version: 66.11
glider: 187
mission: 2
dive: 362
start: 12 8 112 20 40 21
data:
$ID,187
$MISSION,2
$DIVE,362
$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,-1588389.9
$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,36
$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
$GPS1,081212,203305,4728.878,-12555.207,40,1.1,40,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-76.7
$GPS2,081212,203948,4728.859,-12555.299,11,1.2,16,18.7
$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,33.4,70397,-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,-136.3,0.0,0.0,0,73,0.00,0.00,-53.75,0.000,2,0.000,0.000,105,2197,2640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.47,-136.3,3.1,-2.4,9,116,11.52,2.25,-17.48,0.000,4,0.218,0.065,3033,791,3352,0,0,0,0,0,0,24.89,25.53,26.15
$GC,281,-0.47,-136.3,35.6,-13.9,47,289,0.00,2.20,0.00,0.000,6,0.000,0.052,3025,2199,3353,0,0,0,0,0,0,28.83,25.55,28.83
$GC,599,-0.47,-136.3,78.8,-13.3,108,606,0.00,2.25,0.00,0.000,4,0.000,0.063,3014,3617,3355,0,0,0,0,0,0,28.83,25.53,28.83
$GC,660,-0.47,-136.3,86.3,-12.3,119,667,0.00,2.17,0.00,0.000,6,0.000,0.044,3014,2188,3355,0,0,0,0,0,0,28.83,25.77,28.83
$GC,984,-0.47,-136.3,123.2,-10.6,178,990,0.00,2.30,0.00,0.000,4,0.000,0.062,3004,3616,3355,0,0,0,0,0,0,28.83,25.58,28.83
$GC,1014,-0.47,-136.3,126.6,-10.8,180,1020,0.15,2.17,0.00,0.000,6,0.128,0.044,3047,2202,3355,0,0,0,0,0,0,25.60,25.82,28.83
$GC,1330,-0.47,-136.3,154.2,-8.5,201,1331,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2196,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1629,-0.47,-136.3,179.5,-8.2,221,1630,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2197,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1938,-0.47,-136.3,203.5,-7.7,241,1939,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2197,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2239,-0.47,-136.3,226.2,-7.5,256,2244,0.00,2.22,0.00,0.000,4,0.000,0.063,3038,3599,3355,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2272,-0.47,-136.3,227.8,-7.6,257,2279,0.00,2.15,0.00,0.000,6,0.000,0.045,3038,2189,3355,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2578,-0.47,-136.3,255.6,-8.9,273,2584,0.00,2.28,0.00,0.000,4,0.000,0.063,3028,3608,3355,0,0,0,0,0,0,28.83,25.59,28.83
$GC,2611,-0.47,-136.3,257.6,-9.0,274,2618,0.00,2.15,0.00,0.000,6,0.000,0.044,3028,2195,3355,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2919,-0.47,-136.3,286.6,-9.1,290,2920,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2194,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3218,-0.47,-136.3,314.8,-9.2,305,3219,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2194,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3519,-0.47,-136.3,341.6,-8.7,320,3524,0.00,2.28,0.00,0.000,4,0.000,0.064,3017,3610,3355,0,0,0,0,0,0,28.83,25.58,28.83
$GC,3562,-0.47,-136.3,345.2,-8.6,322,3566,0.00,2.15,0.00,0.000,6,0.000,0.045,3017,2201,3355,0,0,0,0,0,0,28.83,25.86,28.83
$GC,3874,-0.47,-136.3,374.9,-9.2,338,3875,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2198,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4184,-0.47,-136.3,402.9,-8.9,353,4185,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2198,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4485,-0.47,-136.3,429.1,-8.7,363,4486,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2198,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4784,-0.47,-136.3,454.9,-8.6,373,4790,0.00,2.28,0.00,0.000,4,0.000,0.066,3007,3606,3353,0,0,0,0,0,0,28.83,25.53,28.83
