version: 66.11
glider: 187
mission: 2
dive: 413
start: 12 24 112 2 37 57
data:
$ID,187
$MISSION,2
$DIVE,413
$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,4
$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,-1588508.4
$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,37
$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,20
$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
$GPS1,241212,022636,4719.900,-12611.158,40,1.6,40,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-76.4
$GPS2,241212,023724,4719.940,-12611.055,17,1.5,34,18.6
$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,54.2,95988,-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,14,begin dive
$GC,17,-0.47,-136.3,0.0,0.0,0,91,0.00,0.00,-71.50,0.000,2,0.000,0.000,114,2207,2845,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.47,-136.3,3.4,-4.2,13,126,11.52,2.28,-10.77,0.000,4,0.216,0.066,3031,798,3353,0,0,0,0,0,0,24.77,25.51,26.14
$GC,196,-0.47,-136.3,25.3,-12.1,31,203,0.00,2.20,0.00,0.000,6,0.000,0.050,3023,2203,3355,0,0,0,0,0,0,28.83,25.53,28.83
$GC,509,-0.47,-136.3,75.3,-14.4,92,515,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2203,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,818,-0.47,-136.3,113.5,-10.7,153,825,0.00,2.25,0.00,0.000,4,0.000,0.061,3012,3616,3357,0,0,0,0,0,0,28.83,25.58,28.83
$GC,848,-0.47,-136.3,116.8,-11.7,158,856,0.12,2.17,0.00,0.000,6,0.128,0.044,3048,2193,3357,0,0,0,0,0,0,25.65,25.81,28.83
$GC,1172,-0.47,-136.3,145.7,-8.9,183,1175,0.00,2.15,0.00,0.000,4,0.000,0.050,3048,802,3357,0,0,0,0,0,0,28.83,25.70,28.83
$GC,1221,-0.47,-136.3,150.2,-9.1,186,1225,0.00,2.17,0.00,0.000,6,0.000,0.050,3041,2207,3357,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1530,-0.47,-136.3,177.5,-8.9,206,1536,0.00,2.20,0.00,0.000,4,0.000,0.062,3030,3604,3356,0,0,0,0,0,0,28.83,25.62,28.83
$GC,1567,-0.47,-136.3,180.4,-9.3,208,1573,0.00,2.15,0.00,0.000,6,0.000,0.044,3030,2190,3357,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1891,-0.47,-136.3,210.8,-8.9,228,1897,0.00,2.12,0.00,0.000,4,0.000,0.050,3030,800,3357,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1993,-0.47,-136.3,220.2,-9.2,233,1997,0.00,2.17,0.00,0.000,6,0.000,0.050,3021,2205,3357,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2305,-0.47,-136.3,250.1,-9.5,249,2310,0.00,2.22,0.00,0.000,4,0.000,0.063,3011,3608,3356,0,0,0,0,0,0,28.83,25.62,28.83
$GC,2339,-0.47,-136.3,252.0,-9.6,250,2346,0.12,2.15,0.00,0.000,6,0.126,0.044,3047,2196,3357,0,0,0,0,0,0,25.71,25.87,28.83
$GC,2645,-0.47,-136.3,275.8,-7.4,266,2650,0.00,2.15,0.00,0.000,4,0.000,0.051,3047,800,3356,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2668,-0.47,-136.3,277.4,-7.6,267,2672,0.00,2.17,0.00,0.000,6,0.000,0.051,3041,2202,3357,0,0,0,0,0,0,28.83,25.73,28.83
$GC,2980,-0.47,-136.3,303.7,-8.5,283,2986,0.00,2.22,0.00,0.000,4,0.000,0.063,3030,3608,3356,0,0,0,0,0,0,28.83,25.60,28.83
$GC,3020,-0.47,-136.3,307.2,-8.6,285,3025,0.00,2.15,0.00,0.000,6,0.000,0.045,3030,2196,3356,0,0,0,0,0,0,28.83,25.87,28.83
$GC,3340,-0.47,-136.3,334.7,-8.3,301,3341,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2195,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3641,-0.47,-136.3,359.2,-8.1,316,3646,0.00,2.25,0.00,0.000,4,0.000,0.064,3020,3610,3355,0,0,0,0,0,0,28.83,25.58,28.83
$GC,3680,-0.47,-136.3,362.4,-8.1,318,3685,0.00,2.15,0.00,0.000,6,0.000,0.045,3020,2202,3355,0,0,0,0,0,0,28.83,25.86,28.83
$GC,4000,-0.47,-136.3,390.0,-8.6,334,4004,0.00,2.17,0.00,0.000,4,0.000,0.053,3020,803,3355,0,0,0,0,0,0,28.83,25.68,28.83
