version: 66.11
glider: 187
mission: 2
dive: 424
start: 12 27 112 11 39 36
data:
$ID,187
$MISSION,2
$DIVE,424
$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,-1588522.1
$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,46
$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
$GPS1,271212,113129,4743.107,-12524.296,42,1.7,42,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-74.9
$GPS2,271212,113903,4743.103,-12524.279,15,3.1,34,18.7
$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,39.3,23880,-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,17,-0.47,-136.3,0.0,0.0,0,82,0.00,0.00,-62.38,0.000,2,0.000,0.000,130,2190,2733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.47,-136.3,3.4,-3.4,11,118,11.62,2.25,-13.80,0.000,4,0.220,0.063,3037,797,3353,0,0,0,0,0,0,24.77,25.55,26.19
$GC,318,-0.47,-136.3,40.9,-13.4,55,324,0.00,2.20,0.00,0.000,6,0.000,0.050,3028,2200,3356,0,0,0,0,0,0,28.83,25.59,28.83
$GC,630,-0.47,-136.3,83.6,-12.0,116,635,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2200,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,940,-0.47,-136.3,117.4,-10.0,177,947,0.00,2.15,0.00,0.000,4,0.000,0.050,3028,804,3357,0,0,0,0,0,0,28.83,25.70,28.83
$GC,1036,-0.47,-136.3,127.5,-10.5,186,1041,0.00,2.17,0.00,0.000,6,0.000,0.050,3019,2204,3357,0,0,0,0,0,0,28.83,25.71,28.83
$GC,1350,-0.47,-136.3,160.0,-10.2,207,1356,0.00,2.25,0.00,0.000,4,0.000,0.062,3009,3617,3357,0,0,0,0,0,0,28.83,25.61,28.83
$GC,1384,-0.47,-136.3,163.1,-10.1,209,1388,0.12,2.17,0.00,0.000,6,0.129,0.044,3045,2202,3357,0,0,0,0,0,0,25.69,25.86,28.83
$GC,1692,-0.47,-136.3,189.2,-8.6,229,1693,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2196,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2005,-0.47,-136.3,213.4,-7.1,247,2009,0.00,2.17,0.00,0.000,4,0.000,0.050,3045,793,3357,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2040,-0.47,-136.3,215.1,-7.1,248,2047,0.00,2.20,0.00,0.000,6,0.000,0.051,3039,2210,3357,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2347,-0.47,-136.3,239.1,-7.6,264,2353,0.00,2.22,0.00,0.000,4,0.000,0.063,3028,3607,3357,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2411,-0.47,-136.3,243.8,-7.8,267,2417,0.00,2.15,0.00,0.000,6,0.000,0.044,3028,2195,3357,0,0,0,0,0,0,28.83,25.88,28.83
$GC,2727,-0.47,-136.3,270.3,-8.3,283,2728,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2193,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3027,-0.47,-136.3,294.2,-7.7,298,3028,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2193,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3328,-0.47,-136.3,317.8,-7.9,313,3329,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2193,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3627,-0.47,-136.3,341.8,-8.2,328,3633,0.00,2.28,0.00,0.000,4,0.000,0.063,3019,3610,3357,0,0,0,0,0,0,28.83,25.58,28.83
$GC,3667,-0.47,-136.3,345.3,-8.5,330,3673,0.00,2.17,0.00,0.000,6,0.000,0.044,3018,2201,3356,0,0,0,0,0,0,28.83,25.86,28.83
$GC,3988,-0.47,-136.3,372.8,-8.7,346,3989,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2198,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4287,-0.47,-136.3,398.1,-8.3,361,4288,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2198,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4597,-0.47,-136.3,423.6,-8.1,372,4598,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2198,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4898,-0.47,-136.3,448.8,-8.4,382,4903,0.00,2.25,0.00,0.000,4,0.000,0.065,3009,3607,3354,0,0,0,0,0,0,28.83,25.54,28.83
