version: 66.11
glider: 187
mission: 2
dive: 678
start: 3 10 113 20 46 58
data:
$ID,187
$MISSION,2
$DIVE,678
$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,-1588892.9
$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,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
$GPS1,100313,203905,4743.332,-12531.358,42,0.8,47,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-79.2
$GPS2,100313,204625,4743.381,-12531.326,15,1.0,15,18.7
$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,41.5,30580,-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,18,-0.47,-136.3,0.0,0.0,0,65,0.00,0.00,-44.80,0.000,2,0.000,0.000,115,2195,2440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.47,-136.3,3.0,-2.5,8,113,11.57,2.40,-27.55,0.000,4,0.211,0.076,3034,3612,3352,0,0,0,0,0,0,24.54,25.27,26.25
$GC,289,-0.47,-136.3,30.0,-12.4,49,296,0.00,2.20,0.00,0.000,6,0.000,0.044,3034,2195,3355,0,0,0,0,0,0,28.83,25.52,28.83
$GC,602,-0.47,-136.3,73.5,-12.5,110,609,0.00,2.17,0.00,0.000,4,0.000,0.051,3034,794,3355,0,0,0,0,0,0,28.83,25.37,28.83
$GC,653,-0.47,-136.3,80.1,-12.2,119,661,0.00,2.20,0.00,0.000,6,0.000,0.052,3024,2200,3355,0,0,0,0,0,0,28.83,25.38,28.83
$GC,966,-0.47,-136.3,119.1,-11.9,180,973,0.00,2.25,0.00,0.000,4,0.000,0.063,3013,3608,3355,0,0,0,0,0,0,28.83,25.24,28.83
$GC,1011,-0.47,-136.3,124.1,-11.2,185,1020,0.00,2.25,0.00,0.000,6,0.000,0.043,3013,2189,3355,0,0,0,0,0,0,28.83,25.58,28.83
$GC,1322,-0.47,-136.3,156.5,-10.2,206,1330,0.00,2.20,0.00,0.000,4,0.000,0.050,3013,802,3355,0,0,0,0,0,0,28.83,25.40,28.83
$GC,1411,-0.47,-136.3,165.7,-10.0,215,1420,0.10,2.22,0.00,0.000,6,0.112,0.050,3041,2196,3355,0,0,0,0,0,0,25.20,25.41,28.83
$GC,1723,-0.47,-136.3,192.1,-8.6,236,1730,0.00,2.28,0.00,0.000,4,0.000,0.063,3033,3608,3355,0,0,0,0,0,0,28.83,25.22,28.83
$GC,1781,-0.47,-136.3,197.6,-9.3,242,1790,0.00,2.22,0.00,0.000,6,0.000,0.043,3033,2201,3355,0,0,0,0,0,0,28.83,25.59,28.83
$GC,2106,-0.47,-136.3,230.0,-9.6,259,2111,0.00,2.22,0.00,0.000,4,0.000,0.050,3033,800,3355,0,0,0,0,0,0,28.83,25.37,28.83
$GC,2134,-0.47,-136.3,231.9,-9.6,260,2138,0.00,2.28,0.00,0.000,6,0.000,0.050,3024,2207,3355,0,0,0,0,0,0,28.83,25.38,28.83
$GC,2437,-0.47,-136.3,261.4,-9.6,275,2441,0.00,2.25,0.00,0.000,4,0.000,0.063,3014,3609,3355,0,0,0,0,0,0,28.83,25.20,28.83
$GC,2484,-0.47,-136.3,265.3,-9.6,277,2488,0.00,2.25,0.00,0.000,6,0.000,0.044,3014,2194,3355,0,0,0,0,0,0,28.83,25.57,28.83
$GC,2787,-0.47,-136.3,298.3,-10.6,292,2789,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2190,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3087,-0.47,-136.3,329.8,-10.0,307,3088,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2190,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3386,-0.47,-136.3,356.6,-8.4,322,3387,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2190,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3686,-0.47,-136.3,382.5,-8.6,337,3687,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2190,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3997,-0.47,-136.3,408.8,-8.1,351,3999,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2190,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4296,-0.47,-136.3,432.5,-7.8,361,4297,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2190,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4596,-0.47,-136.3,454.2,-7.3,371,4597,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2190,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4897,-0.47,-136.3,476.0,-7.3,381,4898,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2190,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5196,-0.47,-136.3,497.5,-7.0,391,5202,0.00,2.35,0.00,0.000,4,0.000,0.064,3004,3605,3353,0,0,0,0,0,0,28.83,25.12,28.83
