version: 66.11
glider: 187
mission: 2
dive: 726
start: 3 24 113 14 18 51
data:
$ID,187
$MISSION,2
$DIVE,726
$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,-1588961.4
$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,32
$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,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
$GPS1,240313,141036,4714.511,-12625.140,50,1.4,50,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-75.2
$GPS2,240313,141818,4714.553,-12625.039,14,1.5,19,18.6
$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,46.3,115852,-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,15,begin dive
$GC,18,-0.47,-136.3,0.0,0.0,0,77,0.00,0.00,-56.88,0.000,2,0.000,0.000,109,2201,2616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.47,-136.3,3.0,-1.4,10,118,11.62,2.38,-19.70,0.000,4,0.214,0.076,3025,3606,3352,0,0,0,0,0,0,24.52,25.27,26.23
$GC,268,-0.47,-136.3,29.0,-13.5,45,276,0.00,2.22,0.00,0.000,6,0.000,0.044,3025,2192,3355,0,0,0,0,0,0,28.83,25.48,28.83
$GC,583,-0.47,-136.3,72.5,-13.4,106,590,0.00,2.20,0.00,0.000,4,0.000,0.051,3025,799,3355,0,0,0,0,0,0,28.83,25.30,28.83
$GC,710,-0.47,-136.3,88.6,-11.1,130,716,0.00,2.20,0.00,0.000,6,0.000,0.051,3014,2199,3355,0,0,0,0,0,0,28.83,25.32,28.83
$GC,1032,-0.47,-136.3,125.3,-11.1,187,1041,0.00,2.28,0.00,0.000,4,0.000,0.049,3015,787,3355,0,0,0,0,0,0,28.83,25.32,28.83
$GC,1072,-0.47,-136.3,130.0,-11.8,191,1082,0.12,2.30,0.00,0.000,6,0.138,0.050,3040,2206,3355,0,0,0,0,0,0,25.18,25.32,28.83
$GC,1385,-0.47,-136.3,159.8,-9.4,212,1392,0.00,2.28,0.00,0.000,4,0.000,0.063,3031,3612,3355,0,0,0,0,0,0,28.83,25.13,28.83
$GC,1443,-0.47,-136.3,165.7,-9.8,218,1451,0.00,2.25,0.00,0.000,6,0.000,0.043,3032,2192,3355,0,0,0,0,0,0,28.83,25.52,28.83
$GC,1753,-0.47,-136.3,195.6,-9.1,239,1761,0.00,2.22,0.00,0.000,4,0.000,0.050,3032,802,3355,0,0,0,0,0,0,28.83,25.29,28.83
$GC,1782,-0.47,-136.3,198.4,-9.4,242,1791,0.00,2.25,0.00,0.000,6,0.000,0.050,3023,2199,3355,0,0,0,0,0,0,28.83,25.31,28.83
$GC,2107,-0.47,-136.3,228.7,-9.2,259,2113,0.00,2.35,0.00,0.000,4,0.000,0.062,3013,3617,3355,0,0,0,0,0,0,28.83,25.13,28.83
$GC,2168,-0.47,-136.3,234.4,-9.3,262,2173,0.00,2.25,0.00,0.000,6,0.000,0.043,3012,2202,3354,0,0,0,0,0,0,28.83,25.51,28.83
$GC,2489,-0.47,-136.3,264.5,-9.1,278,2493,0.12,2.20,0.00,0.000,4,0.140,0.050,3049,794,3355,0,0,0,0,0,0,25.95,25.27,28.83
$GC,2555,-0.47,-136.3,269.1,-7.9,281,2559,0.00,2.28,0.00,0.000,6,0.000,0.050,3042,2201,3355,0,0,0,0,0,0,28.83,25.28,28.83
$GC,2858,-0.47,-136.3,292.2,-7.8,296,2863,0.00,2.33,0.00,0.000,4,0.000,0.062,3031,3610,3355,0,0,0,0,0,0,28.83,25.10,28.83
$GC,2925,-0.47,-136.3,297.3,-8.4,299,2929,0.00,2.28,0.00,0.000,6,0.000,0.043,3030,2188,3355,0,0,0,0,0,0,28.83,25.50,28.83
$GC,3227,-0.47,-136.3,323.9,-8.1,314,3229,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2185,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3528,-0.47,-136.3,347.6,-8.2,329,3533,0.00,2.35,0.00,0.000,4,0.000,0.063,3021,3603,3356,0,0,0,0,0,0,28.83,25.08,28.83
