version: 66.11
glider: 187
mission: 2
dive: 277
start: 11 17 112 9 25 25
data:
$ID,187
$MISSION,2
$DIVE,277
$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,-1588105.9
$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,35
$R_STBD_OVSHOOT,23
$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
$GPS1,171112,091719,4720.753,-12620.352,42,5.3,61,18.6
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-70.7
$GPS2,171112,092455,4720.852,-12620.343,17,1.4,17,18.6
$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,50.8,104368,-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,-146.0,0.0,0.0,0,73,0.00,0.00,-54.28,0.000,2,0.000,0.000,109,2206,2469,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.48,-146.0,3.2,-5.3,9,117,11.60,2.30,-23.08,0.000,4,0.223,0.063,3032,783,3392,0,0,0,0,0,0,24.97,25.51,26.05
$GC,192,-0.48,-146.0,22.9,-17.5,29,199,0.00,2.22,0.00,0.000,6,0.000,0.051,3023,2202,3394,0,0,0,0,0,0,28.83,25.51,28.83
$GC,507,-0.48,-146.0,72.1,-13.4,90,515,0.00,2.30,0.00,0.000,4,0.000,0.061,3012,3613,3396,0,0,0,0,0,0,28.83,25.55,28.83
$GC,593,-0.48,-146.0,83.6,-13.2,106,600,0.00,2.17,0.00,0.000,6,0.000,0.042,3013,2192,3397,0,0,0,0,0,0,28.83,25.75,28.83
$GC,910,-0.48,-146.0,125.3,-11.8,162,915,0.00,2.12,0.00,0.000,4,0.000,0.049,3013,803,3397,0,0,0,0,0,0,28.83,25.70,28.83
$GC,978,-0.48,-146.0,132.2,-11.5,166,986,0.08,2.22,0.00,0.000,6,0.125,0.050,3041,2207,3397,0,0,0,0,0,0,25.51,25.72,28.83
$GC,1286,-0.48,-146.0,159.4,-8.7,187,1287,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2206,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1586,-0.48,-146.0,187.0,-9.5,207,1592,0.00,2.22,0.00,0.000,4,0.000,0.062,3033,3613,3396,0,0,0,0,0,0,28.83,25.66,28.83
$GC,1623,-0.48,-146.0,189.9,-9.3,209,1630,0.00,2.17,0.00,0.000,6,0.000,0.044,3032,2191,3396,0,0,0,0,0,0,28.83,25.88,28.83
$GC,1940,-0.48,-146.0,221.7,-9.4,227,1941,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2187,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2240,-0.48,-146.0,247.6,-8.2,242,2241,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2187,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2541,-0.48,-146.0,274.0,-9.1,257,2543,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2187,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2840,-0.48,-146.0,300.6,-8.9,272,2846,0.00,2.30,0.00,0.000,4,0.000,0.063,3022,3613,3395,0,0,0,0,0,0,28.83,25.68,28.83
$GC,2884,-0.48,-146.0,304.3,-9.2,274,2888,0.00,2.17,0.00,0.000,6,0.000,0.044,3022,2192,3395,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3196,-0.48,-146.0,334.7,-10.0,290,3198,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2188,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3496,-0.48,-146.0,363.2,-9.4,305,3497,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2189,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3797,-0.48,-146.0,390.6,-9.4,320,3798,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2188,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4096,-0.48,-146.0,419.0,-9.6,332,4097,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2188,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4396,-0.48,-146.0,447.7,-9.3,342,4397,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2188,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4697,-0.48,-146.0,474.0,-8.7,352,4702,0.00,2.30,0.00,0.000,4,0.000,0.065,3012,3611,3392,0,0,0,0,0,0,28.83,25.64,28.83
$GC,4719,-0.48,-146.0,474.0,-8.7,352,4725,0.00,2.17,0.00,0.000,6,0.000,0.047,3012,2198,3392,0,0,0,0,0,0,28.83,25.89,28.83
