version: 66.11
glider: 187
mission: 2
dive: 536
start: 1 27 113 19 35 16
data:
$ID,187
$MISSION,2
$DIVE,536
$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,10
$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,-1588671.2
$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,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
$GPS1,270113,192724,4707.123,-12642.800,41,1.6,41,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-76.6
$GPS2,270113,193443,4707.112,-12642.703,14,1.6,14,18.6
$SPEED_LIMITS,0.122,0.210
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,10000.000
$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,29.2,141699,-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,-136.3,0.0,0.0,0,87,0.00,0.00,-68.40,0.000,2,0.000,0.000,112,2188,2741,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.47,-136.3,3.2,-1.8,12,123,11.68,2.28,-14.80,0.000,4,0.217,0.064,3033,793,3352,0,0,0,0,0,0,24.60,25.49,26.22
$GC,353,-0.47,-136.3,40.8,-13.2,62,361,0.00,2.20,0.00,0.000,6,0.000,0.052,3026,2200,3355,0,0,0,0,0,0,28.83,25.55,28.83
$GC,667,-0.47,-136.3,89.5,-15.2,123,674,0.00,2.17,0.00,0.000,4,0.000,0.050,3026,797,3355,0,0,0,0,0,0,28.83,25.61,28.83
$GC,713,-0.47,-136.3,95.6,-13.1,131,719,0.00,2.22,0.00,0.000,6,0.000,0.051,3017,2202,3355,0,0,0,0,0,0,28.83,25.62,28.83
$GC,1032,-0.47,-136.3,131.9,-10.7,179,1039,0.00,2.22,0.00,0.000,4,0.000,0.063,3006,3607,3355,0,0,0,0,0,0,28.83,25.52,28.83
$GC,1080,-0.47,-136.3,137.6,-11.5,184,1090,0.12,2.22,0.00,0.000,6,0.129,0.043,3042,2194,3355,0,0,0,0,0,0,25.63,25.80,28.83
$GC,1391,-0.47,-136.3,164.1,-7.9,205,1399,0.00,2.20,0.00,0.000,4,0.000,0.050,3042,801,3355,0,0,0,0,0,0,28.83,25.65,28.83
$GC,1450,-0.47,-136.3,168.6,-7.9,211,1459,0.00,2.25,0.00,0.000,6,0.000,0.050,3035,2206,3355,0,0,0,0,0,0,28.83,25.66,28.83
$GC,1760,-0.47,-136.3,193.8,-8.5,232,1769,0.00,2.30,0.00,0.000,4,0.000,0.063,3025,3609,3355,0,0,0,0,0,0,28.83,25.53,28.83
$GC,1801,-0.47,-136.3,197.3,-8.7,236,1809,0.00,2.20,0.00,0.000,6,0.000,0.044,3025,2205,3355,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2120,-0.47,-136.3,227.5,-9.8,253,2126,0.00,2.25,0.00,0.000,4,0.000,0.050,3025,788,3355,0,0,0,0,0,0,28.83,25.65,28.83
$GC,2180,-0.47,-136.3,233.6,-10.0,256,2186,0.00,2.28,0.00,0.000,6,0.000,0.050,3017,2208,3355,0,0,0,0,0,0,28.83,25.65,28.83
$GC,2502,-0.47,-136.3,265.8,-9.9,272,2504,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2208,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2800,-0.47,-136.3,293.9,-8.9,287,2802,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2208,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3100,-0.47,-136.3,321.1,-9.3,302,3106,0.00,2.28,0.00,0.000,4,0.000,0.063,3006,3607,3355,0,0,0,0,0,0,28.83,25.51,28.83
$GC,3180,-0.47,-136.3,328.4,-9.3,306,3187,0.12,2.22,0.00,0.000,6,0.127,0.044,3043,2197,3355,0,0,0,0,0,0,25.63,25.80,28.83
$GC,3502,-0.47,-136.3,351.4,-7.0,322,3506,0.00,2.17,0.00,0.000,4,0.000,0.051,3044,796,3354,0,0,0,0,0,0,28.83,25.62,28.83
$GC,3528,-0.47,-136.3,352.8,-7.0,323,3532,0.00,2.28,0.00,0.000,6,0.000,0.051,3037,2208,3355,0,0,0,0,0,0,28.83,25.62,28.83
$GC,3831,-0.47,-136.3,376.5,-7.6,338,3832,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2208,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4130,-0.47,-136.3,399.2,-7.4,353,4136,0.00,2.33,0.00,0.000,4,0.000,0.064,3027,3618,3354,0,0,0,0,0,0,28.83,25.47,28.83
$GC,4178,-0.47,-136.3,401.5,-7.4,355,4182,0.00,2.25,0.00,0.000,6,0.000,0.045,3026,2203,3354,0,0,0,0,0,0,28.83,25.77,28.83
