version: 66.11
glider: 187
mission: 2
dive: 425
start: 12 27 112 18 28 34
data:
$ID,187
$MISSION,2
$DIVE,425
$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,-1588523.4
$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,34
$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
$GPS1,271212,182059,4745.619,-12521.344,38,1.1,43,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-75.7
$GPS2,271212,182801,4745.659,-12521.368,12,2.0,12,18.7
$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,55.5,18028,-13.3,-7.021,-18.50
$D_GRID,842
$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,-136.3,0.0,0.0,0,92,0.00,0.00,-72.30,0.000,2,0.000,0.000,113,2194,2648,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.47,-136.3,3.0,-1.6,13,133,11.45,2.30,-18.70,0.000,4,0.213,0.073,3030,3611,3350,0,0,0,0,0,0,24.87,25.47,26.21
$GC,142,-0.47,-136.3,9.5,-13.1,20,148,0.00,2.20,0.00,0.000,6,0.000,0.044,3030,2193,3351,0,0,0,0,0,0,28.83,25.66,28.83
$GC,453,-0.47,-136.3,59.6,-16.3,81,460,0.00,2.28,0.00,0.000,4,0.000,0.060,3020,3608,3353,0,0,0,0,0,0,28.83,25.57,28.83
$GC,656,-0.47,-136.3,84.0,-11.1,120,663,0.00,2.17,0.00,0.000,6,0.000,0.043,3020,2189,3353,0,0,0,0,0,0,28.83,25.82,28.83
$GC,968,-0.47,-136.3,118.5,-10.9,181,974,0.00,2.15,0.00,0.000,4,0.000,0.049,3019,786,3354,0,0,0,0,0,0,28.83,25.73,28.83
$GC,990,-0.47,-136.3,120.7,-10.3,184,995,0.12,2.20,0.00,0.000,6,0.138,0.050,3045,2210,3353,0,0,0,0,0,0,25.61,25.75,28.83
$GC,1299,-0.47,-136.3,148.9,-9.0,204,1304,0.00,2.20,0.00,0.000,4,0.000,0.061,3036,3608,3354,0,0,0,0,0,0,28.83,25.66,28.83
$GC,1351,-0.47,-136.3,153.0,-9.3,207,1359,0.00,2.17,0.00,0.000,6,0.000,0.043,3037,2183,3354,0,0,0,0,0,0,28.83,25.90,28.83
$GC,1659,-0.47,-136.3,182.2,-9.0,228,1664,0.00,2.25,0.00,0.000,4,0.000,0.061,3026,3607,3354,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1692,-0.47,-136.3,185.1,-9.1,230,1696,0.00,2.15,0.00,0.000,6,0.000,0.042,3026,2194,3354,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2010,-0.47,-136.3,214.0,-8.8,248,2015,0.00,2.10,0.00,0.000,4,0.000,0.049,3026,808,3354,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2061,-0.47,-136.3,217.6,-8.9,250,2068,0.00,2.15,0.00,0.000,6,0.000,0.050,3017,2202,3354,0,0,0,0,0,0,28.83,25.78,28.83
$GC,2369,-0.47,-136.3,247.8,-9.3,266,2370,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2202,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2668,-0.47,-136.3,275.8,-8.9,281,2669,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2202,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2969,-0.47,-136.3,302.4,-9.1,296,2973,0.00,2.25,0.00,0.000,4,0.000,0.062,3007,3607,3354,0,0,0,0,0,0,28.83,25.65,28.83
$GC,2994,-0.47,-136.3,304.5,-9.2,297,2999,0.12,2.15,0.00,0.000,6,0.128,0.044,3043,2202,3354,0,0,0,0,0,0,25.73,25.90,28.83
$GC,3307,-0.47,-136.3,328.7,-7.7,313,3308,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2196,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3608,-0.47,-136.3,352.2,-7.8,328,3613,0.00,2.25,0.00,0.000,4,0.000,0.063,3035,3612,3353,0,0,0,0,0,0,28.83,25.63,28.83
$GC,3680,-0.47,-136.3,357.1,-8.1,331,3687,0.00,2.20,0.00,0.000,6,0.000,0.044,3035,2188,3353,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3987,-0.47,-136.3,382.8,-7.9,347,3988,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2187,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4288,-0.47,-136.3,405.3,-7.5,361,4289,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2187,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4587,-0.47,-136.3,428.4,-8.0,371,4591,0.00,2.17,0.00,0.000,4,0.000,0.051,3035,793,3351,0,0,0,0,0,0,28.83,25.72,28.83