$GC,5026,-0.48,-146.0,505.1,-9.4,363,5029,0.00,2.17,0.00,0.000,4,0.000,0.053,3012,802,3391,0,0,0,0,0,0,28.83,25.74,28.83
$GC,5058,-0.48,-146.0,508.3,-9.6,364,5065,0.10,2.17,0.00,0.000,6,0.115,0.054,3041,2199,3391,0,0,0,0,0,0,25.56,25.75,28.83
$GC,5388,-0.48,-146.0,533.8,-7.7,375,5393,0.00,2.28,0.00,0.000,4,0.000,0.066,3032,3616,3391,0,0,0,0,0,0,28.83,25.61,28.83
$GC,5461,-0.48,-146.0,538.7,-8.0,377,5465,0.00,2.17,0.00,0.000,6,0.000,0.047,3032,2199,3391,0,0,0,0,0,0,28.83,25.89,28.83
$GC,5774,-0.48,-146.0,565.1,-8.0,388,5779,0.00,2.25,0.00,0.000,4,0.000,0.066,3022,3603,3390,0,0,0,0,0,0,28.83,25.60,28.83
$GC,5803,-0.48,-146.0,567.5,-8.0,389,5808,0.00,2.17,0.00,0.000,6,0.000,0.047,3022,2198,3390,0,0,0,0,0,0,28.83,25.87,28.83
$GC,6134,-0.48,-146.0,595.1,-8.2,400,6135,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2195,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6433,-0.48,-146.0,620.6,-8.6,410,6434,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2195,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6733,-0.48,-146.0,645.9,-8.4,420,6734,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2195,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7033,-0.48,-146.0,671.9,-8.7,430,7038,0.00,2.30,0.00,0.000,4,0.000,0.067,3012,3608,3388,0,0,0,0,0,0,28.83,25.56,28.83
$GC,7076,-0.48,-146.0,674.6,-8.8,431,7080,0.00,2.17,0.00,0.000,6,0.000,0.047,3012,2199,3387,0,0,0,0,0,0,28.83,25.85,28.83
$GC,7389,-0.48,-146.0,704.9,-9.3,442,7390,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2198,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7689,-0.48,-146.0,732.0,-9.0,452,7694,0.00,2.28,0.00,0.000,4,0.000,0.067,3002,3612,3387,0,0,0,0,0,0,28.83,25.55,28.83
$GC,7711,-0.48,-146.0,732.0,-9.0,452,7718,0.15,2.20,0.00,0.000,6,0.126,0.047,3046,2190,3387,0,0,0,0,0,0,25.63,25.83,28.83
$GC,8019,-0.48,-146.0,754.1,-6.2,463,8020,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2189,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8318,-0.48,-146.0,773.0,-6.2,473,8324,0.00,2.33,0.00,0.000,4,0.000,0.067,3037,3609,3386,0,0,0,0,0,0,28.83,25.52,28.83
$GC,8348,-0.48,-146.0,774.9,-6.3,474,8354,0.00,2.20,0.00,0.000,6,0.000,0.047,3038,2194,3386,0,0,0,0,0,0,28.83,25.83,28.83
$GC,8679,-0.48,-146.0,796.9,-6.7,485,8680,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2192,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8978,-0.48,-146.0,817.1,-6.6,495,8984,0.00,2.28,0.00,0.000,4,0.000,0.067,3028,3606,3385,0,0,0,0,0,0,28.83,25.51,28.83
$GC,9031,-0.48,-146.0,819.2,-6.7,496,9038,0.00,2.17,0.00,0.000,6,0.000,0.047,3028,2200,3385,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9339,-0.48,-146.0,843.3,-7.1,507,9340,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2199,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9638,-0.48,-146.0,863.5,-6.6,517,9640,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2199,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9938,-0.48,-146.0,882.3,-6.3,527,9944,0.00,2.30,0.00,0.000,4,0.000,0.068,3018,3607,3384,0,0,0,0,0,0,28.83,25.48,28.83
$GC,9971,-0.48,-146.0,884.4,-6.4,528,9975,0.00,2.20,0.00,0.000,6,0.000,0.048,3018,2194,3384,0,0,0,0,0,0,28.83,25.79,28.83
$GC,10293,-0.48,-146.0,908.1,-7.5,539,10299,0.00,2.30,0.00,0.000,4,0.000,0.067,3008,3607,3384,0,0,0,0,0,0,28.83,25.47,28.83
$GC,10316,-0.48,-146.0,908.1,-7.5,539,10324,0.12,2.20,0.00,0.000,6,0.129,0.048,3044,2188,3384,0,0,0,0,0,0,25.62,25.77,28.83
