version: 66.11
glider: 187
mission: 2
dive: 544
start: 1 30 113 6 9 46
data:
$ID,187
$MISSION,2
$DIVE,544
$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,-1588681.4
$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,36
$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
$GPS1,300113,060154,4724.496,-12612.067,50,0.9,50,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-73.3
$GPS2,300113,060913,4724.508,-12612.025,15,1.6,15,18.7
$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,49.2,92014,-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,-136.3,0.0,0.0,0,70,0.00,0.00,-50.33,0.000,2,0.000,0.000,114,2206,2604,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.47,-136.3,3.0,-1.6,9,117,11.85,2.30,-20.65,0.000,4,0.221,0.063,3034,788,3353,0,0,0,0,0,0,24.51,25.46,26.23
$GC,307,-0.47,-136.3,35.1,-12.6,53,314,0.00,2.22,0.00,0.000,6,0.000,0.051,3027,2206,3354,0,0,0,0,0,0,28.83,25.48,28.83
$GC,620,-0.47,-136.3,79.3,-12.7,114,626,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2206,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,933,-0.47,-136.3,115.8,-11.1,175,940,0.00,2.20,0.00,0.000,4,0.000,0.050,3027,794,3354,0,0,0,0,0,0,28.83,25.58,28.83
$GC,968,-0.47,-136.3,120.0,-11.1,181,977,0.00,2.28,0.00,0.000,6,0.000,0.050,3017,2207,3354,0,0,0,0,0,0,28.83,25.58,28.83
$GC,1278,-0.47,-136.3,152.0,-9.7,202,1287,0.00,2.30,0.00,0.000,4,0.000,0.063,3007,3607,3355,0,0,0,0,0,0,28.83,25.44,28.83
$GC,1329,-0.47,-136.3,157.1,-10.4,207,1339,0.10,2.22,0.00,0.000,6,0.102,0.044,3044,2189,3354,0,0,0,0,0,0,25.53,25.76,28.83
$GC,1640,-0.47,-136.3,182.2,-7.7,228,1647,0.00,2.15,0.00,0.000,4,0.000,0.050,3044,804,3355,0,0,0,0,0,0,28.83,25.59,28.83
$GC,1678,-0.47,-136.3,185.5,-8.3,232,1687,0.00,2.25,0.00,0.000,6,0.000,0.050,3038,2203,3355,0,0,0,0,0,0,28.83,25.60,28.83
$GC,1989,-0.47,-136.3,209.4,-7.5,251,1994,0.00,2.30,0.00,0.000,4,0.000,0.063,3027,3611,3354,0,0,0,0,0,0,28.83,25.46,28.83
$GC,2036,-0.47,-136.3,212.5,-7.5,253,2040,0.00,2.25,0.00,0.000,6,0.000,0.043,3027,2194,3355,0,0,0,0,0,0,28.83,25.76,28.83
$GC,2338,-0.47,-136.3,237.7,-8.1,268,2340,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2193,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2639,-0.47,-136.3,262.7,-8.4,283,2640,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2193,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2938,-0.47,-136.3,287.7,-8.5,298,2944,0.00,2.35,0.00,0.000,4,0.000,0.063,3017,3609,3355,0,0,0,0,0,0,28.83,25.44,28.83
$GC,2979,-0.47,-136.3,291.5,-9.0,300,2984,0.00,2.22,0.00,0.000,6,0.000,0.044,3017,2206,3355,0,0,0,0,0,0,28.83,25.75,28.83
$GC,3300,-0.47,-136.3,323.4,-10.6,316,3301,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2204,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3598,-0.47,-136.3,353.6,-9.9,331,3604,0.00,2.25,0.00,0.000,4,0.000,0.051,3017,801,3355,0,0,0,0,0,0,28.83,25.56,28.83
$GC,3626,-0.47,-136.3,355.7,-10.0,332,3631,0.12,2.28,0.00,0.000,6,0.135,0.051,3043,2210,3354,0,0,0,0,0,0,25.45,25.56,28.83
$GC,3929,-0.47,-136.3,380.5,-7.7,347,3934,0.00,2.30,0.00,0.000,4,0.000,0.065,3035,3608,3354,0,0,0,0,0,0,28.83,25.39,28.83
$GC,3988,-0.47,-136.3,385.6,-8.1,350,3994,0.00,2.25,0.00,0.000,6,0.000,0.044,3035,2197,3354,0,0,0,0,0,0,28.83,25.74,28.83
