version: 66.11
glider: 187
mission: 2
dive: 784
start: 4 10 113 12 19 2
data:
$ID,187
$MISSION,2
$DIVE,784
$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,-1589968.4
$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,24
$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
$GPS1,100413,121036,4711.374,-12638.283,38,1.0,38,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-71.7
$GPS2,100413,121831,4711.368,-12638.147,14,1.5,14,18.6
$SPEED_LIMITS,0.122,0.210
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$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,30.9,132531,-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,17,-0.47,-136.3,0.0,0.0,0,85,0.00,0.00,-66.10,0.000,2,0.000,0.000,116,2210,2506,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.47,-136.3,3.1,-2.7,12,133,11.62,2.40,-24.83,0.000,4,0.214,0.074,3024,3619,3352,0,0,0,0,0,0,24.46,25.20,26.22
$GC,344,-0.47,-136.3,38.8,-15.3,60,351,0.00,2.25,0.00,0.000,6,0.000,0.043,3024,2185,3354,0,0,0,0,0,0,28.83,25.39,28.83
$GC,658,-0.47,-136.3,86.3,-14.4,121,665,0.00,2.17,0.00,0.000,4,0.000,0.050,3024,797,3354,0,0,0,0,0,0,28.83,25.16,28.83
$GC,745,-0.47,-136.3,96.6,-11.3,137,751,0.00,2.22,0.00,0.000,6,0.000,0.051,3014,2207,3354,0,0,0,0,0,0,28.83,25.15,28.83
$GC,1062,-0.47,-136.3,131.2,-10.2,185,1063,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2207,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1363,-0.47,-136.3,160.4,-9.8,205,1364,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2207,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1662,-0.47,-136.3,192.3,-11.3,225,1670,0.00,2.30,0.00,0.000,4,0.000,0.049,3014,787,3355,0,0,0,0,0,0,28.83,25.13,28.83
$GC,1712,-0.47,-136.3,198.1,-11.7,230,1722,0.15,2.30,0.00,0.000,6,0.126,0.050,3046,2201,3354,0,0,0,0,0,0,24.96,25.11,28.83
$GC,2038,-0.47,-136.3,227.7,-8.8,247,2043,0.00,2.33,0.00,0.000,4,0.000,0.063,3038,3601,3355,0,0,0,0,0,0,28.83,24.90,28.83
$GC,2077,-0.47,-136.3,231.4,-9.1,249,2082,0.00,2.28,0.00,0.000,6,0.000,0.043,3037,2190,3355,0,0,0,0,0,0,28.83,25.34,28.83
$GC,2397,-0.47,-136.3,260.9,-9.0,265,2398,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2188,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2698,-0.47,-136.3,286.9,-8.2,280,2699,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2187,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2999,-0.47,-136.3,310.4,-7.8,295,3000,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2187,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3297,-0.47,-136.3,334.8,-8.0,310,3303,0.00,2.38,0.00,0.000,4,0.000,0.062,3028,3604,3354,0,0,0,0,0,0,28.83,24.85,28.83
$GC,3326,-0.47,-136.3,336.5,-8.2,311,3335,0.00,2.28,0.00,0.000,6,0.000,0.043,3028,2192,3354,0,0,0,0,0,0,28.83,25.31,28.83
$GC,3637,-0.47,-136.3,363.2,-8.2,327,3642,0.00,2.25,0.00,0.000,4,0.000,0.050,3028,801,3354,0,0,0,0,0,0,28.83,25.05,28.83
$GC,3685,-0.47,-136.3,366.5,-8.2,329,3689,0.00,2.30,0.00,0.000,6,0.000,0.050,3019,2209,3354,0,0,0,0,0,0,28.83,25.05,28.83
$GC,3988,-0.47,-136.3,393.3,-8.5,344,3992,0.00,2.33,0.00,0.000,4,0.000,0.063,3008,3604,3354,0,0,0,0,0,0,28.83,24.82,28.83
$GC,4027,-0.47,-136.3,396.9,-8.8,346,4033,0.12,2.28,0.00,0.000,6,0.126,0.044,3045,2200,3353,0,0,0,0,0,0,25.10,25.29,28.83
$GC,4357,-0.47,-136.3,419.9,-6.9,358,4358,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2195,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4658,-0.47,-136.3,440.5,-6.8,368,4663,0.00,2.38,0.00,0.000,4,0.000,0.063,3037,3606,3353,0,0,0,0,0,0,28.83,24.79,28.83