$GC,4927,-0.47,-136.3,451.5,-8.5,383,4933,0.12,2.20,0.00,0.000,6,0.128,0.045,3045,2201,3355,0,0,0,0,0,0,25.66,25.82,28.83
$GC,5258,-0.47,-136.3,474.2,-6.8,394,5263,0.00,2.25,0.00,0.000,4,0.000,0.066,3037,3605,3354,0,0,0,0,0,0,28.83,25.52,28.83
$GC,5296,-0.47,-136.3,476.3,-6.9,395,5302,0.00,2.17,0.00,0.000,6,0.000,0.047,3037,2197,3354,0,0,0,0,0,0,28.83,25.82,28.83
$GC,5617,-0.47,-136.3,501.1,-7.4,406,5621,0.00,2.17,0.00,0.000,4,0.000,0.053,3037,803,3354,0,0,0,0,0,0,28.83,25.64,28.83
$GC,5652,-0.47,-136.3,503.5,-7.4,407,5656,0.00,2.17,0.00,0.000,6,0.000,0.053,3029,2199,3353,0,0,0,0,0,0,28.83,25.65,28.83
$GC,5975,-0.47,-136.3,529.2,-7.8,418,5980,0.00,2.25,0.00,0.000,4,0.000,0.066,3019,3610,3353,0,0,0,0,0,0,28.83,25.50,28.83
$GC,5997,-0.47,-136.3,529.2,-7.8,418,6004,0.00,2.17,0.00,0.000,6,0.000,0.046,3018,2200,3353,0,0,0,0,0,0,28.83,25.81,28.83
$GC,6304,-0.47,-136.3,555.5,-7.8,429,6305,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2200,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6605,-0.47,-136.3,578.1,-7.6,439,6610,0.00,2.25,0.00,0.000,4,0.000,0.066,3009,3611,3352,0,0,0,0,0,0,28.83,25.49,28.83
$GC,6634,-0.47,-136.3,580.5,-7.8,440,6640,0.12,2.20,0.00,0.000,6,0.126,0.047,3045,2197,3352,0,0,0,0,0,0,25.63,25.78,28.83
$GC,6964,-0.47,-136.3,604.1,-7.1,451,6965,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2194,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7265,-0.47,-136.3,624.5,-6.6,461,7266,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2194,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7565,-0.47,-136.3,643.5,-6.1,471,7566,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2194,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7865,-0.47,-136.3,661.1,-5.8,481,7870,0.00,2.28,0.00,0.000,4,0.000,0.067,3037,3609,3351,0,0,0,0,0,0,28.83,25.46,28.83
$GC,7888,-0.47,-136.3,661.1,-5.8,481,7895,0.00,2.20,0.00,0.000,6,0.000,0.047,3036,2192,3351,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8195,-0.47,-136.3,681.6,-6.1,492,8196,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2192,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8495,-0.47,-136.3,699.3,-5.9,502,8501,0.00,2.30,0.00,0.000,4,0.000,0.067,3027,3610,3350,0,0,0,0,0,0,28.83,25.44,28.83
$GC,8555,-0.47,-136.3,703.0,-6.0,504,8561,0.00,2.20,0.00,0.000,6,0.000,0.047,3027,2196,3351,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8885,-0.47,-136.3,724.7,-6.5,515,8886,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2194,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9185,-0.47,-136.3,743.5,-6.1,525,9190,0.00,2.17,0.00,0.000,4,0.000,0.054,3027,794,3350,0,0,0,0,0,0,28.83,25.57,28.83
$GC,9208,-0.47,-136.3,743.5,-6.1,525,9215,0.00,2.22,0.00,0.000,6,0.000,0.054,3019,2203,3350,0,0,0,0,0,0,28.83,25.58,28.83
$GC,9515,-0.47,-136.3,765.1,-6.7,536,9520,0.00,2.28,0.00,0.000,4,0.000,0.067,3009,3614,3349,0,0,0,0,0,0,28.83,25.41,28.83
$GC,9583,-0.47,-136.3,769.4,-6.9,538,9588,0.12,2.20,0.00,0.000,6,0.127,0.047,3044,2198,3349,0,0,0,0,0,0,25.58,25.75,28.83
$GC,9902,-0.47,-136.3,786.2,-5.1,549,9907,0.00,2.17,0.00,0.000,4,0.000,0.054,3045,801,3349,0,0,0,0,0,0,28.83,25.56,28.83
$GC,9933,-0.47,-136.3,787.8,-5.2,550,9937,0.00,2.20,0.00,0.000,6,0.000,0.054,3042,2200,3349,0,0,0,0,0,0,28.83,25.56,28.83
$GC,10257,-0.47,-136.3,806.5,-5.9,561,10262,0.00,2.30,0.00,0.000,4,0.000,0.067,3032,3614,3349,0,0,0,0,0,0,28.83,25.39,28.83
