version: 66.11
glider: 187
mission: 2
dive: 363
start: 12 9 112 3 59 6
data:
$ID,187
$MISSION,2
$DIVE,363
$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,-1588391.1
$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,35
$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
$GPS1,091212,035136,4730.125,-12551.730,33,1.4,33,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-77.7
$GPS2,091212,035833,4730.132,-12551.710,12,2.7,31,18.7
$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,36.5,65428,-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,17,-0.47,-136.3,0.0,0.0,0,66,0.00,0.00,-47.35,0.000,2,0.000,0.000,120,2211,2546,0,0,0,0,0,0,28.83,28.83,28.83
$GC,70,-0.47,-136.3,3.0,-2.7,8,111,11.45,2.35,-22.42,0.000,4,0.217,0.076,3025,3614,3352,0,0,0,0,0,0,24.91,25.47,26.17
$GC,233,-0.47,-136.3,27.7,-16.2,37,241,0.00,2.20,0.00,0.000,6,0.000,0.044,3025,2190,3355,0,0,0,0,0,0,28.83,25.65,28.83
$GC,550,-0.47,-136.3,78.4,-13.8,98,557,0.00,2.15,0.00,0.000,4,0.000,0.050,3025,793,3356,0,0,0,0,0,0,28.83,25.62,28.83
$GC,597,-0.47,-136.3,84.0,-12.0,106,603,0.00,2.20,0.00,0.000,6,0.000,0.051,3015,2204,3356,0,0,0,0,0,0,28.83,25.63,28.83
$GC,920,-0.47,-136.3,123.9,-11.9,165,926,0.00,2.17,0.00,0.000,4,0.000,0.049,3015,793,3356,0,0,0,0,0,0,28.83,25.68,28.83
$GC,951,-0.47,-136.3,127.6,-12.1,167,957,0.15,2.20,0.00,0.000,6,0.132,0.050,3047,2211,3356,0,0,0,0,0,0,25.53,25.69,28.83
$GC,1268,-0.47,-136.3,155.3,-8.5,188,1274,0.00,2.20,0.00,0.000,4,0.000,0.063,3038,3606,3357,0,0,0,0,0,0,28.83,25.59,28.83
$GC,1327,-0.47,-136.3,160.6,-8.5,192,1333,0.00,2.17,0.00,0.000,6,0.000,0.044,3039,2183,3356,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1643,-0.47,-136.3,188.6,-9.1,213,1644,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2181,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1957,-0.47,-136.3,216.6,-8.7,231,1963,0.00,2.28,0.00,0.000,4,0.000,0.063,3028,3607,3356,0,0,0,0,0,0,28.83,25.61,28.83
$GC,2000,-0.47,-136.3,220.3,-9.2,233,2004,0.00,2.15,0.00,0.000,6,0.000,0.044,3028,2195,3356,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2313,-0.47,-136.3,250.0,-9.3,249,2314,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2190,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2612,-0.47,-136.3,278.2,-9.3,264,2618,0.00,2.28,0.00,0.000,4,0.000,0.063,3017,3611,3356,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2641,-0.47,-136.3,280.0,-9.2,265,2645,0.00,2.15,0.00,0.000,6,0.000,0.045,3017,2201,3356,0,0,0,0,0,0,28.83,25.87,28.83
$GC,2947,-0.47,-136.3,310.0,-9.3,280,2948,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2195,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3249,-0.47,-136.3,339.8,-10.1,295,3250,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2195,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3548,-0.47,-136.3,368.8,-9.3,310,3549,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2195,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3847,-0.47,-136.3,396.9,-9.4,325,3853,0.00,2.28,0.00,0.000,4,0.000,0.064,3007,3611,3355,0,0,0,0,0,0,28.83,25.58,28.83
$GC,3880,-0.47,-136.3,398.9,-9.4,326,3888,0.12,2.17,0.00,0.000,6,0.129,0.046,3043,2190,3355,0,0,0,0,0,0,25.68,25.84,28.83
$GC,4188,-0.47,-136.3,423.2,-7.2,337,4193,0.00,2.28,0.00,0.000,4,0.000,0.064,3034,3612,3355,0,0,0,0,0,0,28.83,25.56,28.83
$GC,4217,-0.47,-136.3,425.4,-7.2,338,4223,0.00,2.17,0.00,0.000,6,0.000,0.046,3034,2198,3354,0,0,0,0,0,0,28.83,25.85,28.83
