version: 66.11
glider: 187
mission: 2
dive: 419
start: 12 25 112 23 7 38
data:
$ID,187
$MISSION,2
$DIVE,419
$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,-1588515.9
$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,32
$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,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
$GPS1,251212,225306,4731.243,-12544.942,41,1.4,41,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-69.4
$GPS2,251212,230707,4731.268,-12544.883,15,1.3,15,18.7
$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,44.1,57565,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-0.47,-136.3,0.0,0.0,0,89,0.00,0.00,-69.12,0.000,2,0.000,0.000,113,2203,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,93,-0.47,-136.3,3.2,-2.3,12,130,11.77,2.35,-15.35,0.000,4,0.224,0.076,3025,3607,3352,0,0,0,0,0,0,24.77,25.42,26.13
$GC,193,-0.47,-136.3,19.7,-14.5,30,201,0.00,2.22,0.00,0.000,6,0.000,0.044,3025,2188,3354,0,0,0,0,0,0,28.83,25.60,28.83
$GC,507,-0.47,-136.3,66.7,-11.9,91,513,0.00,2.17,0.00,0.000,4,0.000,0.050,3025,785,3355,0,0,0,0,0,0,28.83,25.61,28.83
$GC,572,-0.47,-136.3,74.7,-12.0,103,579,0.00,2.20,0.00,0.000,6,0.000,0.050,3016,2202,3355,0,0,0,0,0,0,28.83,25.63,28.83
$GC,883,-0.47,-136.3,110.6,-10.4,164,890,0.00,2.25,0.00,0.000,4,0.000,0.062,3006,3611,3355,0,0,0,0,0,0,28.83,25.58,28.83
$GC,933,-0.47,-136.3,115.9,-9.9,173,941,0.12,2.20,0.00,0.000,6,0.135,0.044,3040,2182,3355,0,0,0,0,0,0,25.63,25.82,28.83
$GC,1251,-0.47,-136.3,142.4,-8.2,199,1252,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2181,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1550,-0.47,-136.3,167.6,-8.4,219,1551,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2181,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1849,-0.47,-136.3,191.8,-7.9,239,1855,0.00,2.30,0.00,0.000,4,0.000,0.062,3032,3626,3355,0,0,0,0,0,0,28.83,25.62,28.83
$GC,1872,-0.47,-136.3,193.0,-7.7,240,1880,0.00,2.20,0.00,0.000,6,0.000,0.044,3032,2197,3355,0,0,0,0,0,0,28.83,25.87,28.83
$GC,2194,-0.47,-136.3,222.0,-8.9,258,2200,0.00,2.17,0.00,0.000,4,0.000,0.051,3032,801,3355,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2217,-0.47,-136.3,223.9,-9.0,259,2221,0.00,2.17,0.00,0.000,6,0.000,0.051,3027,2201,3354,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2529,-0.47,-136.3,252.8,-9.0,275,2535,0.00,2.22,0.00,0.000,4,0.000,0.063,3017,3608,3354,0,0,0,0,0,0,28.83,25.61,28.83
$GC,2572,-0.47,-136.3,256.4,-9.0,277,2577,0.00,2.15,0.00,0.000,6,0.000,0.044,3017,2203,3355,0,0,0,0,0,0,28.83,25.88,28.83
$GC,2885,-0.47,-136.3,283.5,-8.3,293,2886,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2200,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3185,-0.47,-136.3,309.8,-9.0,308,3186,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2200,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3487,-0.47,-136.3,337.2,-8.9,323,3488,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2200,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3785,-0.47,-136.3,363.5,-8.6,338,3786,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2200,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4085,-0.47,-136.3,388.8,-8.3,353,4086,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2200,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4405,-0.47,-136.3,415.5,-8.4,366,4406,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2200,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4705,-0.47,-136.3,440.8,-8.5,376,4708,0.00,2.17,0.00,0.000,4,0.000,0.053,3017,803,3353,0,0,0,0,0,0,28.83,25.67,28.83
