version: 66.11
glider: 187
mission: 2
dive: 602
start: 2 16 113 9 58 16
data:
$ID,187
$MISSION,2
$DIVE,602
$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,-1588777.9
$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,45
$R_STBD_OVSHOOT,24
$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
$GPS1,160213,095036,4717.667,-12622.011,33,1.0,33,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-77.2
$GPS2,160213,095743,4717.669,-12621.960,17,1.0,17,18.6
$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,28.0,109361,-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,14,begin dive
$GC,17,-0.47,-136.3,0.0,0.0,0,80,0.00,0.00,-60.55,0.000,2,0.000,0.000,108,2198,2665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.47,-136.3,3.0,-1.7,11,121,11.68,2.22,-17.70,0.000,4,0.215,0.064,3029,801,3351,0,0,0,0,0,0,24.49,25.39,26.25
$GC,295,-0.47,-136.3,33.3,-13.8,51,302,0.00,2.20,0.00,0.000,6,0.000,0.051,3021,2201,3353,0,0,0,0,0,0,28.83,25.46,28.83
$GC,608,-0.47,-136.3,82.5,-14.5,112,615,0.00,2.20,0.00,0.000,4,0.000,0.050,3021,792,3353,0,0,0,0,0,0,28.83,25.52,28.83
$GC,684,-0.47,-136.3,93.4,-13.8,126,692,0.12,2.20,0.00,0.000,6,0.140,0.051,3046,2201,3353,0,0,0,0,0,0,25.39,25.53,28.83
$GC,1008,-0.47,-136.3,124.7,-9.4,183,1017,0.00,2.33,0.00,0.000,4,0.000,0.062,3037,3614,3354,0,0,0,0,0,0,28.83,25.40,28.83
$GC,1168,-0.47,-136.3,141.0,-10.0,199,1177,0.00,2.25,0.00,0.000,6,0.000,0.043,3037,2194,3354,0,0,0,0,0,0,28.83,25.74,28.83
$GC,1478,-0.47,-136.3,169.3,-8.9,220,1486,0.00,2.20,0.00,0.000,4,0.000,0.050,3037,808,3354,0,0,0,0,0,0,28.83,25.55,28.83
$GC,1518,-0.47,-136.3,172.9,-9.0,224,1526,0.00,2.25,0.00,0.000,6,0.000,0.050,3029,2203,3354,0,0,0,0,0,0,28.83,25.55,28.83
$GC,1833,-0.47,-136.3,202.7,-9.3,245,1838,0.00,2.30,0.00,0.000,4,0.000,0.062,3018,3610,3354,0,0,0,0,0,0,28.83,25.41,28.83
$GC,1861,-0.47,-136.3,204.5,-9.2,246,1865,0.00,2.25,0.00,0.000,6,0.000,0.043,3018,2195,3354,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2164,-0.47,-136.3,233.5,-9.2,261,2165,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2193,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2464,-0.47,-136.3,262.4,-9.7,276,2465,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2193,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2763,-0.47,-136.3,291.6,-9.7,291,2768,0.00,2.38,0.00,0.000,4,0.000,0.063,3008,3617,3354,0,0,0,0,0,0,28.83,25.39,28.83
$GC,2811,-0.47,-136.3,295.6,-9.8,293,2816,0.12,2.28,0.00,0.000,6,0.129,0.043,3045,2200,3354,0,0,0,0,0,0,25.53,25.71,28.83
$GC,3114,-0.47,-136.3,319.2,-7.2,308,3118,0.00,2.22,0.00,0.000,4,0.000,0.050,3045,803,3353,0,0,0,0,0,0,28.83,25.52,28.83
$GC,3141,-0.47,-136.3,320.7,-7.2,309,3145,0.00,2.28,0.00,0.000,6,0.000,0.051,3040,2210,3354,0,0,0,0,0,0,28.83,25.51,28.83
$GC,3445,-0.47,-136.3,342.6,-7.0,324,3449,0.00,2.25,0.00,0.000,4,0.000,0.064,3029,3609,3354,0,0,0,0,0,0,28.83,25.36,28.83
$GC,3502,-0.47,-136.3,346.1,-7.0,326,3511,0.00,2.28,0.00,0.000,6,0.000,0.044,3029,2188,3353,0,0,0,0,0,0,28.83,25.70,28.83
$GC,3813,-0.47,-136.3,370.0,-7.5,342,3814,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2188,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4113,-0.47,-136.3,392.9,-7.8,357,4119,0.00,2.38,0.00,0.000,4,0.000,0.063,3018,3613,3353,0,0,0,0,0,0,28.83,25.34,28.83
$GC,4162,-0.47,-136.3,396.3,-8.0,359,4166,0.00,2.28,0.00,0.000,6,0.000,0.044,3019,2195,3353,0,0,0,0,0,0,28.83,25.69,28.83
