version: 66.11
glider: 187
mission: 2
dive: 371
start: 12 11 112 13 41 40
data:
$ID,187
$MISSION,2
$DIVE,371
$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,-1588403.5
$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,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
$GPS1,111212,133436,4743.580,-12523.270,33,1.2,33,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-76.3
$GPS2,111212,134107,4743.577,-12523.313,15,1.3,15,18.7
$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,45.6,22405,-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,16,-0.47,-136.3,0.0,0.0,0,84,0.00,0.00,-64.72,0.000,2,0.000,0.000,119,2210,2708,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.47,-136.3,3.1,-2.5,11,121,11.55,2.25,-14.85,0.000,4,0.219,0.063,3037,787,3351,0,0,0,0,0,0,24.89,25.51,26.15
$GC,313,-0.47,-136.3,41.0,-15.0,53,320,0.00,2.22,0.00,0.000,6,0.000,0.051,3029,2205,3354,0,0,0,0,0,0,28.83,25.55,28.83
$GC,628,-0.47,-136.3,84.6,-13.7,114,635,0.00,2.25,0.00,0.000,4,0.000,0.062,3018,3613,3355,0,0,0,0,0,0,28.83,25.52,28.83
$GC,658,-0.47,-136.3,88.8,-13.4,119,665,0.00,2.20,0.00,0.000,6,0.000,0.044,3018,2194,3355,0,0,0,0,0,0,28.83,25.75,28.83
$GC,976,-0.47,-136.3,128.6,-11.4,171,981,0.00,2.15,0.00,0.000,4,0.000,0.050,3018,800,3356,0,0,0,0,0,0,28.83,25.66,28.83
$GC,1067,-0.47,-136.3,138.6,-10.5,177,1074,0.12,2.20,0.00,0.000,6,0.142,0.050,3042,2205,3356,0,0,0,0,0,0,25.55,25.69,28.83
$GC,1384,-0.47,-136.3,165.4,-8.9,198,1390,0.00,2.22,0.00,0.000,4,0.000,0.063,3034,3613,3356,0,0,0,0,0,0,28.83,25.58,28.83
$GC,1429,-0.47,-136.3,169.7,-9.3,201,1434,0.00,2.15,0.00,0.000,6,0.000,0.044,3034,2198,3356,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1745,-0.47,-136.3,198.8,-9.4,222,1747,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2195,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2059,-0.47,-136.3,226.4,-8.7,238,2064,0.00,2.25,0.00,0.000,4,0.000,0.063,3025,3609,3356,0,0,0,0,0,0,28.83,25.59,28.83
$GC,2087,-0.47,-136.3,228.4,-8.8,239,2091,0.00,2.15,0.00,0.000,6,0.000,0.044,3025,2201,3356,0,0,0,0,0,0,28.83,25.85,28.83
$GC,2395,-0.47,-136.3,259.0,-9.5,254,2396,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2197,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2693,-0.47,-136.3,288.4,-9.8,269,2694,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2197,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2994,-0.47,-136.3,316.4,-9.4,284,2999,0.00,2.25,0.00,0.000,4,0.000,0.064,3014,3607,3356,0,0,0,0,0,0,28.83,25.58,28.83
$GC,3036,-0.47,-136.3,320.1,-9.2,286,3040,0.00,2.17,0.00,0.000,6,0.000,0.045,3014,2194,3356,0,0,0,0,0,0,28.83,25.84,28.83
$GC,3349,-0.47,-136.3,350.8,-9.8,302,3353,0.00,2.17,0.00,0.000,4,0.000,0.053,3014,802,3355,0,0,0,0,0,0,28.83,25.68,28.83
$GC,3379,-0.47,-136.3,353.2,-10.0,303,3384,0.12,2.17,0.00,0.000,6,0.141,0.052,3040,2202,3355,0,0,0,0,0,0,25.57,25.70,28.83
$GC,3686,-0.47,-136.3,377.8,-7.7,318,3692,0.00,2.22,0.00,0.000,4,0.000,0.064,3032,3605,3355,0,0,0,0,0,0,28.83,25.55,28.83
$GC,3767,-0.47,-136.3,384.4,-8.3,322,3772,0.00,2.15,0.00,0.000,6,0.000,0.046,3032,2203,3354,0,0,0,0,0,0,28.83,25.84,28.83
$GC,4086,-0.47,-136.3,410.5,-8.0,336,4092,0.00,2.20,0.00,0.000,4,0.000,0.054,3032,789,3354,0,0,0,0,0,0,28.83,25.65,28.83
$GC,4109,-0.47,-136.3,410.5,-8.0,336,4116,0.00,2.20,0.00,0.000,6,0.000,0.053,3029,2198,3354,0,0,0,0,0,0,28.83,25.67,28.83
$GC,4417,-0.47,-136.3,436.6,-7.8,347,4423,0.00,2.25,0.00,0.000,4,0.000,0.066,3019,3609,3353,0,0,0,0,0,0,28.83,25.53,28.83