$GC,4807,-0.47,-136.3,454.9,-8.6,373,4815,0.12,2.15,0.00,0.000,6,0.129,0.047,3043,2201,3353,0,0,0,0,0,0,25.66,25.83,28.83
$GC,5115,-0.47,-136.3,478.7,-6.9,384,5117,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2200,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5415,-0.47,-136.3,499.7,-6.9,394,5420,0.00,2.25,0.00,0.000,4,0.000,0.067,3035,3605,3353,0,0,0,0,0,0,28.83,25.51,28.83
$GC,5448,-0.47,-136.3,501.8,-6.9,395,5452,0.00,2.17,0.00,0.000,6,0.000,0.047,3034,2202,3352,0,0,0,0,0,0,28.83,25.82,28.83
$GC,5770,-0.47,-136.3,525.6,-7.4,406,5776,0.00,2.25,0.00,0.000,4,0.000,0.067,3024,3605,3352,0,0,0,0,0,0,28.83,25.50,28.83
$GC,5800,-0.47,-136.3,528.0,-7.5,407,5805,0.00,2.17,0.00,0.000,6,0.000,0.047,3024,2195,3352,0,0,0,0,0,0,28.83,25.80,28.83
$GC,6130,-0.47,-136.3,552.8,-7.3,418,6135,0.00,2.28,0.00,0.000,4,0.000,0.066,3014,3606,3352,0,0,0,0,0,0,28.83,25.49,28.83
$GC,6168,-0.47,-136.3,555.2,-7.3,419,6172,0.00,2.17,0.00,0.000,6,0.000,0.047,3014,2190,3352,0,0,0,0,0,0,28.83,25.79,28.83
$GC,6485,-0.47,-136.3,581.8,-8.3,430,6486,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2188,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6786,-0.47,-136.3,606.3,-7.9,440,6791,0.00,2.28,0.00,0.000,4,0.000,0.066,3004,3606,3351,0,0,0,0,0,0,28.83,25.48,28.83
$GC,6816,-0.47,-136.3,609.0,-8.2,441,6822,0.10,2.17,0.00,0.000,6,0.101,0.047,3041,2192,3351,0,0,0,0,0,0,25.57,25.78,28.83
$GC,7146,-0.47,-136.3,630.7,-6.4,452,7147,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2189,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7446,-0.47,-136.3,650.2,-6.5,462,7447,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2189,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7747,-0.47,-136.3,669.0,-6.3,472,7748,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2190,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8046,-0.47,-136.3,689.5,-6.9,482,8052,0.00,2.28,0.00,0.000,4,0.000,0.067,3033,3604,3348,0,0,0,0,0,0,28.83,25.44,28.83
$GC,8114,-0.47,-136.3,693.7,-6.9,484,8118,0.00,2.17,0.00,0.000,6,0.000,0.048,3033,2195,3348,0,0,0,0,0,0,28.83,25.76,28.83
$GC,8432,-0.47,-136.3,715.1,-6.6,495,8433,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2193,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8731,-0.47,-136.3,734.8,-6.2,505,8737,0.00,2.30,0.00,0.000,4,0.000,0.067,3023,3607,3348,0,0,0,0,0,0,28.83,25.42,28.83
$GC,8824,-0.47,-136.3,740.6,-6.3,508,8828,0.00,2.17,0.00,0.000,6,0.000,0.048,3023,2195,3348,0,0,0,0,0,0,28.83,25.75,28.83
$GC,9147,-0.47,-136.3,761.6,-6.5,519,9153,0.00,2.28,0.00,0.000,4,0.000,0.067,3013,3607,3347,0,0,0,0,0,0,28.83,25.41,28.83
$GC,9184,-0.47,-136.3,763.6,-6.5,520,9188,0.00,2.17,0.00,0.000,6,0.000,0.048,3013,2202,3347,0,0,0,0,0,0,28.83,25.74,28.83
$GC,9507,-0.47,-136.3,786.6,-6.9,531,9509,0.12,0.00,0.00,0.000,6,0.138,0.000,3049,2200,3347,0,0,0,0,0,0,26.11,28.83,28.83
$GC,9807,-0.47,-136.3,802.3,-5.2,541,9812,0.00,2.25,0.00,0.000,4,0.000,0.069,3040,3604,3347,0,0,0,0,0,0,28.83,25.38,28.83
$GC,9851,-0.47,-136.3,803.8,-5.3,542,9857,0.00,2.17,0.00,0.000,6,0.000,0.049,3040,2197,3347,0,0,0,0,0,0,28.83,25.72,28.83
$GC,10167,-0.47,-136.3,822.0,-5.5,553,10169,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2195,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10467,-0.47,-136.3,839.1,-5.7,563,10472,0.00,2.33,0.00,0.000,4,0.000,0.069,3030,3614,3346,0,0,0,0,0,0,28.83,25.36,28.83
