version: 66.11
glider: 187
mission: 2
dive: 347
start: 12 4 112 7 49 11
data:
$ID,187
$MISSION,2
$DIVE,347
$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,-1588203
$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,41
$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
$GPS1,041212,074106,4703.617,-12652.615,73,1.2,73,18.6
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-75.0
$GPS2,041212,074840,4703.693,-12652.635,14,2.0,15,18.6
$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,32.5,155423,-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,-66.30,0.000,2,0.000,0.000,114,2191,3028,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.47,-136.3,3.5,-3.1,11,116,11.60,2.15,-6.55,0.000,4,0.221,0.056,3037,779,3351,0,0,0,0,0,0,24.88,25.58,26.11
$GC,218,-0.47,-136.3,34.5,-22.0,34,225,0.00,2.22,0.00,0.000,6,0.000,0.051,3030,2200,3353,0,0,0,0,0,0,28.83,25.51,28.83
$GC,535,-0.47,-136.3,79.5,-13.1,95,542,0.00,2.28,0.00,0.000,4,0.000,0.061,3019,3604,3355,0,0,0,0,0,0,28.83,25.51,28.83
$GC,585,-0.47,-136.3,86.1,-12.8,104,591,0.00,2.15,0.00,0.000,6,0.000,0.041,3019,2197,3355,0,0,0,0,0,0,28.83,25.74,28.83
$GC,911,-0.47,-136.3,126.1,-12.2,161,912,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2190,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1213,-0.47,-136.3,161.5,-10.7,181,1214,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2190,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1511,-0.47,-136.3,192.6,-10.2,201,1517,0.00,2.28,0.00,0.000,4,0.000,0.061,3009,3610,3356,0,0,0,0,0,0,28.83,25.59,28.83
$GC,1544,-0.47,-136.3,195.7,-10.4,203,1548,0.12,2.17,0.00,0.000,6,0.132,0.042,3044,2190,3356,0,0,0,0,0,0,25.66,25.84,28.83
$GC,1859,-0.47,-136.3,224.0,-8.8,219,1860,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2185,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2156,-0.47,-136.3,249.6,-8.4,234,2160,0.00,2.15,0.00,0.000,4,0.000,0.049,3044,797,3356,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2181,-0.47,-136.3,251.5,-8.5,235,2185,0.00,2.17,0.00,0.000,6,0.000,0.050,3037,2201,3356,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2494,-0.47,-136.3,279.3,-8.7,251,2500,0.00,2.22,0.00,0.000,4,0.000,0.063,3027,3608,3355,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2613,-0.47,-136.3,290.0,-8.9,257,2619,0.00,2.17,0.00,0.000,6,0.000,0.043,3027,2187,3356,0,0,0,0,0,0,28.83,25.87,28.83
$GC,2934,-0.47,-136.3,318.8,-8.8,273,2939,0.00,2.10,0.00,0.000,4,0.000,0.050,3027,807,3355,0,0,0,0,0,0,28.83,25.71,28.83
$GC,2976,-0.47,-136.3,322.3,-8.8,275,2980,0.00,2.17,0.00,0.000,6,0.000,0.051,3018,2204,3355,0,0,0,0,0,0,28.83,25.70,28.83
$GC,3289,-0.47,-136.3,350.0,-8.7,291,3290,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2204,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3589,-0.47,-136.3,376.8,-9.2,306,3590,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2204,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3908,-0.47,-136.3,406.7,-9.8,321,3914,0.00,2.25,0.00,0.000,4,0.000,0.063,3007,3610,3352,0,0,0,0,0,0,28.83,25.56,28.83
$GC,3970,-0.47,-136.3,413.2,-10.3,323,3976,0.10,2.15,0.00,0.000,6,0.101,0.044,3044,2202,3352,0,0,0,0,0,0,25.63,25.86,28.83
