version: 66.11
glider: 187
mission: 2
dive: 404
start: 12 21 112 7 56 4
data:
$ID,187
$MISSION,2
$DIVE,404
$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,3
$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,-1588447.9
$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,41
$R_STBD_OVSHOOT,29
$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
$GPS1,211212,074556,4704.194,-12651.352,27,2.2,46,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-68.6
$GPS2,211212,075533,4704.291,-12651.275,13,2.4,32,18.6
$SPEED_LIMITS,0.122,0.210
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,3000.000
$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,41.0,153405,-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,-136.3,0.0,0.0,0,122,0.00,0.00,-103.00,0.000,2,0.000,0.000,130,2198,2804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,126,-0.47,-136.3,3.4,-3.3,18,158,11.68,2.28,-12.27,0.000,4,0.224,0.076,3027,3605,3352,0,0,0,0,0,0,24.84,25.46,26.15
$GC,263,-0.47,-136.3,28.2,-16.5,43,270,0.00,2.17,0.00,0.000,6,0.000,0.044,3026,2192,3355,0,0,0,0,0,0,28.83,25.68,28.83
$GC,575,-0.47,-136.3,74.3,-12.0,104,582,0.00,2.15,0.00,0.000,4,0.000,0.050,3027,802,3355,0,0,0,0,0,0,28.83,25.65,28.83
$GC,606,-0.47,-136.3,78.3,-13.3,109,613,0.00,2.17,0.00,0.000,6,0.000,0.050,3017,2202,3355,0,0,0,0,0,0,28.83,25.67,28.83
$GC,918,-0.47,-136.3,116.6,-10.8,170,925,0.00,2.25,0.00,0.000,4,0.000,0.062,3006,3611,3355,0,0,0,0,0,0,28.83,25.62,28.83
$GC,1021,-0.47,-136.3,127.7,-11.2,180,1030,0.12,2.17,0.00,0.000,6,0.132,0.043,3042,2188,3355,0,0,0,0,0,0,25.67,25.85,28.83
$GC,1330,-0.47,-136.3,155.9,-8.7,201,1336,0.00,2.25,0.00,0.000,4,0.000,0.062,3034,3606,3355,0,0,0,0,0,0,28.83,25.65,28.83
$GC,1347,-0.47,-136.3,157.2,-8.9,202,1351,0.00,2.15,0.00,0.000,6,0.000,0.044,3034,2199,3355,0,0,0,0,0,0,28.83,25.88,28.83
$GC,1654,-0.47,-136.3,186.0,-9.3,222,1656,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2196,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1965,-0.47,-136.3,214.7,-8.9,240,1967,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2196,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2264,-0.47,-136.3,240.3,-8.4,255,2270,0.00,2.30,0.00,0.000,4,0.000,0.063,3023,3617,3355,0,0,0,0,0,0,28.83,25.65,28.83
$GC,2306,-0.47,-136.3,243.8,-8.6,257,2311,0.00,2.15,0.00,0.000,6,0.000,0.044,3023,2203,3355,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2625,-0.47,-136.3,272.7,-9.4,273,2626,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2201,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2927,-0.47,-136.3,299.7,-8.7,288,2928,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2201,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3224,-0.47,-136.3,325.5,-8.5,303,3225,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2201,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3524,-0.47,-136.3,350.8,-8.6,318,3525,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2201,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3825,-0.47,-136.3,376.8,-8.7,333,3827,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2201,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4134,-0.47,-136.3,403.9,-8.7,348,4135,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2201,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4434,-0.47,-136.3,428.9,-8.2,358,4435,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2201,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4735,-0.47,-136.3,454.4,-8.6,368,4739,0.00,2.20,0.00,0.000,4,0.000,0.054,3023,802,3352,0,0,0,0,0,0,28.83,25.70,28.83
