version: 66.11
glider: 187
mission: 2
dive: 368
start: 12 10 112 16 15 54
data:
$ID,187
$MISSION,2
$DIVE,368
$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,-1588399.5
$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,27
$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
$GPS1,101212,160828,4738.728,-12535.464,48,2.3,67,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-76.6
$GPS2,101212,161521,4738.757,-12535.541,18,2.8,37,18.7
$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,58.1,39763,-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,-54.38,0.000,2,0.000,0.000,106,2214,2781,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.47,-136.3,3.1,-1.5,9,111,11.55,2.30,-12.68,0.000,4,0.218,0.067,3036,785,3354,0,0,0,0,0,0,24.87,25.53,26.16
$GC,327,-0.47,-136.3,46.6,-14.5,56,335,0.00,2.22,0.00,0.000,6,0.000,0.051,3028,2208,3356,0,0,0,0,0,0,28.83,25.57,28.83
$GC,643,-0.47,-136.3,88.5,-13.1,117,650,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2207,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,958,-0.47,-136.3,125.4,-11.4,172,963,0.00,2.20,0.00,0.000,4,0.000,0.063,3017,3598,3358,0,0,0,0,0,0,28.83,25.58,28.83
$GC,995,-0.47,-136.3,128.7,-11.2,174,1002,0.00,2.22,0.00,0.000,6,0.000,0.044,3017,2176,3358,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1304,-0.47,-136.3,163.4,-10.1,195,1309,0.00,2.10,0.00,0.000,4,0.000,0.051,3017,806,3359,0,0,0,0,0,0,28.83,25.70,28.83
$GC,1355,-0.47,-136.3,168.1,-10.2,198,1363,0.10,2.20,0.00,0.000,6,0.112,0.051,3044,2192,3359,0,0,0,0,0,0,25.52,25.72,28.83
$GC,1665,-0.47,-136.3,191.4,-6.9,219,1670,0.00,2.25,0.00,0.000,4,0.000,0.063,3036,3612,3358,0,0,0,0,0,0,28.83,25.60,28.83
$GC,1701,-0.47,-136.3,193.6,-7.0,221,1708,0.00,2.17,0.00,0.000,6,0.000,0.044,3036,2189,3358,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2023,-0.47,-136.3,220.5,-8.4,239,2029,0.00,2.28,0.00,0.000,4,0.000,0.063,3025,3608,3358,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2072,-0.47,-136.3,224.0,-8.6,241,2076,0.00,2.15,0.00,0.000,6,0.000,0.044,3025,2201,3358,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2378,-0.47,-136.3,253.6,-9.7,256,2384,0.00,2.28,0.00,0.000,4,0.000,0.063,3015,3612,3358,0,0,0,0,0,0,28.83,25.59,28.83
$GC,2446,-0.47,-136.3,259.7,-10.1,259,2451,0.00,2.17,0.00,0.000,6,0.000,0.044,3015,2196,3358,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2754,-0.47,-136.3,291.5,-10.1,274,2755,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2191,3358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3054,-0.47,-136.3,321.3,-9.4,289,3055,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2191,3358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3354,-0.47,-136.3,347.8,-8.4,304,3355,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2191,3358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3653,-0.47,-136.3,374.1,-8.8,319,3655,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2191,3358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3953,-0.47,-136.3,399.6,-8.6,334,3955,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2191,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4274,-0.47,-136.3,426.0,-8.2,345,4276,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2191,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4573,-0.47,-136.3,450.3,-8.2,355,4575,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2191,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4874,-0.47,-136.3,475.3,-8.5,365,4879,0.00,2.28,0.00,0.000,4,0.000,0.065,3004,3607,3355,0,0,0,0,0,0,28.83,25.53,28.83
