version: 66.11
glider: 187
mission: 2
dive: 364
start: 12 9 112 11 2 28
data:
$ID,187
$MISSION,2
$DIVE,364
$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,-1588392.4
$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,25
$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
$GPS1,091212,105536,4731.144,-12548.550,29,1.5,29,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-73.8
$GPS2,091212,110155,4731.159,-12548.619,13,1.6,13,18.7
$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,32.9,61238,-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,-66.20,0.000,2,0.000,0.000,105,2185,2653,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.47,-136.3,3.2,-2.8,11,123,11.55,2.40,-16.58,0.000,4,0.218,0.076,3028,3617,3352,0,0,0,0,0,0,24.90,25.47,26.15
$GC,182,-0.47,-136.3,19.7,-18.3,27,190,0.00,2.22,0.00,0.000,6,0.000,0.044,3028,2208,3355,0,0,0,0,0,0,28.83,25.63,28.83
$GC,499,-0.47,-136.3,68.4,-13.0,88,505,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2201,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,811,-0.47,-136.3,105.1,-10.7,149,817,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2201,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1127,-0.47,-136.3,139.8,-10.8,187,1132,0.00,2.15,0.00,0.000,4,0.000,0.051,3028,798,3357,0,0,0,0,0,0,28.83,25.70,28.83
$GC,1145,-0.47,-136.3,141.5,-10.8,188,1149,0.00,2.17,0.00,0.000,6,0.000,0.051,3019,2202,3357,0,0,0,0,0,0,28.83,25.71,28.83
$GC,1452,-0.47,-136.3,174.9,-10.7,208,1457,0.00,2.28,0.00,0.000,4,0.000,0.063,3008,3617,3357,0,0,0,0,0,0,28.83,25.61,28.83
$GC,1469,-0.47,-136.3,176.5,-10.7,209,1474,0.12,2.17,0.00,0.000,6,0.132,0.044,3044,2194,3357,0,0,0,0,0,0,25.67,25.85,28.83
$GC,1795,-0.47,-136.3,206.8,-9.0,229,1796,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2189,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2091,-0.47,-136.3,233.9,-9.0,244,2092,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2189,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2391,-0.47,-136.3,260.7,-8.8,259,2393,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2189,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2691,-0.47,-136.3,287.3,-8.8,274,2692,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2189,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2991,-0.47,-136.3,313.0,-8.3,289,2997,0.00,2.30,0.00,0.000,4,0.000,0.064,3035,3612,3356,0,0,0,0,0,0,28.83,25.60,28.83
$GC,3035,-0.47,-136.3,316.6,-8.4,291,3039,0.00,2.17,0.00,0.000,6,0.000,0.046,3036,2190,3357,0,0,0,0,0,0,28.83,25.87,28.83
$GC,3347,-0.47,-136.3,345.2,-9.0,307,3353,0.00,2.28,0.00,0.000,4,0.000,0.064,3025,3606,3356,0,0,0,0,0,0,28.83,25.60,28.83
$GC,3372,-0.47,-136.3,347.1,-9.0,308,3377,0.00,2.15,0.00,0.000,6,0.000,0.045,3025,2201,3356,0,0,0,0,0,0,28.83,25.86,28.83
$GC,3688,-0.47,-136.3,376.5,-8.9,324,3693,0.00,2.12,0.00,0.000,4,0.000,0.053,3025,809,3356,0,0,0,0,0,0,28.83,25.70,28.83
$GC,3730,-0.47,-136.3,380.3,-9.1,326,3734,0.00,2.17,0.00,0.000,6,0.000,0.053,3017,2207,3356,0,0,0,0,0,0,28.83,25.71,28.83
$GC,4052,-0.47,-136.3,408.9,-8.6,341,4058,0.00,2.25,0.00,0.000,4,0.000,0.065,3006,3612,3355,0,0,0,0,0,0,28.83,25.57,28.83
$GC,4096,-0.47,-136.3,411.5,-8.6,342,4101,0.12,2.17,0.00,0.000,6,0.129,0.046,3042,2193,3355,0,0,0,0,0,0,25.67,25.84,28.83
$GC,4409,-0.47,-136.3,433.2,-6.3,353,4410,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2188,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4709,-0.47,-136.3,453.1,-6.7,363,4714,0.00,2.28,0.00,0.000,4,0.000,0.065,3034,3612,3353,0,0,0,0,0,0,28.83,25.56,28.83
