version: 66.11
glider: 187
mission: 2
dive: 199
start: 10 28 112 18 44 53
data:
$ID,187
$MISSION,2
$DIVE,199
$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,450
$T_MISSION,500
$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,150
$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,-1587999.6
$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,2175
$C_ROLL_CLIMB,2300
$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,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
$GPS1,281012,183659,4659.912,-12659.501,40,1.9,40,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-78.5
$GPS2,281012,184421,4659.916,-12659.459,12,2.7,31,18.6
$SPEED_LIMITS,0.127,0.220
$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,29.7,166386,-13.4,-7.333,-18.42
$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,-0.48,-146.0,0.0,0.0,0,97,0.00,0.00,-77.70,0.000,2,0.000,0.000,113,2164,2762,0,0,0,0,0,0,28.83,28.83,28.83
$GC,101,-0.48,-146.0,3.0,-3.4,13,134,11.35,2.35,-13.48,0.000,4,0.220,0.075,3026,3585,3393,0,0,0,0,0,0,25.11,25.52,25.98
$GC,234,-0.48,-146.0,33.7,-18.3,37,241,0.00,2.17,0.00,0.000,6,0.000,0.043,3026,2178,3396,0,0,0,0,0,0,28.83,25.65,28.83
$GC,550,-0.48,-146.0,78.5,-14.0,98,556,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2171,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,860,-0.48,-146.0,118.2,-12.3,159,868,0.00,2.15,0.00,0.000,4,0.000,0.050,3026,770,3398,0,0,0,0,0,0,28.83,25.81,28.83
$GC,941,-0.48,-146.0,127.4,-11.1,166,947,0.00,2.20,0.00,0.000,6,0.000,0.050,3016,2186,3398,0,0,0,0,0,0,28.83,25.83,28.83
$GC,1257,-0.48,-146.0,164.2,-11.0,187,1259,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2186,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1557,-0.48,-146.0,199.6,-12.4,207,1563,0.00,2.17,0.00,0.000,4,0.000,0.063,3006,3580,3398,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1605,-0.48,-146.0,204.5,-12.2,210,1610,0.12,2.15,0.00,0.000,6,0.137,0.042,3040,2163,3399,0,0,0,0,0,0,25.82,26.00,28.83
$GC,1911,-0.48,-146.0,235.8,-9.4,225,1917,0.00,2.25,0.00,0.000,4,0.000,0.062,3032,3581,3398,0,0,0,0,0,0,28.83,25.87,28.83
$GC,1944,-0.48,-146.0,237.7,-9.4,226,1951,0.00,2.15,0.00,0.000,6,0.000,0.043,3032,2163,3399,0,0,0,0,0,0,28.83,26.02,28.83
$GC,2252,-0.48,-146.0,269.3,-9.9,242,2253,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2160,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2551,-0.48,-146.0,298.3,-9.6,257,2557,0.00,2.25,0.00,0.000,4,0.000,0.063,3022,3581,3397,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2599,-0.48,-146.0,302.3,-9.8,259,2603,0.00,2.15,0.00,0.000,6,0.000,0.044,3022,2164,3397,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2906,-0.48,-146.0,333.1,-9.7,274,2908,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2161,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3208,-0.48,-146.0,362.4,-9.7,289,3213,0.00,2.22,0.00,0.000,4,0.000,0.064,3012,3575,3396,0,0,0,0,0,0,28.83,25.92,28.83
$GC,3247,-0.48,-146.0,366.4,-9.8,291,3252,0.00,2.10,0.00,0.000,6,0.000,0.044,3012,2180,3396,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3566,-0.48,-146.0,399.1,-10.3,307,3568,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2175,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3886,-0.48,-146.0,431.6,-10.2,318,3887,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2175,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4187,-0.48,-146.0,459.7,-9.0,328,4192,0.00,2.25,0.00,0.000,4,0.000,0.067,3001,3599,3394,0,0,0,0,0,0,28.83,25.92,28.83
$GC,4216,-0.48,-146.0,462.4,-9.1,329,4223,0.12,2.20,0.00,0.000,6,0.139,0.046,3040,2168,3393,0,0,0,0,0,0,25.91,26.09,28.83