$GC,4936,-0.47,-136.3,480.6,-8.7,367,4941,0.15,2.17,0.00,0.000,6,0.123,0.047,3048,2197,3355,0,0,0,0,0,0,25.62,25.82,28.83
$GC,5260,-0.47,-136.3,502.4,-6.6,378,5261,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2192,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5559,-0.47,-136.3,521.1,-6.1,388,5561,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2192,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5860,-0.47,-136.3,540.6,-6.6,398,5866,0.00,2.33,0.00,0.000,4,0.000,0.066,3040,3612,3354,0,0,0,0,0,0,28.83,25.50,28.83
$GC,5919,-0.47,-136.3,544.7,-6.7,400,5925,0.00,2.17,0.00,0.000,6,0.000,0.047,3040,2203,3354,0,0,0,0,0,0,28.83,25.81,28.83
$GC,6249,-0.47,-136.3,568.8,-7.4,411,6255,0.00,2.30,0.00,0.000,4,0.000,0.067,3030,3614,3354,0,0,0,0,0,0,28.83,25.48,28.83
$GC,6280,-0.47,-136.3,571.1,-7.5,412,6285,0.00,2.20,0.00,0.000,6,0.000,0.048,3030,2193,3354,0,0,0,0,0,0,28.83,25.78,28.83
$GC,6609,-0.47,-136.3,597.5,-7.9,423,6610,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2191,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6909,-0.47,-136.3,620.1,-7.2,433,6915,0.00,2.30,0.00,0.000,4,0.000,0.067,3020,3612,3352,0,0,0,0,0,0,28.83,25.46,28.83
$GC,6939,-0.47,-136.3,622.3,-7.2,434,6945,0.00,2.20,0.00,0.000,6,0.000,0.048,3019,2197,3352,0,0,0,0,0,0,28.83,25.77,28.83
$GC,7270,-0.47,-136.3,646.5,-7.2,445,7275,0.00,2.15,0.00,0.000,4,0.000,0.055,3020,808,3352,0,0,0,0,0,0,28.83,25.59,28.83
$GC,7301,-0.47,-136.3,648.5,-7.1,446,7306,0.12,2.20,0.00,0.000,6,0.136,0.054,3046,2203,3352,0,0,0,0,0,0,25.50,25.61,28.83
$GC,7626,-0.47,-136.3,666.1,-5.4,457,7631,0.00,2.28,0.00,0.000,4,0.000,0.067,3038,3606,3351,0,0,0,0,0,0,28.83,25.44,28.83
$GC,7678,-0.47,-136.3,668.0,-5.6,458,7684,0.00,2.17,0.00,0.000,6,0.000,0.047,3038,2200,3351,0,0,0,0,0,0,28.83,25.77,28.83
$GC,7985,-0.47,-136.3,686.9,-5.7,469,7991,0.00,2.17,0.00,0.000,4,0.000,0.056,3038,796,3351,0,0,0,0,0,0,28.83,25.56,28.83
$GC,8008,-0.47,-136.3,686.9,-5.7,469,8015,0.00,2.22,0.00,0.000,6,0.000,0.055,3033,2208,3351,0,0,0,0,0,0,28.83,25.57,28.83
$GC,8315,-0.47,-136.3,706.2,-6.0,480,8320,0.00,2.30,0.00,0.000,4,0.000,0.067,3022,3614,3351,0,0,0,0,0,0,28.83,25.42,28.83
$GC,8378,-0.47,-136.3,710.2,-6.2,482,8382,0.00,2.20,0.00,0.000,6,0.000,0.048,3022,2197,3350,0,0,0,0,0,0,28.83,25.75,28.83
$GC,8701,-0.47,-136.3,732.8,-7.3,493,8706,0.00,2.30,0.00,0.000,4,0.000,0.067,3012,3609,3350,0,0,0,0,0,0,28.83,25.41,28.83
$GC,8730,-0.47,-136.3,735.0,-7.4,494,8736,0.12,2.20,0.00,0.000,6,0.124,0.048,3048,2201,3351,0,0,0,0,0,0,25.59,25.73,28.83
$GC,9060,-0.47,-136.3,754.9,-6.0,505,9061,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2200,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9361,-0.47,-136.3,771.7,-5.7,515,9366,0.00,2.30,0.00,0.000,4,0.000,0.069,3040,3609,3350,0,0,0,0,0,0,28.83,25.39,28.83
$GC,9403,-0.47,-136.3,773.4,-5.7,516,9407,0.00,2.20,0.00,0.000,6,0.000,0.049,3040,2197,3349,0,0,0,0,0,0,28.83,25.72,28.83
$GC,9716,-0.47,-136.3,794.4,-6.4,527,9721,0.00,2.28,0.00,0.000,4,0.000,0.068,3030,3602,3349,0,0,0,0,0,0,28.83,25.38,28.83
$GC,9746,-0.47,-136.3,796.3,-6.4,528,9752,0.00,2.17,0.00,0.000,6,0.000,0.049,3030,2203,3349,0,0,0,0,0,0,28.83,25.72,28.83
$GC,10076,-0.47,-136.3,818.2,-6.7,539,10081,0.00,2.30,0.00,0.000,4,0.000,0.069,3021,3612,3348,0,0,0,0,0,0,28.83,25.37,28.83