$GC,4724,-0.47,-136.3,440.8,-8.5,376,4729,0.12,2.17,0.00,0.000,6,0.135,0.053,3043,2199,3352,0,0,0,0,0,0,25.57,25.69,28.83
$GC,5032,-0.47,-136.3,465.0,-7.3,386,5033,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2199,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5332,-0.47,-136.3,485.4,-6.6,396,5333,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2198,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5632,-0.47,-136.3,503.6,-5.9,406,5637,0.00,2.28,0.00,0.000,4,0.000,0.066,3034,3607,3351,0,0,0,0,0,0,28.83,25.53,28.83
$GC,5680,-0.47,-136.3,505.5,-6.0,407,5684,0.00,2.17,0.00,0.000,6,0.000,0.046,3034,2194,3351,0,0,0,0,0,0,28.83,25.83,28.83
$GC,5986,-0.47,-136.3,529.0,-7.5,417,5988,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2192,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6287,-0.47,-136.3,552.5,-7.9,427,6288,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2192,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6587,-0.47,-136.3,575.9,-7.7,437,6593,0.00,2.28,0.00,0.000,4,0.000,0.066,3025,3609,3350,0,0,0,0,0,0,28.83,25.50,28.83
$GC,6616,-0.47,-136.3,578.2,-7.7,438,6622,0.00,2.20,0.00,0.000,6,0.000,0.047,3025,2193,3351,0,0,0,0,0,0,28.83,25.80,28.83
$GC,6946,-0.47,-136.3,604.1,-7.9,449,6952,0.00,2.30,0.00,0.000,4,0.000,0.066,3016,3611,3350,0,0,0,0,0,0,28.83,25.48,28.83
$GC,6990,-0.47,-136.3,606.4,-7.8,450,6994,0.00,2.20,0.00,0.000,6,0.000,0.047,3015,2191,3350,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7302,-0.47,-136.3,632.5,-7.9,461,7303,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2189,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7602,-0.47,-136.3,656.6,-7.9,471,7608,0.00,2.15,0.00,0.000,4,0.000,0.054,3015,804,3349,0,0,0,0,0,0,28.83,25.60,28.83
$GC,7640,-0.47,-136.3,658.9,-7.9,472,7645,0.12,2.20,0.00,0.000,6,0.135,0.054,3043,2205,3350,0,0,0,0,0,0,25.51,25.61,28.83
$GC,7960,-0.47,-136.3,678.4,-5.6,483,7966,0.00,2.25,0.00,0.000,4,0.000,0.066,3034,3609,3349,0,0,0,0,0,0,28.83,25.46,28.83
$GC,8002,-0.47,-136.3,680.3,-5.7,484,8006,0.00,2.20,0.00,0.000,6,0.000,0.047,3034,2195,3349,0,0,0,0,0,0,28.83,25.78,28.83
$GC,8316,-0.47,-136.3,700.2,-6.2,495,8317,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2193,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8615,-0.47,-136.3,718.6,-6.1,505,8616,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2193,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8915,-0.47,-136.3,736.5,-6.1,515,8916,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2193,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9216,-0.47,-136.3,755.8,-6.5,525,9217,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2193,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9515,-0.47,-136.3,776.8,-7.0,535,9516,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2193,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9814,-0.47,-136.3,798.5,-7.2,545,9816,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2193,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10115,-0.47,-136.3,819.4,-6.7,555,10116,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2193,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10415,-0.47,-136.3,839.5,-6.7,565,10417,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2193,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10715,-0.47,-136.3,860.2,-7.1,575,10716,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2193,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11015,-0.47,-136.3,880.5,-6.6,585,11016,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2193,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