$GC,4465,-0.47,-136.3,439.0,-7.8,348,4469,0.00,2.17,0.00,0.000,6,0.000,0.046,3019,2194,3353,0,0,0,0,0,0,28.83,25.82,28.83
$GC,4772,-0.47,-136.3,465.0,-8.0,358,4773,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2192,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5072,-0.47,-136.3,486.7,-6.8,368,5077,0.00,2.28,0.00,0.000,4,0.000,0.066,3009,3609,3352,0,0,0,0,0,0,28.83,25.51,28.83
$GC,5110,-0.47,-136.3,488.7,-6.8,369,5114,0.12,2.17,0.00,0.000,6,0.129,0.047,3044,2196,3352,0,0,0,0,0,0,25.64,25.81,28.83
$GC,5428,-0.47,-136.3,505.6,-4.8,380,5429,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2193,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5729,-0.47,-136.3,523.2,-6.1,390,5734,0.00,2.28,0.00,0.000,4,0.000,0.066,3037,3607,3351,0,0,0,0,0,0,28.83,25.49,28.83
$GC,5796,-0.47,-136.3,527.2,-6.4,392,5800,0.00,2.20,0.00,0.000,6,0.000,0.047,3036,2191,3351,0,0,0,0,0,0,28.83,25.80,28.83
$GC,6113,-0.47,-136.3,549.8,-6.9,403,6114,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2189,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6414,-0.47,-136.3,569.5,-6.6,413,6419,0.00,2.28,0.00,0.000,4,0.000,0.067,3027,3603,3351,0,0,0,0,0,0,28.83,25.48,28.83
$GC,6461,-0.47,-136.3,571.5,-6.6,414,6466,0.00,2.17,0.00,0.000,6,0.000,0.047,3027,2194,3350,0,0,0,0,0,0,28.83,25.79,28.83
$GC,6768,-0.47,-136.3,593.7,-6.7,424,6770,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2191,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7069,-0.47,-136.3,613.5,-6.6,434,7075,0.00,2.33,0.00,0.000,4,0.000,0.067,3017,3607,3350,0,0,0,0,0,0,28.83,25.45,28.83
$GC,7107,-0.47,-136.3,615.7,-6.7,435,7111,0.00,2.20,0.00,0.000,6,0.000,0.048,3017,2192,3350,0,0,0,0,0,0,28.83,25.77,28.83
$GC,7425,-0.47,-136.3,641.9,-8.4,446,7426,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2190,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7725,-0.47,-136.3,668.2,-8.9,456,7730,0.00,2.30,0.00,0.000,4,0.000,0.067,3006,3612,3349,0,0,0,0,0,0,28.83,25.43,28.83
$GC,7762,-0.47,-136.3,671.1,-9.1,457,7767,0.12,2.20,0.00,0.000,6,0.126,0.048,3043,2194,3349,0,0,0,0,0,0,25.60,25.75,28.83
$GC,8080,-0.47,-136.3,694.2,-6.4,468,8081,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2192,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8381,-0.47,-136.3,712.6,-6.1,478,8387,0.00,2.28,0.00,0.000,4,0.000,0.067,3034,3601,3348,0,0,0,0,0,0,28.83,25.42,28.83
$GC,8428,-0.47,-136.3,714.6,-6.2,479,8433,0.00,2.17,0.00,0.000,6,0.000,0.048,3035,2200,3348,0,0,0,0,0,0,28.83,25.75,28.83
$GC,8735,-0.47,-136.3,738.3,-7.2,489,8741,0.00,2.33,0.00,0.000,4,0.000,0.067,3025,3613,3348,0,0,0,0,0,0,28.83,25.40,28.83
$GC,8775,-0.47,-136.3,740.8,-7.4,490,8781,0.00,2.20,0.00,0.000,6,0.000,0.048,3025,2194,3347,0,0,0,0,0,0,28.83,25.72,28.83
$GC,9095,-0.47,-136.3,766.5,-7.7,501,9096,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2192,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9395,-0.47,-136.3,788.8,-7.1,511,9401,0.00,2.33,0.00,0.000,4,0.000,0.068,3015,3607,3347,0,0,0,0,0,0,28.83,25.39,28.83
$GC,9464,-0.47,-136.3,793.2,-7.2,513,9468,0.00,2.20,0.00,0.000,6,0.000,0.048,3015,2193,3347,0,0,0,0,0,0,28.83,25.72,28.83
$GC,9781,-0.47,-136.3,816.2,-6.8,524,9782,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2191,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10081,-0.47,-136.3,837.6,-7.0,534,10087,0.00,2.30,0.00,0.000,4,0.000,0.068,3004,3606,3346,0,0,0,0,0,0,28.83,25.37,28.83
