version: 66.11
glider: 187
mission: 2
dive: 370
start: 12 11 112 6 33 30
data:
$ID,187
$MISSION,2
$DIVE,370
$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,2
$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,-1588402.1
$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,38
$R_STBD_OVSHOOT,27
$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
$GPS1,111212,062556,4741.925,-12526.698,34,2.7,53,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-77.7
$GPS2,111212,063257,4741.975,-12526.653,14,2.3,33,18.7
$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,43.0,27465,-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,13,begin dive
$GC,17,-0.47,-136.3,0.0,0.0,0,73,0.00,0.00,-54.30,0.000,2,0.000,0.000,131,2198,2766,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.47,-136.3,3.2,-2.6,9,111,11.55,2.35,-13.00,0.000,4,0.221,0.076,3028,3607,3354,0,0,0,0,0,0,24.90,25.49,26.18
$GC,309,-0.47,-136.3,46.4,-15.2,52,315,0.00,2.17,0.00,0.000,6,0.000,0.044,3028,2198,3356,0,0,0,0,0,0,28.83,25.69,28.83
$GC,622,-0.47,-136.3,86.6,-12.4,113,629,0.00,2.17,0.00,0.000,4,0.000,0.051,3028,790,3357,0,0,0,0,0,0,28.83,25.64,28.83
$GC,724,-0.47,-136.3,99.6,-11.8,132,731,0.00,2.20,0.00,0.000,6,0.000,0.050,3018,2205,3358,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1048,-0.47,-136.3,137.4,-11.1,175,1053,0.00,2.20,0.00,0.000,4,0.000,0.063,3007,3600,3358,0,0,0,0,0,0,28.83,25.60,28.83
$GC,1230,-0.47,-136.3,156.9,-10.9,187,1236,0.10,2.12,0.00,0.000,6,0.104,0.044,3044,2200,3358,0,0,0,0,0,0,25.63,25.84,28.83
$GC,1548,-0.47,-136.3,183.1,-8.1,208,1553,0.00,2.15,0.00,0.000,4,0.000,0.052,3044,797,3358,0,0,0,0,0,0,28.83,25.71,28.83
$GC,1584,-0.47,-136.3,185.6,-8.2,210,1592,0.00,2.22,0.00,0.000,6,0.000,0.051,3037,2201,3358,0,0,0,0,0,0,28.83,25.73,28.83
$GC,1896,-0.47,-136.3,210.9,-7.8,229,1902,0.00,2.25,0.00,0.000,4,0.000,0.063,3026,3612,3358,0,0,0,0,0,0,28.83,25.61,28.83
$GC,1960,-0.47,-136.3,215.8,-8.0,232,1964,0.00,2.17,0.00,0.000,6,0.000,0.044,3026,2189,3358,0,0,0,0,0,0,28.83,25.87,28.83
$GC,2273,-0.47,-136.3,244.6,-9.8,248,2278,0.00,2.12,0.00,0.000,4,0.000,0.050,3026,802,3358,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2305,-0.47,-136.3,246.7,-10.1,249,2312,0.00,2.17,0.00,0.000,6,0.000,0.050,3017,2204,3358,0,0,0,0,0,0,28.83,25.74,28.83
$GC,2613,-0.47,-136.3,278.5,-9.7,265,2614,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2204,3358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2913,-0.47,-136.3,308.0,-9.8,280,2918,0.00,2.25,0.00,0.000,4,0.000,0.063,3007,3607,3358,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2965,-0.47,-136.3,312.0,-9.8,282,2973,0.12,2.15,0.00,0.000,6,0.132,0.044,3043,2199,3358,0,0,0,0,0,0,25.70,25.87,28.83
$GC,3273,-0.47,-136.3,337.3,-7.8,298,3278,0.00,2.15,0.00,0.000,4,0.000,0.052,3042,800,3358,0,0,0,0,0,0,28.83,25.70,28.83
$GC,3305,-0.47,-136.3,339.0,-8.0,299,3312,0.00,2.17,0.00,0.000,6,0.000,0.052,3036,2200,3358,0,0,0,0,0,0,28.83,25.72,28.83
$GC,3613,-0.47,-136.3,365.6,-8.3,315,3618,0.00,2.22,0.00,0.000,4,0.000,0.065,3026,3606,3357,0,0,0,0,0,0,28.83,25.58,28.83
$GC,3652,-0.47,-136.3,368.8,-8.2,317,3658,0.00,2.15,0.00,0.000,6,0.000,0.045,3026,2203,3357,0,0,0,0,0,0,28.83,25.85,28.83
$GC,3972,-0.47,-136.3,394.4,-7.5,333,3973,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2201,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4293,-0.47,-136.3,419.6,-8.0,345,4298,0.00,2.25,0.00,0.000,4,0.000,0.066,3016,3605,3355,0,0,0,0,0,0,28.83,25.56,28.83