$GC,5244,-0.47,-136.3,499.9,-7.2,392,5249,0.15,2.25,0.00,0.000,6,0.120,0.045,3049,2202,3353,0,0,0,0,0,0,25.32,25.51,28.83
$GC,5547,-0.47,-136.3,517.6,-5.6,402,5548,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2199,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5846,-0.47,-136.3,535.7,-6.2,412,5852,0.00,2.35,0.00,0.000,4,0.000,0.065,3041,3605,3352,0,0,0,0,0,0,28.83,25.10,28.83
$GC,5884,-0.47,-136.3,537.7,-6.4,413,5888,0.00,2.28,0.00,0.000,6,0.000,0.046,3041,2194,3352,0,0,0,0,0,0,28.83,25.50,28.83
$GC,6197,-0.47,-136.3,560.5,-7.1,424,6202,0.00,2.35,0.00,0.000,4,0.000,0.065,3031,3603,3352,0,0,0,0,0,0,28.83,25.08,28.83
$GC,6226,-0.47,-136.3,562.6,-7.1,425,6232,0.00,2.28,0.00,0.000,6,0.000,0.046,3031,2194,3352,0,0,0,0,0,0,28.83,25.48,28.83
$GC,6557,-0.47,-136.3,585.2,-6.9,436,6562,0.00,2.35,0.00,0.000,4,0.000,0.065,3021,3604,3352,0,0,0,0,0,0,28.83,25.08,28.83
$GC,6605,-0.47,-136.3,587.4,-7.0,437,6609,0.00,2.28,0.00,0.000,6,0.000,0.046,3021,2191,3352,0,0,0,0,0,0,28.83,25.49,28.83
$GC,6908,-0.47,-136.3,611.7,-7.7,447,6912,0.00,2.38,0.00,0.000,4,0.000,0.066,3011,3607,3351,0,0,0,0,0,0,28.83,25.07,28.83
$GC,6944,-0.47,-136.3,614.0,-7.8,448,6949,0.12,2.28,0.00,0.000,6,0.121,0.047,3048,2196,3352,0,0,0,0,0,0,25.33,25.48,28.83
$GC,7258,-0.47,-136.3,634.9,-6.4,459,7259,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2195,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7558,-0.47,-136.3,653.7,-6.3,469,7563,0.00,2.38,0.00,0.000,4,0.000,0.067,3040,3640,3351,0,0,0,0,0,0,28.83,25.04,28.83
$GC,7587,-0.47,-136.3,655.9,-6.4,470,7593,0.00,2.30,0.00,0.000,6,0.000,0.047,3040,2209,3351,0,0,0,0,0,0,28.83,25.46,28.83
$GC,7917,-0.47,-136.3,677.8,-6.5,481,7923,0.00,2.35,0.00,0.000,4,0.000,0.067,3030,3608,3351,0,0,0,0,0,0,28.83,25.04,28.83
$GC,7966,-0.47,-136.3,680.0,-6.6,482,7978,0.00,2.30,0.00,0.000,6,0.000,0.047,3030,2186,3350,0,0,0,0,0,0,28.83,25.46,28.83
$GC,8277,-0.47,-136.3,702.2,-6.7,493,8283,0.00,2.38,0.00,0.000,4,0.000,0.066,3021,3609,3350,0,0,0,0,0,0,28.83,25.05,28.83
$GC,8367,-0.47,-136.3,708.6,-7.0,496,8373,0.00,2.28,0.00,0.000,6,0.000,0.047,3021,2195,3350,0,0,0,0,0,0,28.83,25.45,28.83
$GC,8698,-0.47,-136.3,732.3,-7.3,507,8703,0.00,2.38,0.00,0.000,4,0.000,0.066,3011,3610,3350,0,0,0,0,0,0,28.83,25.04,28.83
$GC,8745,-0.47,-136.3,734.7,-7.6,508,8750,0.12,2.30,0.00,0.000,6,0.120,0.047,3048,2189,3350,0,0,0,0,0,0,25.30,25.44,28.83
$GC,9047,-0.47,-136.3,755.8,-6.4,518,9049,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2187,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9348,-0.47,-136.3,774.9,-6.4,528,9353,0.00,2.38,0.00,0.000,4,0.000,0.067,3040,3637,3349,0,0,0,0,0,0,28.83,24.99,28.83
$GC,9407,-0.47,-136.3,778.8,-6.5,530,9413,0.00,2.30,0.00,0.000,6,0.000,0.045,3039,2195,3349,0,0,0,0,0,0,28.83,25.46,28.83
$GC,9737,-0.47,-136.3,800.7,-6.7,541,9743,0.00,2.38,0.00,0.000,4,0.000,0.067,3030,3605,3349,0,0,0,0,0,0,28.83,25.00,28.83
$GC,9768,-0.47,-136.3,802.7,-6.7,542,9773,0.00,2.25,0.00,0.000,6,0.000,0.047,3030,2200,3349,0,0,0,0,0,0,28.83,25.43,28.83
