version: 66.11
glider: 187
mission: 2
dive: 279
start: 11 17 112 22 49 49
data:
$ID,187
$MISSION,2
$DIVE,279
$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,-1588108.5
$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,43
$R_STBD_OVSHOOT,19
$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
$GPS1,171112,224205,4723.607,-12612.961,50,1.7,50,18.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-73.7
$GPS2,171112,224919,4723.625,-12613.003,13,2.0,13,18.6
$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,49.3,93932,-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,-146.0,0.0,0.0,0,82,0.00,0.00,-62.85,0.000,2,0.000,0.000,109,2192,2786,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.48,-146.0,3.5,-4.0,10,121,11.52,2.35,-12.65,0.000,4,0.220,0.074,3023,3610,3393,0,0,0,0,0,0,25.00,25.48,26.07
$GC,288,-0.48,-146.0,40.8,-12.8,46,297,0.00,2.22,0.00,0.000,6,0.000,0.043,3023,2201,3396,0,0,0,0,0,0,28.83,25.63,28.83
$GC,611,-0.48,-146.0,85.6,-13.0,107,617,0.00,2.17,0.00,0.000,4,0.000,0.050,3023,797,3397,0,0,0,0,0,0,28.83,25.62,28.83
$GC,646,-0.48,-146.0,90.4,-13.1,113,654,0.00,2.20,0.00,0.000,6,0.000,0.050,3013,2215,3398,0,0,0,0,0,0,28.83,25.65,28.83
$GC,965,-0.48,-146.0,131.2,-11.9,163,971,0.00,2.22,0.00,0.000,4,0.000,0.062,3003,3604,3398,0,0,0,0,0,0,28.83,25.60,28.83
$GC,995,-0.48,-146.0,135.2,-12.5,165,1001,0.10,2.12,0.00,0.000,6,0.109,0.043,3039,2196,3398,0,0,0,0,0,0,25.58,25.81,28.83
$GC,1313,-0.48,-146.0,167.4,-9.7,186,1318,0.00,2.12,0.00,0.000,4,0.000,0.050,3039,807,3398,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1334,-0.48,-146.0,169.0,-9.7,187,1341,0.00,2.17,0.00,0.000,6,0.000,0.050,3032,2210,3398,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1642,-0.48,-146.0,198.7,-9.0,208,1647,0.00,2.25,0.00,0.000,4,0.000,0.062,3021,3614,3398,0,0,0,0,0,0,28.83,25.64,28.83
$GC,1674,-0.48,-146.0,200.6,-9.1,210,1682,0.00,2.20,0.00,0.000,6,0.000,0.043,3021,2188,3398,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1982,-0.48,-146.0,231.1,-9.7,226,1983,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2187,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2281,-0.48,-146.0,261.0,-9.9,241,2285,0.00,2.15,0.00,0.000,4,0.000,0.050,3021,801,3397,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2316,-0.48,-146.0,263.3,-10.2,242,2324,0.00,2.17,0.00,0.000,6,0.000,0.050,3012,2205,3397,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2623,-0.48,-146.0,297.8,-11.0,258,2629,0.00,2.20,0.00,0.000,4,0.000,0.063,3002,3603,3397,0,0,0,0,0,0,28.83,25.66,28.83
$GC,2651,-0.48,-146.0,299.9,-10.9,259,2656,0.15,2.15,0.00,0.000,6,0.128,0.044,3045,2199,3397,0,0,0,0,0,0,25.67,25.90,28.83
$GC,2958,-0.48,-146.0,327.1,-8.6,274,2964,0.00,2.15,0.00,0.000,4,0.000,0.050,3046,801,3397,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2998,-0.48,-146.0,330.8,-8.8,276,3004,0.00,2.17,0.00,0.000,6,0.000,0.050,3039,2203,3397,0,0,0,0,0,0,28.83,25.77,28.83
$GC,3319,-0.48,-146.0,360.5,-9.3,292,3324,0.00,2.22,0.00,0.000,4,0.000,0.063,3029,3611,3396,0,0,0,0,0,0,28.83,25.65,28.83
$GC,3358,-0.48,-146.0,364.3,-9.4,294,3364,0.00,2.17,0.00,0.000,6,0.000,0.044,3029,2187,3396,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3679,-0.48,-146.0,394.8,-9.6,310,3680,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2184,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3978,-0.48,-146.0,423.1,-9.3,321,3984,0.00,2.30,0.00,0.000,4,0.000,0.063,3019,3616,3395,0,0,0,0,0,0,28.83,25.64,28.83