$GC,4547,-0.47,-136.3,450.1,-7.6,349,4548,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2195,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4848,-0.47,-136.3,473.9,-7.9,359,4853,0.00,2.25,0.00,0.000,4,0.000,0.066,3024,3606,3354,0,0,0,0,0,0,28.83,25.55,28.83
$GC,4880,-0.47,-136.3,476.5,-8.1,360,4884,0.00,2.15,0.00,0.000,6,0.000,0.047,3024,2203,3353,0,0,0,0,0,0,28.83,25.83,28.83
$GC,5202,-0.47,-136.3,504.5,-8.5,371,5204,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2200,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5502,-0.47,-136.3,528.9,-8.0,381,5508,0.00,2.28,0.00,0.000,4,0.000,0.066,3014,3616,3353,0,0,0,0,0,0,28.83,25.52,28.83
$GC,5546,-0.47,-136.3,531.3,-8.1,382,5550,0.00,2.17,0.00,0.000,6,0.000,0.047,3014,2198,3352,0,0,0,0,0,0,28.83,25.82,28.83
$GC,5858,-0.47,-136.3,558.5,-8.3,393,5864,0.00,2.17,0.00,0.000,4,0.000,0.054,3014,797,3352,0,0,0,0,0,0,28.83,25.64,28.83
$GC,5891,-0.47,-136.3,561.3,-8.5,394,5895,0.15,2.20,0.00,0.000,6,0.130,0.054,3048,2202,3352,0,0,0,0,0,0,25.51,25.65,28.83
$GC,6214,-0.47,-136.3,582.1,-6.1,405,6220,0.00,2.25,0.00,0.000,4,0.000,0.067,3039,3611,3352,0,0,0,0,0,0,28.83,25.50,28.83
$GC,6276,-0.47,-136.3,585.8,-6.2,407,6281,0.00,2.17,0.00,0.000,6,0.000,0.047,3039,2197,3352,0,0,0,0,0,0,28.83,25.80,28.83
$GC,6600,-0.47,-136.3,607.3,-6.9,418,6601,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2194,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6899,-0.47,-136.3,627.8,-7.0,428,6905,0.00,2.30,0.00,0.000,4,0.000,0.067,3029,3606,3351,0,0,0,0,0,0,28.83,25.48,28.83
$GC,6961,-0.47,-136.3,632.4,-7.3,430,6965,0.00,2.17,0.00,0.000,6,0.000,0.047,3029,2199,3351,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7284,-0.47,-136.3,657.5,-7.8,441,7289,0.00,2.25,0.00,0.000,4,0.000,0.067,3019,3598,3351,0,0,0,0,0,0,28.83,25.47,28.83
$GC,7331,-0.47,-136.3,660.0,-7.9,442,7336,0.00,2.15,0.00,0.000,6,0.000,0.047,3019,2203,3350,0,0,0,0,0,0,28.83,25.77,28.83
$GC,7638,-0.47,-136.3,687.5,-8.6,452,7640,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2201,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7940,-0.47,-136.3,714.1,-9.1,462,7946,0.00,2.25,0.00,0.000,4,0.000,0.067,3009,3603,3349,0,0,0,0,0,0,28.83,25.44,28.83
$GC,8029,-0.47,-136.3,722.7,-9.4,465,8035,0.12,2.17,0.00,0.000,6,0.128,0.047,3045,2197,3350,0,0,0,0,0,0,25.61,25.77,28.83
$GC,8360,-0.47,-136.3,746.9,-6.8,476,8361,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2195,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8659,-0.47,-136.3,765.1,-5.9,486,8665,0.00,2.28,0.00,0.000,4,0.000,0.067,3037,3605,3349,0,0,0,0,0,0,28.83,25.44,28.83
$GC,8689,-0.47,-136.3,766.9,-6.0,487,8695,0.00,2.15,0.00,0.000,6,0.000,0.049,3037,2208,3348,0,0,0,0,0,0,28.83,25.75,28.83
$GC,9020,-0.47,-136.3,788.3,-6.4,498,9025,0.00,2.17,0.00,0.000,4,0.000,0.055,3037,802,3348,0,0,0,0,0,0,28.83,25.56,28.83
$GC,9049,-0.47,-136.3,790.2,-6.3,499,9055,0.00,2.17,0.00,0.000,6,0.000,0.055,3029,2193,3348,0,0,0,0,0,0,28.83,25.58,28.83
$GC,9379,-0.47,-136.3,811.6,-6.5,510,9385,0.00,2.28,0.00,0.000,4,0.000,0.068,3019,3607,3348,0,0,0,0,0,0,28.83,25.40,28.83
$GC,9463,-0.47,-136.3,815.7,-6.5,512,9469,0.00,2.20,0.00,0.000,6,0.000,0.048,3019,2185,3347,0,0,0,0,0,0,28.83,25.74,28.83
$GC,9769,-0.47,-136.3,837.3,-6.5,523,9775,0.00,2.30,0.00,0.000,4,0.000,0.067,3009,3606,3347,0,0,0,0,0,0,28.83,25.40,28.83
