version: 66.11
glider: 187
mission: 2
dive: 351
start: 12 5 112 12 42 51
data:
$ID,187
$MISSION,2
$DIVE,351
$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,470
$T_MISSION,520
$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,140
$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,-1588208.1
$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,24
$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
$GPS1,051212,123444,4712.052,-12636.384,70,4.0,89,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-74.9
$GPS2,051212,124221,4712.040,-12636.436,14,5.4,33,18.6
$SPEED_LIMITS,0.122,0.210
$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,41.0,130074,-13.3,-7.021,-18.50
$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,14,begin dive
$GC,17,-0.47,-136.3,0.0,0.0,0,72,0.00,0.00,-52.28,0.000,2,0.000,0.000,130,2208,2710,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-0.47,-136.3,3.2,-1.9,9,109,11.48,2.30,-15.50,0.000,4,0.220,0.063,3035,790,3353,0,0,0,0,0,0,24.85,25.51,26.11
$GC,292,-0.47,-136.3,39.3,-13.9,49,298,0.00,2.22,0.00,0.000,6,0.000,0.052,3026,2209,3355,0,0,0,0,0,0,28.83,25.54,28.83
$GC,608,-0.47,-136.3,84.1,-11.8,110,615,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2209,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,925,-0.47,-136.3,119.5,-9.9,171,932,0.00,2.22,0.00,0.000,4,0.000,0.062,3016,3609,3357,0,0,0,0,0,0,28.83,25.59,28.83
$GC,978,-0.47,-136.3,125.2,-10.9,175,982,0.00,2.17,0.00,0.000,6,0.000,0.042,3016,2191,3358,0,0,0,0,0,0,28.83,25.83,28.83
$GC,1292,-0.47,-136.3,158.8,-10.2,196,1293,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2186,3358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1591,-0.47,-136.3,190.9,-10.8,216,1592,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2186,3358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1901,-0.47,-136.3,222.4,-9.9,233,1902,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2186,3358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2201,-0.47,-136.3,252.7,-10.0,248,2206,0.00,2.25,0.00,0.000,4,0.000,0.062,3006,3604,3357,0,0,0,0,0,0,28.83,25.63,28.83
$GC,2253,-0.47,-136.3,256.7,-10.0,250,2261,0.12,2.15,0.00,0.000,6,0.132,0.042,3042,2193,3358,0,0,0,0,0,0,25.71,25.89,28.83
$GC,2563,-0.47,-136.3,282.8,-7.9,266,2568,0.00,2.12,0.00,0.000,4,0.000,0.050,3042,799,3357,0,0,0,0,0,0,28.83,25.74,28.83
$GC,2584,-0.47,-136.3,284.5,-8.1,267,2588,0.00,2.17,0.00,0.000,6,0.000,0.051,3035,2203,3357,0,0,0,0,0,0,28.83,25.74,28.83
$GC,2898,-0.47,-136.3,310.8,-8.7,283,2903,0.00,2.22,0.00,0.000,4,0.000,0.064,3025,3609,3357,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2978,-0.47,-136.3,318.0,-9.0,287,2983,0.00,2.15,0.00,0.000,6,0.000,0.044,3025,2197,3357,0,0,0,0,0,0,28.83,25.90,28.83
$GC,3296,-0.47,-136.3,347.8,-9.1,303,3298,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2194,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3597,-0.47,-136.3,374.2,-8.7,318,3602,0.00,2.25,0.00,0.000,4,0.000,0.064,3014,3605,3356,0,0,0,0,0,0,28.83,25.58,28.83
$GC,3637,-0.47,-136.3,377.9,-8.9,320,3642,0.00,2.12,0.00,0.000,6,0.000,0.044,3014,2209,3356,0,0,0,0,0,0,28.83,25.88,28.83
$GC,3966,-0.47,-136.3,408.9,-9.3,335,3968,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2207,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4267,-0.47,-136.3,435.0,-8.7,345,4268,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2207,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4566,-0.47,-136.3,461.2,-8.7,355,4572,0.00,2.17,0.00,0.000,4,0.000,0.050,3014,799,3354,0,0,0,0,0,0,28.83,25.70,28.83
