version: 66.11
glider: 187
mission: 2
dive: 676
start: 3 10 113 6 26 45
data:
$ID,187
$MISSION,2
$DIVE,676
$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,10
$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,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,3
$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,-1588888
$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,45
$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,20
$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
$GPS1,100313,061806,4738.613,-12537.361,38,0.9,38,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-78.8
$GPS2,100313,062612,4738.646,-12537.412,15,1.0,15,18.7
$SPEED_LIMITS,0.122,0.210
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,10000.000
$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,18.6,41744,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.47,-136.3,0.0,0.0,0,70,0.00,0.00,-50.30,0.000,2,0.000,0.000,109,2193,2590,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.47,-136.3,3.1,-1.4,9,111,11.57,2.40,-19.88,0.000,4,0.212,0.074,3022,3613,3352,0,0,0,0,0,0,24.51,25.29,26.24
$GC,306,-0.47,-136.3,36.2,-13.9,53,313,0.00,2.20,0.00,0.000,6,0.000,0.044,3022,2199,3355,0,0,0,0,0,0,28.83,25.53,28.83
$GC,619,-0.47,-136.3,84.4,-14.7,114,626,0.00,2.17,0.00,0.000,4,0.000,0.051,3022,801,3355,0,0,0,0,0,0,28.83,25.37,28.83
$GC,669,-0.47,-136.3,91.4,-13.3,123,677,0.00,2.20,0.00,0.000,6,0.000,0.052,3012,2203,3355,0,0,0,0,0,0,28.83,25.39,28.83
$GC,987,-0.47,-136.3,128.8,-11.3,175,997,0.12,2.22,0.00,0.000,4,0.145,0.049,3047,801,3355,0,0,0,0,0,0,25.96,25.39,28.83
$GC,1046,-0.47,-136.3,134.4,-8.6,181,1056,0.00,2.28,0.00,0.000,6,0.000,0.050,3041,2210,3355,0,0,0,0,0,0,28.83,25.40,28.83
$GC,1357,-0.47,-136.3,160.5,-8.4,202,1365,0.00,2.30,0.00,0.000,4,0.000,0.063,3030,3611,3355,0,0,0,0,0,0,28.83,25.24,28.83
$GC,1406,-0.47,-136.3,164.6,-8.6,207,1416,0.00,2.25,0.00,0.000,6,0.000,0.043,3030,2191,3355,0,0,0,0,0,0,28.83,25.58,28.83
$GC,1717,-0.47,-136.3,191.8,-8.4,228,1725,0.00,2.20,0.00,0.000,4,0.000,0.050,3030,804,3356,0,0,0,0,0,0,28.83,25.38,28.83
$GC,1767,-0.47,-136.3,196.2,-8.9,233,1775,0.00,2.25,0.00,0.000,6,0.000,0.051,3022,2205,3355,0,0,0,0,0,0,28.83,25.40,28.83
$GC,2082,-0.47,-136.3,222.8,-8.6,250,2087,0.00,2.33,0.00,0.000,4,0.000,0.062,3012,3612,3355,0,0,0,0,0,0,28.83,25.22,28.83
$GC,2122,-0.47,-136.3,226.6,-9.0,252,2128,0.08,2.22,0.00,0.000,6,0.104,0.044,3042,2203,3356,0,0,0,0,0,0,25.39,25.58,28.83
$GC,2443,-0.47,-136.3,250.4,-7.2,268,2447,0.00,2.22,0.00,0.000,4,0.000,0.051,3042,807,3356,0,0,0,0,0,0,28.83,25.36,28.83
$GC,2490,-0.47,-136.3,253.3,-7.3,270,2494,0.00,2.28,0.00,0.000,6,0.000,0.051,3036,2213,3356,0,0,0,0,0,0,28.83,25.37,28.83
$GC,2792,-0.47,-136.3,278.0,-8.4,285,2793,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2213,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3094,-0.47,-136.3,302.7,-8.1,300,3098,0.00,2.25,0.00,0.000,4,0.000,0.063,3025,3607,3355,0,0,0,0,0,0,28.83,25.19,28.83
$GC,3129,-0.47,-136.3,305.0,-8.0,301,3134,0.00,2.25,0.00,0.000,6,0.000,0.044,3025,2198,3356,0,0,0,0,0,0,28.83,25.56,28.83
$GC,3432,-0.47,-136.3,331.6,-8.8,316,3433,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2197,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3733,-0.47,-136.3,358.7,-9.0,331,3734,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2196,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4031,-0.47,-136.3,385.7,-8.8,346,4037,0.00,2.28,0.00,0.000,4,0.000,0.052,3025,791,3355,0,0,0,0,0,0,28.83,25.32,28.83