$GC,4318,-0.47,-136.3,412.6,-7.9,364,4320,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2196,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4619,-0.47,-136.3,435.4,-7.4,374,4620,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2196,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4918,-0.47,-136.3,458.2,-7.5,384,4924,0.00,2.35,0.00,0.000,4,0.000,0.065,3024,3611,3353,0,0,0,0,0,0,28.83,25.38,28.83
$GC,4986,-0.47,-136.3,462.8,-7.5,386,4990,0.00,2.28,0.00,0.000,6,0.000,0.046,3024,2192,3353,0,0,0,0,0,0,28.83,25.71,28.83
$GC,5299,-0.47,-136.3,486.7,-7.5,397,5304,0.00,2.22,0.00,0.000,4,0.000,0.053,3024,799,3354,0,0,0,0,0,0,28.83,25.52,28.83
$GC,5328,-0.47,-136.3,489.0,-7.5,398,5334,0.00,2.28,0.00,0.000,6,0.000,0.053,3016,2203,3354,0,0,0,0,0,0,28.83,25.52,28.83
$GC,5658,-0.47,-136.3,515.9,-8.1,409,5664,0.00,2.33,0.00,0.000,4,0.000,0.065,3007,3607,3353,0,0,0,0,0,0,28.83,25.36,28.83
$GC,5706,-0.47,-136.3,518.4,-8.1,410,5711,0.12,2.25,0.00,0.000,6,0.125,0.045,3044,2202,3353,0,0,0,0,0,0,25.54,25.70,28.83
$GC,6010,-0.47,-136.3,538.4,-5.9,420,6011,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2200,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6309,-0.47,-136.3,557.1,-6.5,430,6314,0.00,2.25,0.00,0.000,4,0.000,0.053,3044,794,3353,0,0,0,0,0,0,28.83,25.50,28.83
$GC,6327,-0.47,-136.3,557.1,-6.5,430,6331,0.00,2.30,0.00,0.000,6,0.000,0.054,3041,2209,3352,0,0,0,0,0,0,28.83,25.49,28.83
$GC,6630,-0.47,-136.3,579.6,-6.8,440,6634,0.00,2.28,0.00,0.000,4,0.000,0.066,3030,3618,3351,0,0,0,0,0,0,28.83,25.34,28.83
$GC,6677,-0.47,-136.3,581.7,-6.8,441,6681,0.00,2.28,0.00,0.000,6,0.000,0.044,3030,2193,3352,0,0,0,0,0,0,28.83,25.71,28.83
$GC,6978,-0.47,-136.3,604.3,-7.2,451,6979,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2190,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7279,-0.47,-136.3,626.1,-7.4,461,7284,0.00,2.35,0.00,0.000,4,0.000,0.065,3021,3610,3351,0,0,0,0,0,0,28.83,25.32,28.83
$GC,7308,-0.47,-136.3,628.7,-7.5,462,7314,0.00,2.28,0.00,0.000,6,0.000,0.047,3020,2194,3351,0,0,0,0,0,0,28.83,25.67,28.83
$GC,7638,-0.47,-136.3,655.8,-8.2,473,7639,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2192,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7939,-0.47,-136.3,678.9,-7.6,483,7944,0.00,2.35,0.00,0.000,4,0.000,0.066,3011,3604,3351,0,0,0,0,0,0,28.83,25.31,28.83
$GC,7987,-0.47,-136.3,681.2,-7.7,484,7992,0.12,2.25,0.00,0.000,6,0.121,0.046,3048,2202,3351,0,0,0,0,0,0,25.53,25.67,28.83
$GC,8289,-0.47,-136.3,700.9,-5.8,494,8290,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2200,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8590,-0.47,-136.3,717.6,-5.5,504,8591,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2200,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8889,-0.47,-136.3,734.2,-5.5,514,8894,0.00,2.35,0.00,0.000,4,0.000,0.067,3041,3611,3349,0,0,0,0,0,0,28.83,25.29,28.83
$GC,8927,-0.47,-136.3,736.0,-5.5,515,8931,0.00,2.28,0.00,0.000,6,0.000,0.047,3041,2198,3349,0,0,0,0,0,0,28.83,25.65,28.83
$GC,9240,-0.47,-136.3,754.5,-5.6,526,9241,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2196,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9539,-0.47,-136.3,769.7,-4.8,536,9540,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2196,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9839,-0.47,-136.3,784.3,-5.1,546,9845,0.00,2.35,0.00,0.000,4,0.000,0.067,3031,3603,3348,0,0,0,0,0,0,28.83,25.26,28.83
$GC,9877,-0.47,-136.3,785.9,-5.4,547,9881,0.00,2.28,0.00,0.000,6,0.000,0.047,3031,2190,3348,0,0,0,0,0,0,28.83,25.63,28.83