$GC,4299,-0.47,-136.3,439.6,-7.4,334,4300,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2200,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4599,-0.47,-136.3,460.7,-6.9,344,4600,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2200,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4900,-0.47,-136.3,481.0,-6.7,354,4901,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2200,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5199,-0.47,-136.3,502.2,-7.1,364,5200,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2200,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5499,-0.47,-136.3,523.4,-7.1,374,5505,0.00,2.28,0.00,0.000,4,0.000,0.067,3037,3608,3350,0,0,0,0,0,0,28.83,25.51,28.83
$GC,5537,-0.47,-136.3,525.5,-7.1,375,5541,0.00,2.17,0.00,0.000,6,0.000,0.046,3036,2200,3350,0,0,0,0,0,0,28.83,25.82,28.83
$GC,5855,-0.47,-136.3,549.3,-7.2,386,5856,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2198,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6154,-0.47,-136.3,570.5,-7.0,396,6155,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2198,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6454,-0.47,-136.3,590.9,-6.9,406,6460,0.00,2.28,0.00,0.000,4,0.000,0.067,3026,3610,3349,0,0,0,0,0,0,28.83,25.47,28.83
$GC,6498,-0.47,-136.3,593.1,-7.0,407,6502,0.00,2.17,0.00,0.000,6,0.000,0.047,3026,2201,3348,0,0,0,0,0,0,28.83,25.80,28.83
$GC,6811,-0.47,-136.3,617.5,-7.5,418,6812,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2200,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7110,-0.47,-136.3,640.5,-7.7,428,7116,0.00,2.28,0.00,0.000,4,0.000,0.067,3016,3606,3347,0,0,0,0,0,0,28.83,25.45,28.83
$GC,7144,-0.47,-136.3,642.9,-7.7,429,7148,0.00,2.17,0.00,0.000,6,0.000,0.047,3016,2200,3347,0,0,0,0,0,0,28.83,25.78,28.83
$GC,7466,-0.47,-136.3,669.1,-8.0,440,7467,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2197,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7766,-0.47,-136.3,692.5,-7.8,450,7767,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2197,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8066,-0.47,-136.3,716.0,-7.8,460,8071,0.00,2.28,0.00,0.000,4,0.000,0.067,3006,3606,3346,0,0,0,0,0,0,28.83,25.43,28.83
$GC,8134,-0.47,-136.3,720.9,-7.8,462,8139,0.12,2.17,0.00,0.000,6,0.129,0.047,3042,2199,3346,0,0,0,0,0,0,25.60,25.77,28.83
$GC,8452,-0.47,-136.3,741.4,-6.1,473,8453,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2197,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8752,-0.47,-136.3,760.4,-6.3,483,8758,0.00,2.28,0.00,0.000,4,0.000,0.067,3034,3605,3345,0,0,0,0,0,0,28.83,25.40,28.83
$GC,8775,-0.47,-136.3,760.4,-6.3,483,8782,0.00,2.17,0.00,0.000,6,0.000,0.047,3034,2200,3345,0,0,0,0,0,0,28.83,25.75,28.83
$GC,9082,-0.47,-136.3,783.5,-7.1,494,9083,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2200,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9383,-0.47,-136.3,803.7,-6.7,504,9384,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2200,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9682,-0.47,-136.3,823.0,-6.3,514,9683,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2200,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9982,-0.47,-136.3,841.6,-6.3,524,9988,0.00,2.30,0.00,0.000,4,0.000,0.068,3024,3626,3343,0,0,0,0,0,0,28.83,25.37,28.83
$GC,10013,-0.47,-136.3,843.5,-6.4,525,10018,0.00,2.20,0.00,0.000,6,0.000,0.047,3024,2208,3343,0,0,0,0,0,0,28.83,25.72,28.83
$GC,10342,-0.47,-136.3,867.0,-7.1,536,10343,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2207,3343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10642,-0.47,-136.3,887.9,-6.9,546,10643,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2207,3343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10943,-0.47,-136.3,907.1,-6.3,556,10944,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2206,3342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11242,-0.47,-136.3,926.9,-6.6,566,11243,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2206,3343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11542,-0.47,-136.3,945.0,-5.9,576,11548,0.00,2.30,0.00,0.000,4,0.000,0.068,3014,3609,3342,0,0,0,0,0,0,28.83,25.34,28.83