$GC,4079,-0.47,-136.3,389.5,-9.2,348,4084,0.00,2.30,0.00,0.000,6,0.000,0.052,3016,2206,3355,0,0,0,0,0,0,28.83,25.33,28.83
$GC,4383,-0.47,-136.3,418.0,-9.2,360,4387,0.00,2.28,0.00,0.000,4,0.000,0.064,3007,3609,3354,0,0,0,0,0,0,28.83,25.15,28.83
$GC,4411,-0.47,-136.3,420.7,-9.2,361,4418,0.12,2.28,0.00,0.000,6,0.127,0.044,3044,2193,3355,0,0,0,0,0,0,25.37,25.53,28.83
$GC,4742,-0.47,-136.3,445.4,-7.3,372,4743,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2189,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5042,-0.47,-136.3,467.5,-7.6,382,5044,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2189,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5342,-0.47,-136.3,489.3,-7.2,392,5347,0.00,2.35,0.00,0.000,4,0.000,0.065,3036,3603,3353,0,0,0,0,0,0,28.83,25.12,28.83
$GC,5401,-0.47,-136.3,493.7,-7.1,394,5407,0.00,2.28,0.00,0.000,6,0.000,0.046,3036,2191,3353,0,0,0,0,0,0,28.83,25.51,28.83
$GC,5733,-0.47,-136.3,517.2,-7.0,405,5734,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2189,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6032,-0.47,-136.3,536.7,-6.6,415,6037,0.00,2.38,0.00,0.000,4,0.000,0.065,3027,3611,3353,0,0,0,0,0,0,28.83,25.10,28.83
$GC,6070,-0.47,-136.3,538.7,-6.7,416,6074,0.00,2.28,0.00,0.000,6,0.000,0.046,3026,2203,3352,0,0,0,0,0,0,28.83,25.49,28.83
$GC,6384,-0.47,-136.3,560.9,-6.9,427,6385,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2201,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6683,-0.47,-136.3,581.1,-6.7,437,6684,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2201,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6983,-0.47,-136.3,600.4,-6.6,447,6984,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2201,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7282,-0.47,-136.3,621.5,-7.3,457,7283,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2201,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7583,-0.47,-136.3,644.2,-7.6,467,7588,0.00,2.35,0.00,0.000,4,0.000,0.066,3017,3606,3351,0,0,0,0,0,0,28.83,25.07,28.83
$GC,7642,-0.47,-136.3,649.1,-7.8,469,7648,0.00,2.28,0.00,0.000,6,0.000,0.047,3017,2201,3351,0,0,0,0,0,0,28.83,25.47,28.83
$GC,7973,-0.47,-136.3,674.7,-7.7,480,7974,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2199,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8273,-0.47,-136.3,698.3,-8.0,490,8278,0.00,2.35,0.00,0.000,4,0.000,0.066,3008,3603,3350,0,0,0,0,0,0,28.83,25.05,28.83
$GC,8320,-0.47,-136.3,700.7,-8.0,491,8325,0.12,2.28,0.00,0.000,6,0.123,0.047,3045,2196,3350,0,0,0,0,0,0,25.30,25.46,28.83
$GC,8623,-0.47,-136.3,722.4,-6.4,501,8628,0.00,2.38,0.00,0.000,4,0.000,0.067,3037,3605,3350,0,0,0,0,0,0,28.83,25.02,28.83
$GC,8654,-0.47,-136.3,724.4,-6.5,502,8658,0.00,2.25,0.00,0.000,6,0.000,0.047,3037,2205,3350,0,0,0,0,0,0,28.83,25.46,28.83
$GC,8983,-0.47,-136.3,746.5,-6.5,513,8984,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2203,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9283,-0.47,-136.3,764.4,-5.7,523,9288,0.00,2.35,0.00,0.000,4,0.000,0.067,3028,3604,3350,0,0,0,0,0,0,28.83,25.03,28.83
$GC,9322,-0.47,-136.3,766.3,-5.9,524,9328,0.00,2.28,0.00,0.000,6,0.000,0.047,3027,2196,3350,0,0,0,0,0,0,28.83,25.44,28.83
$GC,9643,-0.47,-136.3,787.6,-6.4,535,9644,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2195,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9943,-0.47,-136.3,806.7,-6.4,545,9948,0.00,2.35,0.00,0.000,4,0.000,0.067,3018,3600,3349,0,0,0,0,0,0,28.83,25.00,28.83
