version: 66.11
glider: 187
mission: 2
dive: 608
start: 2 18 113 5 6 27
data:
$ID,187
$MISSION,2
$DIVE,608
$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,-1588788.1
$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,43
$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
$GPS1,180213,045824,4730.256,-12558.979,44,0.9,44,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-78.5
$GPS2,180213,050554,4730.273,-12558.961,10,1.0,16,18.7
$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,28.4,72585,-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,18,-0.47,-136.3,0.0,0.0,0,81,0.00,0.00,-60.80,0.000,2,0.000,0.000,117,2189,2733,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.47,-136.3,3.2,-2.9,11,117,11.65,2.40,-14.77,0.000,4,0.213,0.076,3027,3607,3352,0,0,0,0,0,0,24.51,25.32,26.24
$GC,307,-0.47,-136.3,37.9,-15.2,53,314,0.00,2.20,0.00,0.000,6,0.000,0.044,3028,2193,3356,0,0,0,0,0,0,28.83,25.61,28.83
$GC,621,-0.47,-136.3,87.5,-12.5,114,627,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2188,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,938,-0.47,-136.3,125.2,-10.7,170,939,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2188,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1237,-0.47,-136.3,155.8,-8.7,190,1245,0.00,2.33,0.00,0.000,4,0.000,0.062,3017,3606,3356,0,0,0,0,0,0,28.83,25.40,28.83
$GC,1266,-0.47,-136.3,158.4,-8.7,193,1276,0.00,2.25,0.00,0.000,6,0.000,0.043,3017,2189,3356,0,0,0,0,0,0,28.83,25.71,28.83
$GC,1579,-0.47,-136.3,185.4,-9.2,214,1580,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2188,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1886,-0.47,-136.3,215.8,-9.6,232,1888,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2188,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2188,-0.47,-136.3,245.8,-10.3,247,2192,0.00,2.33,0.00,0.000,4,0.000,0.062,3007,3604,3357,0,0,0,0,0,0,28.83,25.39,28.83
$GC,2226,-0.47,-136.3,250.2,-10.7,249,2233,0.12,2.25,0.00,0.000,6,0.129,0.043,3043,2188,3357,0,0,0,0,0,0,25.54,25.72,28.83
$GC,2548,-0.47,-136.3,277.6,-8.4,265,2549,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2187,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2847,-0.47,-136.3,301.6,-7.4,280,2852,0.00,2.35,0.00,0.000,4,0.000,0.063,3035,3606,3356,0,0,0,0,0,0,28.83,25.37,28.83
$GC,2887,-0.47,-136.3,304.7,-7.5,282,2892,0.00,2.25,0.00,0.000,6,0.000,0.044,3035,2197,3356,0,0,0,0,0,0,28.83,25.70,28.83
$GC,3207,-0.47,-136.3,329.7,-7.8,298,3212,0.00,2.22,0.00,0.000,4,0.000,0.050,3035,796,3356,0,0,0,0,0,0,28.83,25.51,28.83
$GC,3246,-0.47,-136.3,332.9,-8.0,300,3252,0.00,2.28,0.00,0.000,6,0.000,0.051,3028,2203,3356,0,0,0,0,0,0,28.83,25.51,28.83
$GC,3567,-0.47,-136.3,359.7,-8.4,316,3572,0.00,2.33,0.00,0.000,4,0.000,0.063,3017,3611,3356,0,0,0,0,0,0,28.83,25.35,28.83
$GC,3607,-0.47,-136.3,363.3,-8.8,318,3612,0.00,2.28,0.00,0.000,6,0.000,0.044,3017,2191,3356,0,0,0,0,0,0,28.83,25.67,28.83
$GC,3927,-0.47,-136.3,391.8,-8.7,334,3928,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2188,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4238,-0.47,-136.3,418.5,-8.4,346,4239,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2189,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4536,-0.47,-136.3,443.1,-8.1,356,4542,0.00,2.40,0.00,0.000,4,0.000,0.063,3007,3623,3355,0,0,0,0,0,0,28.83,25.34,28.83
$GC,4615,-0.47,-136.3,448.1,-8.2,358,4620,0.12,2.28,0.00,0.000,6,0.126,0.044,3043,2202,3355,0,0,0,0,0,0,25.50,25.67,28.83