$GC,10190,-0.47,-136.3,804.8,-6.0,558,10191,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2188,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10490,-0.47,-136.3,823.2,-6.3,568,10495,0.00,2.35,0.00,0.000,4,0.000,0.067,3021,3600,3348,0,0,0,0,0,0,28.83,25.25,28.83
$GC,10528,-0.47,-136.3,825.2,-6.3,569,10532,0.00,2.25,0.00,0.000,6,0.000,0.047,3021,2202,3348,0,0,0,0,0,0,28.83,25.62,28.83
$GC,10841,-0.47,-136.3,847.4,-7.0,580,10843,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2200,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11140,-0.47,-136.3,870.5,-7.8,590,11146,0.00,2.38,0.00,0.000,4,0.000,0.067,3012,3611,3347,0,0,0,0,0,0,28.83,25.24,28.83
$GC,11178,-0.47,-136.3,872.7,-7.6,591,11182,0.00,2.28,0.00,0.000,6,0.000,0.047,3012,2200,3347,0,0,0,0,0,0,28.83,25.60,28.83
$GC,11491,-0.47,-136.3,897.2,-7.4,602,11493,0.12,0.00,0.00,0.000,6,0.134,0.000,3049,2197,3347,0,0,0,0,0,0,26.06,28.83,28.83
$GC,11791,-0.47,-136.3,914.5,-5.7,612,11796,0.00,2.35,0.00,0.000,4,0.000,0.068,3041,3605,3347,0,0,0,0,0,0,28.83,25.22,28.83
$GC,11838,-0.47,-136.3,916.2,-5.8,613,11842,0.00,2.28,0.00,0.000,6,0.000,0.048,3040,2194,3347,0,0,0,0,0,0,28.83,25.60,28.83
$GC,12141,-0.47,-136.3,936.4,-6.2,623,12142,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2193,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12440,-0.47,-136.3,953.2,-5.4,633,12446,0.00,2.35,0.00,0.000,4,0.000,0.068,3034,3602,3347,0,0,0,0,0,0,28.83,25.21,28.83
$GC,12470,-0.47,-136.3,955.0,-5.5,634,12476,0.00,2.25,0.00,0.000,6,0.000,0.048,3034,2197,3347,0,0,0,0,0,0,28.83,25.60,28.83
$GC,12801,-0.47,-136.3,972.9,-5.3,645,12802,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2197,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13100,-0.47,-136.3,987.8,-4.9,655,13101,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2197,3346,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13157,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13157,begin apogee
$GC,13164,-0.22,0.0,990.5,-4.7,657,13296,0.25,0.00,126.47,1.158,6,0.106,0.000,3122,2338,2794,0,0,0,0,0,0,25.71,28.83,22.46
$STATE,13297,end apogee,CONTROL_FINISHED_OK
$STATE,13297,begin climb
$GC,13301,0.47,136.3,992.9,0.0,661,13442,0.68,2.60,134.38,1.120,4,0.070,0.066,3351,3730,2238,0,0,0,0,0,0,24.36,23.32,21.72
$GC,13461,0.47,141.7,984.6,6.8,667,13472,0.00,2.45,6.32,0.829,6,0.000,0.047,3361,2331,2216,0,0,0,0,0,0,28.83,23.76,21.87
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$STATE,25653,end climb,SURFACE_DEPTH_REACHED
$STATE,25653,begin surface coast
$FINISH,1.5,1.012279
$STATE,25689,end surface coast,CONTROL_FINISHED_OK
$STATE,25689,begin surface
$SM_CCo,25769,0.00,0.000,0,0,1156,401.80
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$IRIDIUM_FIX,4703.87,-12610.28,290113,222220
$TT8_MAMPS,0.026964,0.026964
$HUMID,46.57
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,18.70
$XPDR_PINGS,3
$24V_AH,21.7,75.990
$10V_AH,9.8,59.649
$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
$DEVICE_SECS,22.375,216.175,500.200,0.000,0.000,25.321,38.912,220.305,0.750,0.000,16.011,3614.932,18762.225,801.515,2544.428,472.871,0.000,2075.771,0.000,2238.816,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,967.496,725.335,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296912
$DATA_FILE_SIZE,76680,1406
$CAP_FILE_SIZE,199249,0
$CFSIZE,260165632,211943424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.052,275.2,1
$GPS,300113,132035,4726.113,-12607.613,41,0.9,41,18.7