$GC,9977,-0.47,-136.3,808.7,-6.4,546,9981,0.00,2.22,0.00,0.000,6,0.000,0.047,3018,2194,3349,0,0,0,0,0,0,28.83,25.41,28.83
$GC,10293,-0.47,-136.3,830.8,-7.0,557,10294,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2192,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10592,-0.47,-136.3,852.8,-7.5,567,10594,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2192,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10894,-0.47,-136.3,873.7,-6.8,577,10898,0.00,2.38,0.00,0.000,4,0.000,0.067,3008,3606,3348,0,0,0,0,0,0,28.83,25.01,28.83
$GC,10941,-0.47,-136.3,876.0,-7.0,578,10946,0.12,2.28,0.00,0.000,6,0.123,0.047,3045,2202,3348,0,0,0,0,0,0,25.26,25.40,28.83
$GC,11243,-0.47,-136.3,893.6,-5.1,588,11248,0.00,2.38,0.00,0.000,4,0.000,0.068,3037,3610,3347,0,0,0,0,0,0,28.83,24.96,28.83
$GC,11273,-0.47,-136.3,895.4,-5.1,589,11278,0.00,2.28,0.00,0.000,6,0.000,0.048,3037,2206,3348,0,0,0,0,0,0,28.83,25.40,28.83
$GC,11604,-0.47,-136.3,913.6,-5.6,600,11605,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2204,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11903,-0.47,-136.3,929.9,-5.3,610,11908,0.00,2.35,0.00,0.000,4,0.000,0.067,3028,3604,3347,0,0,0,0,0,0,28.83,24.94,28.83
$GC,11933,-0.47,-136.3,931.3,-5.2,611,11938,0.00,2.28,0.00,0.000,6,0.000,0.047,3028,2194,3347,0,0,0,0,0,0,28.83,25.39,28.83
$GC,12264,-0.47,-136.3,947.7,-4.9,622,12268,0.00,2.38,0.00,0.000,4,0.000,0.067,3018,3606,3347,0,0,0,0,0,0,28.83,24.94,28.83
$GC,12293,-0.47,-136.3,949.4,-5.0,623,12298,0.00,2.28,0.00,0.000,6,0.000,0.048,3018,2198,3347,0,0,0,0,0,0,28.83,25.37,28.83
$GC,12623,-0.47,-136.3,970.0,-6.1,634,12628,0.00,2.38,0.00,0.000,4,0.000,0.068,3013,3607,3347,0,0,0,0,0,0,28.83,24.93,28.83
$GC,12654,-0.47,-136.3,971.9,-6.1,635,12658,0.00,2.22,0.00,0.000,6,0.000,0.049,3013,2199,3346,0,0,0,0,0,0,28.83,25.37,28.83
$STATE,12950,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12950,begin apogee
$GC,12957,-0.22,0.0,991.6,-6.9,645,13089,0.32,0.00,126.72,1.159,6,0.107,0.000,3125,2339,2793,0,0,0,0,0,0,25.41,28.83,22.42
$STATE,13090,end apogee,CONTROL_FINISHED_OK
$STATE,13090,begin climb
$GC,13094,0.47,136.3,995.6,0.0,649,13236,0.65,2.58,134.75,1.127,4,0.070,0.067,3347,3726,2238,0,0,0,0,0,0,24.43,23.42,21.70
$GC,13265,0.49,183.0,990.2,5.2,655,13316,0.00,2.42,45.97,1.092,6,0.000,0.048,3358,2329,2048,0,0,0,0,0,0,28.83,24.01,21.83
$GC,13626,0.49,183.0,953.3,10.0,668,13630,0.00,2.33,0.00,0.000,4,0.000,0.058,3368,920,2039,0,0,0,0,0,0,28.83,25.33,28.83
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$STATE,24884,end climb,SURFACE_DEPTH_REACHED
$STATE,24885,begin surface coast
$FINISH,1.5,1.012142
$STATE,24921,end surface coast,CONTROL_FINISHED_OK
$STATE,24921,begin surface
$SM_CCo,25001,0.00,0.000,0,0,1128,408.67
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$TT8_MAMPS,0.027713,0.027713
$HUMID,47.91
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,18.90
$XPDR_PINGS,6
$24V_AH,21.7,95.169
$10V_AH,9.7,72.335
$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
$DEVICE_SECS,22.275,240.025,509.025,0.000,0.000,27.518,47.390,259.992,1.500,0.000,16.030,3464.651,18217.623,808.083,2510.782,477.674,0.000,2059.308,0.000,2150.383,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,918.387,679.914,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296920
$DATA_FILE_SIZE,73425,1335
$CAP_FILE_SIZE,198422,0
$CFSIZE,260165632,200609792
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.104,241.3,1
$GPS,100313,132436,4741.352,-12535.165,31,0.9,31,18.7