version: 66.11
glider: 187
mission: 2
dive: 348
start: 12 4 112 14 48 42
data:
$ID,187
$MISSION,2
$DIVE,348
$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,-1588204.2
$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,43
$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
$GPS1,041212,144037,4705.632,-12648.783,40,1.4,40,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-72.5
$GPS2,041212,144809,4705.570,-12648.600,13,2.8,32,18.6
$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,24.9,149323,-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,-136.3,0.0,0.0,0,78,0.00,0.00,-59.72,0.000,2,0.000,0.000,113,2197,2842,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.47,-136.3,3.3,-3.6,10,110,11.55,2.38,-10.50,0.000,4,0.220,0.076,3025,3618,3353,0,0,0,0,0,0,24.93,25.46,26.14
$GC,235,-0.47,-136.3,37.3,-18.6,38,241,0.00,2.17,0.00,0.000,6,0.000,0.041,3025,2205,3355,0,0,0,0,0,0,28.83,25.63,28.83
$GC,551,-0.47,-136.3,85.6,-13.8,99,558,0.00,2.17,0.00,0.000,4,0.000,0.049,3025,793,3357,0,0,0,0,0,0,28.83,25.59,28.83
$GC,682,-0.47,-136.3,101.5,-11.3,124,690,0.00,2.20,0.00,0.000,6,0.000,0.050,3015,2214,3358,0,0,0,0,0,0,28.83,25.63,28.83
$GC,996,-0.47,-136.3,137.4,-11.4,165,997,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2214,3358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1295,-0.47,-136.3,169.1,-10.6,185,1301,0.00,2.17,0.00,0.000,4,0.000,0.049,3015,798,3358,0,0,0,0,0,0,28.83,25.69,28.83
$GC,1384,-0.47,-136.3,179.0,-11.0,191,1391,0.12,2.17,0.00,0.000,6,0.140,0.050,3041,2205,3358,0,0,0,0,0,0,25.56,25.70,28.83
$GC,1707,-0.47,-136.3,207.3,-8.8,211,1712,0.00,2.15,0.00,0.000,4,0.000,0.049,3041,797,3358,0,0,0,0,0,0,28.83,25.70,28.83
$GC,1728,-0.47,-136.3,209.2,-8.7,212,1732,0.00,2.17,0.00,0.000,6,0.000,0.050,3034,2203,3358,0,0,0,0,0,0,28.83,25.70,28.83
$GC,2040,-0.47,-136.3,236.3,-8.2,228,2046,0.00,2.25,0.00,0.000,4,0.000,0.063,3024,3612,3358,0,0,0,0,0,0,28.83,25.59,28.83
$GC,2109,-0.47,-136.3,241.6,-8.8,231,2113,0.00,2.17,0.00,0.000,6,0.000,0.043,3024,2188,3357,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2415,-0.47,-136.3,270.5,-9.2,246,2419,0.00,2.15,0.00,0.000,4,0.000,0.050,3024,802,3358,0,0,0,0,0,0,28.83,25.70,28.83
$GC,2498,-0.47,-136.3,278.1,-9.4,250,2502,0.00,2.20,0.00,0.000,6,0.000,0.050,3016,2203,3358,0,0,0,0,0,0,28.83,25.71,28.83
$GC,2820,-0.47,-136.3,308.3,-9.3,266,2821,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2203,3358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3120,-0.47,-136.3,336.4,-9.6,281,3126,0.00,2.25,0.00,0.000,4,0.000,0.063,3005,3608,3357,0,0,0,0,0,0,28.83,25.58,28.83
$GC,3148,-0.47,-136.3,338.4,-9.7,282,3153,0.12,2.15,0.00,0.000,6,0.133,0.044,3041,2201,3357,0,0,0,0,0,0,25.67,25.86,28.83
$GC,3455,-0.47,-136.3,363.9,-8.0,297,3456,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2196,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3755,-0.47,-136.3,386.8,-7.3,312,3756,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2196,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4056,-0.47,-136.3,409.5,-7.5,325,4057,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2196,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4355,-0.47,-136.3,431.8,-7.2,335,4360,0.00,2.30,0.00,0.000,4,0.000,0.065,3034,3608,3354,0,0,0,0,0,0,28.83,25.53,28.83
$GC,4384,-0.47,-136.3,434.2,-7.2,336,4391,0.00,2.17,0.00,0.000,6,0.000,0.045,3034,2201,3354,0,0,0,0,0,0,28.83,25.84,28.83