$GC,4322,-0.47,-136.3,422.2,-8.1,346,4328,0.00,2.17,0.00,0.000,6,0.000,0.046,3016,2201,3355,0,0,0,0,0,0,28.83,25.84,28.83
$GC,4652,-0.47,-136.3,451.6,-8.9,357,4653,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2198,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4952,-0.47,-136.3,476.5,-8.2,367,4958,0.00,2.28,0.00,0.000,4,0.000,0.066,3006,3606,3354,0,0,0,0,0,0,28.83,25.53,28.83
$GC,4983,-0.47,-136.3,479.1,-8.2,368,4989,0.10,2.17,0.00,0.000,6,0.101,0.047,3043,2194,3354,0,0,0,0,0,0,25.61,25.82,28.83
$GC,5313,-0.47,-136.3,500.0,-6.2,379,5314,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2193,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5613,-0.47,-136.3,519.2,-6.4,389,5618,0.00,2.28,0.00,0.000,4,0.000,0.067,3035,3610,3353,0,0,0,0,0,0,28.83,25.52,28.83
$GC,5681,-0.47,-136.3,523.4,-6.6,391,5686,0.00,2.17,0.00,0.000,6,0.000,0.047,3035,2194,3353,0,0,0,0,0,0,28.83,25.83,28.83
$GC,5998,-0.47,-136.3,546.6,-7.2,402,6000,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2192,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6299,-0.47,-136.3,569.6,-7.8,412,6301,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2192,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6598,-0.47,-136.3,592.3,-7.4,422,6604,0.00,2.33,0.00,0.000,4,0.000,0.067,3025,3614,3352,0,0,0,0,0,0,28.83,25.48,28.83
$GC,6666,-0.47,-136.3,596.7,-7.4,424,6671,0.00,2.20,0.00,0.000,6,0.000,0.047,3025,2193,3352,0,0,0,0,0,0,28.83,25.79,28.83
$GC,6984,-0.47,-136.3,621.2,-7.5,435,6990,0.00,2.28,0.00,0.000,4,0.000,0.067,3015,3606,3351,0,0,0,0,0,0,28.83,25.47,28.83
$GC,7027,-0.47,-136.3,623.6,-7.5,436,7031,0.00,2.17,0.00,0.000,6,0.000,0.047,3015,2200,3352,0,0,0,0,0,0,28.83,25.78,28.83
$GC,7339,-0.47,-136.3,648.8,-7.5,447,7344,0.00,2.30,0.00,0.000,4,0.000,0.067,3006,3610,3351,0,0,0,0,0,0,28.83,25.46,28.83
$GC,7383,-0.47,-136.3,651.1,-7.5,448,7387,0.12,2.17,0.00,0.000,6,0.129,0.047,3041,2202,3351,0,0,0,0,0,0,25.61,25.77,28.83
$GC,7696,-0.47,-136.3,672.3,-6.0,459,7697,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2200,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7996,-0.47,-136.3,691.5,-6.6,469,8001,0.00,2.25,0.00,0.000,4,0.000,0.068,3034,3603,3351,0,0,0,0,0,0,28.83,25.44,28.83
$GC,8026,-0.47,-136.3,693.5,-6.6,470,8032,0.00,2.17,0.00,0.000,6,0.000,0.048,3034,2201,3351,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8356,-0.47,-136.3,715.4,-6.5,481,8361,0.00,2.28,0.00,0.000,4,0.000,0.067,3024,3604,3350,0,0,0,0,0,0,28.83,25.44,28.83
$GC,8420,-0.47,-136.3,719.8,-7.0,483,8426,0.00,2.17,0.00,0.000,6,0.000,0.048,3023,2197,3350,0,0,0,0,0,0,28.83,25.75,28.83
$GC,8746,-0.47,-136.3,744.2,-7.2,494,8752,0.00,2.30,0.00,0.000,4,0.000,0.067,3014,3605,3350,0,0,0,0,0,0,28.83,25.42,28.83
$GC,8775,-0.47,-136.3,746.3,-7.1,495,8781,0.00,2.20,0.00,0.000,6,0.000,0.048,3013,2193,3350,0,0,0,0,0,0,28.83,25.74,28.83
$GC,9105,-0.47,-136.3,771.4,-7.8,506,9107,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2191,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9406,-0.47,-136.3,794.9,-7.3,516,9408,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2191,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9706,-0.47,-136.3,817.3,-7.2,526,9707,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2192,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10006,-0.47,-136.3,837.9,-6.5,536,10012,0.00,2.33,0.00,0.000,4,0.000,0.068,3004,3606,3348,0,0,0,0,0,0,28.83,25.39,28.83
