version: 66.11
glider: 187
mission: 2
dive: 354
start: 12 6 112 10 50 33
data:
$ID,187
$MISSION,2
$DIVE,354
$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,-1588375.9
$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,33
$R_STBD_OVSHOOT,27
$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
$GPS1,061212,104305,4716.217,-12624.043,39,1.1,39,18.6
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-75.4
$GPS2,061212,105001,4716.308,-12623.935,14,1.3,14,18.6
$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,44.4,112824,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.47,-136.3,0.0,0.0,0,73,0.00,0.00,-54.00,0.000,2,0.000,0.000,131,2202,2693,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.47,-136.3,3.2,-2.7,9,111,11.40,2.35,-15.48,0.000,4,0.216,0.076,3028,3610,3350,0,0,0,0,0,0,24.87,25.46,26.14
$GC,303,-0.47,-136.3,40.5,-15.4,51,311,0.00,2.22,0.00,0.000,6,0.000,0.043,3027,2193,3355,0,0,0,0,0,0,28.83,25.67,28.83
$GC,619,-0.47,-136.3,87.3,-13.1,112,625,0.00,2.28,0.00,0.000,4,0.000,0.061,3017,3608,3355,0,0,0,0,0,0,28.83,25.52,28.83
$GC,659,-0.47,-136.3,92.4,-12.6,119,667,0.00,2.17,0.00,0.000,6,0.000,0.042,3017,2186,3355,0,0,0,0,0,0,28.83,25.76,28.83
$GC,973,-0.47,-136.3,130.5,-11.1,168,978,0.00,2.10,0.00,0.000,4,0.000,0.049,3017,808,3356,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1021,-0.47,-136.3,135.5,-11.1,171,1026,0.12,2.15,0.00,0.000,6,0.138,0.050,3042,2201,3356,0,0,0,0,0,0,25.54,25.68,28.83
$GC,1329,-0.47,-136.3,163.5,-8.6,191,1333,0.00,2.25,0.00,0.000,4,0.000,0.062,3034,3608,3356,0,0,0,0,0,0,28.83,25.58,28.83
$GC,1364,-0.47,-136.3,166.5,-8.7,193,1368,0.00,2.15,0.00,0.000,6,0.000,0.042,3034,2199,3356,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1672,-0.47,-136.3,195.4,-9.3,213,1677,0.00,2.25,0.00,0.000,4,0.000,0.062,3024,3610,3355,0,0,0,0,0,0,28.83,25.60,28.83
$GC,1701,-0.47,-136.3,198.2,-8.9,215,1707,0.00,2.15,0.00,0.000,6,0.000,0.043,3023,2200,3356,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2012,-0.47,-136.3,228.4,-9.9,231,2016,0.00,2.17,0.00,0.000,4,0.000,0.050,3023,796,3356,0,0,0,0,0,0,28.83,25.70,28.83
$GC,2042,-0.47,-136.3,230.7,-9.9,232,2046,0.00,2.17,0.00,0.000,6,0.000,0.050,3014,2201,3356,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2349,-0.47,-136.3,263.0,-10.3,247,2355,0.00,2.25,0.00,0.000,4,0.000,0.062,3004,3616,3356,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2389,-0.47,-136.3,267.2,-10.4,249,2395,0.10,2.15,0.00,0.000,6,0.106,0.043,3040,2201,3355,0,0,0,0,0,0,25.64,25.86,28.83
$GC,2709,-0.47,-136.3,293.8,-7.9,265,2715,0.00,2.28,0.00,0.000,4,0.000,0.063,3032,3609,3356,0,0,0,0,0,0,28.83,25.58,28.83
$GC,2737,-0.47,-136.3,295.4,-7.9,266,2741,0.00,2.17,0.00,0.000,6,0.000,0.044,3032,2188,3356,0,0,0,0,0,0,28.83,25.86,28.83
$GC,3044,-0.47,-136.3,321.4,-8.2,281,3046,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2186,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3345,-0.47,-136.3,345.3,-8.0,296,3350,0.00,2.25,0.00,0.000,4,0.000,0.063,3023,3601,3355,0,0,0,0,0,0,28.83,25.58,28.83
$GC,3372,-0.47,-136.3,347.0,-8.1,297,3376,0.00,2.15,0.00,0.000,6,0.000,0.044,3023,2196,3355,0,0,0,0,0,0,28.83,25.86,28.83