$GC,4597,-0.47,-136.3,464.1,-8.8,356,4603,0.10,2.17,0.00,0.000,6,0.110,0.053,3041,2197,3354,0,0,0,0,0,0,25.51,25.69,28.83
$GC,4927,-0.47,-136.3,486.6,-6.6,367,4933,0.00,2.25,0.00,0.000,4,0.000,0.067,3033,3606,3354,0,0,0,0,0,0,28.83,25.53,28.83
$GC,5005,-0.47,-136.3,491.0,-6.8,369,5009,0.00,2.17,0.00,0.000,6,0.000,0.045,3033,2191,3353,0,0,0,0,0,0,28.83,25.85,28.83
$GC,5311,-0.47,-136.3,515.9,-7.9,379,5313,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2188,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5612,-0.47,-136.3,539.9,-7.8,389,5617,0.00,2.28,0.00,0.000,4,0.000,0.066,3023,3607,3353,0,0,0,0,0,0,28.83,25.51,28.83
$GC,5679,-0.47,-136.3,544.9,-8.0,391,5684,0.00,2.17,0.00,0.000,6,0.000,0.045,3023,2192,3353,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5996,-0.47,-136.3,572.1,-8.4,402,5998,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2190,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6297,-0.47,-136.3,596.4,-8.1,412,6303,0.00,2.28,0.00,0.000,4,0.000,0.067,3013,3605,3352,0,0,0,0,0,0,28.83,25.49,28.83
$GC,6326,-0.47,-136.3,599.0,-8.2,413,6332,0.00,2.17,0.00,0.000,6,0.000,0.045,3013,2199,3352,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6657,-0.47,-136.3,627.7,-8.5,424,6658,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2196,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6957,-0.47,-136.3,652.7,-8.2,434,6959,0.12,0.00,0.00,0.000,6,0.142,0.000,3049,2196,3351,0,0,0,0,0,0,26.11,28.83,28.83
$GC,7257,-0.47,-136.3,670.9,-6.0,444,7258,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2196,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7557,-0.47,-136.3,688.2,-5.7,454,7563,0.00,2.28,0.00,0.000,4,0.000,0.068,3040,3605,3350,0,0,0,0,0,0,28.83,25.44,28.83
$GC,7610,-0.47,-136.3,690.1,-5.9,455,7617,0.00,2.17,0.00,0.000,6,0.000,0.047,3040,2200,3351,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7917,-0.47,-136.3,711.0,-6.4,466,7922,0.00,2.25,0.00,0.000,4,0.000,0.067,3030,3605,3350,0,0,0,0,0,0,28.83,25.44,28.83
$GC,7955,-0.47,-136.3,713.0,-6.5,467,7959,0.00,2.17,0.00,0.000,6,0.000,0.047,3030,2204,3350,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8272,-0.47,-136.3,736.3,-7.2,478,8274,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2202,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8572,-0.47,-136.3,758.5,-7.5,488,8578,0.00,2.28,0.00,0.000,4,0.000,0.067,3020,3609,3349,0,0,0,0,0,0,28.83,25.43,28.83
$GC,8602,-0.47,-136.3,760.9,-7.6,489,8608,0.00,2.20,0.00,0.000,6,0.000,0.047,3020,2197,3349,0,0,0,0,0,0,28.83,25.76,28.83
$GC,8933,-0.47,-136.3,787.7,-8.1,500,8934,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2196,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9232,-0.47,-136.3,811.6,-7.9,510,9238,0.00,2.30,0.00,0.000,4,0.000,0.068,3010,3606,3348,0,0,0,0,0,0,28.83,25.40,28.83
$GC,9296,-0.47,-136.3,816.7,-8.2,512,9303,0.12,2.20,0.00,0.000,6,0.125,0.047,3046,2188,3348,0,0,0,0,0,0,25.60,25.75,28.83
$GC,9623,-0.47,-136.3,838.2,-6.4,523,9629,0.00,2.35,0.00,0.000,4,0.000,0.068,3038,3613,3348,0,0,0,0,0,0,28.83,25.38,28.83
$GC,9660,-0.47,-136.3,840.1,-6.4,524,9665,0.00,2.20,0.00,0.000,6,0.000,0.047,3038,2202,3348,0,0,0,0,0,0,28.83,25.74,28.83
$GC,9978,-0.47,-136.3,860.7,-6.1,535,9983,0.00,2.25,0.00,0.000,4,0.000,0.069,3028,3598,3347,0,0,0,0,0,0,28.83,25.37,28.83
$GC,10009,-0.47,-136.3,862.7,-6.2,536,10014,0.00,2.17,0.00,0.000,6,0.000,0.047,3028,2196,3347,0,0,0,0,0,0,28.83,25.75,28.83
