version: 66.11
glider: 187
mission: 2
dive: 278
start: 11 17 112 16 9 5
data:
$ID,187
$MISSION,2
$DIVE,278
$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,-1588107.2
$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,37
$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
$GPS1,171112,160106,4721.976,-12616.507,86,1.9,86,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-76.6
$GPS2,171112,160833,4721.941,-12616.423,15,2.1,34,18.6
$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,44.6,99198,-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,-146.0,0.0,0.0,0,67,0.00,0.00,-47.80,0.000,2,0.000,0.000,113,2192,2533,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-0.48,-146.0,3.2,-5.1,8,111,11.55,2.28,-21.02,0.000,4,0.222,0.067,3029,3611,3392,0,0,0,0,0,0,25.01,25.51,26.08
$GC,315,-0.48,-146.0,42.2,-12.8,52,322,0.00,2.22,0.00,0.000,6,0.000,0.043,3028,2199,3395,0,0,0,0,0,0,28.83,25.68,28.83
$GC,640,-0.48,-146.0,83.2,-11.2,113,647,0.00,2.17,0.00,0.000,4,0.000,0.050,3027,791,3397,0,0,0,0,0,0,28.83,25.69,28.83
$GC,697,-0.48,-146.0,89.8,-11.5,123,704,0.00,2.20,0.00,0.000,6,0.000,0.050,3018,2211,3397,0,0,0,0,0,0,28.83,25.71,28.83
$GC,1018,-0.48,-146.0,129.3,-12.0,176,1020,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2211,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1319,-0.48,-146.0,164.2,-11.1,196,1324,0.00,2.20,0.00,0.000,4,0.000,0.061,3008,3606,3397,0,0,0,0,0,0,28.83,25.70,28.83
$GC,1349,-0.48,-146.0,167.4,-10.8,198,1355,0.12,2.15,0.00,0.000,6,0.135,0.042,3042,2193,3397,0,0,0,0,0,0,25.72,25.89,28.83
$GC,1667,-0.48,-146.0,196.4,-8.9,219,1673,0.00,2.12,0.00,0.000,4,0.000,0.050,3043,794,3397,0,0,0,0,0,0,28.83,25.80,28.83
$GC,1704,-0.48,-146.0,199.4,-8.8,221,1711,0.00,2.17,0.00,0.000,6,0.000,0.050,3035,2203,3397,0,0,0,0,0,0,28.83,25.81,28.83
$GC,2011,-0.48,-146.0,227.5,-8.6,237,2017,0.00,2.22,0.00,0.000,4,0.000,0.061,3025,3609,3397,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2091,-0.48,-146.0,235.0,-9.5,241,2097,0.00,2.15,0.00,0.000,6,0.000,0.043,3024,2200,3397,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2411,-0.48,-146.0,265.0,-9.2,257,2412,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2195,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2712,-0.48,-146.0,292.3,-9.0,272,2713,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2195,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3011,-0.48,-146.0,319.5,-9.2,287,3017,0.00,2.25,0.00,0.000,4,0.000,0.063,3014,3607,3396,0,0,0,0,0,0,28.83,25.73,28.83
$GC,3044,-0.48,-146.0,321.4,-9.2,288,3051,0.00,2.15,0.00,0.000,6,0.000,0.044,3014,2198,3396,0,0,0,0,0,0,28.83,25.95,28.83
$GC,3353,-0.48,-146.0,352.9,-9.7,304,3358,0.00,2.12,0.00,0.000,4,0.000,0.050,3014,807,3396,0,0,0,0,0,0,28.83,25.82,28.83
$GC,3412,-0.48,-146.0,358.8,-9.8,307,3418,0.10,2.12,0.00,0.000,6,0.113,0.051,3042,2193,3396,0,0,0,0,0,0,25.64,25.82,28.83
$GC,3732,-0.48,-146.0,384.1,-7.8,323,3737,0.00,2.28,0.00,0.000,4,0.000,0.064,3033,3609,3395,0,0,0,0,0,0,28.83,25.70,28.83
$GC,3780,-0.48,-146.0,387.4,-8.2,325,3784,0.00,2.15,0.00,0.000,6,0.000,0.044,3033,2201,3395,0,0,0,0,0,0,28.83,25.95,28.83
$GC,4106,-0.48,-146.0,417.1,-9.0,338,4108,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2199,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4406,-0.48,-146.0,443.3,-8.6,348,4408,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2199,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4707,-0.48,-146.0,469.3,-8.7,358,4712,0.00,2.28,0.00,0.000,4,0.000,0.065,3023,3624,3394,0,0,0,0,0,0,28.83,25.68,28.83