$GC,3682,-0.47,-136.3,374.4,-8.6,312,3683,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2192,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3979,-0.47,-136.3,399.3,-8.5,327,3980,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2193,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4299,-0.47,-136.3,426.3,-8.5,338,4300,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2192,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4600,-0.47,-136.3,452.3,-8.8,348,4601,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2192,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4899,-0.47,-136.3,477.7,-8.4,358,4905,0.00,2.25,0.00,0.000,4,0.000,0.064,3013,3605,3352,0,0,0,0,0,0,28.83,25.53,28.83
$GC,4942,-0.47,-136.3,480.3,-8.4,359,4947,0.12,2.15,0.00,0.000,6,0.126,0.044,3049,2199,3352,0,0,0,0,0,0,25.68,25.85,28.83
$GC,5256,-0.47,-136.3,501.2,-6.0,370,5257,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2196,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5555,-0.47,-136.3,518.9,-5.8,380,5561,0.00,2.25,0.00,0.000,4,0.000,0.065,3040,3604,3351,0,0,0,0,0,0,28.83,25.51,28.83
$GC,5603,-0.47,-136.3,520.9,-5.9,381,5607,0.00,2.17,0.00,0.000,6,0.000,0.044,3041,2188,3351,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5911,-0.47,-136.3,541.9,-6.5,391,5912,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2186,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6210,-0.47,-136.3,560.8,-6.4,401,6216,0.00,2.33,0.00,0.000,4,0.000,0.064,3030,3613,3351,0,0,0,0,0,0,28.83,25.50,28.83
$GC,6253,-0.47,-136.3,562.8,-6.5,402,6258,0.00,2.20,0.00,0.000,6,0.000,0.046,3030,2189,3350,0,0,0,0,0,0,28.83,25.81,28.83
$GC,6566,-0.47,-136.3,585.9,-7.1,413,6571,0.00,2.28,0.00,0.000,4,0.000,0.066,3020,3604,3350,0,0,0,0,0,0,28.83,25.46,28.83
$GC,6598,-0.47,-136.3,588.3,-7.3,414,6602,0.00,2.17,0.00,0.000,6,0.000,0.046,3020,2193,3350,0,0,0,0,0,0,28.83,25.79,28.83
$GC,6921,-0.47,-136.3,614.1,-8.1,425,6922,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2191,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7221,-0.47,-136.3,638.5,-8.2,435,7222,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2190,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7521,-0.47,-136.3,662.3,-7.9,445,7526,0.00,2.30,0.00,0.000,4,0.000,0.067,3010,3607,3348,0,0,0,0,0,0,28.83,25.44,28.83
$GC,7574,-0.47,-136.3,664.8,-7.9,446,7581,0.12,2.17,0.00,0.000,6,0.126,0.047,3045,2197,3348,0,0,0,0,0,0,25.62,25.77,28.83
$GC,7881,-0.47,-136.3,686.3,-6.2,457,7887,0.00,2.30,0.00,0.000,4,0.000,0.067,3037,3607,3347,0,0,0,0,0,0,28.83,25.41,28.83
$GC,7904,-0.47,-136.3,686.3,-6.2,457,7911,0.00,2.17,0.00,0.000,6,0.000,0.047,3037,2200,3347,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8211,-0.47,-136.3,708.1,-6.6,468,8212,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2200,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8511,-0.47,-136.3,727.5,-6.4,478,8513,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2200,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8811,-0.47,-136.3,745.9,-6.2,488,8812,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2200,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9111,-0.47,-136.3,764.1,-6.0,498,9117,0.00,2.30,0.00,0.000,4,0.000,0.067,3027,3611,3347,0,0,0,0,0,0,28.83,25.39,28.83
$GC,9143,-0.47,-136.3,765.9,-5.9,499,9147,0.00,2.20,0.00,0.000,6,0.000,0.047,3027,2200,3347,0,0,0,0,0,0,28.83,25.75,28.83
$GC,9472,-0.47,-136.3,786.8,-6.3,510,9473,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2198,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9771,-0.47,-136.3,805.3,-5.8,520,9772,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2198,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10071,-0.47,-136.3,822.8,-5.9,530,10077,0.00,2.30,0.00,0.000,4,0.000,0.067,3017,3606,3346,0,0,0,0,0,0,28.83,25.37,28.83