$GC,4715,-0.47,-136.3,459.4,-7.5,347,4716,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2199,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5015,-0.47,-136.3,481.9,-7.4,357,5021,0.00,2.25,0.00,0.000,4,0.000,0.066,3024,3600,3353,0,0,0,0,0,0,28.83,25.51,28.83
$GC,5044,-0.47,-136.3,484.1,-7.5,358,5050,0.00,2.17,0.00,0.000,6,0.000,0.046,3024,2196,3353,0,0,0,0,0,0,28.83,25.82,28.83
$GC,5375,-0.47,-136.3,511.5,-8.5,369,5377,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2195,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5675,-0.47,-136.3,537.0,-8.6,379,5676,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2195,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5975,-0.47,-136.3,562.7,-8.4,389,5980,0.00,2.28,0.00,0.000,4,0.000,0.066,3013,3609,3351,0,0,0,0,0,0,28.83,25.48,28.83
$GC,6004,-0.47,-136.3,565.2,-8.4,390,6010,0.00,2.20,0.00,0.000,6,0.000,0.046,3013,2192,3352,0,0,0,0,0,0,28.83,25.80,28.83
$GC,6336,-0.47,-136.3,592.3,-7.8,401,6337,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2190,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6635,-0.47,-136.3,616.1,-8.0,411,6640,0.00,2.30,0.00,0.000,4,0.000,0.066,3003,3607,3351,0,0,0,0,0,0,28.83,25.46,28.83
$GC,6664,-0.47,-136.3,618.8,-8.3,412,6671,0.15,2.20,0.00,0.000,6,0.122,0.046,3047,2192,3351,0,0,0,0,0,0,25.58,25.78,28.83
$GC,6996,-0.47,-136.3,641.2,-6.8,423,6997,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2190,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7295,-0.47,-136.3,660.5,-6.2,433,7301,0.00,2.28,0.00,0.000,4,0.000,0.067,3039,3604,3351,0,0,0,0,0,0,28.83,25.44,28.83
$GC,7327,-0.47,-136.3,662.3,-6.2,434,7331,0.00,2.17,0.00,0.000,6,0.000,0.047,3039,2198,3350,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7651,-0.47,-136.3,682.0,-5.9,445,7656,0.00,2.28,0.00,0.000,4,0.000,0.067,3029,3605,3350,0,0,0,0,0,0,28.83,25.42,28.83
$GC,7680,-0.47,-136.3,683.9,-6.0,446,7686,0.00,2.17,0.00,0.000,6,0.000,0.047,3029,2202,3350,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8011,-0.47,-136.3,704.9,-6.4,457,8012,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2200,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8310,-0.47,-136.3,723.7,-6.2,467,8316,0.00,2.30,0.00,0.000,4,0.000,0.067,3020,3616,3348,0,0,0,0,0,0,28.83,25.40,28.83
$GC,8343,-0.47,-136.3,725.6,-6.1,468,8347,0.00,2.22,0.00,0.000,6,0.000,0.048,3019,2194,3348,0,0,0,0,0,0,28.83,25.74,28.83
$GC,8666,-0.47,-136.3,747.9,-6.8,479,8667,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2192,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8965,-0.47,-136.3,769.4,-7.2,489,8971,0.00,2.28,0.00,0.000,4,0.000,0.067,3009,3601,3347,0,0,0,0,0,0,28.83,25.39,28.83
$GC,8995,-0.47,-136.3,771.7,-7.3,490,9002,0.12,2.20,0.00,0.000,6,0.125,0.047,3046,2191,3347,0,0,0,0,0,0,25.58,25.75,28.83
$GC,9327,-0.47,-136.3,791.9,-6.1,501,9332,0.00,2.30,0.00,0.000,4,0.000,0.067,3037,3606,3347,0,0,0,0,0,0,28.83,25.37,28.83
$GC,9355,-0.47,-136.3,793.8,-6.1,502,9361,0.00,2.17,0.00,0.000,6,0.000,0.047,3037,2208,3347,0,0,0,0,0,0,28.83,25.73,28.83
$GC,9686,-0.47,-136.3,815.3,-6.5,513,9687,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2206,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9986,-0.47,-136.3,834.4,-6.4,523,9991,0.00,2.28,0.00,0.000,4,0.000,0.067,3028,3606,3347,0,0,0,0,0,0,28.83,25.36,28.83
$GC,10009,-0.47,-136.3,834.4,-6.4,523,10016,0.00,2.20,0.00,0.000,6,0.000,0.047,3028,2193,3347,0,0,0,0,0,0,28.83,25.71,28.83