$GC,4695,-0.47,-136.3,442.7,-6.9,369,4699,0.00,2.30,0.00,0.000,6,0.000,0.044,3037,2190,3353,0,0,0,0,0,0,28.83,25.27,28.83
$GC,5007,-0.47,-136.3,465.8,-7.2,380,5008,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2187,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5308,-0.47,-136.3,487.5,-7.3,390,5313,0.00,2.38,0.00,0.000,4,0.000,0.063,3027,3602,3352,0,0,0,0,0,0,28.83,24.78,28.83
$GC,5375,-0.47,-136.3,492.2,-7.4,392,5379,0.00,2.28,0.00,0.000,6,0.000,0.044,3027,2200,3352,0,0,0,0,0,0,28.83,25.25,28.83
$GC,5688,-0.47,-136.3,517.6,-7.9,403,5689,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2197,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5987,-0.47,-136.3,541.4,-7.9,413,5993,0.00,2.38,0.00,0.000,4,0.000,0.063,3017,3605,3352,0,0,0,0,0,0,28.83,24.75,28.83
$GC,6018,-0.47,-136.3,543.9,-8.0,414,6023,0.00,2.28,0.00,0.000,6,0.000,0.045,3017,2198,3351,0,0,0,0,0,0,28.83,25.22,28.83
$GC,6347,-0.47,-136.3,571.1,-8.1,425,6348,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2196,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6648,-0.47,-136.3,593.9,-7.4,435,6653,0.00,2.28,0.00,0.000,4,0.000,0.053,3017,800,3351,0,0,0,0,0,0,28.83,24.95,28.83
$GC,6678,-0.47,-136.3,596.3,-7.6,436,6684,0.10,2.28,0.00,0.000,6,0.102,0.053,3044,2194,3351,0,0,0,0,0,0,24.77,24.96,28.83
$GC,7008,-0.47,-136.3,614.5,-5.4,447,7013,0.00,2.38,0.00,0.000,4,0.000,0.066,3035,3604,3351,0,0,0,0,0,0,28.83,24.70,28.83
$GC,7086,-0.47,-136.3,618.0,-5.7,449,7090,0.00,2.30,0.00,0.000,6,0.000,0.045,3035,2192,3350,0,0,0,0,0,0,28.83,25.21,28.83
$GC,7389,-0.47,-136.3,637.1,-6.0,459,7390,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2190,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7688,-0.47,-136.3,655.1,-6.2,469,7689,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2190,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7988,-0.47,-136.3,674.4,-6.6,479,7993,0.00,2.40,0.00,0.000,4,0.000,0.066,3026,3604,3350,0,0,0,0,0,0,28.83,24.67,28.83
$GC,8049,-0.47,-136.3,678.7,-7.0,481,8054,0.00,2.28,0.00,0.000,6,0.000,0.047,3026,2203,3350,0,0,0,0,0,0,28.83,25.18,28.83
$GC,8377,-0.47,-136.3,703.6,-7.6,492,8383,0.00,2.30,0.00,0.000,4,0.000,0.053,3026,800,3350,0,0,0,0,0,0,28.83,24.89,28.83
$GC,8407,-0.47,-136.3,705.9,-7.6,493,8413,0.00,2.33,0.00,0.000,6,0.000,0.054,3017,2208,3349,0,0,0,0,0,0,28.83,24.89,28.83
$GC,8738,-0.47,-136.3,731.1,-7.6,504,8743,0.00,2.35,0.00,0.000,4,0.000,0.066,3007,3603,3349,0,0,0,0,0,0,28.83,24.66,28.83
$GC,8816,-0.47,-136.3,736.0,-7.9,506,8821,0.12,2.30,0.00,0.000,6,0.123,0.046,3044,2193,3349,0,0,0,0,0,0,24.99,25.15,28.83
$GC,9118,-0.47,-136.3,754.8,-5.4,516,9119,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2190,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9419,-0.47,-136.3,770.1,-4.9,526,9423,0.00,2.38,0.00,0.000,4,0.000,0.066,3036,3615,3348,0,0,0,0,0,0,28.83,24.63,28.83
$GC,9456,-0.47,-136.3,771.7,-5.0,527,9460,0.00,2.30,0.00,0.000,6,0.000,0.045,3035,2199,3348,0,0,0,0,0,0,28.83,25.19,28.83
$GC,9768,-0.47,-136.3,789.1,-5.4,538,9769,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2197,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10068,-0.47,-136.3,805.7,-5.5,548,10074,0.00,2.40,0.00,0.000,4,0.000,0.066,3026,3609,3347,0,0,0,0,0,0,28.83,24.61,28.83
$GC,10117,-0.47,-136.3,807.5,-5.7,549,10126,0.00,2.33,0.00,0.000,6,0.000,0.047,3026,2194,3347,0,0,0,0,0,0,28.83,25.11,28.83
$GC,10428,-0.47,-136.3,828.8,-6.6,560,10433,0.00,2.40,0.00,0.000,4,0.000,0.066,3017,3604,3347,0,0,0,0,0,0,28.83,24.59,28.83