$GC,4729,-0.48,-146.0,469.3,-8.7,358,4737,0.00,2.20,0.00,0.000,6,0.000,0.045,3023,2192,3393,0,0,0,0,0,0,28.83,25.92,28.83
$GC,5036,-0.48,-146.0,498.2,-8.4,369,5038,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2191,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5337,-0.48,-146.0,523.0,-8.2,379,5338,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2191,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5637,-0.48,-146.0,547.1,-7.8,389,5638,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2191,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5937,-0.48,-146.0,569.9,-7.4,399,5943,0.00,2.30,0.00,0.000,4,0.000,0.066,3013,3618,3391,0,0,0,0,0,0,28.83,25.65,28.83
$GC,5980,-0.48,-146.0,572.3,-7.5,400,5984,0.00,2.17,0.00,0.000,6,0.000,0.046,3013,2202,3391,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6293,-0.48,-146.0,599.5,-8.5,411,6294,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2200,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6592,-0.48,-146.0,625.8,-8.7,421,6593,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2200,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6892,-0.48,-146.0,651.7,-8.6,431,6898,0.00,2.28,0.00,0.000,4,0.000,0.067,3003,3613,3390,0,0,0,0,0,0,28.83,25.62,28.83
$GC,6940,-0.48,-146.0,654.5,-8.8,432,6945,0.12,2.17,0.00,0.000,6,0.132,0.047,3039,2201,3389,0,0,0,0,0,0,25.71,25.89,28.83
$GC,7247,-0.48,-146.0,677.8,-6.9,442,7248,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2197,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7547,-0.48,-146.0,698.9,-7.0,452,7553,0.00,2.25,0.00,0.000,4,0.000,0.067,3031,3605,3389,0,0,0,0,0,0,28.83,25.59,28.83
$GC,7581,-0.48,-146.0,701.0,-7.1,453,7585,0.00,2.17,0.00,0.000,6,0.000,0.048,3031,2198,3389,0,0,0,0,0,0,28.83,25.87,28.83
$GC,7903,-0.48,-146.0,724.6,-6.9,464,7905,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2196,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8204,-0.48,-146.0,746.5,-7.2,474,8209,0.00,2.28,0.00,0.000,4,0.000,0.067,3021,3610,3388,0,0,0,0,0,0,28.83,25.58,28.83
$GC,8252,-0.48,-146.0,748.8,-7.3,475,8256,0.00,2.20,0.00,0.000,6,0.000,0.047,3021,2190,3388,0,0,0,0,0,0,28.83,25.85,28.83
$GC,8558,-0.48,-146.0,774.5,-7.9,485,8564,0.00,2.33,0.00,0.000,4,0.000,0.067,3011,3617,3387,0,0,0,0,0,0,28.83,25.57,28.83
$GC,8591,-0.48,-146.0,776.9,-7.9,486,8595,0.00,2.22,0.00,0.000,6,0.000,0.046,3011,2187,3387,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8914,-0.48,-146.0,802.7,-8.0,497,8915,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2185,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9214,-0.48,-146.0,826.5,-7.7,507,9219,0.00,2.28,0.00,0.000,4,0.000,0.067,3001,3604,3387,0,0,0,0,0,0,28.83,25.55,28.83
$GC,9251,-0.48,-146.0,828.9,-7.7,508,9256,0.15,2.20,0.00,0.000,6,0.123,0.047,3045,2191,3386,0,0,0,0,0,0,25.64,25.82,28.83
$GC,9570,-0.48,-146.0,848.0,-5.8,519,9571,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2188,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9869,-0.48,-146.0,864.9,-5.5,529,9875,0.00,2.28,0.00,0.000,4,0.000,0.067,3038,3599,3386,0,0,0,0,0,0,28.83,25.53,28.83
$GC,9912,-0.48,-146.0,866.7,-5.5,530,9916,0.00,2.20,0.00,0.000,6,0.000,0.048,3037,2192,3386,0,0,0,0,0,0,28.83,25.82,28.83
$GC,10225,-0.48,-146.0,886.0,-5.9,541,10231,0.00,2.30,0.00,0.000,4,0.000,0.067,3028,3609,3385,0,0,0,0,0,0,28.83,25.52,28.83