$GC,4474,-0.47,-136.3,424.5,-9.0,370,4475,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2192,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4773,-0.47,-136.3,452.1,-9.3,380,4774,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2192,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5073,-0.47,-136.3,478.4,-8.5,390,5074,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2192,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5374,-0.47,-136.3,500.7,-7.2,400,5378,0.00,2.35,0.00,0.000,4,0.000,0.064,3009,3605,3352,0,0,0,0,0,0,28.83,25.32,28.83
$GC,5403,-0.47,-136.3,502.9,-7.2,401,5409,0.12,2.28,0.00,0.000,6,0.124,0.044,3045,2192,3352,0,0,0,0,0,0,25.51,25.66,28.83
$GC,5733,-0.47,-136.3,520.3,-5.4,412,5734,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2190,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6034,-0.47,-136.3,538.2,-6.1,422,6039,0.00,2.35,0.00,0.000,4,0.000,0.066,3037,3603,3351,0,0,0,0,0,0,28.83,25.29,28.83
$GC,6071,-0.47,-136.3,540.3,-6.4,423,6075,0.00,2.28,0.00,0.000,6,0.000,0.046,3037,2192,3351,0,0,0,0,0,0,28.83,25.65,28.83
$GC,6383,-0.47,-136.3,563.3,-7.4,434,6385,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2190,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6684,-0.47,-136.3,587.3,-8.2,444,6689,0.00,2.35,0.00,0.000,4,0.000,0.065,3027,3603,3351,0,0,0,0,0,0,28.83,25.28,28.83
$GC,6723,-0.47,-136.3,589.9,-8.3,445,6728,0.00,2.28,0.00,0.000,6,0.000,0.046,3027,2192,3351,0,0,0,0,0,0,28.83,25.64,28.83
$GC,7043,-0.47,-136.3,617.7,-7.9,456,7049,0.00,2.38,0.00,0.000,4,0.000,0.065,3017,3609,3350,0,0,0,0,0,0,28.83,25.27,28.83
$GC,7091,-0.47,-136.3,620.3,-8.1,457,7095,0.00,2.28,0.00,0.000,6,0.000,0.046,3017,2197,3350,0,0,0,0,0,0,28.83,25.63,28.83
$GC,7394,-0.47,-136.3,646.2,-8.0,467,7395,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2195,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7693,-0.47,-136.3,667.8,-7.1,477,7699,0.00,2.38,0.00,0.000,4,0.000,0.066,3007,3621,3349,0,0,0,0,0,0,28.83,25.25,28.83
$GC,7771,-0.47,-136.3,672.4,-7.4,479,7777,0.12,2.30,0.00,0.000,6,0.123,0.044,3044,2188,3349,0,0,0,0,0,0,25.48,25.64,28.83
$GC,8074,-0.47,-136.3,690.9,-5.5,489,8079,0.00,2.38,0.00,0.000,4,0.000,0.066,3037,3607,3348,0,0,0,0,0,0,28.83,25.24,28.83
$GC,8104,-0.47,-136.3,692.5,-5.5,490,8109,0.00,2.25,0.00,0.000,6,0.000,0.047,3036,2206,3348,0,0,0,0,0,0,28.83,25.61,28.83
$GC,8433,-0.47,-136.3,712.7,-5.9,501,8435,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2204,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8734,-0.47,-136.3,729.3,-5.5,511,8739,0.00,2.35,0.00,0.000,4,0.000,0.067,3026,3611,3348,0,0,0,0,0,0,28.83,25.22,28.83
$GC,8771,-0.47,-136.3,731.1,-5.5,512,8776,0.00,2.30,0.00,0.000,6,0.000,0.047,3026,2192,3348,0,0,0,0,0,0,28.83,25.59,28.83
$GC,9084,-0.47,-136.3,748.6,-5.5,523,9089,0.00,2.38,0.00,0.000,4,0.000,0.067,3017,3611,3347,0,0,0,0,0,0,28.83,25.21,28.83
$GC,9145,-0.47,-136.3,752.3,-5.8,525,9149,0.00,2.28,0.00,0.000,6,0.000,0.047,3016,2196,3347,0,0,0,0,0,0,28.83,25.60,28.83
$GC,9474,-0.47,-136.3,774.1,-6.8,536,9475,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2194,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9775,-0.47,-136.3,795.6,-7.3,546,9780,0.00,2.38,0.00,0.000,4,0.000,0.067,3008,3609,3347,0,0,0,0,0,0,28.83,25.20,28.83
$GC,9804,-0.47,-136.3,797.7,-7.3,547,9810,0.10,2.28,0.00,0.000,6,0.094,0.047,3046,2198,3347,0,0,0,0,0,0,25.38,25.58,28.83