$GC,4918,-0.47,-136.3,469.4,-6.5,368,4919,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2199,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5217,-0.47,-136.3,490.0,-6.9,378,5222,0.00,2.35,0.00,0.000,4,0.000,0.064,3035,3607,3354,0,0,0,0,0,0,28.83,25.30,28.83
$GC,5255,-0.47,-136.3,492.1,-7.0,379,5259,0.00,2.28,0.00,0.000,6,0.000,0.045,3035,2188,3354,0,0,0,0,0,0,28.83,25.65,28.83
$GC,5568,-0.47,-136.3,516.0,-7.4,390,5569,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2186,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5867,-0.47,-136.3,536.6,-6.6,400,5873,0.00,2.38,0.00,0.000,4,0.000,0.064,3025,3612,3353,0,0,0,0,0,0,28.83,25.30,28.83
$GC,5905,-0.47,-136.3,538.7,-6.6,401,5909,0.00,2.28,0.00,0.000,6,0.000,0.045,3025,2196,3353,0,0,0,0,0,0,28.83,25.64,28.83
$GC,6218,-0.47,-136.3,559.7,-6.2,412,6223,0.00,2.35,0.00,0.000,4,0.000,0.065,3015,3603,3353,0,0,0,0,0,0,28.83,25.27,28.83
$GC,6266,-0.47,-136.3,561.7,-6.2,413,6270,0.00,2.25,0.00,0.000,6,0.000,0.046,3015,2202,3353,0,0,0,0,0,0,28.83,25.63,28.83
$GC,6567,-0.47,-136.3,583.5,-7.0,423,6573,0.00,2.38,0.00,0.000,4,0.000,0.065,3004,3616,3352,0,0,0,0,0,0,28.83,25.27,28.83
$GC,6598,-0.47,-136.3,585.7,-7.1,424,6604,0.10,2.25,0.00,0.000,6,0.099,0.046,3043,2203,3352,0,0,0,0,0,0,25.41,25.62,28.83
$GC,6928,-0.47,-136.3,606.6,-6.2,435,6929,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2201,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7228,-0.47,-136.3,623.7,-5.5,445,7229,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2201,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7529,-0.47,-136.3,639.9,-5.4,455,7530,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2201,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7828,-0.47,-136.3,657.3,-6.0,465,7829,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2201,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8128,-0.47,-136.3,674.6,-5.8,475,8133,0.00,2.35,0.00,0.000,4,0.000,0.067,3034,3603,3351,0,0,0,0,0,0,28.83,25.23,28.83
$GC,8187,-0.47,-136.3,678.5,-6.1,477,8193,0.00,2.25,0.00,0.000,6,0.000,0.047,3034,2199,3351,0,0,0,0,0,0,28.83,25.60,28.83
$GC,8517,-0.47,-136.3,701.6,-7.2,488,8519,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2198,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8818,-0.47,-136.3,724.0,-7.7,498,8819,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2198,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9117,-0.47,-136.3,747.2,-7.6,508,9123,0.00,2.38,0.00,0.000,4,0.000,0.067,3025,3617,3350,0,0,0,0,0,0,28.83,25.20,28.83
$GC,9156,-0.47,-136.3,749.7,-7.6,509,9160,0.00,2.30,0.00,0.000,6,0.000,0.047,3025,2194,3350,0,0,0,0,0,0,28.83,25.57,28.83
$GC,9468,-0.47,-136.3,773.8,-7.2,520,9474,0.00,2.35,0.00,0.000,4,0.000,0.067,3015,3600,3350,0,0,0,0,0,0,28.83,25.19,28.83
$GC,9517,-0.47,-136.3,776.2,-7.4,521,9521,0.00,2.28,0.00,0.000,6,0.000,0.047,3014,2192,3350,0,0,0,0,0,0,28.83,25.57,28.83
$GC,9819,-0.47,-136.3,800.8,-7.8,531,9820,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2190,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10118,-0.47,-136.3,823.3,-7.4,541,10124,0.00,2.40,0.00,0.000,4,0.000,0.067,3005,3616,3349,0,0,0,0,0,0,28.83,25.18,28.83
$GC,10156,-0.47,-136.3,825.6,-7.4,542,10161,0.12,2.30,0.00,0.000,6,0.123,0.047,3042,2193,3349,0,0,0,0,0,0,25.41,25.56,28.83
$GC,10470,-0.47,-136.3,844.7,-6.0,553,10475,0.00,2.38,0.00,0.000,4,0.000,0.067,3034,3604,3350,0,0,0,0,0,0,28.83,25.18,28.83