$GC,10119,-0.47,-136.3,839.7,-7.0,535,10124,0.12,2.20,0.00,0.000,6,0.126,0.049,3041,2192,3346,0,0,0,0,0,0,25.56,25.70,28.83
$GC,10438,-0.47,-136.3,860.1,-6.4,546,10439,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2190,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10738,-0.47,-136.3,879.6,-6.6,556,10739,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2190,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11038,-0.47,-136.3,896.8,-5.5,566,11039,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2190,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11338,-0.47,-136.3,912.4,-5.3,576,11343,0.00,2.33,0.00,0.000,4,0.000,0.070,3041,3614,3345,0,0,0,0,0,0,28.83,25.33,28.83
$GC,11381,-0.47,-136.3,914.1,-5.3,577,11385,0.00,2.20,0.00,0.000,6,0.000,0.050,3041,2203,3345,0,0,0,0,0,0,28.83,25.68,28.83
$GC,11694,-0.47,-136.3,931.6,-5.5,588,11695,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2201,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11995,-0.47,-136.3,941.1,-0.1,598,12000,0.00,2.28,0.00,0.000,4,0.000,0.070,3039,3603,3344,0,0,0,0,0,0,28.83,25.30,28.83
$STATE,12081,end dive,NO_VERTICAL_VELOCITY
$STATE,12081,begin apogee
$GC,12090,-0.22,0.0,941.1,0.0,601,12216,0.22,0.00,121.22,1.139,6,0.083,0.000,3130,2325,2794,0,0,0,0,0,0,26.00,28.83,23.16
$STATE,12219,end apogee,CONTROL_FINISHED_OK
$STATE,12219,begin climb
$GC,12222,0.47,136.3,941.1,0.0,605,12360,0.60,2.62,129.88,1.103,4,0.064,0.067,3346,3730,2236,0,0,0,0,0,0,24.51,23.38,22.20
$GC,12387,0.49,170.6,933.6,5.7,611,12425,0.00,2.40,32.95,1.055,6,0.000,0.049,3357,2326,2098,0,0,0,0,0,0,28.83,23.84,22.27
$GC,12741,0.49,170.6,898.9,9.8,623,12742,0.00,0.00,0.00,0.000,6,0.000,0.000,3357,2326,2089,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13039,0.49,170.6,870.5,9.3,633,13045,0.00,2.30,0.00,0.000,4,0.000,0.070,3357,3732,2087,0,0,0,0,0,0,28.83,25.37,28.83
$GC,13062,0.49,170.6,870.5,9.3,633,13068,0.00,2.25,0.00,0.000,6,0.000,0.051,3367,2318,2087,0,0,0,0,0,0,28.83,25.52,28.83
$GC,13369,0.49,170.6,837.7,9.7,644,13374,0.00,2.22,0.00,0.000,4,0.000,0.059,3378,915,2086,0,0,0,0,0,0,28.83,25.55,28.83
$GC,13422,0.49,170.6,834.7,9.6,645,13429,0.00,2.25,0.00,0.000,6,0.000,0.058,3378,2328,2085,0,0,0,0,0,0,28.83,25.57,28.83
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$STATE,23487,end climb,SURFACE_DEPTH_REACHED
$STATE,23487,begin surface coast
$FINISH,1.2,1.024808
$STATE,23550,end surface coast,CONTROL_FINISHED_OK
$STATE,23550,begin surface
$SM_CCo,23630,0.00,0.000,0,0,1340,356.67
$SM_GC,2.09,8.25,0.20,0.00,0.024,0.076,0.000,115,2191,1340,-9.47,1.22,356.67,0,0,0,0,0,0,26.00,25.92,28.83
$IRIDIUM_FIX,4722.92,-12525.95,111212,060600
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.92
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,19.20
$XPDR_PINGS,1
$24V_AH,22.2,51.491
$10V_AH,9.9,42.601
$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,21.950,210.925,444.550,0.000,0.000,28.215,34.769,190.082,0.250,0.000,16.234,3464.397,16597.746,556.916,2944.892,448.258,0.000,2039.005,0.000,2659.773,0.000,0.536,0.000
$DEVICE_MAMPS,218.790,75.735,1139.085,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,906.038,705.936,376.140,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296744
$DATA_FILE_SIZE,73580,1317
$CAP_FILE_SIZE,199270,0
$CFSIZE,260165632,226930688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.090,284.8,1
$GPS,111212,201654,4745.427,-12519.953,46,1.8,46,18.7