$GC,9842,-0.47,-136.3,841.4,-6.6,525,9847,0.12,2.17,0.00,0.000,6,0.127,0.048,3045,2199,3347,0,0,0,0,0,0,25.58,25.72,28.83
$GC,10156,-0.47,-136.3,857.9,-4.8,536,10161,0.00,2.28,0.00,0.000,4,0.000,0.068,3037,3606,3347,0,0,0,0,0,0,28.83,25.38,28.83
$GC,10186,-0.47,-136.3,859.3,-4.8,537,10191,0.00,2.17,0.00,0.000,6,0.000,0.049,3037,2201,3346,0,0,0,0,0,0,28.83,25.72,28.83
$GC,10516,-0.47,-136.3,875.6,-4.9,548,10517,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2198,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10816,-0.47,-136.3,890.0,-4.7,558,10821,0.00,2.28,0.00,0.000,4,0.000,0.068,3027,3605,3346,0,0,0,0,0,0,28.83,25.37,28.83
$GC,10853,-0.47,-136.3,891.6,-4.7,559,10858,0.00,2.20,0.00,0.000,6,0.000,0.049,3027,2190,3346,0,0,0,0,0,0,28.83,25.70,28.83
$GC,11172,-0.47,-136.3,908.5,-5.2,570,11177,0.00,2.30,0.00,0.000,4,0.000,0.068,3017,3605,3346,0,0,0,0,0,0,28.83,25.35,28.83
$GC,11249,-0.47,-136.3,912.2,-5.7,572,11253,0.00,2.20,0.00,0.000,6,0.000,0.049,3017,2189,3346,0,0,0,0,0,0,28.83,25.70,28.83
$GC,11556,-0.47,-136.3,932.0,-6.2,582,11557,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2187,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11856,-0.47,-136.3,951.7,-6.9,592,11862,0.00,2.30,0.00,0.000,4,0.000,0.068,3007,3606,3345,0,0,0,0,0,0,28.83,25.34,28.83
$GC,11916,-0.47,-136.3,956.0,-7.0,594,11922,0.10,2.17,0.00,0.000,6,0.099,0.049,3045,2203,3345,0,0,0,0,0,0,25.48,25.69,28.83
$GC,12246,-0.47,-136.3,974.8,-5.8,605,12248,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2201,3345,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12513,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12513,begin apogee
$GC,12520,-0.22,0.0,990.4,-5.7,614,12647,0.22,0.00,121.65,1.174,6,0.109,0.000,3127,2331,2793,0,0,0,0,0,0,25.84,28.83,23.16
$STATE,12651,end apogee,CONTROL_FINISHED_OK
$STATE,12651,begin climb
$GC,12654,0.47,136.3,994.1,0.0,618,12789,0.62,0.00,131.52,1.138,6,0.072,0.000,3345,2331,2239,0,0,0,0,0,0,24.47,28.83,22.18
$GC,13086,0.47,136.3,965.2,8.7,633,13087,0.00,0.00,0.00,0.000,6,0.000,0.000,3345,2331,2228,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13386,0.47,136.3,938.0,9.4,643,13387,0.00,0.00,0.00,0.000,6,0.000,0.000,3344,2330,2226,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13686,0.47,136.3,910.3,9.2,653,13692,0.00,2.28,0.00,0.000,4,0.000,0.070,3344,3732,2225,0,0,0,0,0,0,28.83,25.48,28.83
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$STATE,24802,end climb,SURFACE_DEPTH_REACHED
$STATE,24803,begin surface coast
$FINISH,1.4,1.014072
$STATE,24843,end surface coast,CONTROL_FINISHED_OK
$STATE,24843,begin surface
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$TT8_MAMPS,0.026964,0.026964
$HUMID,44.92
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,19.00
$XPDR_PINGS,0
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$10V_AH,10.0,41.676
$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
$DEVICE_SECS,22.000,196.675,471.550,0.000,0.000,26.465,40.016,193.937,0.000,0.000,32.875,3545.752,17761.223,586.577,3016.848,419.617,0.000,2080.920,0.000,2690.726,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
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$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,76835,1353
$CAP_FILE_SIZE,199665,0
$CFSIZE,260165632,227651584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.119,232.0,1
$GPS,091212,105536,4731.144,-12548.550,29,1.5,29,18.7