$GC,10140,-0.47,-136.3,826.7,-6.1,532,10144,0.00,2.20,0.00,0.000,6,0.000,0.047,3017,2189,3346,0,0,0,0,0,0,28.83,25.72,28.83
$GC,10457,-0.47,-136.3,849.5,-7.1,543,10458,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2186,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10757,-0.47,-136.3,871.3,-7.5,553,10762,0.00,2.33,0.00,0.000,4,0.000,0.067,3007,3610,3345,0,0,0,0,0,0,28.83,25.34,28.83
$GC,10800,-0.47,-136.3,873.8,-7.6,554,10805,0.12,2.20,0.00,0.000,6,0.125,0.047,3043,2192,3345,0,0,0,0,0,0,25.56,25.71,28.83
$GC,11113,-0.47,-136.3,894.2,-5.9,565,11119,0.00,2.33,0.00,0.000,4,0.000,0.068,3035,3624,3345,0,0,0,0,0,0,28.83,25.32,28.83
$GC,11147,-0.47,-136.3,896.0,-5.8,566,11151,0.00,2.22,0.00,0.000,6,0.000,0.047,3035,2196,3344,0,0,0,0,0,0,28.83,25.72,28.83
$GC,11469,-0.47,-136.3,915.1,-5.8,577,11475,0.00,2.28,0.00,0.000,4,0.000,0.067,3025,3604,3345,0,0,0,0,0,0,28.83,25.33,28.83
$GC,11499,-0.47,-136.3,916.9,-6.1,578,11505,0.00,2.15,0.00,0.000,6,0.000,0.047,3025,2205,3344,0,0,0,0,0,0,28.83,25.72,28.83
$GC,11830,-0.47,-136.3,937.4,-6.2,589,11831,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2204,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12129,-0.47,-136.3,955.9,-6.1,599,12135,0.00,2.28,0.00,0.000,4,0.000,0.067,3015,3605,3344,0,0,0,0,0,0,28.83,25.32,28.83
$GC,12167,-0.47,-136.3,957.9,-6.2,600,12172,0.00,2.20,0.00,0.000,6,0.000,0.047,3015,2190,3344,0,0,0,0,0,0,28.83,25.68,28.83
$GC,12486,-0.47,-136.3,978.9,-6.4,611,12491,0.00,2.30,0.00,0.000,4,0.000,0.067,3005,3607,3343,0,0,0,0,0,0,28.83,25.30,28.83
$GC,12528,-0.47,-136.3,980.9,-6.5,612,12533,0.12,2.17,0.00,0.000,6,0.124,0.046,3041,2199,3343,0,0,0,0,0,0,25.53,25.70,28.83
$STATE,12688,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12688,begin apogee
$GC,12696,-0.22,0.0,990.4,-5.1,618,12822,0.22,0.00,121.40,1.177,6,0.111,0.000,3123,2327,2794,0,0,0,0,0,0,25.80,28.83,23.14
$STATE,12825,end apogee,CONTROL_FINISHED_OK
$STATE,12825,begin climb
$GC,12828,0.47,136.3,993.4,0.0,622,12964,0.65,0.00,131.93,1.137,6,0.073,0.000,3347,2327,2238,0,0,0,0,0,0,24.45,28.83,22.15
$GC,13265,0.47,136.3,960.2,8.9,637,13270,0.00,2.33,0.00,0.000,4,0.000,0.068,3347,3724,2227,0,0,0,0,0,0,28.83,24.91,28.83
$GC,13311,0.47,136.3,957.0,9.1,638,13316,0.00,2.25,0.00,0.000,6,0.000,0.048,3358,2330,2226,0,0,0,0,0,0,28.83,25.14,28.83
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$STATE,25512,end climb,SURFACE_DEPTH_REACHED
$STATE,25512,begin surface coast
$FINISH,1.4,1.024611
$STATE,25559,end surface coast,CONTROL_FINISHED_OK
$STATE,25560,begin surface
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$TT8_MAMPS,0.026964,0.026964
$HUMID,45.03
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,19.40
$XPDR_PINGS,1
$24V_AH,22.2,49.271
$10V_AH,10.0,40.641
$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
$DEVICE_SECS,21.925,187.800,392.550,4.875,0.000,27.190,40.193,204.686,0.250,0.000,17.379,3703.728,18309.434,526.599,3010.725,438.336,0.000,1980.679,0.000,2704.141,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,980.556,749.468,399.415,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296776
$DATA_FILE_SIZE,80193,1422
$CAP_FILE_SIZE,201497,0
$CFSIZE,260165632,228454400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.078,282.9,1
$GPS,061212,175829,4717.913,-12620.505,45,1.2,50,18.6