version: 66.11
glider: 187
mission: 2
dive: 724
start: 3 23 113 23 16 18
data:
$ID,187
$MISSION,2
$DIVE,724
$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,-1588958.8
$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,44
$R_STBD_OVSHOOT,28
$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
$GPS1,230313,230736,4709.956,-12635.212,36,1.9,36,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-73.3
$GPS2,230313,231548,4709.978,-12635.130,15,1.9,32,18.6
$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,41.3,130970,-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,-136.3,0.0,0.0,0,87,0.00,0.00,-66.78,0.000,2,0.000,0.000,120,2188,2628,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.47,-136.3,3.0,-1.7,12,128,11.57,2.40,-19.00,0.000,4,0.213,0.076,3022,3605,3352,0,0,0,0,0,0,24.49,25.24,26.24
$GC,295,-0.47,-136.3,31.2,-13.8,50,303,0.00,2.17,0.00,0.000,6,0.000,0.044,3022,2206,3355,0,0,0,0,0,0,28.83,25.49,28.83
$GC,610,-0.47,-136.3,80.5,-13.3,111,617,0.00,2.20,0.00,0.000,4,0.000,0.051,3021,798,3355,0,0,0,0,0,0,28.83,25.32,28.83
$GC,697,-0.47,-136.3,91.5,-12.6,127,704,0.12,2.20,0.00,0.000,6,0.136,0.051,3046,2199,3355,0,0,0,0,0,0,25.21,25.34,28.83
$GC,1020,-0.47,-136.3,123.1,-9.4,186,1021,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2199,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1321,-0.47,-136.3,148.6,-8.4,206,1322,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2199,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1620,-0.47,-136.3,172.8,-7.5,226,1621,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2199,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1920,-0.47,-136.3,193.5,-6.9,246,1930,0.00,2.33,0.00,0.000,4,0.000,0.062,3038,3611,3355,0,0,0,0,0,0,28.83,25.15,28.83
$GC,1972,-0.47,-136.3,197.1,-7.6,251,1979,0.00,2.20,0.00,0.000,6,0.000,0.044,3038,2193,3355,0,0,0,0,0,0,28.83,25.53,28.83
$GC,2290,-0.47,-136.3,221.4,-7.7,268,2296,0.00,2.22,0.00,0.000,4,0.000,0.050,3038,804,3355,0,0,0,0,0,0,28.83,25.31,28.83
$GC,2351,-0.47,-136.3,226.3,-8.0,271,2356,0.00,2.25,0.00,0.000,6,0.000,0.050,3029,2200,3355,0,0,0,0,0,0,28.83,25.32,28.83
$GC,2671,-0.47,-136.3,255.3,-9.7,287,2676,0.00,2.33,0.00,0.000,4,0.000,0.062,3018,3642,3355,0,0,0,0,0,0,28.83,25.12,28.83
$GC,2698,-0.47,-136.3,257.2,-9.6,288,2702,0.00,2.30,0.00,0.000,6,0.000,0.043,3018,2203,3355,0,0,0,0,0,0,28.83,25.51,28.83
$GC,3000,-0.47,-136.3,288.9,-9.9,303,3006,0.00,2.25,0.00,0.000,4,0.000,0.050,3018,795,3355,0,0,0,0,0,0,28.83,25.29,28.83
$GC,3041,-0.47,-136.3,292.8,-9.8,305,3047,0.08,2.25,0.00,0.000,6,0.111,0.050,3038,2194,3355,0,0,0,0,0,0,25.12,25.29,28.83
$GC,3362,-0.47,-136.3,318.3,-7.5,321,3366,0.00,2.30,0.00,0.000,4,0.000,0.063,3030,3618,3355,0,0,0,0,0,0,28.83,25.09,28.83
$GC,3420,-0.47,-136.3,323.1,-7.8,324,3426,0.00,2.28,0.00,0.000,6,0.000,0.044,3030,2199,3355,0,0,0,0,0,0,28.83,25.49,28.83
$GC,3741,-0.47,-136.3,348.9,-8.0,340,3742,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2196,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4042,-0.47,-136.3,372.3,-8.0,355,4043,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2196,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4340,-0.47,-136.3,396.8,-8.1,370,4341,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2196,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4651,-0.47,-136.3,421.6,-7.8,381,4652,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2195,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4950,-0.47,-136.3,443.7,-7.3,391,4951,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2196,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5250,-0.47,-136.3,465.3,-7.1,401,5256,0.00,2.28,0.00,0.000,4,0.000,0.052,3030,793,3353,0,0,0,0,0,0,28.83,25.22,28.83