$GC,4050,-0.47,-136.3,393.6,-8.5,336,4054,0.00,2.17,0.00,0.000,6,0.000,0.053,3013,2200,3355,0,0,0,0,0,0,28.83,25.70,28.83
$GC,4357,-0.47,-136.3,422.2,-9.3,347,4358,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2200,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4658,-0.47,-136.3,450.5,-9.5,357,4659,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2200,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4957,-0.47,-136.3,477.6,-8.8,367,4963,0.00,2.28,0.00,0.000,4,0.000,0.065,3003,3616,3353,0,0,0,0,0,0,28.83,25.54,28.83
$GC,4988,-0.47,-136.3,480.2,-8.8,368,4994,0.10,2.17,0.00,0.000,6,0.102,0.047,3040,2200,3353,0,0,0,0,0,0,25.61,25.83,28.83
$GC,5318,-0.47,-136.3,501.7,-6.2,379,5324,0.00,2.15,0.00,0.000,4,0.000,0.054,3040,803,3353,0,0,0,0,0,0,28.83,25.65,28.83
$GC,5350,-0.47,-136.3,503.7,-6.3,380,5354,0.00,2.17,0.00,0.000,6,0.000,0.054,3034,2200,3352,0,0,0,0,0,0,28.83,25.67,28.83
$GC,5673,-0.47,-136.3,525.5,-6.9,391,5678,0.00,2.22,0.00,0.000,4,0.000,0.066,3022,3605,3352,0,0,0,0,0,0,28.83,25.52,28.83
$GC,5711,-0.47,-136.3,527.7,-7.0,392,5716,0.00,2.17,0.00,0.000,6,0.000,0.047,3024,2192,3352,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6029,-0.47,-136.3,552.2,-7.6,403,6032,0.00,2.17,0.00,0.000,4,0.000,0.054,3023,793,3352,0,0,0,0,0,0,28.83,25.64,28.83
$GC,6053,-0.47,-136.3,552.2,-7.6,403,6061,0.00,2.20,0.00,0.000,6,0.000,0.054,3015,2200,3352,0,0,0,0,0,0,28.83,25.64,28.83
$GC,6360,-0.47,-136.3,579.1,-8.1,414,6366,0.00,2.28,0.00,0.000,4,0.000,0.066,3005,3612,3351,0,0,0,0,0,0,28.83,25.50,28.83
$GC,6404,-0.47,-136.3,581.6,-8.1,415,6411,0.12,2.17,0.00,0.000,6,0.128,0.047,3041,2199,3351,0,0,0,0,0,0,25.63,25.80,28.83
$GC,6721,-0.47,-136.3,603.8,-6.7,426,6722,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2197,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7022,-0.47,-136.3,623.9,-6.4,436,7027,0.00,2.30,0.00,0.000,4,0.000,0.067,3034,3611,3351,0,0,0,0,0,0,28.83,25.48,28.83
$GC,7064,-0.47,-136.3,625.9,-6.3,437,7068,0.00,2.17,0.00,0.000,6,0.000,0.047,3035,2202,3351,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7377,-0.47,-136.3,648.1,-6.8,448,7378,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2200,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7677,-0.47,-136.3,669.2,-7.0,458,7683,0.00,2.25,0.00,0.000,4,0.000,0.067,3025,3607,3350,0,0,0,0,0,0,28.83,25.46,28.83
$GC,7700,-0.47,-136.3,669.2,-7.0,458,7706,0.00,2.17,0.00,0.000,6,0.000,0.047,3025,2199,3350,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8006,-0.47,-136.3,693.6,-7.3,469,8008,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2198,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8306,-0.47,-136.3,714.9,-7.2,479,8308,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2198,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8607,-0.47,-136.3,736.5,-7.0,489,8613,0.00,2.30,0.00,0.000,4,0.000,0.067,3016,3606,3349,0,0,0,0,0,0,28.83,25.44,28.83
$GC,8654,-0.47,-136.3,738.7,-7.1,490,8658,0.00,2.17,0.00,0.000,6,0.000,0.048,3016,2201,3349,0,0,0,0,0,0,28.83,25.76,28.83
$GC,8962,-0.47,-136.3,763.8,-7.8,500,8963,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2198,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9262,-0.47,-136.3,788.0,-8.1,510,9263,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2199,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9562,-0.47,-136.3,812.8,-8.3,520,9563,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2199,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9861,-0.47,-136.3,837.1,-8.1,530,9867,0.00,2.33,0.00,0.000,4,0.000,0.067,3007,3616,3347,0,0,0,0,0,0,28.83,25.41,28.83