$GC,10097,-0.47,-136.3,826.0,-7.0,553,10098,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2199,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10397,-0.47,-136.3,847.8,-7.3,563,10403,0.00,2.38,0.00,0.000,4,0.000,0.067,3021,3610,3349,0,0,0,0,0,0,28.83,24.99,28.83
$GC,10428,-0.47,-136.3,850.0,-7.4,564,10433,0.00,2.28,0.00,0.000,6,0.000,0.048,3021,2199,3348,0,0,0,0,0,0,28.83,25.41,28.83
$GC,10757,-0.47,-136.3,874.7,-7.3,575,10763,0.00,2.38,0.00,0.000,4,0.000,0.067,3012,3610,3349,0,0,0,0,0,0,28.83,24.98,28.83
$GC,10795,-0.47,-136.3,877.0,-7.2,576,10800,0.12,2.30,0.00,0.000,6,0.120,0.048,3047,2196,3348,0,0,0,0,0,0,25.26,25.39,28.83
$GC,11110,-0.47,-136.3,896.0,-5.9,587,11114,0.00,2.35,0.00,0.000,4,0.000,0.067,3041,3616,3348,0,0,0,0,0,0,28.83,24.96,28.83
$GC,11138,-0.47,-136.3,897.8,-5.9,588,11144,0.00,2.28,0.00,0.000,6,0.000,0.046,3040,2204,3348,0,0,0,0,0,0,28.83,25.44,28.83
$GC,11469,-0.47,-136.3,917.6,-5.9,599,11470,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2203,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11769,-0.47,-136.3,933.9,-5.5,609,11774,0.00,2.35,0.00,0.000,4,0.000,0.067,3041,3602,3347,0,0,0,0,0,0,28.83,24.95,28.83
$STATE,11976,end dive,NO_VERTICAL_VELOCITY
$STATE,11976,begin apogee
$GC,11985,-0.22,0.0,933.9,0.0,616,12115,0.22,0.00,125.78,1.119,6,0.083,0.000,3130,2323,2794,0,0,0,0,0,0,25.81,28.83,22.51
$STATE,12116,end apogee,CONTROL_FINISHED_OK
$STATE,12116,begin climb
$GC,12120,0.47,136.3,933.7,0.0,620,12260,0.62,2.50,132.88,1.089,4,0.063,0.054,3360,928,2238,0,0,0,0,0,0,24.52,23.59,21.87
$GC,12426,0.47,136.3,916.9,8.0,631,12431,0.00,2.33,0.00,0.000,6,0.000,0.055,3359,2322,2229,0,0,0,0,0,0,28.83,25.10,28.83
$GC,12740,0.47,136.3,889.8,8.6,642,12744,0.00,2.38,0.00,0.000,4,0.000,0.068,3360,3739,2226,0,0,0,0,0,0,28.83,25.33,28.83
$GC,12829,0.47,136.3,880.9,9.5,645,12835,0.00,2.30,0.00,0.000,6,0.000,0.049,3370,2327,2224,0,0,0,0,0,0,28.83,25.56,28.83
$GC,13159,0.47,136.3,850.9,9.2,656,13160,0.00,0.00,0.00,0.000,6,0.000,0.000,3370,2323,2224,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13460,0.47,136.3,825.0,8.5,666,13464,0.00,2.28,0.00,0.000,4,0.000,0.058,3381,921,2224,0,0,0,0,0,0,28.83,25.42,28.83
$GC,13507,0.47,136.3,822.4,8.5,667,13512,0.12,2.30,0.00,0.000,6,0.148,0.056,3350,2327,2224,0,0,0,0,0,0,25.29,25.44,28.83
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$STATE,24485,end climb,SURFACE_DEPTH_REACHED
$STATE,24486,begin surface coast
$FINISH,1.4,1.015142
$STATE,24543,end surface coast,CONTROL_FINISHED_OK
$STATE,24543,begin surface
$SM_CCo,24624,0.00,0.000,0,0,1568,300.74
$SM_GC,2.49,8.38,0.20,0.00,0.031,0.073,0.000,109,2191,1568,-9.47,1.05,300.74,0,0,0,0,0,0,25.94,26.02,28.83
$IRIDIUM_FIX,4722.92,-12539.32,100313,131352
$TT8_MAMPS,0.027713,0.027713
$HUMID,47.59
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,18.90
$XPDR_PINGS,3
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$10V_AH,9.8,72.527
$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,22.125,221.025,404.125,0.000,0.000,28.011,35.691,226.405,0.750,0.000,16.506,3590.170,17727.812,713.553,2559.695,463.910,0.000,1972.108,0.000,2244.274,0.000,0.535,0.000
$DEVICE_MAMPS,211.140,76.500,1119.195,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,954.768,728.415,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296936
$DATA_FILE_SIZE,76801,1386
$CAP_FILE_SIZE,193710,0
$CFSIZE,260165632,200441856
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.120,258.8,1
$GPS,110313,033836,4744.761,-12528.134,36,0.8,36,18.7