$GC,10106,-0.47,-136.3,820.4,-6.8,540,10111,0.00,2.20,0.00,0.000,6,0.000,0.049,3020,2196,3348,0,0,0,0,0,0,28.83,25.70,28.83
$GC,10437,-0.47,-136.3,843.1,-6.7,551,10442,0.00,2.30,0.00,0.000,4,0.000,0.067,3011,3609,3348,0,0,0,0,0,0,28.83,25.38,28.83
$GC,10474,-0.47,-136.3,845.3,-6.7,552,10479,0.12,2.20,0.00,0.000,6,0.125,0.048,3047,2193,3348,0,0,0,0,0,0,25.56,25.70,28.83
$GC,10793,-0.47,-136.3,862.4,-5.1,563,10799,0.00,2.33,0.00,0.000,4,0.000,0.068,3039,3607,3348,0,0,0,0,0,0,28.83,25.35,28.83
$GC,10815,-0.47,-136.3,862.4,-5.1,563,10822,0.00,2.20,0.00,0.000,6,0.000,0.049,3039,2191,3348,0,0,0,0,0,0,28.83,25.70,28.83
$GC,11122,-0.47,-136.3,879.3,-5.2,574,11123,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2191,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11423,-0.47,-136.3,895.4,-5.6,584,11424,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2191,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11722,-0.47,-136.3,911.0,-5.3,594,11728,0.00,2.35,0.00,0.000,4,0.000,0.069,3029,3609,3347,0,0,0,0,0,0,28.83,25.32,28.83
$GC,11762,-0.47,-136.3,912.8,-5.4,595,11768,0.00,2.20,0.00,0.000,6,0.000,0.050,3029,2198,3347,0,0,0,0,0,0,28.83,25.67,28.83
$GC,12083,-0.47,-136.3,932.4,-6.0,606,12084,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2197,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12382,-0.47,-136.3,950.6,-6.3,616,12388,0.00,2.33,0.00,0.000,4,0.000,0.070,3019,3607,3347,0,0,0,0,0,0,28.83,25.30,28.83
$GC,12426,-0.47,-136.3,952.8,-6.5,617,12430,0.00,2.20,0.00,0.000,6,0.000,0.050,3019,2200,3346,0,0,0,0,0,0,28.83,25.65,28.83
$GC,12739,-0.47,-136.3,976.2,-7.3,628,12744,0.00,2.30,0.00,0.000,4,0.000,0.070,3010,3610,3346,0,0,0,0,0,0,28.83,25.30,28.83
$GC,12771,-0.47,-136.3,978.5,-7.3,629,12776,0.12,2.20,0.00,0.000,6,0.124,0.050,3046,2200,3346,0,0,0,0,0,0,25.51,25.65,28.83
$STATE,12971,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12971,begin apogee
$GC,12979,-0.22,0.0,991.1,-5.9,636,13105,0.22,0.00,122.15,1.178,6,0.109,0.000,3127,2338,2793,0,0,0,0,0,0,25.83,28.83,23.11
$STATE,13108,end apogee,CONTROL_FINISHED_OK
$STATE,13108,begin climb
$GC,13111,0.47,136.3,995.7,0.0,640,13253,0.62,2.58,130.65,1.137,4,0.073,0.067,3344,3724,2237,0,0,0,0,0,0,24.43,23.33,22.13
$GC,13300,0.49,172.7,989.1,5.6,646,13340,0.00,2.38,35.08,1.096,6,0.000,0.050,3355,2326,2089,0,0,0,0,0,0,28.83,23.98,22.24
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$STATE,24956,end climb,SURFACE_DEPTH_REACHED
$STATE,24956,begin surface coast
$FINISH,1.4,1.001451
$STATE,25012,end surface coast,CONTROL_FINISHED_OK
$STATE,25012,begin surface
$SM_CCo,25032,6.18,0.085,0,0,1571,300.00
$SM_GC,3.62,8.38,0.17,6.18,0.033,0.076,0.085,136,2194,1571,-9.46,0.85,300.00,0,0,0,0,0,0,25.91,25.98,25.44
$IRIDIUM_FIX,4716.56,-12538.19,101212,080837
$TT8_MAMPS,0.026964,0.026964
$HUMID,45.55
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,19.10
$XPDR_PINGS,1
$24V_AH,22.1,51.096
$10V_AH,10.0,42.258
$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,22.225,211.650,390.000,6.175,0.000,26.502,40.195,180.148,0.250,0.000,39.201,3689.238,17683.248,521.457,3101.755,448.358,0.000,2062.701,0.000,2789.888,0.000,0.536,0.000
$DEVICE_MAMPS,218.025,84.915,1178.100,84.915,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,965.771,738.914,399.389,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,76890,1401
$CAP_FILE_SIZE,206533,0
$CFSIZE,260165632,227192832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.066,271.7,1
$GPS,101212,231436,4739.926,-12531.281,42,2.0,42,18.7