$GC,10476,-0.47,-136.3,830.9,-7.0,561,10480,0.00,2.30,0.00,0.000,6,0.000,0.047,3017,2202,3347,0,0,0,0,0,0,28.83,25.12,28.83
$GC,10779,-0.47,-136.3,854.3,-7.2,571,10783,0.00,2.28,0.00,0.000,4,0.000,0.054,3017,805,3347,0,0,0,0,0,0,28.83,24.83,28.83
$GC,10808,-0.47,-136.3,856.6,-7.2,572,10814,0.12,2.33,0.00,0.000,6,0.131,0.054,3043,2206,3347,0,0,0,0,0,0,24.72,24.82,28.83
$GC,11138,-0.47,-136.3,875.1,-5.5,583,11144,0.00,2.38,0.00,0.000,4,0.000,0.067,3034,3608,3347,0,0,0,0,0,0,28.83,24.56,28.83
$GC,11177,-0.47,-136.3,876.7,-5.4,584,11183,0.00,2.33,0.00,0.000,6,0.000,0.047,3034,2191,3347,0,0,0,0,0,0,28.83,25.09,28.83
$GC,11498,-0.47,-136.3,894.6,-5.3,595,11500,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2189,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11798,-0.47,-136.3,911.3,-5.6,605,11803,0.00,2.42,0.00,0.000,4,0.000,0.067,3025,3614,3346,0,0,0,0,0,0,28.83,24.55,28.83
$GC,11829,-0.47,-136.3,913.1,-5.6,606,11834,0.00,2.30,0.00,0.000,6,0.000,0.048,3025,2203,3346,0,0,0,0,0,0,28.83,25.08,28.83
$GC,12158,-0.47,-136.3,934.3,-6.6,617,12159,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2201,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12458,-0.47,-136.3,954.5,-6.9,627,12460,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2201,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12759,-0.47,-136.3,975.0,-6.7,637,12760,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2200,3345,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12995,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12995,begin apogee
$GC,13002,-0.22,0.0,991.5,-6.9,645,13131,0.28,0.00,125.20,1.157,6,0.104,0.000,3120,2341,2794,0,0,0,0,0,0,25.38,28.83,22.63
$STATE,13132,end apogee,CONTROL_FINISHED_OK
$STATE,13132,begin climb
$GC,13136,0.47,136.3,995.8,0.0,649,13277,0.65,2.53,133.43,1.121,4,0.072,0.066,3346,3732,2237,0,0,0,0,0,0,24.29,23.32,21.85
$GC,13318,0.49,185.8,989.2,5.1,655,13372,0.00,2.42,48.17,1.088,6,0.000,0.048,3357,2327,2036,0,0,0,0,0,0,28.83,24.10,21.98
$GC,13691,0.49,185.8,956.6,8.8,668,13695,0.00,2.30,0.00,0.000,4,0.000,0.058,3367,926,2026,0,0,0,0,0,0,28.83,25.40,28.83
$GC,13738,0.49,185.8,953.8,8.7,669,13742,0.00,2.30,0.00,0.000,6,0.000,0.057,3367,2322,2025,0,0,0,0,0,0,28.83,25.43,28.83
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$STATE,24998,end climb,SURFACE_DEPTH_REACHED
$STATE,24998,begin surface coast
$FINISH,1.4,1.004342
$STATE,25046,end surface coast,CONTROL_FINISHED_OK
$STATE,25046,begin surface
$SM_CCo,25128,0.00,0.000,0,0,1450,329.44
$SM_GC,2.24,8.38,2.47,0.00,0.026,0.045,0.000,119,2213,1450,-9.45,1.30,329.44,0,0,0,0,0,0,25.72,25.33,28.83
$IRIDIUM_FIX,4651.23,-12625.61,100413,040457
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.74
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,18.90
$XPDR_PINGS,1
$24V_AH,21.8,110.350
$10V_AH,9.7,82.613
$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,22.150,214.025,429.175,0.000,0.000,28.831,35.577,255.691,0.250,0.000,15.521,3570.216,18254.031,723.673,2545.523,497.850,0.000,1977.774,0.000,2213.030,0.000,0.537,0.000
$DEVICE_MAMPS,214.200,83.385,1157.445,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,955.984,722.358,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296932
$DATA_FILE_SIZE,76778,1389
$CAP_FILE_SIZE,192846,0
$CFSIZE,260165632,191418368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.030,178.8,1
$GPS,100413,192053,4713.747,-12634.191,144,1.4,144,18.6