$GC,10624,-0.48,-146.0,929.3,-6.1,550,10630,0.00,2.28,0.00,0.000,4,0.000,0.068,3036,3600,3383,0,0,0,0,0,0,28.83,25.46,28.83
$GC,10647,-0.48,-146.0,929.3,-6.1,550,10653,0.00,2.17,0.00,0.000,6,0.000,0.048,3036,2199,3384,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10954,-0.48,-146.0,951.0,-6.5,561,10955,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2199,3383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11254,-0.48,-146.0,969.4,-6.0,571,11260,0.00,2.33,0.00,0.000,4,0.000,0.069,3026,3609,3383,0,0,0,0,0,0,28.83,25.43,28.83
$GC,11292,-0.48,-146.0,971.2,-6.0,572,11296,0.00,2.20,0.00,0.000,6,0.000,0.049,3026,2201,3383,0,0,0,0,0,0,28.83,25.76,28.83
$STATE,11576,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11576,begin apogee
$GC,11584,-0.22,0.0,990.2,-6.5,582,11717,0.28,0.00,128.35,1.177,6,0.109,0.000,3121,2330,2795,0,0,0,0,0,0,25.72,28.83,23.36
$STATE,11719,end apogee,CONTROL_FINISHED_OK
$STATE,11720,begin climb
$GC,11722,0.48,146.0,993.3,0.0,586,11864,0.65,0.00,138.62,1.138,6,0.078,0.000,3342,2330,2198,0,0,0,0,0,0,24.43,28.83,22.44
$GC,12144,0.48,146.0,962.9,8.4,601,12145,0.00,0.00,0.00,0.000,6,0.000,0.000,3343,2331,2188,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12444,0.48,146.0,938.1,8.0,611,12450,0.00,2.28,0.00,0.000,4,0.000,0.057,3353,928,2186,0,0,0,0,0,0,28.83,25.27,28.83
$GC,12462,0.48,146.0,938.1,8.0,611,12466,0.00,2.25,0.00,0.000,6,0.000,0.057,3353,2322,2186,0,0,0,0,0,0,28.83,25.29,28.83
$GC,12769,0.48,146.0,910.6,8.6,621,12775,0.00,2.33,0.00,0.000,4,0.000,0.069,3353,3741,2185,0,0,0,0,0,0,28.83,25.40,28.83
$GC,12822,0.48,146.0,907.9,8.7,622,12829,0.00,2.25,0.00,0.000,6,0.000,0.050,3363,2326,2184,0,0,0,0,0,0,28.83,25.57,28.83
$GC,13129,0.48,146.0,876.4,9.6,633,13130,0.00,0.00,0.00,0.000,6,0.000,0.000,3363,2321,2184,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13429,0.48,146.0,846.8,10.1,643,13435,0.00,2.33,0.00,0.000,4,0.000,0.069,3363,3735,2183,0,0,0,0,0,0,28.83,25.52,28.83
$GC,13467,0.48,146.0,843.5,10.3,644,13471,0.00,2.25,0.00,0.000,6,0.000,0.050,3374,2320,2183,0,0,0,0,0,0,28.83,25.70,28.83
$GC,13784,0.48,146.0,808.3,10.8,655,13786,0.00,0.00,0.00,0.000,6,0.000,0.000,3374,2314,2183,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14084,0.48,146.0,777.4,10.1,665,14090,0.00,2.33,0.00,0.000,4,0.000,0.069,3374,3736,2183,0,0,0,0,0,0,28.83,25.55,28.83
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$STATE,23476,end climb,SURFACE_DEPTH_REACHED
$STATE,23476,begin surface coast
$FINISH,0.9,1.024449
$STATE,23538,end surface coast,CONTROL_FINISHED_OK
$STATE,23538,begin surface
$SM_CCo,23617,0.00,0.000,0,0,1485,321.10
$SM_GC,1.86,8.52,0.20,0.00,0.035,0.070,0.000,119,2192,1485,-9.47,0.90,321.10,0,0,0,0,0,0,25.82,25.79,28.83
$IRIDIUM_FIX,4707.04,-12605.15,171112,020240
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.76
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,19.60
$XPDR_PINGS,3
$24V_AH,22.4,39.053
$10V_AH,10.1,32.461
$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,21.975,162.050,426.875,0.000,0.000,27.829,35.422,251.236,0.750,0.000,18.195,3434.532,16773.064,562.185,2886.142,406.082,0.000,1903.498,0.000,2551.904,0.000,0.536,0.000
$DEVICE_MAMPS,223.380,87.210,1176.570,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296792
$DATA_FILE_SIZE,76852,1332
$CAP_FILE_SIZE,183207,0
$CFSIZE,260165632,234704896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.037,283.3,1
$GPS,171112,160106,4721.976,-12616.507,86,1.9,86,18.6