version: 66.11
glider: 187
mission: 2
dive: 659
start: 3 5 113 2 49 26
data:
$ID,187
$MISSION,2
$DIVE,659
$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,-1588863.9
$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,42
$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
$GPS1,050313,024100,4706.934,-12646.627,42,0.8,42,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-76.1
$GPS2,050313,024855,4706.959,-12646.603,30,0.9,30,18.6
$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,36.4,145816,-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,-136.3,0.0,0.0,0,81,0.00,0.00,-61.35,0.000,2,0.000,0.000,115,2187,2767,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.47,-136.3,3.0,-1.5,11,117,11.60,2.40,-14.18,0.000,4,0.214,0.076,3023,3608,3352,0,0,0,0,0,0,24.55,25.32,26.24
$GC,191,-0.47,-136.3,21.5,-15.5,30,198,0.00,2.22,0.00,0.000,6,0.000,0.044,3024,2197,3355,0,0,0,0,0,0,28.83,25.53,28.83
$GC,505,-0.47,-136.3,69.9,-15.6,91,512,0.00,2.20,0.00,0.000,4,0.000,0.051,3023,785,3356,0,0,0,0,0,0,28.83,25.41,28.83
$GC,619,-0.47,-136.3,86.3,-12.3,113,626,0.00,2.22,0.00,0.000,6,0.000,0.051,3013,2206,3356,0,0,0,0,0,0,28.83,25.44,28.83
$GC,937,-0.47,-136.3,128.4,-13.3,167,946,0.00,2.28,0.00,0.000,4,0.000,0.050,3013,785,3356,0,0,0,0,0,0,28.83,25.45,28.83
$GC,977,-0.47,-136.3,133.2,-12.2,171,987,0.15,2.30,0.00,0.000,6,0.129,0.050,3046,2208,3356,0,0,0,0,0,0,25.29,25.44,28.83
$GC,1288,-0.47,-136.3,161.5,-8.5,192,1296,0.00,2.30,0.00,0.000,4,0.000,0.063,3037,3605,3356,0,0,0,0,0,0,28.83,25.29,28.83
$GC,1337,-0.47,-136.3,165.7,-8.9,197,1347,0.00,2.25,0.00,0.000,6,0.000,0.043,3038,2190,3356,0,0,0,0,0,0,28.83,25.64,28.83
$GC,1648,-0.47,-136.3,192.7,-8.5,218,1656,0.00,2.20,0.00,0.000,4,0.000,0.050,3037,804,3356,0,0,0,0,0,0,28.83,25.44,28.83
$GC,1698,-0.47,-136.3,196.9,-8.5,223,1706,0.00,2.22,0.00,0.000,6,0.000,0.051,3029,2197,3356,0,0,0,0,0,0,28.83,25.44,28.83
$GC,2017,-0.47,-136.3,223.9,-8.4,240,2023,0.00,2.35,0.00,0.000,4,0.000,0.062,3019,3626,3356,0,0,0,0,0,0,28.83,25.27,28.83
$GC,2065,-0.47,-136.3,227.5,-8.6,242,2069,0.00,2.28,0.00,0.000,6,0.000,0.043,3019,2201,3356,0,0,0,0,0,0,28.83,25.63,28.83
$GC,2368,-0.47,-136.3,256.6,-9.5,257,2373,0.00,2.22,0.00,0.000,4,0.000,0.050,3019,803,3356,0,0,0,0,0,0,28.83,25.42,28.83
$GC,2407,-0.47,-136.3,260.7,-9.9,259,2413,0.12,2.25,0.00,0.000,6,0.134,0.050,3045,2200,3356,0,0,0,0,0,0,25.30,25.42,28.83
$GC,2727,-0.47,-136.3,284.7,-7.3,275,2733,0.00,2.33,0.00,0.000,4,0.000,0.063,3037,3606,3356,0,0,0,0,0,0,28.83,25.24,28.83
$GC,2788,-0.47,-136.3,289.2,-7.5,278,2793,0.00,2.22,0.00,0.000,6,0.000,0.044,3037,2201,3356,0,0,0,0,0,0,28.83,25.63,28.83
$GC,3107,-0.47,-136.3,314.8,-8.4,294,3109,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2199,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3407,-0.47,-136.3,339.9,-8.1,309,3408,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2199,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3710,-0.47,-136.3,362.1,-7.2,324,3711,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2199,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4007,-0.47,-136.3,383.3,-6.9,339,4013,0.00,2.35,0.00,0.000,4,0.000,0.063,3026,3607,3356,0,0,0,0,0,0,28.83,25.22,28.83
$GC,4055,-0.47,-136.3,386.1,-7.1,341,4059,0.00,2.28,0.00,0.000,6,0.000,0.044,3026,2189,3356,0,0,0,0,0,0,28.83,25.58,28.83
$GC,4358,-0.47,-136.3,412.6,-9.0,354,4363,0.00,2.22,0.00,0.000,4,0.000,0.051,3026,797,3356,0,0,0,0,0,0,28.83,25.37,28.83
