version: 66.11
glider: 187
mission: 2
dive: 345
start: 12 3 112 17 49 2
data:
$ID,187
$MISSION,2
$DIVE,345
$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,5
$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,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$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,-1588200.4
$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,31
$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,22
$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
$GPS1,031212,174135,4659.625,-12700.809,58,1.0,64,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-74.4
$GPS2,031212,174831,4659.704,-12700.819,15,1.2,15,18.6
$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,31.7,167992,-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,-136.3,0.0,0.0,0,77,0.00,0.00,-58.25,0.000,2,0.000,0.000,106,2191,2863,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.47,-136.3,3.6,-4.3,10,109,11.52,2.28,-9.75,0.000,4,0.217,0.062,3033,783,3352,0,0,0,0,0,0,24.87,25.51,26.07
$GC,316,-0.47,-136.3,49.4,-15.2,54,323,0.00,2.28,0.00,0.000,6,0.000,0.051,3026,2206,3356,0,0,0,0,0,0,28.83,25.56,28.83
$GC,631,-0.47,-136.3,90.3,-12.9,115,638,0.00,2.28,0.00,0.000,4,0.000,0.060,3015,3607,3358,0,0,0,0,0,0,28.83,25.58,28.83
$GC,718,-0.47,-136.3,101.4,-12.2,131,725,0.00,2.17,0.00,0.000,6,0.000,0.042,3015,2183,3358,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1029,-0.47,-136.3,140.4,-12.1,170,1030,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2179,3358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1331,-0.47,-136.3,174.8,-10.8,190,1332,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2179,3358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1630,-0.47,-136.3,207.1,-10.6,209,1635,0.00,2.25,0.00,0.000,4,0.000,0.061,3005,3604,3358,0,0,0,0,0,0,28.83,25.65,28.83
$GC,1663,-0.47,-136.3,209.2,-10.5,210,1670,0.12,2.17,0.00,0.000,6,0.131,0.042,3041,2189,3358,0,0,0,0,0,0,25.70,25.89,28.83
$GC,1969,-0.47,-136.3,235.0,-7.6,226,1970,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2188,3358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2271,-0.47,-136.3,258.7,-8.1,241,2276,0.00,2.10,0.00,0.000,4,0.000,0.049,3041,809,3358,0,0,0,0,0,0,28.83,25.76,28.83
$GC,2310,-0.47,-136.3,262.1,-8.3,243,2315,0.00,2.12,0.00,0.000,6,0.000,0.050,3035,2198,3358,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2629,-0.47,-136.3,288.8,-8.1,259,2635,0.00,2.25,0.00,0.000,4,0.000,0.063,3025,3612,3358,0,0,0,0,0,0,28.83,25.63,28.83
$GC,2730,-0.47,-136.3,297.4,-8.5,264,2736,0.00,2.17,0.00,0.000,6,0.000,0.044,3025,2196,3358,0,0,0,0,0,0,28.83,25.90,28.83
$GC,3049,-0.47,-136.3,326.2,-9.0,280,3051,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2193,3358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3350,-0.47,-136.3,353.0,-9.0,295,3354,0.00,2.17,0.00,0.000,4,0.000,0.051,3025,793,3357,0,0,0,0,0,0,28.83,25.74,28.83
$GC,3405,-0.47,-136.3,357.0,-9.1,297,3412,0.00,2.20,0.00,0.000,6,0.000,0.051,3016,2210,3357,0,0,0,0,0,0,28.83,25.74,28.83
$GC,3712,-0.47,-136.3,386.6,-9.6,313,3718,0.00,2.15,0.00,0.000,4,0.000,0.051,3016,810,3357,0,0,0,0,0,0,28.83,25.73,28.83
$GC,3740,-0.47,-136.3,388.5,-9.7,314,3745,0.12,2.17,0.00,0.000,6,0.135,0.052,3043,2209,3356,0,0,0,0,0,0,25.62,25.72,28.83
$GC,4069,-0.47,-136.3,414.6,-7.6,327,4074,0.00,2.22,0.00,0.000,4,0.000,0.064,3034,3612,3355,0,0,0,0,0,0,28.83,25.60,28.83
$GC,4101,-0.47,-136.3,417.0,-7.7,328,4105,0.00,2.17,0.00,0.000,6,0.000,0.045,3034,2192,3354,0,0,0,0,0,0,28.83,25.87,28.83