$GC,10134,-0.47,-136.3,818.0,-6.3,558,10136,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2196,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10434,-0.47,-136.3,837.7,-6.6,568,10435,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2195,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10735,-0.47,-136.3,856.8,-6.2,578,10736,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2195,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11034,-0.47,-136.3,874.0,-5.7,588,11039,0.00,2.38,0.00,0.000,4,0.000,0.067,3038,3607,3346,0,0,0,0,0,0,28.83,25.16,28.83
$GC,11064,-0.47,-136.3,875.6,-5.6,589,11069,0.00,2.28,0.00,0.000,6,0.000,0.048,3038,2196,3346,0,0,0,0,0,0,28.83,25.56,28.83
$GC,11395,-0.47,-136.3,893.6,-5.3,600,11400,0.00,2.38,0.00,0.000,4,0.000,0.068,3028,3607,3346,0,0,0,0,0,0,28.83,25.15,28.83
$GC,11424,-0.47,-136.3,895.1,-5.3,601,11429,0.00,2.28,0.00,0.000,6,0.000,0.048,3028,2199,3345,0,0,0,0,0,0,28.83,25.55,28.83
$GC,11754,-0.47,-136.3,913.5,-5.5,612,11755,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2197,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12055,-0.47,-136.3,929.9,-5.3,622,12059,0.00,2.33,0.00,0.000,4,0.000,0.068,3019,3607,3345,0,0,0,0,0,0,28.83,25.14,28.83
$GC,12092,-0.47,-136.3,931.5,-5.4,623,12097,0.00,2.30,0.00,0.000,6,0.000,0.048,3019,2194,3345,0,0,0,0,0,0,28.83,25.53,28.83
$GC,12405,-0.47,-136.3,949.9,-5.7,634,12406,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2193,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12706,-0.47,-136.3,968.3,-6.4,644,12707,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2194,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13005,-0.47,-136.3,988.5,-6.7,654,13011,0.00,2.38,0.00,0.000,4,0.000,0.067,3009,3606,3345,0,0,0,0,0,0,28.83,25.13,28.83
$STATE,13032,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13032,begin apogee
$GC,13041,-0.22,0.0,990.5,-6.8,655,13171,0.32,0.00,126.55,1.163,6,0.102,0.000,3122,2314,2793,0,0,0,0,0,0,25.53,28.83,22.38
$STATE,13172,end apogee,CONTROL_FINISHED_OK
$STATE,13172,begin climb
$GC,13176,0.47,136.3,995.2,0.0,659,13318,0.68,2.65,134.70,1.128,4,0.068,0.067,3352,3732,2237,0,0,0,0,0,0,24.38,23.35,21.68
$GC,13337,0.49,194.8,990.2,4.7,665,13399,0.00,2.45,57.22,1.099,6,0.000,0.048,3363,2337,1999,0,0,0,0,0,0,28.83,23.80,21.66
$GC,13709,0.49,194.8,957.0,8.7,678,13713,0.00,2.35,0.00,0.000,4,0.000,0.058,3373,918,1989,0,0,0,0,0,0,28.83,25.32,28.83
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$STATE,24756,end climb,SURFACE_DEPTH_REACHED
$STATE,24756,begin surface coast
$FINISH,1.4,1.012104
$STATE,24794,end surface coast,CONTROL_FINISHED_OK
$STATE,24794,begin surface
$SM_CCo,24874,0.00,0.000,0,0,1250,378.50
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$IRIDIUM_FIX,4657.54,-12624.94,160213,020217
$TT8_MAMPS,0.026964,0.026964
$HUMID,47.55
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,19.00
$XPDR_PINGS,2
$24V_AH,21.7,84.189
$10V_AH,9.7,65.210
$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
$DEVICE_SECS,22.325,216.900,480.225,0.000,0.000,24.908,43.046,208.501,0.500,0.000,18.028,3508.822,18091.785,753.950,2463.498,473.257,0.000,1989.937,0.000,2168.236,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,933.727,701.664,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73474,1356
$CAP_FILE_SIZE,192136,0
$CFSIZE,260165632,206966784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.068,196.7,1
$GPS,160213,165406,4719.662,-12618.271,38,1.1,38,18.6