$GC,4758,-0.47,-136.3,455.1,-6.6,364,4762,0.00,2.17,0.00,0.000,6,0.000,0.047,3034,2196,3353,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5064,-0.47,-136.3,477.7,-6.9,374,5070,0.00,2.30,0.00,0.000,4,0.000,0.065,3025,3614,3353,0,0,0,0,0,0,28.83,25.54,28.83
$GC,5094,-0.47,-136.3,479.9,-7.0,375,5100,0.00,2.15,0.00,0.000,6,0.000,0.047,3024,2209,3353,0,0,0,0,0,0,28.83,25.83,28.83
$GC,5425,-0.47,-136.3,505.6,-7.9,386,5426,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2206,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5724,-0.47,-136.3,529.8,-8.2,396,5730,0.00,2.20,0.00,0.000,4,0.000,0.054,3024,789,3353,0,0,0,0,0,0,28.83,25.64,28.83
$GC,5747,-0.47,-136.3,529.8,-8.2,396,5753,0.00,2.20,0.00,0.000,6,0.000,0.054,3016,2202,3352,0,0,0,0,0,0,28.83,25.65,28.83
$GC,6054,-0.47,-136.3,557.9,-8.6,407,6060,0.00,2.28,0.00,0.000,4,0.000,0.067,3005,3609,3352,0,0,0,0,0,0,28.83,25.51,28.83
$GC,6114,-0.47,-136.3,563.1,-8.6,409,6120,0.12,2.20,0.00,0.000,6,0.129,0.047,3041,2184,3352,0,0,0,0,0,0,25.64,25.81,28.83
$GC,6444,-0.47,-136.3,585.8,-6.7,420,6445,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2182,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6745,-0.47,-136.3,605.6,-6.5,430,6750,0.00,2.28,0.00,0.000,4,0.000,0.067,3034,3601,3351,0,0,0,0,0,0,28.83,25.49,28.83
$GC,6812,-0.47,-136.3,609.9,-6.8,432,6816,0.00,2.17,0.00,0.000,6,0.000,0.047,3034,2190,3351,0,0,0,0,0,0,28.83,25.80,28.83
$GC,7130,-0.47,-136.3,633.1,-7.1,443,7135,0.00,2.28,0.00,0.000,4,0.000,0.067,3024,3605,3351,0,0,0,0,0,0,28.83,25.48,28.83
$GC,7159,-0.47,-136.3,635.3,-7.1,444,7165,0.00,2.17,0.00,0.000,6,0.000,0.047,3024,2202,3351,0,0,0,0,0,0,28.83,25.78,28.83
$GC,7489,-0.47,-136.3,662.7,-8.5,455,7490,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2200,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7789,-0.47,-136.3,686.9,-7.8,465,7795,0.00,2.28,0.00,0.000,4,0.000,0.067,3014,3609,3350,0,0,0,0,0,0,28.83,25.46,28.83
$GC,7822,-0.47,-136.3,689.3,-7.7,466,7827,0.00,2.17,0.00,0.000,6,0.000,0.048,3014,2198,3350,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8145,-0.47,-136.3,714.5,-7.4,477,8147,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2196,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8445,-0.47,-136.3,736.3,-7.5,487,8446,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2196,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8745,-0.47,-136.3,758.4,-7.4,497,8750,0.00,2.28,0.00,0.000,4,0.000,0.067,3004,3609,3348,0,0,0,0,0,0,28.83,25.43,28.83
$GC,8804,-0.47,-136.3,763.0,-7.5,499,8811,0.15,2.20,0.00,0.000,6,0.119,0.048,3048,2201,3348,0,0,0,0,0,0,25.57,25.75,28.83
$GC,9135,-0.47,-136.3,780.1,-5.0,510,9141,0.00,2.17,0.00,0.000,4,0.000,0.056,3048,800,3347,0,0,0,0,0,0,28.83,25.55,28.83
$GC,9159,-0.47,-136.3,780.1,-5.0,510,9165,0.00,2.20,0.00,0.000,6,0.000,0.055,3043,2199,3348,0,0,0,0,0,0,28.83,25.57,28.83
$GC,9465,-0.47,-136.3,797.3,-5.3,521,9471,0.00,2.30,0.00,0.000,4,0.000,0.068,3033,3612,3347,0,0,0,0,0,0,28.83,25.40,28.83
$GC,9508,-0.47,-136.3,799.0,-5.2,522,9512,0.00,2.20,0.00,0.000,6,0.000,0.049,3033,2193,3347,0,0,0,0,0,0,28.83,25.73,28.83
$GC,9821,-0.47,-136.3,816.0,-5.1,533,9827,0.00,2.28,0.00,0.000,4,0.000,0.067,3023,3601,3347,0,0,0,0,0,0,28.83,25.40,28.83
$GC,9851,-0.47,-136.3,817.6,-5.2,534,9856,0.00,2.17,0.00,0.000,6,0.000,0.049,3024,2198,3347,0,0,0,0,0,0,28.83,25.71,28.83
