.275,0.500,0.000,24.080,3564.294,17187.047,517.911,3017.655,430.958,0.000,2019.058,0.000,2711.749,0.000,0.536,0.000
$DEVICE_MAMPS,219.555,82.620,1175.040,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,932.827,713.718,376.307,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,76930,1354
$CAP_FILE_SIZE,199034,0
$CFSIZE,260165632,229191680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.038,213.7,1
$GPS,041212,074106,4703.617,-12652.615,73,1.2,73,18.6