$GC,4767,-0.47,-136.3,457.3,-8.7,369,4773,0.00,2.17,0.00,0.000,6,0.000,0.053,3015,2197,3352,0,0,0,0,0,0,28.83,25.72,28.83
$GC,5097,-0.47,-136.3,486.0,-8.5,380,5103,0.00,2.28,0.00,0.000,4,0.000,0.065,3004,3611,3351,0,0,0,0,0,0,28.83,25.57,28.83
$GC,5135,-0.47,-136.3,488.7,-8.5,381,5140,0.15,2.17,0.00,0.000,6,0.122,0.047,3049,2201,3351,0,0,0,0,0,0,25.65,25.84,28.83
$GC,5454,-0.47,-136.3,509.9,-6.1,392,5459,0.00,2.28,0.00,0.000,4,0.000,0.066,3041,3610,3351,0,0,0,0,0,0,28.83,25.55,28.83
$GC,5513,-0.47,-136.3,513.8,-6.3,394,5519,0.00,2.17,0.00,0.000,6,0.000,0.047,3040,2202,3351,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5844,-0.47,-136.3,535.5,-6.6,405,5849,0.00,2.28,0.00,0.000,4,0.000,0.067,3031,3614,3350,0,0,0,0,0,0,28.83,25.57,28.83
$GC,5873,-0.47,-136.3,537.4,-6.6,406,5879,0.00,2.20,0.00,0.000,6,0.000,0.047,3031,2192,3350,0,0,0,0,0,0,28.83,25.83,28.83
$GC,6203,-0.47,-136.3,561.9,-7.6,417,6204,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2190,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6504,-0.47,-136.3,583.8,-7.1,427,6509,0.00,2.30,0.00,0.000,4,0.000,0.067,3021,3614,3349,0,0,0,0,0,0,28.83,25.52,28.83
$GC,6581,-0.47,-136.3,588.4,-7.1,429,6585,0.00,2.20,0.00,0.000,6,0.000,0.047,3021,2194,3349,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6888,-0.47,-136.3,612.5,-7.4,439,6889,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2193,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7189,-0.47,-136.3,634.7,-7.2,449,7194,0.00,2.28,0.00,0.000,4,0.000,0.067,3011,3609,3348,0,0,0,0,0,0,28.83,25.51,28.83
$GC,7218,-0.47,-136.3,636.9,-7.2,450,7224,0.12,2.20,0.00,0.000,6,0.124,0.047,3048,2194,3348,0,0,0,0,0,0,25.66,25.81,28.83
$GC,7548,-0.47,-136.3,655.4,-5.6,461,7550,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2192,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7849,-0.47,-136.3,672.2,-5.6,471,7854,0.00,2.28,0.00,0.000,4,0.000,0.067,3040,3606,3347,0,0,0,0,0,0,28.83,25.48,28.83
$GC,7878,-0.47,-136.3,674.1,-5.7,472,7884,0.00,2.17,0.00,0.000,6,0.000,0.047,3040,2201,3347,0,0,0,0,0,0,28.83,25.81,28.83
$GC,8208,-0.47,-136.3,693.2,-5.7,483,8214,0.00,2.28,0.00,0.000,4,0.000,0.067,3031,3605,3346,0,0,0,0,0,0,28.83,25.46,28.83
$GC,8242,-0.47,-136.3,695.0,-5.6,484,8246,0.00,2.20,0.00,0.000,6,0.000,0.048,3031,2190,3346,0,0,0,0,0,0,28.83,25.78,28.83
$GC,8564,-0.47,-136.3,714.2,-6.0,495,8570,0.00,2.30,0.00,0.000,4,0.000,0.067,3021,3607,3346,0,0,0,0,0,0,28.83,25.46,28.83
$GC,8587,-0.47,-136.3,714.2,-6.0,495,8594,0.00,2.20,0.00,0.000,6,0.000,0.047,3021,2194,3346,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8895,-0.47,-136.3,734.9,-6.3,506,8896,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2193,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9194,-0.47,-136.3,753.7,-6.3,516,9200,0.00,2.30,0.00,0.000,4,0.000,0.067,3011,3613,3346,0,0,0,0,0,0,28.83,25.45,28.83
$GC,9232,-0.47,-136.3,755.7,-6.3,517,9237,0.12,2.20,0.00,0.000,6,0.124,0.048,3048,2201,3346,0,0,0,0,0,0,25.62,25.77,28.83
$GC,9551,-0.47,-136.3,771.6,-4.7,528,9557,0.00,2.28,0.00,0.000,4,0.000,0.067,3040,3605,3346,0,0,0,0,0,0,28.83,25.43,28.83
$GC,9583,-0.47,-136.3,773.2,-4.9,529,9587,0.00,2.20,0.00,0.000,6,0.000,0.048,3041,2193,3345,0,0,0,0,0,0,28.83,25.76,28.83
$GC,9906,-0.47,-136.3,789.6,-5.0,540,9912,0.00,2.33,0.00,0.000,4,0.000,0.067,3031,3610,3345,0,0,0,0,0,0,28.83,25.41,28.83
$GC,9938,-0.47,-136.3,791.2,-5.0,541,9942,0.00,2.22,0.00,0.000,6,0.000,0.049,3031,2193,3345,0,0,0,0,0,0,28.83,25.75,28.83