$GC,4481,-0.47,-136.3,425.8,-7.6,365,4482,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2201,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4780,-0.47,-136.3,449.3,-8.0,375,4786,0.00,2.33,0.00,0.000,4,0.000,0.065,3017,3606,3354,0,0,0,0,0,0,28.83,25.44,28.83
$GC,4818,-0.47,-136.3,451.7,-8.1,376,4822,0.00,2.25,0.00,0.000,6,0.000,0.046,3017,2194,3353,0,0,0,0,0,0,28.83,25.75,28.83
$GC,5132,-0.47,-136.3,478.7,-8.4,387,5136,0.00,2.17,0.00,0.000,4,0.000,0.053,3017,795,3353,0,0,0,0,0,0,28.83,25.58,28.83
$GC,5160,-0.47,-136.3,481.1,-8.3,388,5166,0.12,2.28,0.00,0.000,6,0.133,0.053,3044,2200,3353,0,0,0,0,0,0,25.47,25.58,28.83
$GC,5491,-0.47,-136.3,502.5,-6.1,399,5496,0.00,2.33,0.00,0.000,4,0.000,0.066,3035,3611,3353,0,0,0,0,0,0,28.83,25.42,28.83
$GC,5539,-0.47,-136.3,504.4,-6.1,400,5548,0.00,2.25,0.00,0.000,6,0.000,0.046,3035,2198,3353,0,0,0,0,0,0,28.83,25.75,28.83
$GC,5850,-0.47,-136.3,527.7,-7.2,411,5851,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2198,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6151,-0.47,-136.3,548.7,-7.0,421,6153,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2198,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6451,-0.47,-136.3,569.4,-6.7,431,6456,0.00,2.30,0.00,0.000,4,0.000,0.067,3025,3616,3352,0,0,0,0,0,0,28.83,25.40,28.83
$GC,6488,-0.47,-136.3,571.7,-6.8,432,6492,0.00,2.28,0.00,0.000,6,0.000,0.047,3025,2195,3351,0,0,0,0,0,0,28.83,25.72,28.83
$GC,6801,-0.47,-136.3,593.9,-6.9,443,6802,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2194,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7102,-0.47,-136.3,614.6,-6.9,453,7106,0.00,2.35,0.00,0.000,4,0.000,0.067,3015,3611,3351,0,0,0,0,0,0,28.83,25.39,28.83
$GC,7138,-0.47,-136.3,616.7,-7.1,454,7143,0.00,2.28,0.00,0.000,6,0.000,0.047,3015,2193,3351,0,0,0,0,0,0,28.83,25.70,28.83
$GC,7451,-0.47,-136.3,641.5,-7.8,465,7452,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2190,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7752,-0.47,-136.3,664.3,-7.6,475,7757,0.00,2.35,0.00,0.000,4,0.000,0.066,3005,3607,3350,0,0,0,0,0,0,28.83,25.37,28.83
$GC,7820,-0.47,-136.3,669.1,-7.7,477,7825,0.12,2.25,0.00,0.000,6,0.127,0.047,3042,2201,3350,0,0,0,0,0,0,25.54,25.70,28.83
$GC,8133,-0.47,-136.3,689.1,-6.1,488,8134,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2198,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8433,-0.47,-136.3,706.4,-5.7,498,8439,0.00,2.35,0.00,0.000,4,0.000,0.067,3034,3611,3349,0,0,0,0,0,0,28.83,25.36,28.83
$GC,8464,-0.47,-136.3,708.3,-5.8,499,8469,0.00,2.25,0.00,0.000,6,0.000,0.048,3034,2200,3349,0,0,0,0,0,0,28.83,25.69,28.83
$GC,8793,-0.47,-136.3,729.6,-6.5,510,8795,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2198,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9093,-0.47,-136.3,750.7,-7.2,520,9094,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2198,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9394,-0.47,-136.3,772.3,-7.3,530,9399,0.00,2.35,0.00,0.000,4,0.000,0.068,3025,3610,3348,0,0,0,0,0,0,28.83,25.32,28.83
$GC,9423,-0.47,-136.3,774.6,-7.4,531,9429,0.00,2.28,0.00,0.000,6,0.000,0.048,3025,2195,3348,0,0,0,0,0,0,28.83,25.66,28.83
$GC,9753,-0.47,-136.3,799.9,-7.8,542,9759,0.00,2.38,0.00,0.000,4,0.000,0.067,3015,3609,3347,0,0,0,0,0,0,28.83,25.31,28.83
$GC,9784,-0.47,-136.3,802.5,-7.9,543,9789,0.00,2.25,0.00,0.000,6,0.000,0.048,3015,2199,3348,0,0,0,0,0,0,28.83,25.66,28.83
$GC,10114,-0.47,-136.3,829.3,-8.1,554,10119,0.00,2.25,0.00,0.000,4,0.000,0.055,3015,797,3347,0,0,0,0,0,0,28.83,25.46,28.83