$GC,10316,-0.47,-136.3,856.1,-6.5,534,10317,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2193,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10616,-0.47,-136.3,877.2,-7.2,544,10622,0.00,2.28,0.00,0.000,4,0.000,0.068,3018,3598,3346,0,0,0,0,0,0,28.83,25.34,28.83
$GC,10653,-0.47,-136.3,879.5,-7.3,545,10657,0.00,2.17,0.00,0.000,6,0.000,0.047,3018,2202,3347,0,0,0,0,0,0,28.83,25.72,28.83
$GC,10970,-0.47,-136.3,904.2,-7.6,556,10972,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2200,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11270,-0.47,-136.3,926.2,-7.4,566,11276,0.00,2.30,0.00,0.000,4,0.000,0.069,3007,3605,3346,0,0,0,0,0,0,28.83,25.32,28.83
$GC,11301,-0.47,-136.3,928.4,-7.4,567,11307,0.08,2.20,0.00,0.000,6,0.105,0.048,3037,2194,3345,0,0,0,0,0,0,25.49,25.69,28.83
$GC,11631,-0.47,-136.3,948.1,-5.8,578,11636,0.00,2.30,0.00,0.000,4,0.000,0.068,3029,3605,3344,0,0,0,0,0,0,28.83,25.31,28.83
$GC,11661,-0.47,-136.3,949.7,-5.7,579,11667,0.00,2.20,0.00,0.000,6,0.000,0.047,3029,2193,3344,0,0,0,0,0,0,28.83,25.70,28.83
$GC,11991,-0.47,-136.3,969.1,-5.6,590,11992,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2190,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12291,-0.47,-136.3,985.8,-5.6,600,12296,0.00,2.30,0.00,0.000,4,0.000,0.068,3020,3604,3345,0,0,0,0,0,0,28.83,25.29,28.83
$GC,12329,-0.47,-136.3,987.7,-5.7,601,12335,0.00,2.20,0.00,0.000,6,0.000,0.047,3020,2193,3344,0,0,0,0,0,0,28.83,25.67,28.83
$STATE,12378,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12378,begin apogee
$GC,12385,-0.22,0.0,991.5,-6.1,603,12512,0.30,0.00,121.68,1.177,6,0.107,0.000,3124,2336,2794,0,0,0,0,0,0,25.64,28.83,23.15
$STATE,12515,end apogee,CONTROL_FINISHED_OK
$STATE,12515,begin climb
$GC,12518,0.47,136.3,994.3,0.0,607,12659,0.62,2.58,130.52,1.134,4,0.075,0.067,3340,3725,2237,0,0,0,0,0,0,24.45,23.34,22.19
$GC,12684,0.48,154.8,985.8,6.3,613,12712,0.00,2.38,18.52,1.044,6,0.000,0.047,3351,2336,2162,0,0,0,0,0,0,28.83,23.81,22.37
$GC,13013,0.48,154.8,955.8,8.9,624,13019,0.00,2.33,0.00,0.000,4,0.000,0.057,3362,915,2154,0,0,0,0,0,0,28.83,24.98,28.83
$GC,13045,0.48,154.8,953.1,9.0,625,13049,0.00,2.30,0.00,0.000,6,0.000,0.057,3362,2317,2154,0,0,0,0,0,0,28.83,25.05,28.83
$GC,13368,0.48,154.8,923.0,9.2,636,13373,0.00,2.33,0.00,0.000,4,0.000,0.069,3362,3735,2152,0,0,0,0,0,0,28.83,25.36,28.83
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$STATE,25009,end climb,SURFACE_DEPTH_REACHED
$STATE,25009,begin surface coast
$FINISH,1.1,1.001754
$STATE,25042,end surface coast,CONTROL_FINISHED_OK
$STATE,25042,begin surface
$SM_CCo,25122,0.00,0.000,0,0,1114,412.35
$SM_GC,1.85,8.52,0.20,0.00,0.032,0.070,0.000,122,2202,1114,-9.47,1.19,412.35,0,0,0,0,0,0,25.75,25.72,28.83
$IRIDIUM_FIX,4644.93,-12654.09,041212,070706
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.68
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,19.70
$XPDR_PINGS,4
$24V_AH,22.2,48.364
$10V_AH,10.0,39.910
$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,22.150,193.525,492.950,0.000,0.000,29.947,41.632,225.448,1.000,0.000,36.611,3585.714,17922.596,578.519,3037.936,441.229,0.000,2080.347,0.000,2682.371,0.000,0.536,0.000
$DEVICE_MAMPS,219.555,82.620,1176.570,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,953.372,722.866,384.779,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,76642,1386
$CAP_FILE_SIZE,200862,0
$CFSIZE,260165632,229011456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.019, 12.3,1
$GPS,041212,214835,4708.333,-12644.895,33,1.5,33,18.6