$GC,4547,-0.48,-146.0,485.6,-7.0,340,4548,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2163,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4847,-0.48,-146.0,506.8,-7.1,350,4853,0.00,2.25,0.00,0.000,4,0.000,0.067,3032,3585,3392,0,0,0,0,0,0,28.83,25.92,28.83
$GC,4895,-0.48,-146.0,509.1,-7.2,351,4899,0.00,2.17,0.00,0.000,6,0.000,0.046,3032,2161,3392,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5201,-0.48,-146.0,534.9,-8.1,361,5202,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2158,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5501,-0.48,-146.0,559.8,-8.3,371,5507,0.00,2.28,0.00,0.000,4,0.000,0.067,3022,3586,3390,0,0,0,0,0,0,28.83,25.91,28.83
$GC,5565,-0.48,-146.0,565.1,-8.5,373,5569,0.00,2.17,0.00,0.000,6,0.000,0.046,3022,2162,3390,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5887,-0.48,-146.0,593.9,-8.9,384,5888,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2160,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6187,-0.48,-146.0,620.0,-8.8,394,6192,0.00,2.28,0.00,0.000,4,0.000,0.067,3012,3581,3389,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6270,-0.48,-146.0,625.6,-9.0,396,6277,0.00,2.15,0.00,0.000,6,0.000,0.047,3012,2172,3389,0,0,0,0,0,0,28.83,26.09,28.83
$GC,6577,-0.48,-146.0,656.6,-9.2,407,6582,0.00,2.25,0.00,0.000,4,0.000,0.067,3002,3580,3388,0,0,0,0,0,0,28.83,25.90,28.83
$GC,6607,-0.48,-146.0,659.6,-9.3,408,6613,0.10,2.15,0.00,0.000,6,0.110,0.047,3038,2171,3388,0,0,0,0,0,0,25.87,26.09,28.83
$GC,6937,-0.48,-146.0,685.1,-7.6,419,6943,0.00,2.22,0.00,0.000,4,0.000,0.067,3030,3574,3388,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6970,-0.48,-146.0,687.5,-7.7,420,6974,0.00,2.15,0.00,0.000,6,0.000,0.047,3030,2170,3387,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7292,-0.48,-146.0,713.5,-7.9,431,7298,0.00,2.28,0.00,0.000,4,0.000,0.067,3020,3581,3387,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7325,-0.48,-146.0,716.0,-8.0,432,7329,0.00,2.17,0.00,0.000,6,0.000,0.047,3020,2174,3387,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7647,-0.48,-146.0,741.7,-7.6,443,7653,0.00,2.28,0.00,0.000,4,0.000,0.068,3011,3591,3386,0,0,0,0,0,0,28.83,25.87,28.83
$GC,7691,-0.48,-146.0,744.0,-7.6,444,7695,0.00,2.17,0.00,0.000,6,0.000,0.047,3011,2173,3386,0,0,0,0,0,0,28.83,26.07,28.83
$GC,8002,-0.48,-146.0,769.0,-7.6,455,8009,0.12,2.28,0.00,0.000,4,0.147,0.067,3043,3587,3386,0,0,0,0,0,0,26.11,25.86,28.83
$GC,8033,-0.48,-146.0,770.9,-7.3,456,8038,0.00,2.17,0.00,0.000,6,0.000,0.047,3043,2175,3386,0,0,0,0,0,0,28.83,26.07,28.83
$GC,8363,-0.48,-146.0,790.4,-6.0,467,8369,0.00,2.28,0.00,0.000,4,0.000,0.069,3033,3585,3386,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8406,-0.48,-146.0,792.3,-6.1,468,8410,0.00,2.17,0.00,0.000,6,0.000,0.047,3033,2169,3385,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8719,-0.48,-146.0,813.7,-6.7,479,8724,0.00,2.25,0.00,0.000,4,0.000,0.068,3023,3582,3385,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8779,-0.48,-146.0,817.8,-6.8,481,8784,0.00,2.20,0.00,0.000,6,0.000,0.047,3024,2167,3385,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9109,-0.48,-146.0,841.7,-7.4,492,9110,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2165,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9408,-0.48,-146.0,864.2,-7.5,502,9414,0.00,2.30,0.00,0.000,4,0.000,0.069,3013,3585,3385,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9492,-0.48,-146.0,868.8,-7.6,504,9498,0.00,2.17,0.00,0.000,6,0.000,0.047,3013,2167,3384,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9798,-0.48,-146.0,897.0,-8.8,515,9804,0.00,2.28,0.00,0.000,4,0.000,0.068,3004,3582,3384,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9851,-0.48,-146.0,899.8,-9.0,516,9859,0.12,2.17,0.00,0.000,6,0.135,0.047,3040,2166,3384,0,0,0,0,0,0,25.88,26.05,28.83
