version: 66.11
glider: 187
mission: 2
dive: 204
start: 10 30 112 3 50 2
data:
$ID,187
$MISSION,2
$DIVE,204
$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,-1588006.4
$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,2175
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$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
$GPS1,301012,034253,4709.728,-12639.515,42,1.3,42,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-76.7
$GPS2,301012,034930,4709.756,-12639.395,11,1.3,16,18.6
$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,39.4,135509,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.48,-146.0,0.0,0.0,0,79,0.00,0.00,-59.65,0.000,2,0.000,0.000,128,2177,2796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.48,-146.0,3.4,-4.0,10,117,11.35,2.33,-12.18,0.000,4,0.222,0.073,3025,3582,3393,0,0,0,0,0,0,25.12,25.51,25.98
$GC,316,-0.48,-146.0,51.4,-13.2,52,324,0.00,2.25,0.00,0.000,6,0.000,0.044,3025,2162,3397,0,0,0,0,0,0,28.83,25.70,28.83
$GC,640,-0.48,-146.0,97.5,-11.9,113,648,0.00,2.15,0.00,0.000,4,0.000,0.050,3024,769,3399,0,0,0,0,0,0,28.83,25.75,28.83
$GC,676,-0.48,-146.0,102.0,-12.5,119,683,0.00,2.17,0.00,0.000,6,0.000,0.050,3015,2177,3399,0,0,0,0,0,0,28.83,25.77,28.83
$GC,996,-0.48,-146.0,139.5,-11.2,159,1002,0.00,2.22,0.00,0.000,4,0.000,0.062,3005,3587,3399,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1050,-0.48,-146.0,144.7,-11.3,162,1058,0.08,2.22,0.00,0.000,6,0.118,0.044,3042,2167,3399,0,0,0,0,0,0,25.71,25.91,28.83
$GC,1359,-0.48,-146.0,174.4,-9.4,183,1360,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2165,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1662,-0.48,-146.0,202.2,-9.0,203,1663,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2165,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1961,-0.48,-146.0,229.3,-9.1,218,1962,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2165,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2262,-0.48,-146.0,256.2,-9.2,233,2267,0.00,2.25,0.00,0.000,4,0.000,0.063,3034,3585,3399,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2304,-0.48,-146.0,260.1,-9.4,235,2308,0.00,2.17,0.00,0.000,6,0.000,0.044,3033,2165,3399,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2616,-0.48,-146.0,290.2,-9.2,251,2622,0.00,2.15,0.00,0.000,4,0.000,0.052,3033,769,3398,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2664,-0.48,-146.0,294.0,-9.5,253,2668,0.00,2.17,0.00,0.000,6,0.000,0.052,3025,2179,3398,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2972,-0.48,-146.0,325.1,-9.8,268,2977,0.00,2.20,0.00,0.000,4,0.000,0.064,3013,3580,3397,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2994,-0.48,-146.0,326.9,-9.7,269,2998,0.00,2.15,0.00,0.000,6,0.000,0.045,3014,2177,3397,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3307,-0.48,-146.0,358.6,-10.2,285,3308,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2173,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3607,-0.48,-146.0,388.7,-10.0,300,3608,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2172,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3906,-0.48,-146.0,419.3,-10.0,312,3907,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2173,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4206,-0.48,-146.0,448.8,-9.7,322,4208,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2172,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4507,-0.48,-146.0,476.6,-9.0,332,4511,0.00,2.20,0.00,0.000,4,0.000,0.054,3014,764,3394,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4532,-0.48,-146.0,476.6,-9.0,332,4540,0.12,2.17,0.00,0.000,6,0.146,0.054,3040,2173,3395,0,0,0,0,0,0,25.86,25.99,28.83