$GC,10050,-0.47,-136.3,840.1,-6.7,537,10056,0.15,2.20,0.00,0.000,6,0.119,0.049,3048,2190,3348,0,0,0,0,0,0,25.55,25.72,28.83
$GC,10366,-0.47,-136.3,857.4,-5.1,548,10367,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2187,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10666,-0.47,-136.3,872.3,-4.9,558,10667,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2187,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10967,-0.47,-136.3,887.2,-5.1,568,10968,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2187,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11266,-0.47,-136.3,902.6,-5.2,578,11272,0.00,2.30,0.00,0.000,4,0.000,0.068,3040,3598,3347,0,0,0,0,0,0,28.83,25.36,28.83
$GC,11304,-0.47,-136.3,904.1,-5.2,579,11308,0.00,2.20,0.00,0.000,6,0.000,0.050,3040,2196,3347,0,0,0,0,0,0,28.83,25.70,28.83
$GC,11622,-0.47,-136.3,921.4,-5.2,590,11627,0.00,2.17,0.00,0.000,4,0.000,0.056,3040,803,3347,0,0,0,0,0,0,28.83,25.50,28.83
$GC,11651,-0.47,-136.3,923.1,-5.4,591,11657,0.00,2.20,0.00,0.000,6,0.000,0.055,3032,2202,3347,0,0,0,0,0,0,28.83,25.51,28.83
$GC,11981,-0.47,-136.3,942.2,-5.9,602,11987,0.00,2.28,0.00,0.000,4,0.000,0.068,3022,3610,3347,0,0,0,0,0,0,28.83,25.34,28.83
$GC,12025,-0.47,-136.3,944.1,-6.0,603,12029,0.00,2.20,0.00,0.000,6,0.000,0.050,3022,2198,3346,0,0,0,0,0,0,28.83,25.68,28.83
$GC,12337,-0.47,-136.3,964.7,-6.2,614,12343,0.00,2.35,0.00,0.000,4,0.000,0.070,3012,3620,3347,0,0,0,0,0,0,28.83,25.32,28.83
$GC,12367,-0.47,-136.3,966.7,-6.2,615,12373,0.00,2.20,0.00,0.000,6,0.000,0.048,3012,2195,3346,0,0,0,0,0,0,28.83,25.69,28.83
$GC,12698,-0.47,-136.3,988.4,-6.7,626,12704,0.12,2.33,0.00,0.000,4,0.138,0.068,3046,3613,3346,0,0,0,0,0,0,26.06,25.30,28.83
$GC,12931,-0.47,-136.3,989.4,-0.1,633,12938,0.00,2.20,0.00,0.000,6,0.000,0.050,3046,2199,3346,0,0,0,0,0,0,28.83,25.65,28.83
$STATE,12964,end dive,NO_VERTICAL_VELOCITY
$STATE,12964,begin apogee
$GC,12971,-0.22,0.0,989.3,0.0,635,13098,0.20,0.00,121.72,1.176,6,0.081,0.000,3129,2342,2795,0,0,0,0,0,0,26.05,28.83,23.11
$STATE,13102,end apogee,CONTROL_FINISHED_OK
$STATE,13102,begin climb
$GC,13105,0.47,136.3,989.2,0.0,639,13244,0.62,2.58,131.68,1.133,4,0.072,0.068,3346,3726,2237,0,0,0,0,0,0,24.45,23.34,22.13
$GC,13270,0.48,161.5,981.2,6.0,645,13301,0.00,2.38,24.88,1.068,6,0.000,0.050,3356,2334,2135,0,0,0,0,0,0,28.83,23.80,22.27
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$STATE,25081,end climb,SURFACE_DEPTH_REACHED
$STATE,25082,begin surface coast
$FINISH,1.3,1.024426
$STATE,25113,end surface coast,CONTROL_FINISHED_OK
$STATE,25113,begin surface
$SM_CCo,25195,0.00,0.000,0,0,1298,367.21
$SM_GC,2.12,8.35,2.08,0.00,0.031,0.050,0.000,119,2207,1298,-9.46,-0.59,367.21,0,0,0,0,0,0,25.95,25.60,28.83
$IRIDIUM_FIX,4722.92,-12527.80,101212,232342
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.99
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,18.90
$XPDR_PINGS,1
$24V_AH,22.1,51.359
$10V_AH,9.9,42.490
$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,22.225,219.375,448.825,0.000,0.000,27.383,37.738,197.113,0.250,0.000,35.848,3588.982,17872.619,579.125,3132.830,431.410,0.000,2134.540,0.000,2799.411,0.000,0.535,0.000
$DEVICE_MAMPS,221.085,83.385,1175.805,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,938.144,699.714,353.102,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296760
$DATA_FILE_SIZE,76889,1364
$CAP_FILE_SIZE,207810,0
$CFSIZE,260165632,227008512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.089,273.3,1
$GPS,111212,133436,4743.580,-12523.270,33,1.2,33,18.7