$GC,5299,-0.47,-136.3,467.5,-7.2,402,5309,0.00,2.30,0.00,0.000,6,0.000,0.052,3022,2200,3353,0,0,0,0,0,0,28.83,25.22,28.83
$GC,5610,-0.47,-136.3,491.2,-7.2,413,5616,0.00,2.35,0.00,0.000,4,0.000,0.063,3011,3610,3353,0,0,0,0,0,0,28.83,25.03,28.83
$GC,5678,-0.47,-136.3,495.6,-7.3,415,5683,0.12,2.28,0.00,0.000,6,0.122,0.044,3049,2197,3353,0,0,0,0,0,0,25.29,25.45,28.83
$GC,5993,-0.47,-136.3,513.1,-5.3,426,5997,0.00,2.33,0.00,0.000,4,0.000,0.065,3040,3612,3353,0,0,0,0,0,0,28.83,25.00,28.83
$GC,6031,-0.47,-136.3,514.8,-5.4,427,6037,0.00,2.28,0.00,0.000,6,0.000,0.045,3040,2203,3352,0,0,0,0,0,0,28.83,25.44,28.83
$GC,6351,-0.47,-136.3,535.3,-6.3,438,6357,0.00,2.35,0.00,0.000,4,0.000,0.065,3030,3604,3352,0,0,0,0,0,0,28.83,25.00,28.83
$GC,6383,-0.47,-136.3,537.2,-6.3,439,6387,0.00,2.22,0.00,0.000,6,0.000,0.046,3031,2190,3352,0,0,0,0,0,0,28.83,25.42,28.83
$GC,6711,-0.47,-136.3,560.2,-7.1,450,6712,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2188,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7011,-0.47,-136.3,581.5,-7.1,460,7017,0.00,2.38,0.00,0.000,4,0.000,0.065,3021,3607,3351,0,0,0,0,0,0,28.83,24.98,28.83
$GC,7059,-0.47,-136.3,583.5,-7.0,461,7064,0.00,2.28,0.00,0.000,6,0.000,0.046,3021,2203,3351,0,0,0,0,0,0,28.83,25.41,28.83
$GC,7363,-0.47,-136.3,606.6,-7.2,471,7364,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2201,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7661,-0.47,-136.3,627.5,-6.9,481,7663,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2201,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7962,-0.47,-136.3,648.3,-7.0,491,7963,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2201,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8262,-0.47,-136.3,670.8,-7.6,501,8267,0.00,2.35,0.00,0.000,4,0.000,0.066,3011,3605,3350,0,0,0,0,0,0,28.83,24.95,28.83
$GC,8309,-0.47,-136.3,673.1,-7.7,502,8314,0.12,2.28,0.00,0.000,6,0.120,0.046,3048,2199,3350,0,0,0,0,0,0,25.23,25.38,28.83
$GC,8611,-0.47,-136.3,694.2,-6.3,512,8613,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2197,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8913,-0.47,-136.3,713.1,-6.2,522,8917,0.00,2.38,0.00,0.000,4,0.000,0.067,3042,3606,3350,0,0,0,0,0,0,28.83,24.91,28.83
$GC,8942,-0.47,-136.3,714.9,-6.1,523,8947,0.00,2.28,0.00,0.000,6,0.000,0.047,3042,2201,3349,0,0,0,0,0,0,28.83,25.37,28.83
$GC,9271,-0.47,-136.3,735.4,-6.2,534,9277,0.00,2.38,0.00,0.000,4,0.000,0.067,3032,3608,3349,0,0,0,0,0,0,28.83,24.90,28.83
$GC,9303,-0.47,-136.3,737.4,-6.2,535,9307,0.00,2.28,0.00,0.000,6,0.000,0.047,3032,2197,3349,0,0,0,0,0,0,28.83,25.34,28.83
$GC,9631,-0.47,-136.3,759.1,-6.6,546,9633,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2195,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9931,-0.47,-136.3,778.9,-6.7,556,9937,0.00,2.38,0.00,0.000,4,0.000,0.067,3022,3603,3348,0,0,0,0,0,0,28.83,24.88,28.83
$GC,9961,-0.47,-136.3,781.0,-6.8,557,9967,0.00,2.28,0.00,0.000,6,0.000,0.047,3023,2198,3348,0,0,0,0,0,0,28.83,25.34,28.83
$GC,10293,-0.47,-136.3,804.1,-6.6,568,10294,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2197,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10592,-0.47,-136.3,822.3,-5.9,578,10597,0.00,2.38,0.00,0.000,4,0.000,0.067,3013,3604,3347,0,0,0,0,0,0,28.83,24.87,28.83