$GC,10159,-0.48,-146.0,925.6,-7.5,527,10163,0.00,2.28,0.00,0.000,4,0.000,0.069,3031,3579,3384,0,0,0,0,0,0,28.83,25.82,28.83
$GC,10191,-0.48,-146.0,928.2,-7.5,528,10197,0.00,2.17,0.00,0.000,6,0.000,0.048,3031,2170,3383,0,0,0,0,0,0,28.83,26.04,28.83
$GC,10521,-0.48,-146.0,954.2,-7.6,539,10527,0.00,2.28,0.00,0.000,4,0.000,0.067,3021,3586,3383,0,0,0,0,0,0,28.83,25.83,28.83
$GC,10574,-0.48,-146.0,956.8,-7.9,540,10581,0.00,2.17,0.00,0.000,6,0.000,0.048,3021,2169,3383,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10881,-0.48,-146.0,983.2,-7.9,551,10887,0.00,2.28,0.00,0.000,4,0.000,0.069,3012,3584,3382,0,0,0,0,0,0,28.83,25.82,28.83
$GC,10929,-0.48,-146.0,985.6,-7.9,552,10933,0.00,2.17,0.00,0.000,6,0.000,0.048,3012,2170,3382,0,0,0,0,0,0,28.83,26.03,28.83
$STATE,10963,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10963,begin apogee
$GC,10971,-0.22,0.0,990.1,-8.0,553,11102,0.32,0.00,126.88,1.183,6,0.115,0.000,3121,2312,2793,0,0,0,0,0,0,25.79,28.83,23.59
$STATE,11105,end apogee,CONTROL_FINISHED_OK
$STATE,11105,begin climb
$GC,11108,0.48,146.0,994.4,0.0,557,11254,0.65,2.50,134.50,1.152,4,0.082,0.067,3343,3698,2196,0,0,0,0,0,0,24.52,23.54,22.78
$GC,11276,0.49,166.3,986.0,6.6,563,11301,0.00,2.38,19.48,1.063,6,0.000,0.048,3354,2300,2116,0,0,0,0,0,0,28.83,23.95,22.96
$GC,11631,0.49,166.3,949.0,10.4,575,11632,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,2300,2107,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11929,0.49,166.3,917.3,10.5,585,11935,0.00,2.33,0.00,0.000,4,0.000,0.069,3354,3701,2105,0,0,0,0,0,0,28.83,25.31,28.83
$GC,11967,0.49,166.3,913.9,10.7,586,11971,0.00,2.25,0.00,0.000,6,0.000,0.050,3364,2297,2105,0,0,0,0,0,0,28.83,25.45,28.83
$GC,12285,0.49,166.3,878.1,10.9,597,12290,0.00,2.30,0.00,0.000,4,0.000,0.070,3364,3699,2104,0,0,0,0,0,0,28.83,25.52,28.83
$GC,12314,0.49,166.3,874.5,11.2,598,12320,0.00,2.22,0.00,0.000,6,0.000,0.050,3375,2302,2103,0,0,0,0,0,0,28.83,25.64,28.83
$GC,12644,0.49,166.3,836.1,11.5,609,12650,0.00,2.30,0.00,0.000,4,0.000,0.069,3375,3704,2103,0,0,0,0,0,0,28.83,25.63,28.83
$GC,12674,0.49,166.3,832.3,11.8,610,12681,0.10,2.22,0.00,0.000,6,0.171,0.050,3356,2298,2103,0,0,0,0,0,0,25.56,25.75,28.83
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$STATE,22091,end climb,SURFACE_DEPTH_REACHED
$STATE,22091,begin surface coast
$FINISH,1.0,1.017908
$STATE,22150,end surface coast,CONTROL_FINISHED_OK
$STATE,22151,begin surface
$SM_CCo,22230,0.00,0.000,0,0,1515,313.49
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$IRIDIUM_FIX,4644.93,-12651.56,281012,121239
$TT8_MAMPS,0.027713,0.027713
$HUMID,44.76
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.10
$XPDR_PINGS,0
$24V_AH,22.8,28.708
$10V_AH,10.2,24.040
$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,21.725,178.975,400.650,0.000,0.000,27.952,43.135,216.914,0.000,0.000,33.069,3308.251,15494.786,532.329,2958.760,369.606,0.000,1934.019,0.000,2609.620,0.000,0.535,0.000
$DEVICE_MAMPS,219.555,83.385,1182.690,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,874.064,736.515,527.639,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70301,1270
$CAP_FILE_SIZE,182434,0
$CFSIZE,260165632,241143808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.040,199.3,1
$GPS,291012,005635,4701.919,-12655.800,34,1.3,34,18.6