$GC,10255,-0.48,-146.0,887.9,-6.0,542,10260,0.00,2.17,0.00,0.000,6,0.000,0.047,3027,2205,3385,0,0,0,0,0,0,28.83,25.81,28.83
$GC,10585,-0.48,-146.0,910.6,-7.0,553,10590,0.00,2.17,0.00,0.000,4,0.000,0.055,3027,801,3385,0,0,0,0,0,0,28.83,25.63,28.83
$GC,10608,-0.48,-146.0,910.6,-7.0,553,10615,0.00,2.20,0.00,0.000,6,0.000,0.055,3019,2201,3385,0,0,0,0,0,0,28.83,25.64,28.83
$GC,10914,-0.48,-146.0,935.1,-7.5,564,10920,0.00,2.28,0.00,0.000,4,0.000,0.067,3009,3607,3384,0,0,0,0,0,0,28.83,25.49,28.83
$GC,10983,-0.48,-146.0,939.8,-7.6,566,10988,0.12,2.20,0.00,0.000,6,0.127,0.048,3045,2190,3384,0,0,0,0,0,0,25.65,25.79,28.83
$GC,11302,-0.48,-146.0,960.2,-6.3,577,11307,0.00,2.30,0.00,0.000,4,0.000,0.068,3037,3606,3384,0,0,0,0,0,0,28.83,25.48,28.83
$GC,11339,-0.48,-146.0,962.4,-6.4,578,11343,0.00,2.20,0.00,0.000,6,0.000,0.049,3037,2201,3384,0,0,0,0,0,0,28.83,25.79,28.83
$GC,11657,-0.48,-146.0,984.1,-6.7,589,11658,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2199,3384,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11743,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11744,begin apogee
$GC,11750,-0.22,0.0,990.1,-6.6,592,11883,0.25,0.00,128.40,1.180,6,0.110,0.000,3124,2331,2793,0,0,0,0,0,0,25.79,28.83,23.35
$STATE,11887,end apogee,CONTROL_FINISHED_OK
$STATE,11887,begin climb
$GC,11889,0.48,146.0,994.1,0.0,596,12031,0.65,0.00,138.43,1.143,6,0.077,0.000,3346,2332,2198,0,0,0,0,0,0,24.44,28.83,22.44
$GC,12312,0.48,146.0,963.8,8.7,611,12313,0.00,0.00,0.00,0.000,6,0.000,0.000,3346,2332,2188,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12611,0.48,146.0,935.8,9.5,621,12617,0.00,2.35,0.00,0.000,4,0.000,0.069,3346,3736,2186,0,0,0,0,0,0,28.83,25.22,28.83
$GC,12645,0.48,146.0,932.8,9.6,622,12649,0.00,2.25,0.00,0.000,6,0.000,0.050,3356,2334,2186,0,0,0,0,0,0,28.83,25.39,28.83
$GC,12967,0.48,146.0,898.7,10.6,633,12973,0.00,2.25,0.00,0.000,4,0.000,0.057,3366,918,2185,0,0,0,0,0,0,28.83,25.48,28.83
$GC,12990,0.48,146.0,898.7,10.6,633,12997,0.00,2.25,0.00,0.000,6,0.000,0.057,3366,2327,2185,0,0,0,0,0,0,28.83,25.49,28.83
$GC,13297,0.48,146.0,863.7,10.3,644,13303,0.00,2.30,0.00,0.000,4,0.000,0.069,3367,3738,2184,0,0,0,0,0,0,28.83,25.48,28.83
$GC,13350,0.48,146.0,860.0,10.7,645,13356,0.00,2.25,0.00,0.000,6,0.000,0.050,3377,2319,2184,0,0,0,0,0,0,28.83,25.66,28.83
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$STATE,23341,end climb,SURFACE_DEPTH_REACHED
$STATE,23341,begin surface coast
$FINISH,1.2,1.024439
$STATE,23412,end surface coast,CONTROL_FINISHED_OK
$STATE,23412,begin surface
$SM_CCo,23492,0.00,0.000,0,0,1399,342.19
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$IRIDIUM_FIX,4703.87,-12621.72,171112,090919
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.56
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,14.80
$XPDR_PINGS,2
$24V_AH,22.4,39.186
$10V_AH,10.1,32.575
$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,21.950,174.875,425.825,0.000,0.000,28.491,44.256,219.226,0.500,0.000,36.629,3388.474,16731.582,545.176,2873.149,392.700,0.000,1899.172,0.000,2533.742,0.000,0.535,0.000
$DEVICE_MAMPS,221.850,87.210,1180.395,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,900.297,758.722,527.666,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296768
$DATA_FILE_SIZE,73544,1307
$CAP_FILE_SIZE,183156,0
$CFSIZE,260165632,234622976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.072,275.2,1
$GPS,171112,224205,4723.607,-12612.961,50,1.7,50,18.6