$GC,9895,-0.47,-136.3,839.7,-8.1,531,9899,0.12,2.22,0.00,0.000,6,0.125,0.049,3044,2194,3347,0,0,0,0,0,0,25.58,25.72,28.83
$GC,10218,-0.47,-136.3,860.9,-6.2,542,10219,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2192,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10518,-0.47,-136.3,879.8,-6.5,552,10519,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2193,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10819,-0.47,-136.3,898.5,-6.0,562,10824,0.00,2.33,0.00,0.000,4,0.000,0.068,3037,3608,3347,0,0,0,0,0,0,28.83,25.38,28.83
$GC,10850,-0.47,-136.3,900.3,-5.9,563,10854,0.00,2.20,0.00,0.000,6,0.000,0.049,3037,2195,3347,0,0,0,0,0,0,28.83,25.72,28.83
$GC,11178,-0.47,-136.3,918.8,-5.4,574,11179,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2195,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11479,-0.47,-136.3,933.8,-4.8,584,11480,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2195,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11778,-0.47,-136.3,947.2,-4.5,594,11784,0.00,2.33,0.00,0.000,4,0.000,0.068,3028,3626,3346,0,0,0,0,0,0,28.83,25.37,28.83
$GC,11810,-0.47,-136.3,948.6,-4.4,595,11815,0.00,2.22,0.00,0.000,6,0.000,0.050,3027,2204,3346,0,0,0,0,0,0,28.83,25.70,28.83
$GC,12134,-0.47,-136.3,964.9,-5.3,606,12135,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2202,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12433,-0.47,-136.3,981.8,-5.7,616,12434,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2202,3345,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12580,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12580,begin apogee
$GC,12587,-0.22,0.0,990.9,-6.1,621,12715,0.28,0.00,123.43,1.167,6,0.108,0.000,3122,2329,2794,0,0,0,0,0,0,25.70,28.83,22.95
$STATE,12718,end apogee,CONTROL_FINISHED_OK
$STATE,12719,begin climb
$GC,12721,0.47,136.3,994.7,0.0,625,12858,0.65,0.00,133.23,1.132,6,0.073,0.000,3347,2330,2239,0,0,0,0,0,0,24.41,28.83,22.00
$GC,13148,0.47,136.3,967.5,7.9,640,13154,0.00,2.33,0.00,0.000,4,0.000,0.069,3347,3721,2228,0,0,0,0,0,0,28.83,24.97,28.83
$GC,13186,0.47,136.3,964.8,8.2,641,13190,0.00,2.25,0.00,0.000,6,0.000,0.050,3357,2321,2227,0,0,0,0,0,0,28.83,25.20,28.83
$GC,13504,0.47,136.3,937.0,8.3,652,13505,0.00,0.00,0.00,0.000,6,0.000,0.000,3358,2321,2225,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,25223,end climb,SURFACE_DEPTH_REACHED
$STATE,25223,begin surface coast
$FINISH,1.4,1.025024
$STATE,25257,end surface coast,CONTROL_FINISHED_OK
$STATE,25257,begin surface
$SM_CCo,25338,0.00,0.000,0,0,1294,367.95
$SM_GC,2.28,8.35,2.10,0.00,0.029,0.054,0.000,117,2204,1294,-9.46,-0.68,367.95,0,0,0,0,0,0,25.98,25.64,28.83
$IRIDIUM_FIX,4700.70,-12624.27,231212,191917
$TT8_MAMPS,0.027713,0.027713
$HUMID,45.23
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,19.10
$XPDR_PINGS,2
$24V_AH,22.0,57.555
$10V_AH,9.8,46.971
$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,22.100,205.150,459.100,0.000,0.000,25.687,38.020,416.267,0.500,0.000,37.221,3567.664,18310.193,607.918,2986.013,502.397,0.000,2066.963,0.000,2490.400,0.000,0.536,0.000
$DEVICE_MAMPS,216.495,87.210,1167.390,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,943.933,700.735,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296928
$DATA_FILE_SIZE,76772,1372
$CAP_FILE_SIZE,207336,0
$CFSIZE,260165632,223113216
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.095,289.3,1
$GPS,241212,094153,4721.381,-12607.216,43,1.1,60,18.6