$GC,4622,-0.47,-136.3,431.2,-8.2,372,4626,0.00,2.20,0.00,0.000,6,0.000,0.051,3027,2208,3351,0,0,0,0,0,0,28.83,25.72,28.83
$GC,4945,-0.47,-136.3,459.0,-8.5,383,4950,0.00,2.22,0.00,0.000,4,0.000,0.063,3017,3611,3351,0,0,0,0,0,0,28.83,25.60,28.83
$GC,4982,-0.47,-136.3,461.5,-8.5,384,4986,0.00,2.17,0.00,0.000,6,0.000,0.045,3017,2195,3351,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5299,-0.47,-136.3,489.4,-8.3,395,5300,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2193,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5600,-0.47,-136.3,513.8,-8.2,405,5605,0.00,2.25,0.00,0.000,4,0.000,0.063,3007,3603,3350,0,0,0,0,0,0,28.83,25.60,28.83
$GC,5642,-0.47,-136.3,516.4,-8.2,406,5647,0.12,2.17,0.00,0.000,6,0.129,0.045,3043,2190,3350,0,0,0,0,0,0,25.68,25.85,28.83
$GC,5955,-0.47,-136.3,538.2,-6.6,417,5956,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2188,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6255,-0.47,-136.3,558.4,-6.8,427,6261,0.00,2.30,0.00,0.000,4,0.000,0.064,3035,3607,3349,0,0,0,0,0,0,28.83,25.55,28.83
$GC,6293,-0.47,-136.3,560.5,-6.9,428,6297,0.00,2.20,0.00,0.000,6,0.000,0.046,3035,2191,3349,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6611,-0.47,-136.3,582.9,-6.8,439,6616,0.00,2.28,0.00,0.000,4,0.000,0.064,3025,3609,3349,0,0,0,0,0,0,28.83,25.54,28.83
$GC,6676,-0.47,-136.3,587.3,-6.9,441,6681,0.00,2.15,0.00,0.000,6,0.000,0.046,3025,2206,3349,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7001,-0.47,-136.3,611.4,-7.3,452,7006,0.00,2.20,0.00,0.000,4,0.000,0.053,3025,800,3348,0,0,0,0,0,0,28.83,25.65,28.83
$GC,7053,-0.47,-136.3,613.6,-7.3,453,7060,0.00,2.20,0.00,0.000,6,0.000,0.053,3017,2206,3347,0,0,0,0,0,0,28.83,25.66,28.83
$GC,7361,-0.47,-136.3,638.6,-7.7,464,7366,0.00,2.22,0.00,0.000,4,0.000,0.065,3007,3603,3347,0,0,0,0,0,0,28.83,25.52,28.83
$GC,7408,-0.47,-136.3,641.1,-7.9,465,7413,0.12,2.17,0.00,0.000,6,0.125,0.046,3044,2194,3347,0,0,0,0,0,0,25.65,25.81,28.83
$GC,7716,-0.47,-136.3,662.5,-6.3,475,7717,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2192,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8016,-0.47,-136.3,681.1,-6.1,485,8021,0.00,2.33,0.00,0.000,4,0.000,0.067,3036,3616,3347,0,0,0,0,0,0,28.83,25.48,28.83
$GC,8049,-0.47,-136.3,683.0,-6.2,486,8053,0.00,2.22,0.00,0.000,6,0.000,0.047,3036,2194,3347,0,0,0,0,0,0,28.83,25.80,28.83
$GC,8371,-0.47,-136.3,704.1,-6.4,497,8372,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2192,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8672,-0.47,-136.3,721.9,-5.6,507,8677,0.00,2.28,0.00,0.000,4,0.000,0.067,3026,3606,3346,0,0,0,0,0,0,28.83,25.48,28.83
$GC,8724,-0.47,-136.3,723.6,-5.6,508,8731,0.00,2.17,0.00,0.000,6,0.000,0.047,3026,2200,3346,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9031,-0.47,-136.3,744.4,-6.1,519,9036,0.00,2.25,0.00,0.000,4,0.000,0.067,3017,3604,3345,0,0,0,0,0,0,28.83,25.47,28.83
$GC,9064,-0.47,-136.3,746.5,-6.2,520,9068,0.00,2.17,0.00,0.000,6,0.000,0.047,3017,2203,3345,0,0,0,0,0,0,28.83,25.78,28.83
$GC,9387,-0.47,-136.3,769.1,-6.8,531,9392,0.00,2.28,0.00,0.000,4,0.000,0.067,3007,3605,3345,0,0,0,0,0,0,28.83,25.46,28.83
$GC,9419,-0.47,-136.3,771.3,-6.8,532,9424,0.12,2.20,0.00,0.000,6,0.125,0.047,3044,2198,3345,0,0,0,0,0,0,25.62,25.77,28.83
$GC,9743,-0.47,-136.3,788.5,-5.2,543,9749,0.00,2.28,0.00,0.000,4,0.000,0.067,3036,3608,3345,0,0,0,0,0,0,28.83,25.45,28.83