$GC,4395,-0.47,-136.3,415.3,-9.1,355,4400,0.00,2.28,0.00,0.000,6,0.000,0.052,3017,2199,3356,0,0,0,0,0,0,28.83,25.37,28.83
$GC,4708,-0.47,-136.3,445.4,-9.3,366,4713,0.00,2.33,0.00,0.000,4,0.000,0.063,3007,3605,3355,0,0,0,0,0,0,28.83,25.20,28.83
$GC,4739,-0.47,-136.3,448.3,-9.3,367,4744,0.10,2.25,0.00,0.000,6,0.098,0.044,3045,2194,3354,0,0,0,0,0,0,25.36,25.57,28.83
$GC,5068,-0.47,-136.3,471.8,-6.8,378,5069,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2192,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5368,-0.47,-136.3,493.7,-7.6,388,5374,0.00,2.38,0.00,0.000,4,0.000,0.064,3037,3604,3354,0,0,0,0,0,0,28.83,25.18,28.83
$GC,5437,-0.47,-136.3,498.6,-7.8,390,5443,0.00,2.28,0.00,0.000,6,0.000,0.045,3037,2197,3354,0,0,0,0,0,0,28.83,25.57,28.83
$GC,5758,-0.47,-136.3,525.8,-8.1,401,5759,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2196,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6058,-0.47,-136.3,547.3,-6.6,411,6059,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2197,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6359,-0.47,-136.3,565.8,-5.9,421,6360,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2196,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6658,-0.47,-136.3,585.9,-7.0,431,6663,0.00,2.38,0.00,0.000,4,0.000,0.066,3027,3609,3353,0,0,0,0,0,0,28.83,25.14,28.83
$GC,6718,-0.47,-136.3,590.7,-7.6,433,6723,0.00,2.30,0.00,0.000,6,0.000,0.047,3027,2191,3352,0,0,0,0,0,0,28.83,25.53,28.83
$GC,7048,-0.47,-136.3,617.3,-7.9,444,7049,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2189,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7349,-0.47,-136.3,639.2,-7.1,454,7350,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2188,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7648,-0.47,-136.3,659.2,-6.6,464,7653,0.00,2.38,0.00,0.000,4,0.000,0.066,3017,3604,3352,0,0,0,0,0,0,28.83,25.12,28.83
$GC,7678,-0.47,-136.3,661.3,-6.6,465,7683,0.00,2.25,0.00,0.000,6,0.000,0.046,3017,2200,3351,0,0,0,0,0,0,28.83,25.52,28.83
$GC,8009,-0.47,-136.3,685.3,-7.4,476,8014,0.00,2.28,0.00,0.000,4,0.000,0.054,3017,794,3351,0,0,0,0,0,0,28.83,25.28,28.83
$GC,8038,-0.47,-136.3,687.7,-7.5,477,8044,0.12,2.30,0.00,0.000,6,0.129,0.054,3044,2199,3351,0,0,0,0,0,0,25.19,25.29,28.83
$GC,8368,-0.47,-136.3,709.4,-6.9,488,8373,0.00,2.35,0.00,0.000,4,0.000,0.067,3036,3610,3350,0,0,0,0,0,0,28.83,25.09,28.83
$GC,8437,-0.47,-136.3,714.0,-7.4,490,8441,0.00,2.30,0.00,0.000,6,0.000,0.047,3035,2192,3350,0,0,0,0,0,0,28.83,25.50,28.83
$GC,8749,-0.47,-136.3,739.3,-7.9,501,8755,0.00,2.28,0.00,0.000,4,0.000,0.054,3035,794,3350,0,0,0,0,0,0,28.83,25.27,28.83
$GC,8787,-0.47,-136.3,741.7,-8.0,502,8791,0.00,2.30,0.00,0.000,6,0.000,0.054,3028,2200,3350,0,0,0,0,0,0,28.83,25.27,28.83
$GC,9100,-0.47,-136.3,766.4,-7.5,513,9105,0.00,2.35,0.00,0.000,4,0.000,0.067,3018,3612,3349,0,0,0,0,0,0,28.83,25.08,28.83
$GC,9159,-0.47,-136.3,771.1,-7.7,515,9165,0.00,2.30,0.00,0.000,6,0.000,0.047,3018,2194,3350,0,0,0,0,0,0,28.83,25.48,28.83
$GC,9489,-0.47,-136.3,796.9,-7.9,526,9495,0.00,2.38,0.00,0.000,4,0.000,0.066,3008,3604,3350,0,0,0,0,0,0,28.83,25.07,28.83
$GC,9527,-0.47,-136.3,799.1,-7.7,527,9532,0.12,2.28,0.00,0.000,6,0.122,0.047,3045,2201,3349,0,0,0,0,0,0,25.33,25.48,28.83
$GC,9842,-0.47,-136.3,819.4,-6.2,538,9843,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2199,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10140,-0.47,-136.3,838.8,-6.5,548,10145,0.00,2.38,0.00,0.000,4,0.000,0.067,3037,3607,3349,0,0,0,0,0,0,28.83,25.05,28.83