11316,-0.47,-136.3,898.4,-5.9,595,11317,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2193,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11615,-0.47,-136.3,916.8,-6.3,605,11616,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2193,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11915,-0.47,-136.3,936.1,-6.6,615,11916,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2193,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12215,-0.47,-136.3,956.0,-6.5,625,12217,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2193,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12515,-0.47,-136.3,974.4,-6.0,635,12516,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2193,3344,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12782,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12782,begin apogee
$GC,12789,-0.22,0.0,990.1,-5.8,644,12916,0.25,0.00,123.25,1.167,6,0.109,0.000,3122,2336,2794,0,0,0,0,0,0,25.77,28.83,22.99
$STATE,12920,end apogee,CONTROL_FINISHED_OK
$STATE,12920,begin climb
$GC,12923,0.47,136.3,993.5,0.0,648,13065,0.65,2.53,131.93,1.130,4,0.074,0.066,3346,3724,2237,0,0,0,0,0,0,24.42,23.34,22.04
$GC,13087,0.48,165.6,986.4,5.9,654,13122,0.00,2.38,29.05,1.074,6,0.000,0.048,3356,2336,2118,0,0,0,0,0,0,28.83,23.79,22.13
$GC,13437,0.48,165.6,953.0,9.4,666,13442,0.00,2.28,0.00,0.000,4,0.000,0.058,3366,925,2109,0,0,0,0,0,0,28.83,25.13,28.83
$GC,13465,0.48,165.6,950.1,9.4,667,13471,0.00,2.25,0.00,0.000,6,0.000,0.057,3366,2316,2108,0,0,0,0,0,0,28.83,25.19,28.83
$GC,13795,0.48,165.6,918.2,9.5,678,13801,0.00,2.30,0.00,0.000,4,0.000,0.070,3367,3736,2107,0,0,0,0,0,0,28.83,25.46,28.83
$GC,13855,0.48,165.6,911.4,10.4,680,13861,0.00,2.28,0.00,0.000,6,0.000,0.051,3377,2324,2106,0,0,0,0,0,0,28.83,25.63,28.83
$GC,14186,0.48,165.6,876.6,10.3,691,14191,0.00,2.20,0.00,0.000,4,0.000,0.058,3388,925,2106,0,0,0,0,0,0,28.83,25.62,28.83
$GC,14208,0.48,165.6,876.6,10.3,691,14215,0.15,2.25,0.00,0.000,6,0.146,0.057,3348,2338,2106,0,0,0,0,0,0,25.45,25.62,28.83
$GC,14515,0.48,165.6,849.0,7.9,702,14516,0.00,0.00,0.00,0.000,6,0.000,0.000,3348,2338,2105,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14815,0.48,165.6,825.7,7.7,712,14821,0.00,2.25,0.00,0.000,4,0.000,0.069,3348,3733,2105,0,0,0,0,0,0,28.83,25.58,28.83
$GC,14853,0.48,165.6,823.2,7.8,713,14857,0.00,2.22,0.00,0.000,6,0.000,0.050,3356,2322,2104,0,0,0,0,0,0,28.83,25.78,28.83
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$STATE,24970,end climb,SURFACE_DEPTH_REACHED
$STATE,24970,begin surface coast
$FINISH,1.1,1.013086
$STATE,25006,end surface coast,CONTROL_FINISHED_OK
$STATE,25006,begin surface
$SM_CCo,25087,0.00,0.000,0,0,1268,374.33
$SM_GC,2.28,8.32,2.47,0.00,0.025,0.044,0.000,111,2188,1268,-9.47,0.90,374.33,0,0,0,0,0,0,25.91,25.72,28.83
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$TT8_MAMPS,0.026964,0.026964
$HUMID,45.23
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,19.10
$XPDR_PINGS,1
$24V_AH,22.0,58.491
$10V_AH,9.8,47.611
$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,22.000,166.650,462.725,0.000,0.000,27.377,35.846,623.471,0.250,0.000,15.931,3572.783,18195.307,559.311,3074.054,509.011,0.000,1972.149,0.000,2431.413,0.000,0.536,0.000
$DEVICE_MAMPS,224.145,82.620,1167.390,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,959.649,733.228,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296916
$DATA_FILE_SIZE,76764,1395
$CAP_FILE_SIZE,199338,0
$CFSIZE,260165632,222564352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.032, 31.6,1
$GPS,261212,060706,4733.676,-12539.889,43,1.5,43,18.7