$GC,10181,-0.47,-136.3,836.6,-5.8,545,10182,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2196,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10481,-0.47,-136.3,854.5,-6.0,555,10486,0.00,2.30,0.00,0.000,4,0.000,0.068,3014,3612,3346,0,0,0,0,0,0,28.83,25.39,28.83
$GC,10511,-0.47,-136.3,856.5,-6.2,556,10516,0.00,2.20,0.00,0.000,6,0.000,0.050,3014,2196,3347,0,0,0,0,0,0,28.83,25.70,28.83
$GC,10841,-0.47,-136.3,878.8,-6.7,567,10847,0.00,2.28,0.00,0.000,4,0.000,0.068,3004,3605,3347,0,0,0,0,0,0,28.83,25.37,28.83
$GC,10871,-0.47,-136.3,881.0,-6.9,568,10877,0.10,2.17,0.00,0.000,6,0.099,0.049,3041,2198,3346,0,0,0,0,0,0,25.50,25.70,28.83
$GC,11201,-0.47,-136.3,899.0,-5.5,579,11202,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2196,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11501,-0.47,-136.3,915.0,-5.4,589,11502,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2196,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11802,-0.47,-136.3,930.7,-5.3,599,11807,0.00,2.28,0.00,0.000,4,0.000,0.069,3034,3601,3346,0,0,0,0,0,0,28.83,25.34,28.83
$GC,11849,-0.47,-136.3,932.1,-5.2,600,11853,0.00,2.20,0.00,0.000,6,0.000,0.050,3034,2191,3345,0,0,0,0,0,0,28.83,25.68,28.83
$GC,12157,-0.47,-136.3,949.5,-5.6,610,12158,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2188,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12456,-0.47,-136.3,965.7,-5.5,620,12457,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2188,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12756,-0.47,-136.3,981.9,-5.3,630,12762,0.00,2.35,0.00,0.000,4,0.000,0.069,3025,3614,3344,0,0,0,0,0,0,28.83,25.32,28.83
$GC,12789,-0.47,-136.3,983.7,-5.4,631,12794,0.00,2.22,0.00,0.000,6,0.000,0.050,3025,2195,3345,0,0,0,0,0,0,28.83,25.67,28.83
$STATE,12899,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12899,begin apogee
$GC,12906,-0.22,0.0,990.3,-5.7,635,13033,0.28,0.00,121.80,1.175,6,0.106,0.000,3121,2333,2793,0,0,0,0,0,0,25.70,28.83,23.15
$STATE,13037,end apogee,CONTROL_FINISHED_OK
$STATE,13037,begin climb
$GC,13039,0.47,136.3,993.0,0.0,639,13181,0.65,2.58,130.05,1.137,4,0.073,0.068,3345,3721,2237,0,0,0,0,0,0,24.46,23.34,22.17
$GC,13204,0.47,136.3,983.3,7.0,645,13210,0.00,2.38,0.00,0.000,6,0.000,0.049,3356,2336,2233,0,0,0,0,0,0,28.83,23.80,28.83
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$STATE,25675,end climb,SURFACE_DEPTH_REACHED
$STATE,25675,begin surface coast
$FINISH,1.3,1.015579
$STATE,25722,end surface coast,CONTROL_FINISHED_OK
$STATE,25722,begin surface
$SM_CCo,25802,0.00,0.000,0,0,1555,303.93
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$IRIDIUM_FIX,4713.38,-12547.82,091212,030342
$TT8_MAMPS,0.026964,0.026964
$HUMID,45.15
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,19.00
$XPDR_PINGS,4
$24V_AH,22.2,50.572
$10V_AH,9.9,41.792
$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
$DEVICE_SECS,22.050,193.375,396.075,0.000,0.000,26.334,35.748,179.901,1.000,0.000,14.187,3715.124,18437.684,515.033,3059.804,444.808,0.000,2045.477,0.000,2775.576,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,980.086,745.517,376.285,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296760
$DATA_FILE_SIZE,79973,1422
$CAP_FILE_SIZE,204801,0
$CFSIZE,260165632,227549184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.105,239.6,1
$GPS,091212,181355,4733.084,-12545.482,27,2.2,46,18.7