$GC,10143,-0.47,-136.3,831.9,-8.3,555,10150,0.10,2.28,0.00,0.000,6,0.103,0.055,3043,2202,3347,0,0,0,0,0,0,25.30,25.47,28.83
$GC,10474,-0.47,-136.3,853.7,-6.3,566,10479,0.00,2.33,0.00,0.000,4,0.000,0.067,3035,3607,3347,0,0,0,0,0,0,28.83,25.29,28.83
$GC,10511,-0.47,-136.3,855.7,-6.3,567,10516,0.00,2.28,0.00,0.000,6,0.000,0.047,3035,2190,3347,0,0,0,0,0,0,28.83,25.65,28.83
$GC,10824,-0.47,-136.3,876.7,-6.4,578,10825,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2189,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11124,-0.47,-136.3,895.4,-6.2,588,11125,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2189,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11425,-0.47,-136.3,912.6,-5.7,598,11430,0.00,2.35,0.00,0.000,4,0.000,0.068,3025,3601,3346,0,0,0,0,0,0,28.83,25.29,28.83
$GC,11462,-0.47,-136.3,914.1,-5.5,599,11466,0.00,2.25,0.00,0.000,6,0.000,0.048,3025,2202,3346,0,0,0,0,0,0,28.83,25.63,28.83
$GC,11775,-0.47,-136.3,932.4,-5.7,610,11776,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2200,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12075,-0.47,-136.3,949.5,-5.6,620,12077,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2200,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12375,-0.47,-136.3,966.8,-5.7,630,12380,0.00,2.35,0.00,0.000,4,0.000,0.068,3016,3606,3346,0,0,0,0,0,0,28.83,25.26,28.83
$GC,12423,-0.47,-136.3,968.5,-5.7,631,12427,0.00,2.28,0.00,0.000,6,0.000,0.048,3016,2194,3345,0,0,0,0,0,0,28.83,25.62,28.83
$GC,12725,-0.47,-136.3,988.4,-6.2,641,12727,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2193,3345,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12751,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12752,begin apogee
$GC,12759,-0.22,0.0,990.3,-6.2,642,12890,0.30,0.00,126.00,1.164,6,0.107,0.000,3120,2334,2793,0,0,0,0,0,0,25.61,28.83,22.58
$STATE,12891,end apogee,CONTROL_FINISHED_OK
$STATE,12891,begin climb
$GC,12894,0.47,136.3,993.4,0.0,646,13036,0.68,2.60,134.38,1.118,4,0.070,0.067,3350,3727,2237,0,0,0,0,0,0,24.37,23.34,21.78
$GC,13064,0.48,165.6,986.7,5.9,652,13104,0.00,2.42,29.45,1.062,6,0.000,0.048,3359,2334,2117,0,0,0,0,0,0,28.83,23.88,21.93
$GC,13405,0.48,165.6,951.5,9.6,664,13410,0.00,2.33,0.00,0.000,4,0.000,0.058,3370,922,2109,0,0,0,0,0,0,28.83,25.29,28.83
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$STATE,25002,end climb,SURFACE_DEPTH_REACHED
$STATE,25002,begin surface coast
$FINISH,1.3,1.014324
$STATE,25038,end surface coast,CONTROL_FINISHED_OK
$STATE,25038,begin surface
$SM_CCo,25117,0.00,0.000,0,0,1364,350.78
$SM_GC,2.51,8.30,0.20,0.00,0.027,0.079,0.000,112,2191,1364,-9.47,1.07,350.78,0,0,0,0,0,0,26.05,26.03,28.83
$IRIDIUM_FIX,4651.23,-12657.26,270113,121248
$TT8_MAMPS,0.027713,0.027713
$HUMID,46.77
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,19.10
$XPDR_PINGS,3
$24V_AH,21.8,74.844
$10V_AH,9.7,58.856
$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,22.400,238.675,449.575,0.000,0.000,26.136,34.511,230.178,0.750,0.000,15.234,3559.247,18218.299,779.917,2517.938,472.380,0.000,2043.580,0.000,2205.644,0.000,0.535,0.000
$DEVICE_MAMPS,217.260,81.855,1163.565,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,950.358,716.337,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296904
$DATA_FILE_SIZE,76769,1382
$CAP_FILE_SIZE,199411,0
$CFSIZE,260165632,212635648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.086,210.5,1
$GPS,280113,023506,4708.897,-12638.694,34,1.3,34,18.6