$GC,4423,-0.47,-136.3,442.7,-7.9,339,4429,0.00,2.28,0.00,0.000,4,0.000,0.065,3024,3607,3354,0,0,0,0,0,0,28.83,25.57,28.83
$GC,4456,-0.47,-136.3,445.2,-8.0,340,4460,0.00,2.17,0.00,0.000,6,0.000,0.045,3024,2190,3354,0,0,0,0,0,0,28.83,25.86,28.83
$GC,4778,-0.47,-136.3,472.1,-8.0,351,4783,0.00,2.30,0.00,0.000,4,0.000,0.065,3013,3616,3353,0,0,0,0,0,0,28.83,25.56,28.83
$GC,4810,-0.47,-136.3,474.5,-7.9,352,4814,0.00,2.17,0.00,0.000,6,0.000,0.046,3013,2200,3353,0,0,0,0,0,0,28.83,25.85,28.83
$GC,5133,-0.47,-136.3,502.1,-8.6,363,5134,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2198,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5433,-0.47,-136.3,528.0,-8.6,373,5439,0.00,2.30,0.00,0.000,4,0.000,0.066,3003,3613,3352,0,0,0,0,0,0,28.83,25.54,28.83
$GC,5465,-0.47,-136.3,530.7,-8.8,374,5470,0.15,2.20,0.00,0.000,6,0.122,0.046,3047,2192,3352,0,0,0,0,0,0,25.64,25.83,28.83
$GC,5789,-0.47,-136.3,552.5,-6.5,385,5795,0.00,2.28,0.00,0.000,4,0.000,0.066,3039,3608,3352,0,0,0,0,0,0,28.83,25.53,28.83
$GC,5821,-0.47,-136.3,554.5,-6.5,386,5826,0.00,2.17,0.00,0.000,6,0.000,0.046,3039,2195,3352,0,0,0,0,0,0,28.83,25.83,28.83
$GC,6144,-0.47,-136.3,577.1,-7.0,397,6145,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2193,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6444,-0.47,-136.3,597.8,-6.9,407,6450,0.00,2.28,0.00,0.000,4,0.000,0.067,3029,3610,3351,0,0,0,0,0,0,28.83,25.51,28.83
$GC,6474,-0.47,-136.3,599.8,-6.8,408,6479,0.00,2.17,0.00,0.000,6,0.000,0.047,3029,2196,3351,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6803,-0.47,-136.3,624.6,-7.5,419,6805,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2194,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7104,-0.47,-136.3,647.3,-7.6,429,7110,0.00,2.28,0.00,0.000,4,0.000,0.066,3019,3605,3350,0,0,0,0,0,0,28.83,25.49,28.83
$GC,7136,-0.47,-136.3,649.6,-7.7,430,7140,0.00,2.20,0.00,0.000,6,0.000,0.046,3019,2192,3350,0,0,0,0,0,0,28.83,25.81,28.83
$GC,7459,-0.47,-136.3,676.2,-8.2,441,7464,0.00,2.28,0.00,0.000,4,0.000,0.066,3010,3601,3350,0,0,0,0,0,0,28.83,25.48,28.83
$GC,7489,-0.47,-136.3,678.8,-8.3,442,7495,0.08,2.17,0.00,0.000,6,0.106,0.047,3040,2193,3350,0,0,0,0,0,0,25.60,25.79,28.83
$GC,7819,-0.47,-136.3,701.8,-6.8,453,7820,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2191,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8119,-0.47,-136.3,721.4,-6.5,463,8124,0.00,2.28,0.00,0.000,4,0.000,0.067,3031,3605,3349,0,0,0,0,0,0,28.83,25.45,28.83
$GC,8172,-0.47,-136.3,723.3,-6.5,464,8179,0.00,2.17,0.00,0.000,6,0.000,0.047,3031,2197,3349,0,0,0,0,0,0,28.83,25.78,28.83
$GC,8479,-0.47,-136.3,745.7,-6.6,475,8480,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2197,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8779,-0.47,-136.3,765.4,-6.5,485,8780,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2197,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9079,-0.47,-136.3,784.5,-6.4,495,9085,0.00,2.28,0.00,0.000,4,0.000,0.067,3022,3606,3348,0,0,0,0,0,0,28.83,25.43,28.83
$GC,9109,-0.47,-136.3,786.5,-6.3,496,9114,0.00,2.17,0.00,0.000,6,0.000,0.047,3021,2199,3347,0,0,0,0,0,0,28.83,25.76,28.83
$GC,9439,-0.47,-136.3,808.9,-6.8,507,9444,0.00,2.28,0.00,0.000,4,0.000,0.068,3012,3605,3346,0,0,0,0,0,0,28.83,25.41,28.83
$GC,9472,-0.47,-136.3,811.0,-6.9,508,9477,0.12,2.20,0.00,0.000,6,0.124,0.047,3048,2190,3347,0,0,0,0,0,0,25.61,25.75,28.83
$GC,9795,-0.47,-136.3,827.9,-5.0,519,9801,0.00,2.30,0.00,0.000,4,0.000,0.067,3040,3601,3347,0,0,0,0,0,0,28.83,25.40,28.83