$GC,10508,-0.47,-136.3,846.7,-6.2,554,10512,0.00,2.28,0.00,0.000,6,0.000,0.047,3034,2197,3349,0,0,0,0,0,0,28.83,25.56,28.83
$GC,10820,-0.47,-136.3,865.9,-5.6,565,10825,0.00,2.38,0.00,0.000,4,0.000,0.067,3025,3610,3349,0,0,0,0,0,0,28.83,25.17,28.83
$GC,10858,-0.47,-136.3,867.9,-5.8,566,10862,0.00,2.30,0.00,0.000,6,0.000,0.047,3025,2191,3348,0,0,0,0,0,0,28.83,25.54,28.83
$GC,11171,-0.47,-136.3,888.7,-6.5,577,11173,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2189,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11470,-0.47,-136.3,907.4,-6.0,587,11472,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2189,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11770,-0.47,-136.3,927.0,-6.6,597,11776,0.00,2.38,0.00,0.000,4,0.000,0.067,3015,3605,3348,0,0,0,0,0,0,28.83,25.15,28.83
$GC,11802,-0.47,-136.3,929.1,-6.6,598,11806,0.00,2.25,0.00,0.000,6,0.000,0.047,3015,2204,3348,0,0,0,0,0,0,28.83,25.54,28.83
$GC,12132,-0.47,-136.3,952.2,-6.8,609,12133,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2202,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12431,-0.47,-136.3,972.4,-6.7,619,12436,0.00,2.35,0.00,0.000,4,0.000,0.067,3005,3604,3348,0,0,0,0,0,0,28.83,25.13,28.83
$GC,12462,-0.47,-136.3,974.5,-6.8,620,12466,0.08,2.25,0.00,0.000,6,0.098,0.049,3045,2200,3347,0,0,0,0,0,0,25.32,25.52,28.83
$STATE,12758,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12758,begin apogee
$GC,12765,-0.22,0.0,991.5,-5.4,630,12897,0.22,0.00,127.15,1.160,6,0.105,0.000,3128,2340,2793,0,0,0,0,0,0,25.76,28.83,22.41
$STATE,12898,end apogee,CONTROL_FINISHED_OK
$STATE,12898,begin climb
$GC,12902,0.47,136.3,995.6,0.0,634,13044,0.65,2.58,134.57,1.126,4,0.066,0.067,3351,3726,2237,0,0,0,0,0,0,24.41,23.37,21.70
$GC,13092,0.48,150.6,987.5,6.5,641,13113,0.00,2.40,14.55,1.021,6,0.000,0.048,3362,2334,2180,0,0,0,0,0,0,28.83,24.15,22.15
$GC,13413,0.48,150.6,960.1,8.2,652,13418,0.00,2.30,0.00,0.000,4,0.000,0.057,3372,923,2172,0,0,0,0,0,0,28.83,25.37,28.83
$GC,13450,0.48,150.6,957.7,8.3,653,13454,0.00,2.30,0.00,0.000,6,0.000,0.057,3372,2318,2172,0,0,0,0,0,0,28.83,25.40,28.83
$GC,13762,0.48,150.6,929.0,8.9,664,13768,0.00,2.40,0.00,0.000,4,0.000,0.069,3373,3754,2171,0,0,0,0,0,0,28.83,25.43,28.83
$GC,13802,0.48,150.6,925.7,9.3,665,13808,0.10,2.33,0.00,0.000,6,0.132,0.050,3351,2326,2170,0,0,0,0,0,0,25.36,25.64,28.83
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$STATE,25429,end climb,SURFACE_DEPTH_REACHED
$STATE,25429,begin surface coast
$FINISH,1.3,1.012853
$STATE,25470,end surface coast,CONTROL_FINISHED_OK
$STATE,25470,begin surface
$SM_CCo,25550,0.00,0.000,0,0,1519,312.76
$SM_GC,2.06,8.30,0.15,0.00,0.030,0.083,0.000,107,2198,1519,-9.47,1.30,312.76,0,0,0,0,0,0,25.98,26.09,28.83
$IRIDIUM_FIX,4710.21,-12600.00,170213,212123
$TT8_MAMPS,0.026964,0.026964
$HUMID,46.92
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,18.90
$XPDR_PINGS,3
$24V_AH,21.7,85.025
$10V_AH,9.8,65.789
$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,22.025,190.275,423.025,0.000,0.000,28.369,36.479,233.408,0.750,0.000,17.061,3598.981,18728.373,679.653,2520.575,461.813,0.000,1913.346,0.000,2205.181,0.000,0.536,0.000
$DEVICE_MAMPS,213.435,83.385,1159.740,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,962.270,720.553,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,76848,1396
$CAP_FILE_SIZE,190379,0
$CFSIZE,260165632,206446592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.063,203.0,1
$GPS,180213,121336,4732.610,-12555.232,41,1.3,41,18.7