$GC,4839,-0.48,-146.0,500.8,-6.9,343,4845,0.00,2.25,0.00,0.000,4,0.000,0.067,3031,3582,3394,0,0,0,0,0,0,28.83,25.91,28.83
$GC,4887,-0.48,-146.0,502.9,-6.9,344,4891,0.00,2.17,0.00,0.000,6,0.000,0.047,3031,2165,3394,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5194,-0.48,-146.0,526.8,-7.3,354,5199,0.00,2.28,0.00,0.000,4,0.000,0.066,3021,3585,3393,0,0,0,0,0,0,28.83,25.90,28.83
$GC,5217,-0.48,-146.0,526.8,-7.3,354,5223,0.00,2.17,0.00,0.000,6,0.000,0.047,3021,2167,3393,0,0,0,0,0,0,28.83,26.07,28.83
$GC,5525,-0.48,-146.0,553.9,-8.6,365,5526,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2164,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5824,-0.48,-146.0,580.6,-8.9,375,5829,0.00,2.30,0.00,0.000,4,0.000,0.067,3011,3592,3392,0,0,0,0,0,0,28.83,25.89,28.83
$GC,5854,-0.48,-146.0,583.4,-9.0,376,5860,0.12,2.20,0.00,0.000,6,0.131,0.048,3046,2164,3391,0,0,0,0,0,0,25.92,26.06,28.83
$GC,6184,-0.48,-146.0,608.1,-7.3,387,6190,0.00,2.25,0.00,0.000,4,0.000,0.067,3038,3581,3391,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6222,-0.48,-146.0,610.6,-7.4,388,6225,0.00,2.17,0.00,0.000,6,0.000,0.048,3038,2174,3390,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6544,-0.48,-146.0,634.8,-7.2,399,6549,0.00,2.25,0.00,0.000,4,0.000,0.067,3028,3585,3391,0,0,0,0,0,0,28.83,25.88,28.83
$GC,6574,-0.48,-146.0,637.2,-7.4,400,6579,0.00,2.17,0.00,0.000,6,0.000,0.048,3028,2175,3391,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6905,-0.48,-146.0,662.3,-7.5,411,6906,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2172,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7204,-0.48,-146.0,684.1,-7.2,421,7210,0.00,2.25,0.00,0.000,4,0.000,0.068,3018,3588,3389,0,0,0,0,0,0,28.83,25.87,28.83
$GC,7242,-0.48,-146.0,686.4,-7.4,422,7246,0.00,2.17,0.00,0.000,6,0.000,0.049,3018,2175,3389,0,0,0,0,0,0,28.83,26.05,28.83
$GC,7560,-0.48,-146.0,713.8,-8.5,433,7566,0.00,2.22,0.00,0.000,4,0.000,0.067,3008,3578,3389,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7602,-0.48,-146.0,716.4,-8.6,434,7607,0.12,2.17,0.00,0.000,6,0.131,0.049,3044,2165,3389,0,0,0,0,0,0,25.89,26.04,28.83
$GC,7916,-0.48,-146.0,739.7,-7.0,445,7922,0.00,2.30,0.00,0.000,4,0.000,0.068,3036,3584,3388,0,0,0,0,0,0,28.83,25.85,28.83
$GC,7948,-0.48,-146.0,741.7,-6.9,446,7952,0.00,2.20,0.00,0.000,6,0.000,0.050,3036,2168,3388,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8276,-0.48,-146.0,765.5,-7.0,457,8277,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2167,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8576,-0.48,-146.0,785.8,-6.7,467,8581,0.00,2.25,0.00,0.000,4,0.000,0.069,3027,3581,3388,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8608,-0.48,-146.0,788.0,-6.8,468,8612,0.00,2.17,0.00,0.000,6,0.000,0.050,3027,2170,3387,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8931,-0.48,-146.0,810.3,-6.7,479,8932,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2168,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9231,-0.48,-146.0,830.3,-6.8,489,9237,0.00,2.25,0.00,0.000,4,0.000,0.069,3017,3581,3386,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9274,-0.48,-146.0,832.2,-6.7,490,9278,0.00,2.17,0.00,0.000,6,0.000,0.049,3017,2168,3386,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9586,-0.48,-146.0,855.4,-7.1,501,9592,0.00,2.25,0.00,0.000,4,0.000,0.069,3007,3580,3386,0,0,0,0,0,0,28.83,25.83,28.83