$GC,10178,-0.47,-136.3,840.9,-6.6,549,10182,0.00,2.30,0.00,0.000,6,0.000,0.048,3037,2193,3348,0,0,0,0,0,0,28.83,25.46,28.83
$GC,10492,-0.47,-136.3,863.3,-6.9,560,10493,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2191,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10791,-0.47,-136.3,882.8,-6.3,570,10796,0.00,2.38,0.00,0.000,4,0.000,0.067,3027,3606,3348,0,0,0,0,0,0,28.83,25.04,28.83
$GC,10821,-0.47,-136.3,884.8,-6.3,571,10826,0.00,2.28,0.00,0.000,6,0.000,0.048,3027,2197,3347,0,0,0,0,0,0,28.83,25.45,28.83
$GC,11152,-0.47,-136.3,903.9,-5.5,582,11153,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2196,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11451,-0.47,-136.3,919.3,-5.0,592,11452,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2195,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11751,-0.47,-136.3,935.6,-5.6,602,11756,0.00,2.38,0.00,0.000,4,0.000,0.067,3017,3602,3347,0,0,0,0,0,0,28.83,25.01,28.83
$GC,11782,-0.47,-136.3,937.2,-5.7,603,11786,0.00,2.28,0.00,0.000,6,0.000,0.049,3017,2196,3347,0,0,0,0,0,0,28.83,25.43,28.83
$GC,12111,-0.47,-136.3,959.6,-7.3,614,12112,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2193,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12411,-0.47,-136.3,980.1,-6.7,624,12416,0.00,2.38,0.00,0.000,4,0.000,0.067,3007,3605,3346,0,0,0,0,0,0,28.83,25.00,28.83
$GC,12442,-0.47,-136.3,982.2,-6.8,625,12447,0.10,2.28,0.00,0.000,6,0.092,0.049,3046,2200,3346,0,0,0,0,0,0,25.22,25.41,28.83
$STATE,12588,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12588,begin apogee
$GC,12595,-0.22,0.0,990.1,-5.0,630,12727,0.22,0.00,126.85,1.161,6,0.106,0.000,3128,2340,2794,0,0,0,0,0,0,25.70,28.83,22.43
$STATE,12728,end apogee,CONTROL_FINISHED_OK
$STATE,12728,begin climb
$GC,12732,0.47,136.3,993.8,0.0,634,12874,0.65,2.58,135.10,1.125,4,0.067,0.054,3362,921,2238,0,0,0,0,0,0,24.44,23.45,21.73
$GC,12915,0.47,138.1,984.8,6.9,641,12919,0.00,2.38,0.00,0.000,6,0.000,0.055,3361,2317,2233,0,0,0,0,0,0,28.83,24.05,28.83
$GC,13232,0.47,138.1,954.7,9.6,652,13238,0.00,2.38,0.00,0.000,4,0.000,0.068,3362,3735,2227,0,0,0,0,0,0,28.83,25.29,28.83
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$GC,21763,0.50,198.8,277.8,7.0,963,21764,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,2327,1987,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,25354,end climb,SURFACE_DEPTH_REACHED
$STATE,25354,begin surface coast
$FINISH,1.2,1.013469
$STATE,25398,end surface coast,CONTROL_FINISHED_OK
$STATE,25398,begin surface
$SM_CCo,25478,0.00,0.000,0,0,1012,437.12
$SM_GC,2.16,8.32,0.17,0.00,0.025,0.075,0.000,120,2203,1012,-9.47,1.07,437.12,0,0,0,0,0,0,25.86,26.03,28.83
$IRIDIUM_FIX,4651.23,-12652.83,040313,191956
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.18
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,18.90
$XPDR_PINGS,2
$24V_AH,21.7,92.746
$10V_AH,9.8,70.691
$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
$DEVICE_SECS,22.150,212.500,525.525,0.000,0.000,25.000,43.317,236.790,0.500,0.000,31.482,3519.498,18631.699,806.085,2500.094,481.317,0.000,2050.569,0.000,2167.880,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,943.855,697.855,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,76839,1372
$CAP_FILE_SIZE,194785,0
$CFSIZE,260165632,202092544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$CURRENT,0.044,289.9,1
$GPS,050313,095524,4709.379,-12642.110,42,1.4,42,18.6