$GC,10309,-0.47,-136.3,808.2,-5.8,562,10316,0.00,2.20,0.00,0.000,6,0.000,0.048,3032,2201,3348,0,0,0,0,0,0,28.83,25.74,28.83
$GC,10616,-0.47,-136.3,828.2,-6.3,573,10622,0.00,2.17,0.00,0.000,4,0.000,0.054,3032,804,3348,0,0,0,0,0,0,28.83,25.53,28.83
$GC,10649,-0.47,-136.3,830.1,-6.4,574,10653,0.00,2.20,0.00,0.000,6,0.000,0.055,3029,2200,3348,0,0,0,0,0,0,28.83,25.55,28.83
$GC,10971,-0.47,-136.3,851.4,-6.6,585,10977,0.00,2.25,0.00,0.000,4,0.000,0.067,3020,3609,3347,0,0,0,0,0,0,28.83,25.38,28.83
$GC,11009,-0.47,-136.3,853.0,-6.4,586,11014,0.00,2.20,0.00,0.000,6,0.000,0.047,3020,2199,3347,0,0,0,0,0,0,28.83,25.72,28.83
$GC,11328,-0.47,-136.3,874.4,-6.4,597,11334,0.00,2.33,0.00,0.000,4,0.000,0.067,3011,3609,3347,0,0,0,0,0,0,28.83,25.37,28.83
$GC,11357,-0.47,-136.3,876.5,-6.5,598,11364,0.08,2.20,0.00,0.000,6,0.102,0.049,3040,2197,3347,0,0,0,0,0,0,25.53,25.71,28.83
$GC,11687,-0.47,-136.3,894.7,-5.5,609,11688,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2196,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11988,-0.47,-136.3,910.8,-5.4,619,11989,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2196,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12287,-0.47,-136.3,926.6,-5.2,629,12288,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2196,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12587,-0.47,-136.3,941.9,-5.2,639,12588,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2196,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12888,-0.47,-136.3,954.5,-2.4,649,12894,0.00,2.33,0.00,0.000,4,0.000,0.070,3040,3607,3346,0,0,0,0,0,0,28.83,25.32,28.83
$STATE,13037,end dive,NO_VERTICAL_VELOCITY
$STATE,13037,begin apogee
$GC,13045,-0.22,0.0,954.5,0.0,654,13173,0.22,0.00,123.15,1.149,6,0.093,0.000,3126,2320,2793,0,0,0,0,0,0,25.92,28.83,22.94
$STATE,13177,end apogee,CONTROL_FINISHED_OK
$STATE,13177,begin climb
$GC,13180,0.47,136.3,954.4,0.0,658,13319,0.62,2.60,131.30,1.108,4,0.071,0.066,3345,3743,2237,0,0,0,0,0,0,24.45,23.36,22.02
$GC,13348,0.49,183.0,947.5,5.2,664,13401,0.00,2.45,45.30,1.073,6,0.000,0.047,3356,2324,2046,0,0,0,0,0,0,28.83,23.85,22.03
$GC,13702,0.49,183.0,913.1,9.7,676,13707,0.00,2.38,0.00,0.000,4,0.000,0.068,3356,3738,2037,0,0,0,0,0,0,28.83,25.04,28.83
$GC,13730,0.49,183.0,909.9,9.9,677,13736,0.00,2.30,0.00,0.000,6,0.000,0.050,3366,2319,2037,0,0,0,0,0,0,28.83,25.24,28.83
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$STATE,23885,end climb,SURFACE_DEPTH_REACHED
$STATE,23886,begin surface coast
$FINISH,1.4,1.000074
$STATE,23922,end surface coast,CONTROL_FINISHED_OK
$STATE,23922,begin surface
$SM_CCo,24002,0.00,0.000,0,0,1038,430.50
$SM_GC,2.21,8.27,0.20,0.00,0.027,0.071,0.000,114,2193,1038,-9.48,0.90,430.50,0,0,0,0,0,0,25.97,25.99,28.83
$IRIDIUM_FIX,4722.92,-12527.80,271212,040446
$TT8_MAMPS,0.026964,0.026964
$HUMID,45.74
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,19.30
$XPDR_PINGS,4
$24V_AH,22.0,59.303
$10V_AH,9.8,48.138
$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,21.875,183.500,511.900,0.000,0.000,24.847,39.535,220.621,1.000,0.000,36.177,3387.634,17244.475,608.271,2767.621,436.295,0.000,2043.227,0.000,2420.707,0.000,0.536,0.000
$DEVICE_MAMPS,220.320,71.145,1149.030,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,897.367,674.052,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296920
$DATA_FILE_SIZE,70221,1305
$CAP_FILE_SIZE,193412,0
$CFSIZE,260165632,222113792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.116,277.6,1
$GPS,271212,182059,4745.619,-12521.344,38,1.1,43,18.7