$GC,11572,-0.47,-136.3,946.8,-5.8,577,11578,0.00,2.20,0.00,0.000,6,0.000,0.048,3014,2190,3342,0,0,0,0,0,0,28.83,25.70,28.83
$GC,11903,-0.47,-136.3,967.2,-6.1,588,11908,0.00,2.30,0.00,0.000,4,0.000,0.068,3004,3605,3342,0,0,0,0,0,0,28.83,25.32,28.83
$GC,11932,-0.47,-136.3,969.1,-6.2,589,11938,0.10,2.17,0.00,0.000,6,0.099,0.048,3042,2206,3342,0,0,0,0,0,0,25.50,25.68,28.83
$GC,12263,-0.47,-136.3,984.9,-4.8,600,12264,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2203,3342,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12380,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12380,begin apogee
$GC,12387,-0.22,0.0,991.0,-5.1,604,12513,0.22,0.00,121.28,1.174,6,0.111,0.000,3123,2330,2793,0,0,0,0,0,0,25.82,28.83,23.18
$STATE,12517,end apogee,CONTROL_FINISHED_OK
$STATE,12517,begin climb
$GC,12519,0.47,136.3,994.0,0.0,608,12661,0.65,2.58,130.50,1.134,4,0.074,0.067,3347,3721,2236,0,0,0,0,0,0,24.46,23.35,22.20
$GC,12684,0.48,147.4,985.2,6.6,614,12701,0.00,2.38,11.57,0.981,6,0.000,0.047,3358,2329,2193,0,0,0,0,0,0,28.83,23.81,22.41
$GC,13015,0.48,147.4,955.2,9.0,625,13020,0.00,2.28,0.00,0.000,4,0.000,0.057,3368,921,2184,0,0,0,0,0,0,28.83,25.02,28.83
$GC,13045,0.48,147.4,952.6,8.9,626,13050,0.00,2.25,0.00,0.000,6,0.000,0.057,3368,2312,2184,0,0,0,0,0,0,28.83,25.08,28.83
$GC,13374,0.48,147.4,921.4,9.6,637,13380,0.00,2.38,0.00,0.000,4,0.000,0.070,3368,3744,2183,0,0,0,0,0,0,28.83,25.36,28.83
$GC,13443,0.48,147.4,914.6,10.5,639,13447,0.00,2.25,0.00,0.000,6,0.000,0.050,3378,2326,2182,0,0,0,0,0,0,28.83,25.56,28.83
$GC,13760,0.48,147.4,880.6,10.5,650,13761,0.00,0.00,0.00,0.000,6,0.000,0.000,3378,2321,2181,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14061,0.48,147.4,848.3,10.7,660,14066,0.00,2.30,0.00,0.000,4,0.000,0.069,3379,3734,2181,0,0,0,0,0,0,28.83,25.53,28.83
$GC,14103,0.48,147.4,844.7,11.1,661,14108,0.15,2.22,0.00,0.000,6,0.158,0.049,3350,2319,2181,0,0,0,0,0,0,25.44,25.74,28.83
$GC,14416,0.48,147.4,816.4,8.1,672,14417,0.00,0.00,0.00,0.000,6,0.000,0.000,3350,2313,2180,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,24471,end climb,SURFACE_DEPTH_REACHED
$STATE,24471,begin surface coast
$FINISH,1.2,1.024173
$STATE,24528,end surface coast,CONTROL_FINISHED_OK
$STATE,24528,begin surface
$SM_CCo,24608,0.00,0.000,0,0,1514,313.98
$SM_GC,1.98,8.35,0.17,0.00,0.031,0.077,0.000,114,2199,1514,-9.47,1.39,313.98,0,0,0,0,0,0,25.89,26.01,28.83
$IRIDIUM_FIX,4644.93,-12700.41,041212,000042
$TT8_MAMPS,0.026964,0.026964
$HUMID,45.39
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,19.10
$XPDR_PINGS,1
$24V_AH,22.2,48.220
$10V_AH,10.0,39.795
$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,22.000,170.800,401.075,0.000,0.000,25.891,37.016,251.240,0.250,0.000,16.451,3483.776,17758.475,497.450,2897.329,413.704,0.000,1899.296,0.000,2548.255,0.000,0.536,0.000
$DEVICE_MAMPS,221.085,87.210,1174.275,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,923.059,687.525,353.116,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296780
$DATA_FILE_SIZE,73539,1340
$CAP_FILE_SIZE,189226,0
$CFSIZE,260165632,229113856
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.059,189.6,1
$GPS,041212,144037,4705.632,-12648.783,40,1.4,40,18.6