$GC,4016,-0.48,-146.0,425.9,-9.2,322,4020,0.00,2.17,0.00,0.000,6,0.000,0.045,3018,2200,3395,0,0,0,0,0,0,28.83,25.90,28.83
$GC,4333,-0.48,-146.0,456.1,-9.1,333,4337,0.00,2.17,0.00,0.000,4,0.000,0.052,3019,797,3394,0,0,0,0,0,0,28.83,25.74,28.83
$GC,4365,-0.48,-146.0,459.3,-9.2,334,4372,0.12,2.20,0.00,0.000,6,0.138,0.052,3045,2202,3394,0,0,0,0,0,0,25.63,25.75,28.83
$GC,4695,-0.48,-146.0,483.6,-7.2,345,4701,0.00,2.22,0.00,0.000,4,0.000,0.064,3037,3607,3394,0,0,0,0,0,0,28.83,25.63,28.83
$GC,4734,-0.48,-146.0,486.0,-7.3,346,4738,0.00,2.15,0.00,0.000,6,0.000,0.044,3037,2200,3394,0,0,0,0,0,0,28.83,25.90,28.83
$GC,5051,-0.48,-146.0,510.7,-7.6,357,5052,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2198,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5351,-0.48,-146.0,533.1,-7.7,367,5357,0.00,2.25,0.00,0.000,4,0.000,0.065,3027,3600,3393,0,0,0,0,0,0,28.83,25.61,28.83
$GC,5374,-0.48,-146.0,533.1,-7.7,367,5381,0.00,2.17,0.00,0.000,6,0.000,0.046,3027,2189,3393,0,0,0,0,0,0,28.83,25.88,28.83
$GC,5681,-0.48,-146.0,560.1,-7.8,378,5682,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2188,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5981,-0.48,-146.0,582.8,-7.5,388,5987,0.00,2.30,0.00,0.000,4,0.000,0.064,3017,3614,3391,0,0,0,0,0,0,28.83,25.59,28.83
$GC,6024,-0.48,-146.0,585.3,-7.8,389,6029,0.00,2.17,0.00,0.000,6,0.000,0.046,3017,2202,3391,0,0,0,0,0,0,28.83,25.87,28.83
$GC,6336,-0.48,-146.0,613.0,-8.4,400,6338,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2199,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6636,-0.48,-146.0,639.3,-8.9,410,6638,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2199,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6936,-0.48,-146.0,666.1,-8.8,420,6942,0.00,2.30,0.00,0.000,4,0.000,0.066,3007,3617,3390,0,0,0,0,0,0,28.83,25.56,28.83
$GC,6969,-0.48,-146.0,668.9,-8.9,421,6974,0.12,2.20,0.00,0.000,6,0.131,0.045,3042,2190,3390,0,0,0,0,0,0,25.70,25.87,28.83
$GC,7293,-0.48,-146.0,691.4,-6.6,432,7298,0.00,2.28,0.00,0.000,4,0.000,0.066,3034,3605,3390,0,0,0,0,0,0,28.83,25.56,28.83
$GC,7316,-0.48,-146.0,691.4,-6.6,432,7322,0.00,2.20,0.00,0.000,6,0.000,0.047,3034,2198,3390,0,0,0,0,0,0,28.83,25.85,28.83
$GC,7623,-0.48,-146.0,716.6,-8.2,443,7624,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2196,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7922,-0.48,-146.0,740.0,-7.4,453,7928,0.00,2.30,0.00,0.000,4,0.000,0.067,3024,3612,3389,0,0,0,0,0,0,28.83,25.53,28.83
$GC,7975,-0.48,-146.0,742.3,-7.5,454,7983,0.00,2.20,0.00,0.000,6,0.000,0.047,3024,2192,3389,0,0,0,0,0,0,28.83,25.83,28.83
$GC,8283,-0.48,-146.0,767.0,-7.2,465,8284,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2191,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8583,-0.48,-146.0,787.8,-7.0,475,8588,0.00,2.28,0.00,0.000,4,0.000,0.067,3014,3605,3388,0,0,0,0,0,0,28.83,25.52,28.83
$GC,8636,-0.48,-146.0,789.8,-6.9,476,8642,0.00,2.17,0.00,0.000,6,0.000,0.047,3014,2199,3388,0,0,0,0,0,0,28.83,25.83,28.83
$GC,8944,-0.48,-146.0,813.9,-7.2,487,8949,0.00,2.28,0.00,0.000,4,0.000,0.067,3004,3607,3388,0,0,0,0,0,0,28.83,25.51,28.83
$GC,8975,-0.48,-146.0,816.1,-7.1,488,8980,0.12,2.17,0.00,0.000,6,0.132,0.047,3040,2203,3387,0,0,0,0,0,0,25.65,25.82,28.83
$GC,9299,-0.48,-146.0,835.2,-5.7,499,9301,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2201,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9599,-0.48,-146.0,853.2,-5.8,509,9604,0.00,2.25,0.00,0.000,4,0.000,0.067,3032,3599,3387,0,0,0,0,0,0,28.83,25.49,28.83