$GC,10338,-0.47,-136.3,884.0,-6.5,547,10343,0.00,2.28,0.00,0.000,4,0.000,0.068,3018,3605,3347,0,0,0,0,0,0,28.83,25.37,28.83
$GC,10371,-0.47,-136.3,886.1,-6.6,548,10375,0.00,2.20,0.00,0.000,6,0.000,0.047,3018,2190,3347,0,0,0,0,0,0,28.83,25.73,28.83
$GC,10693,-0.47,-136.3,908.4,-6.9,559,10694,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2188,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10993,-0.47,-136.3,929.8,-7.3,569,10999,0.00,2.35,0.00,0.000,4,0.000,0.068,3008,3613,3346,0,0,0,0,0,0,28.83,25.34,28.83
$GC,11026,-0.47,-136.3,932.2,-7.5,570,11031,0.12,2.22,0.00,0.000,6,0.126,0.048,3044,2196,3347,0,0,0,0,0,0,25.55,25.70,28.83
$GC,11350,-0.47,-136.3,953.2,-6.5,581,11355,0.00,2.28,0.00,0.000,4,0.000,0.069,3036,3598,3346,0,0,0,0,0,0,28.83,25.33,28.83
$GC,11379,-0.47,-136.3,955.1,-6.5,582,11385,0.00,2.17,0.00,0.000,6,0.000,0.048,3036,2194,3346,0,0,0,0,0,0,28.83,25.71,28.83
$GC,11710,-0.47,-136.3,977.5,-6.9,593,11711,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2193,3346,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11916,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11917,begin apogee
$GC,11923,-0.22,0.0,991.2,-6.5,600,12050,0.25,0.00,122.05,1.177,6,0.109,0.000,3123,2336,2793,0,0,0,0,0,0,25.76,28.83,23.17
$STATE,12054,end apogee,CONTROL_FINISHED_OK
$STATE,12054,begin climb
$GC,12057,0.47,136.3,994.9,0.0,604,12196,0.65,2.55,130.30,1.140,4,0.075,0.053,3357,925,2236,0,0,0,0,0,0,24.45,23.36,22.19
$GC,12214,0.49,177.3,989.6,5.4,609,12260,0.00,2.42,39.58,1.094,6,0.000,0.054,3356,2324,2070,0,0,0,0,0,0,28.83,23.70,22.22
$GC,12580,0.49,177.3,952.5,9.9,622,12585,0.00,2.35,0.00,0.000,4,0.000,0.069,3357,3735,2060,0,0,0,0,0,0,28.83,24.95,28.83
$GC,12608,0.49,177.3,949.2,10.0,623,12614,0.00,2.28,0.00,0.000,6,0.000,0.048,3368,2333,2060,0,0,0,0,0,0,28.83,25.14,28.83
$GC,12939,0.49,177.3,913.3,10.9,634,12944,0.00,2.22,0.00,0.000,4,0.000,0.057,3378,925,2059,0,0,0,0,0,0,28.83,25.46,28.83
$GC,12976,0.49,177.3,910.0,10.8,635,12981,0.00,2.25,0.00,0.000,6,0.000,0.057,3378,2332,2059,0,0,0,0,0,0,28.83,25.46,28.83
$GC,13294,0.49,177.3,873.8,11.2,646,13299,0.00,2.30,0.00,0.000,4,0.000,0.069,3378,3735,2058,0,0,0,0,0,0,28.83,25.51,28.83
$GC,13347,0.49,177.3,870.1,11.4,647,13356,0.12,2.22,0.00,0.000,6,0.163,0.049,3357,2326,2057,0,0,0,0,0,0,25.46,25.70,28.83
$GC,13654,0.49,177.3,836.8,9.7,658,13655,0.00,0.00,0.00,0.000,6,0.000,0.000,3357,2320,2057,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,23840,end climb,SURFACE_DEPTH_REACHED
$STATE,23840,begin surface coast
$FINISH,1.4,1.019161
$STATE,23878,end surface coast,CONTROL_FINISHED_OK
$STATE,23878,begin surface
$SM_CCo,23958,0.00,0.000,0,0,1288,369.42
$SM_GC,2.36,8.40,0.20,0.00,0.031,0.072,0.000,111,2187,1288,-9.45,1.02,369.42,0,0,0,0,0,0,25.98,25.91,28.83
$IRIDIUM_FIX,4651.23,-12641.43,051212,050530
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.68
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,19.10
$XPDR_PINGS,2
$24V_AH,22.2,48.764
$10V_AH,10.0,40.262
$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,22.075,201.800,457.000,0.000,0.000,25.948,34.949,231.369,0.500,0.000,35.639,3520.032,16849.830,568.866,3031.658,429.448,0.000,2059.609,0.000,2677.942,0.000,0.536,0.000
$DEVICE_MAMPS,219.555,81.090,1177.335,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,932.151,718.601,384.634,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,76650,1355
$CAP_FILE_SIZE,198061,0
$CFSIZE,260165632,228741120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.037,230.9,1
$GPS,051212,192337,4713.570,-12632.102,50,1.1,50,18.6