$GC,9616,-0.48,-146.0,857.6,-7.1,502,9622,0.08,2.17,0.00,0.000,6,0.111,0.049,3036,2169,3386,0,0,0,0,0,0,25.84,26.03,28.83
$GC,9946,-0.48,-146.0,877.6,-6.2,513,9952,0.00,2.28,0.00,0.000,4,0.000,0.070,3029,3588,3386,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9984,-0.48,-146.0,879.5,-6.3,514,9988,0.00,2.20,0.00,0.000,6,0.000,0.050,3029,2164,3386,0,0,0,0,0,0,28.83,26.02,28.83
$GC,10302,-0.48,-146.0,903.3,-7.5,525,10307,0.00,2.33,0.00,0.000,4,0.000,0.069,3019,3594,3385,0,0,0,0,0,0,28.83,25.81,28.83
$GC,10339,-0.48,-146.0,905.8,-7.7,526,10343,0.00,2.20,0.00,0.000,6,0.000,0.047,3019,2166,3385,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10661,-0.48,-146.0,933.0,-8.4,537,10667,0.00,2.28,0.00,0.000,4,0.000,0.068,3009,3582,3385,0,0,0,0,0,0,28.83,25.81,28.83
$GC,10691,-0.48,-146.0,935.6,-8.4,538,10698,0.08,2.20,0.00,0.000,6,0.110,0.050,3038,2157,3385,0,0,0,0,0,0,25.83,26.01,28.83
$GC,11022,-0.48,-146.0,958.8,-6.9,549,11027,0.00,2.28,0.00,0.000,4,0.000,0.069,3030,3580,3385,0,0,0,0,0,0,28.83,25.79,28.83
$GC,11074,-0.48,-146.0,960.9,-6.9,550,11081,0.00,2.20,0.00,0.000,6,0.000,0.050,3029,2168,3385,0,0,0,0,0,0,28.83,26.00,28.83
$GC,11382,-0.48,-146.0,984.5,-7.1,561,11383,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2168,3384,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11468,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11468,begin apogee
$GC,11475,-0.22,0.0,990.9,-7.0,564,11607,0.28,0.00,127.35,1.182,6,0.113,0.000,3125,2311,2794,0,0,0,0,0,0,25.86,28.83,23.58
$STATE,11611,end apogee,CONTROL_FINISHED_OK
$STATE,11611,begin climb
$GC,11614,0.48,146.0,994.7,0.0,568,11753,0.65,0.00,135.95,1.149,6,0.080,0.000,3347,2310,2198,0,0,0,0,0,0,24.51,28.83,22.75
$GC,12041,0.48,146.0,962.6,9.2,583,12042,0.00,0.00,0.00,0.000,6,0.000,0.000,3347,2310,2187,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12341,0.48,146.0,935.4,9.0,593,12347,0.00,2.33,0.00,0.000,4,0.000,0.070,3347,3721,2186,0,0,0,0,0,0,28.83,25.25,28.83
$GC,12379,0.48,146.0,932.5,9.2,594,12383,0.00,2.28,0.00,0.000,6,0.000,0.051,3357,2309,2186,0,0,0,0,0,0,28.83,25.39,28.83
$GC,12696,0.48,146.0,900.6,9.8,605,12697,0.00,0.00,0.00,0.000,6,0.000,0.000,3357,2303,2185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12996,0.48,146.0,869.8,10.4,615,13002,0.00,2.30,0.00,0.000,4,0.000,0.070,3357,3707,2184,0,0,0,0,0,0,28.83,25.58,28.83
$GC,13040,0.48,146.0,866.4,10.6,616,13044,0.00,2.25,0.00,0.000,6,0.000,0.052,3367,2293,2184,0,0,0,0,0,0,28.83,25.71,28.83
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$STATE,23234,end climb,SURFACE_DEPTH_REACHED
$STATE,23235,begin surface coast
$FINISH,1.1,1.012285
$STATE,23294,end surface coast,CONTROL_FINISHED_OK
$STATE,23295,begin surface
$SM_CCo,23374,0.00,0.000,0,0,1546,305.89
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$TT8_MAMPS,0.026964,0.026964
$HUMID,44.60
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,14.50
$XPDR_PINGS,0
$24V_AH,22.7,29.394
$10V_AH,10.2,24.614
$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,21.775,183.625,394.650,0.000,0.000,25.696,36.671,200.222,0.000,0.000,17.551,3409.897,16552.900,532.356,2857.100,410.455,0.000,1894.364,0.000,2574.856,0.000,0.535,0.000
$DEVICE_MAMPS,221.850,84.915,1181.925,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,899.377,757.293,533.847,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296764
$DATA_FILE_SIZE,73421,1305
$CAP_FILE_SIZE,186682,0
$CFSIZE,260165632,240705536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.014, 24.5,1
$GPS,301012,102105,4711.833,-12635.847,45,1.7,51,18.6