$GC,10497,-0.47,-136.3,841.0,-5.9,564,10503,0.00,2.17,0.00,0.000,6,0.000,0.050,3030,2203,3346,0,0,0,0,0,0,28.83,25.70,28.83
$GC,10827,-0.47,-136.3,861.5,-6.1,575,10833,0.00,2.28,0.00,0.000,4,0.000,0.069,3021,3609,3346,0,0,0,0,0,0,28.83,25.35,28.83
$GC,10865,-0.47,-136.3,863.4,-6.2,576,10869,0.00,2.20,0.00,0.000,6,0.000,0.049,3021,2189,3345,0,0,0,0,0,0,28.83,25.70,28.83
$GC,11182,-0.47,-136.3,886.0,-7.0,587,11183,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2187,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11483,-0.47,-136.3,907.0,-6.9,597,11488,0.00,2.28,0.00,0.000,4,0.000,0.068,3011,3598,3346,0,0,0,0,0,0,28.83,25.34,28.83
$GC,11515,-0.47,-136.3,909.2,-6.9,598,11520,0.12,2.17,0.00,0.000,6,0.124,0.050,3047,2197,3345,0,0,0,0,0,0,25.54,25.68,28.83
$GC,11839,-0.47,-136.3,927.3,-5.5,609,11845,0.00,2.33,0.00,0.000,4,0.000,0.069,3039,3613,3345,0,0,0,0,0,0,28.83,25.32,28.83
$GC,11871,-0.47,-136.3,929.2,-5.6,610,11875,0.00,2.20,0.00,0.000,6,0.000,0.050,3039,2200,3345,0,0,0,0,0,0,28.83,25.67,28.83
$GC,12199,-0.47,-136.3,950.5,-6.6,621,12204,0.00,2.28,0.00,0.000,4,0.000,0.069,3029,3598,3345,0,0,0,0,0,0,28.83,25.31,28.83
$GC,12232,-0.47,-136.3,952.3,-6.5,622,12236,0.00,2.17,0.00,0.000,6,0.000,0.050,3029,2201,3345,0,0,0,0,0,0,28.83,25.66,28.83
$GC,12554,-0.47,-136.3,975.5,-7.3,633,12555,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2199,3345,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12762,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12762,begin apogee
$GC,12769,-0.22,0.0,991.7,-8.0,640,12896,0.28,0.00,121.45,1.174,6,0.108,0.000,3125,2327,2793,0,0,0,0,0,0,25.70,28.83,23.15
$STATE,12899,end apogee,CONTROL_FINISHED_OK
$STATE,12899,begin climb
$GC,12902,0.47,136.3,996.9,0.0,644,13038,0.62,0.00,132.23,1.136,6,0.073,0.000,3342,2327,2239,0,0,0,0,0,0,24.46,28.83,22.17
$GC,13335,0.47,137.3,973.2,7.0,659,13336,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,2327,2227,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13635,0.47,137.3,951.8,7.3,669,13641,0.00,2.28,0.00,0.000,4,0.000,0.058,3353,919,2226,0,0,0,0,0,0,28.83,25.40,28.83
$GC,13672,0.47,137.3,949.5,7.5,670,13677,0.00,2.25,0.00,0.000,6,0.000,0.057,3353,2322,2225,0,0,0,0,0,0,28.83,25.44,28.83
$GC,13990,0.47,137.3,922.7,8.3,681,13995,0.00,2.33,0.00,0.000,4,0.000,0.070,3353,3749,2224,0,0,0,0,0,0,28.83,25.49,28.83
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$STATE,25673,end climb,SURFACE_DEPTH_REACHED
$STATE,25674,begin surface coast
$FINISH,1.5,1.022507
$STATE,25723,end surface coast,CONTROL_FINISHED_OK
$STATE,25723,begin surface
$SM_CCo,25804,0.00,0.000,0,0,1507,315.70
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$TT8_MAMPS,0.026964,0.026964
$HUMID,45.58
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,15.40
$XPDR_PINGS,2
$24V_AH,22.2,50.310
$10V_AH,10.0,41.564
$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
$DEVICE_SECS,21.975,174.225,412.425,0.000,0.000,24.355,36.774,198.638,0.500,0.000,19.596,3674.528,18595.242,545.877,2955.078,425.220,0.000,1975.559,0.000,2659.484,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,970.308,731.791,380.461,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296744
$DATA_FILE_SIZE,76800,1408
$CAP_FILE_SIZE,196211,0
$CFSIZE,260165632,227745792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.062,243.4,1
$GPS,091212,035136,4730.125,-12551.730,33,1.4,33,18.7