$GC,9827,-0.47,-136.3,829.6,-5.1,520,9831,0.00,2.17,0.00,0.000,6,0.000,0.047,3040,2200,3346,0,0,0,0,0,0,28.83,25.75,28.83
$GC,10151,-0.47,-136.3,848.7,-6.1,531,10152,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2198,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10450,-0.47,-136.3,867.2,-6.2,541,10456,0.00,2.28,0.00,0.000,4,0.000,0.068,3030,3605,3346,0,0,0,0,0,0,28.83,25.38,28.83
$GC,10480,-0.47,-136.3,869.2,-6.2,542,10486,0.00,2.17,0.00,0.000,6,0.000,0.048,3030,2206,3346,0,0,0,0,0,0,28.83,25.73,28.83
$GC,10811,-0.47,-136.3,890.5,-6.4,553,10812,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2204,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11110,-0.47,-136.3,910.6,-6.7,563,11115,0.00,2.28,0.00,0.000,4,0.000,0.068,3021,3605,3346,0,0,0,0,0,0,28.83,25.36,28.83
$GC,11140,-0.47,-136.3,912.8,-7.0,564,11145,0.00,2.20,0.00,0.000,6,0.000,0.047,3021,2190,3346,0,0,0,0,0,0,28.83,25.72,28.83
$GC,11470,-0.47,-136.3,936.5,-7.1,575,11476,0.00,2.30,0.00,0.000,4,0.000,0.068,3011,3606,3345,0,0,0,0,0,0,28.83,25.36,28.83
$GC,11508,-0.47,-136.3,938.7,-7.1,576,11513,0.12,2.20,0.00,0.000,6,0.123,0.049,3047,2193,3345,0,0,0,0,0,0,25.56,25.70,28.83
$GC,11827,-0.47,-136.3,958.0,-5.8,587,11832,0.00,2.30,0.00,0.000,4,0.000,0.068,3040,3607,3345,0,0,0,0,0,0,28.83,25.33,28.83
$GC,11856,-0.47,-136.3,959.9,-5.8,588,11862,0.00,2.17,0.00,0.000,6,0.000,0.048,3040,2203,3345,0,0,0,0,0,0,28.83,25.71,28.83
$GC,12187,-0.47,-136.3,980.2,-6.1,599,12188,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2203,3345,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12363,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12363,begin apogee
$GC,12371,-0.22,0.0,991.4,-6.1,605,12497,0.22,0.00,121.95,1.176,6,0.111,0.000,3119,2329,2793,0,0,0,0,0,0,25.81,28.83,23.18
$STATE,12500,end apogee,CONTROL_FINISHED_OK
$STATE,12500,begin climb
$GC,12503,0.47,136.3,995.3,0.0,609,12638,0.65,0.00,131.55,1.138,6,0.076,0.000,3342,2329,2238,0,0,0,0,0,0,24.44,28.83,22.20
$GC,12936,0.47,136.3,965.8,8.1,624,12938,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,2329,2228,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13236,0.47,136.3,940.4,8.7,634,13241,0.00,2.33,0.00,0.000,4,0.000,0.069,3342,3732,2226,0,0,0,0,0,0,28.83,25.32,28.83
$GC,13259,0.47,136.3,940.4,8.7,634,13266,0.00,2.22,0.00,0.000,6,0.000,0.048,3353,2329,2225,0,0,0,0,0,0,28.83,25.50,28.83
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$STATE,24803,end climb,SURFACE_DEPTH_REACHED
$STATE,24803,begin surface coast
$FINISH,1.0,1.024587
$STATE,24842,end surface coast,CONTROL_FINISHED_OK
$STATE,24842,begin surface
$SM_CCo,24922,0.00,0.000,0,0,1159,401.07
$SM_GC,1.92,8.35,0.17,0.00,0.025,0.074,0.000,115,2197,1159,-9.46,0.99,401.07,0,0,0,0,0,0,25.89,25.87,28.83
$IRIDIUM_FIX,4644.93,-12701.03,031212,121240
$TT8_MAMPS,0.027713,0.027713
$HUMID,44.80
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,19.30
$XPDR_PINGS,0
$24V_AH,22.2,47.963
$10V_AH,10.0,39.571
$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
$DEVICE_SECS,22.075,205.875,474.775,0.000,0.000,25.679,35.399,220.554,0.000,0.000,16.263,3512.367,17806.168,597.636,2973.418,440.508,0.000,2081.651,0.000,2658.526,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,928.175,694.260,355.230,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296772
$DATA_FILE_SIZE,76733,1350
$CAP_FILE_SIZE,201531,0
$CFSIZE,260165632,229277696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.044,237.3,1
$GPS,041212,004636,4701.740,-12657.213,94,0.8,94,18.6