$GC,9642,-0.48,-146.0,855.1,-5.9,510,9646,0.00,2.20,0.00,0.000,6,0.000,0.048,3032,2190,3387,0,0,0,0,0,0,28.83,25.81,28.83
$GC,9955,-0.48,-146.0,874.6,-5.7,521,9960,0.00,2.30,0.00,0.000,4,0.000,0.067,3023,3606,3387,0,0,0,0,0,0,28.83,25.48,28.83
$GC,9977,-0.48,-146.0,874.6,-5.7,521,9984,0.00,2.20,0.00,0.000,6,0.000,0.049,3023,2191,3386,0,0,0,0,0,0,28.83,25.79,28.83
$GC,10284,-0.48,-146.0,895.9,-6.9,532,10285,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2190,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10584,-0.48,-146.0,918.1,-7.5,542,10590,0.00,2.30,0.00,0.000,4,0.000,0.067,3013,3606,3386,0,0,0,0,0,0,28.83,25.47,28.83
$GC,10614,-0.48,-146.0,920.4,-7.6,543,10619,0.00,2.20,0.00,0.000,6,0.000,0.048,3013,2196,3385,0,0,0,0,0,0,28.83,25.79,28.83
$GC,10944,-0.48,-146.0,944.8,-7.5,554,10949,0.00,2.30,0.00,0.000,4,0.000,0.068,3004,3607,3385,0,0,0,0,0,0,28.83,25.46,28.83
$GC,10987,-0.48,-146.0,947.2,-7.7,555,10992,0.12,2.20,0.00,0.000,6,0.131,0.048,3039,2190,3385,0,0,0,0,0,0,25.61,25.78,28.83
$GC,11300,-0.48,-146.0,969.3,-6.6,566,11306,0.00,2.30,0.00,0.000,4,0.000,0.067,3032,3606,3385,0,0,0,0,0,0,28.83,25.45,28.83
$GC,11343,-0.48,-146.0,971.1,-6.5,567,11347,0.00,2.20,0.00,0.000,6,0.000,0.049,3032,2191,3384,0,0,0,0,0,0,28.83,25.78,28.83
$STATE,11622,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11622,begin apogee
$GC,11630,-0.22,0.0,990.7,-6.6,577,11763,0.25,0.00,129.00,1.177,6,0.113,0.000,3118,2332,2794,0,0,0,0,0,0,25.76,28.83,23.34
$STATE,11766,end apogee,CONTROL_FINISHED_OK
$STATE,11766,begin climb
$GC,11769,0.48,146.0,994.3,0.0,581,11911,0.68,0.00,138.68,1.138,6,0.080,0.000,3347,2332,2198,0,0,0,0,0,0,24.42,28.83,22.43
$GC,12192,0.48,146.0,961.6,9.3,596,12193,0.00,0.00,0.00,0.000,6,0.000,0.000,3347,2332,2188,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12490,0.48,146.0,932.5,10.0,606,12491,0.00,0.00,0.00,0.000,6,0.000,0.000,3347,2332,2186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12790,0.48,146.0,903.4,9.8,616,12791,0.00,0.00,0.00,0.000,6,0.000,0.000,3347,2332,2185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13090,0.48,146.0,875.1,9.5,626,13096,0.00,2.28,0.00,0.000,4,0.000,0.069,3347,3728,2184,0,0,0,0,0,0,28.83,25.47,28.83
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$STATE,23143,end climb,SURFACE_DEPTH_REACHED
$STATE,23143,begin surface coast
$FINISH,1.1,1.005789
$STATE,23202,end surface coast,CONTROL_FINISHED_OK
$STATE,23205,begin surface
$SM_CCo,23284,0.00,0.000,0,0,1303,365.74
$SM_GC,2.01,8.32,0.17,0.00,0.026,0.073,0.000,130,2199,1303,-9.46,1.13,365.74,0,0,0,0,0,0,25.81,25.82,28.83
$IRIDIUM_FIX,4703.87,-12614.72,171112,161616
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.52
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,15.10
$XPDR_PINGS,2
$24V_AH,22.4,39.324
$10V_AH,10.1,32.688
$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,22.050,196.800,449.250,0.000,0.000,25.015,49.167,225.729,0.500,0.000,14.653,3361.458,16452.615,595.303,2888.383,409.928,0.000,1988.371,0.000,2561.541,0.000,0.536,0.000
$DEVICE_MAMPS,220.320,82.620,1176.570,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,892.310,750.462,517.127,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73408,1297
$CAP_FILE_SIZE,189701,0
$CFSIZE,260165632,234528768
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.070,219.8,1
$GPS,181112,051908,4724.382,-12608.961,37,1.0,37,18.6