$GC,10622,-0.47,-136.3,824.1,-5.9,579,10627,0.00,2.28,0.00,0.000,6,0.000,0.047,3012,2198,3347,0,0,0,0,0,0,28.83,25.32,28.83
$GC,10953,-0.47,-136.3,845.0,-6.2,590,10955,0.10,0.00,0.00,0.000,6,0.151,0.000,3042,2196,3347,0,0,0,0,0,0,26.03,28.83,28.83
$GC,11251,-0.47,-136.3,860.2,-5.0,600,11257,0.00,2.38,0.00,0.000,4,0.000,0.067,3034,3603,3346,0,0,0,0,0,0,28.83,24.86,28.83
$GC,11299,-0.47,-136.3,862.0,-5.2,601,11304,0.00,2.30,0.00,0.000,6,0.000,0.047,3034,2196,3346,0,0,0,0,0,0,28.83,25.31,28.83
$GC,11603,-0.47,-136.3,880.1,-5.7,611,11604,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2193,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11902,-0.47,-136.3,897.0,-5.6,621,11903,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2193,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12202,-0.47,-136.3,912.8,-5.2,631,12207,0.00,2.40,0.00,0.000,4,0.000,0.067,3025,3614,3346,0,0,0,0,0,0,28.83,24.83,28.83
$GC,12232,-0.47,-136.3,914.3,-5.1,632,12237,0.00,2.30,0.00,0.000,6,0.000,0.047,3025,2194,3346,0,0,0,0,0,0,28.83,25.32,28.83
$GC,12562,-0.47,-136.3,932.7,-5.7,643,12563,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2192,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12862,-0.47,-136.3,950.6,-6.0,653,12867,0.00,2.40,0.00,0.000,4,0.000,0.067,3016,3612,3345,0,0,0,0,0,0,28.83,24.81,28.83
$GC,12911,-0.47,-136.3,952.6,-6.0,654,12920,0.00,2.33,0.00,0.000,6,0.000,0.048,3015,2190,3345,0,0,0,0,0,0,28.83,25.27,28.83
$GC,13221,-0.47,-136.3,973.4,-6.2,665,13223,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2190,3345,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13519,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13519,begin apogee
$GC,13527,-0.22,0.0,991.4,-6.0,675,13658,0.30,0.00,126.15,1.156,6,0.106,0.000,3119,2332,2793,0,0,0,0,0,0,25.44,28.83,22.49
$STATE,13659,end apogee,CONTROL_FINISHED_OK
$STATE,13659,begin climb
$GC,13662,0.47,136.3,994.2,0.0,679,13800,0.68,0.00,134.35,1.117,6,0.072,0.000,3348,2332,2238,0,0,0,0,0,0,24.37,28.83,21.73
$GC,14113,0.47,136.3,961.2,8.3,695,14117,0.00,2.30,0.00,0.000,4,0.000,0.058,3359,905,2226,0,0,0,0,0,0,28.83,25.34,28.83
$GC,14149,0.47,136.3,959.0,8.2,696,14153,0.00,2.33,0.00,0.000,6,0.000,0.057,3358,2317,2226,0,0,0,0,0,0,28.83,25.37,28.83
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$STATE,26482,end climb,SURFACE_DEPTH_REACHED
$STATE,26483,begin surface coast
$FINISH,1.4,1.003886
$STATE,26539,end surface coast,CONTROL_FINISHED_OK
$STATE,26539,begin surface
$SM_CCo,26620,0.00,0.000,0,0,1371,348.82
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$IRIDIUM_FIX,4651.23,-12637.00,230313,151541
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.50
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,19.10
$XPDR_PINGS,1
$24V_AH,21.7,101.934
$10V_AH,9.7,76.860
$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
$DEVICE_SECS,22.175,222.075,444.400,0.000,0.000,27.224,39.091,252.564,0.250,0.000,35.258,3755.632,19409.084,753.182,2679.956,498.963,0.000,2062.833,0.000,2323.734,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1003.776,759.555,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296896
$DATA_FILE_SIZE,80229,1458
$CAP_FILE_SIZE,202627,0
$CFSIZE,260165632,196521984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.026,322.5,1
$GPS,240313,064106,4712.221,-12629.960,29,1.3,29,18.6