$GC,10261,-0.47,-136.3,809.2,-5.7,552,10266,0.00,2.30,0.00,0.000,4,0.000,0.067,3021,3608,3345,0,0,0,0,0,0,28.83,25.41,28.83
$GC,10292,-0.47,-136.3,811.0,-5.8,553,10297,0.00,2.17,0.00,0.000,6,0.000,0.048,3021,2209,3344,0,0,0,0,0,0,28.83,25.75,28.83
$GC,10621,-0.47,-136.3,833.1,-6.9,564,10622,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2206,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10921,-0.47,-136.3,853.9,-7.0,574,10926,0.00,2.28,0.00,0.000,4,0.000,0.068,3012,3610,3344,0,0,0,0,0,0,28.83,25.40,28.83
$GC,10951,-0.47,-136.3,856.2,-7.1,575,10957,0.08,2.20,0.00,0.000,6,0.099,0.049,3042,2197,3344,0,0,0,0,0,0,25.56,25.72,28.83
$GC,11281,-0.47,-136.3,876.2,-5.9,586,11282,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2194,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11581,-0.47,-136.3,893.6,-5.9,596,11586,0.00,2.30,0.00,0.000,4,0.000,0.068,3034,3610,3343,0,0,0,0,0,0,28.83,25.38,28.83
$GC,11624,-0.47,-136.3,895.3,-5.8,597,11630,0.00,2.22,0.00,0.000,6,0.000,0.049,3034,2190,3343,0,0,0,0,0,0,28.83,25.72,28.83
$GC,11941,-0.47,-136.3,915.7,-6.1,608,11942,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2188,3343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12241,-0.47,-136.3,934.6,-6.3,618,12246,0.00,2.30,0.00,0.000,4,0.000,0.068,3025,3606,3343,0,0,0,0,0,0,28.83,25.37,28.83
$GC,12289,-0.47,-136.3,936.4,-6.3,619,12298,0.00,2.20,0.00,0.000,6,0.000,0.049,3025,2200,3343,0,0,0,0,0,0,28.83,25.71,28.83
$GC,12601,-0.47,-136.3,958.6,-6.5,630,12602,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2199,3343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12901,-0.47,-136.3,978.5,-6.7,640,12906,0.00,2.30,0.00,0.000,4,0.000,0.069,3015,3613,3343,0,0,0,0,0,0,28.83,25.35,28.83
$GC,12934,-0.47,-136.3,980.5,-6.7,641,12938,0.00,2.22,0.00,0.000,6,0.000,0.050,3015,2200,3343,0,0,0,0,0,0,28.83,25.69,28.83
$STATE,13073,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13073,begin apogee
$GC,13080,-0.22,0.0,991.2,-7.3,646,13208,0.30,0.00,121.68,1.173,6,0.108,0.000,3118,2340,2795,0,0,0,0,0,0,25.65,28.83,23.03
$STATE,13212,end apogee,CONTROL_FINISHED_OK
$STATE,13212,begin climb
$GC,13214,0.47,136.3,995.1,0.0,650,13356,0.65,2.53,131.93,1.133,4,0.074,0.066,3343,3725,2236,0,0,0,0,0,0,24.43,23.32,22.06
$GC,13375,0.49,172.5,988.2,5.6,656,13416,0.00,2.40,35.28,1.084,6,0.000,0.048,3354,2327,2090,0,0,0,0,0,0,28.83,23.75,22.11
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$STATE,24975,end climb,SURFACE_DEPTH_REACHED
$STATE,24976,begin surface coast
$FINISH,3.6,1.025018
$STATE,24983,end surface coast,CONTROL_FINISHED_OK
$STATE,24983,begin surface
$SM_CCo,25065,0.00,0.000,0,0,1201,390.52
$SM_GC,2.24,8.40,2.47,0.00,0.028,0.044,0.000,106,2185,1201,-9.47,0.82,390.52,0,0,0,0,0,0,25.89,25.66,28.83
$IRIDIUM_FIX,4648.08,-12651.56,211212,000038
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.95
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,19.10
$XPDR_PINGS,1
$24V_AH,22.1,56.094
$10V_AH,9.9,45.993
$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,22.325,211.150,470.875,0.000,0.000,27.641,40.244,344.850,0.250,0.000,34.002,3567.355,17933.193,609.774,3062.970,455.995,0.000,2143.373,0.000,2591.010,0.000,0.536,0.000
$DEVICE_MAMPS,224.145,83.385,1172.745,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,945.185,714.839,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296880
$DATA_FILE_SIZE,76951,1375
$CAP_FILE_SIZE,208835,0
$CFSIZE,260165632,223948800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.038,269.9,1
$GPS,211212,145506,4706.265,-12647.203,39,1.5,39,18.6