$GC,9774,-0.47,-136.3,790.2,-5.2,544,9779,0.00,2.17,0.00,0.000,6,0.000,0.048,3036,2205,3344,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10103,-0.47,-136.3,809.3,-5.7,555,10104,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2202,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10403,-0.47,-136.3,828.2,-6.4,565,10404,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2202,3344,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10640,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10640,begin apogee
$GC,10647,-0.22,0.0,843.3,-6.2,573,10773,0.25,0.00,119.82,1.079,6,0.110,0.000,3124,2334,2793,0,0,0,0,0,0,25.77,28.83,23.18
$STATE,10776,end apogee,CONTROL_FINISHED_OK
$STATE,10776,begin climb
$GC,10779,0.47,136.3,847.6,0.0,577,10912,0.62,0.00,128.45,1.044,6,0.074,0.000,3343,2334,2238,0,0,0,0,0,0,24.60,28.83,22.30
$GC,11216,0.47,136.3,821.1,7.6,592,11217,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,2334,2227,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11513,0.47,136.3,798.8,7.3,602,11514,0.00,0.00,0.00,0.000,6,0.000,0.000,3343,2334,2225,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11813,0.47,136.3,776.1,7.5,612,11818,0.00,2.25,0.00,0.000,4,0.000,0.068,3342,3727,2224,0,0,0,0,0,0,28.83,25.56,28.83
$GC,11845,0.47,136.3,773.6,7.6,613,11849,0.00,2.20,0.00,0.000,6,0.000,0.050,3352,2326,2224,0,0,0,0,0,0,28.83,25.74,28.83
$GC,12168,0.47,136.3,748.2,7.9,624,12170,0.00,0.00,0.00,0.000,6,0.000,0.000,3352,2324,2223,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12467,0.47,136.3,723.9,8.2,634,12473,0.00,2.30,0.00,0.000,4,0.000,0.068,3352,3735,2223,0,0,0,0,0,0,28.83,25.60,28.83
$GC,12511,0.47,136.3,721.2,8.5,635,12515,0.00,2.22,0.00,0.000,6,0.000,0.050,3362,2316,2223,0,0,0,0,0,0,28.83,25.80,28.83
$GC,12823,0.47,136.3,693.5,8.4,646,12829,0.00,2.28,0.00,0.000,4,0.000,0.068,3363,3724,2223,0,0,0,0,0,0,28.83,25.60,28.83
$GC,12866,0.47,136.3,690.7,8.5,647,12870,0.00,2.20,0.00,0.000,6,0.000,0.050,3373,2319,2223,0,0,0,0,0,0,28.83,25.80,28.83
$GC,13178,0.47,136.3,663.4,8.4,658,13184,0.00,2.30,0.00,0.000,4,0.000,0.068,3373,3729,2222,0,0,0,0,0,0,28.83,25.60,28.83
$GC,13208,0.47,136.3,660.7,8.4,659,13214,0.10,2.20,0.00,0.000,6,0.122,0.050,3350,2323,2222,0,0,0,0,0,0,25.55,25.80,28.83
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$STATE,21684,end climb,SURFACE_DEPTH_REACHED
$STATE,21684,begin surface coast
$FINISH,1.5,1.012575
$STATE,21720,end surface coast,CONTROL_FINISHED_OK
$STATE,21720,begin surface
$SM_CCo,21800,0.00,0.000,0,0,1267,374.33
$SM_GC,2.33,8.32,0.22,0.00,0.031,0.067,0.000,105,2185,1267,-9.47,0.79,374.33,0,0,0,0,0,0,26.03,26.03,28.83
$IRIDIUM_FIX,4726.11,-12520.74,271212,111140
$TT8_MAMPS,0.026964,0.026964
$HUMID,46.02
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,19.40
$XPDR_PINGS,4
$24V_AH,22.3,59.432
$10V_AH,9.8,48.231
$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,21.925,195.975,454.525,0.000,0.000,28.947,39.929,210.197,1.000,0.000,13.270,3242.644,15306.014,607.322,2650.044,408.090,0.000,1977.117,0.000,2328.488,0.000,0.536,0.000
$DEVICE_MAMPS,212.670,85.680,1079.415,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,855.537,662.878,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70203,1247
$CAP_FILE_SIZE,187377,0
$CFSIZE,260165632,222035968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.159,303.9,1
$GPS,281212,003305,4747.201,-12518.601,33,0.9,33,18.7