$GC,3567,-0.47,-136.3,350.9,-8.2,331,3573,0.00,2.25,0.00,0.000,6,0.000,0.043,3021,2197,3355,0,0,0,0,0,0,28.83,25.49,28.83
$GC,3887,-0.47,-136.3,378.8,-8.3,347,3888,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2194,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4200,-0.47,-136.3,403.8,-8.2,362,4204,0.00,2.20,0.00,0.000,4,0.000,0.051,3021,794,3355,0,0,0,0,0,0,28.83,25.23,28.83
$GC,4255,-0.47,-136.3,408.0,-8.4,364,4260,0.00,2.30,0.00,0.000,6,0.000,0.052,3016,2204,3355,0,0,0,0,0,0,28.83,25.22,28.83
$GC,4568,-0.47,-136.3,434.7,-8.1,375,4573,0.00,2.35,0.00,0.000,4,0.000,0.063,3007,3611,3354,0,0,0,0,0,0,28.83,25.04,28.83
$GC,4605,-0.47,-136.3,437.2,-8.1,376,4610,0.12,2.28,0.00,0.000,6,0.127,0.044,3045,2202,3354,0,0,0,0,0,0,25.27,25.44,28.83
$GC,4920,-0.47,-136.3,456.2,-5.6,387,4924,0.00,2.38,0.00,0.000,4,0.000,0.065,3036,3641,3354,0,0,0,0,0,0,28.83,25.00,28.83
$GC,4949,-0.47,-136.3,458.0,-5.7,388,4954,0.00,2.33,0.00,0.000,6,0.000,0.045,3036,2193,3353,0,0,0,0,0,0,28.83,25.44,28.83
$GC,5279,-0.47,-136.3,480.1,-6.9,399,5280,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2191,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5580,-0.47,-136.3,501.8,-7.2,409,5585,0.00,2.38,0.00,0.000,4,0.000,0.065,3027,3611,3353,0,0,0,0,0,0,28.83,25.01,28.83
$GC,5616,-0.47,-136.3,504.0,-7.2,410,5621,0.00,2.28,0.00,0.000,6,0.000,0.045,3027,2198,3352,0,0,0,0,0,0,28.83,25.42,28.83
$GC,5929,-0.47,-136.3,526.8,-6.8,421,5931,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2196,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6230,-0.47,-136.3,547.8,-7.1,431,6231,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2196,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6529,-0.47,-136.3,569.3,-7.2,441,6534,0.00,2.40,0.00,0.000,4,0.000,0.065,3017,3624,3352,0,0,0,0,0,0,28.83,24.96,28.83
$GC,6619,-0.47,-136.3,576.3,-7.6,444,6625,0.00,2.30,0.00,0.000,6,0.000,0.045,3016,2200,3351,0,0,0,0,0,0,28.83,25.40,28.83
$GC,6950,-0.47,-136.3,601.3,-7.2,455,6951,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2198,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7249,-0.47,-136.3,622.6,-7.4,465,7250,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2198,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7549,-0.47,-136.3,643.4,-6.6,475,7550,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2198,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7851,-0.47,-136.3,662.4,-6.3,485,7855,0.00,2.28,0.00,0.000,4,0.000,0.054,3017,794,3350,0,0,0,0,0,0,28.83,25.13,28.83
$GC,7887,-0.47,-136.3,664.3,-6.4,486,7892,0.12,2.30,0.00,0.000,6,0.132,0.054,3043,2198,3351,0,0,0,0,0,0,25.03,25.13,28.83
$GC,8201,-0.47,-136.3,681.0,-5.2,497,8206,0.00,2.35,0.00,0.000,4,0.000,0.066,3035,3602,3350,0,0,0,0,0,0,28.83,24.92,28.83
$GC,8270,-0.47,-136.3,684.5,-5.6,499,8275,0.00,2.28,0.00,0.000,6,0.000,0.046,3035,2198,3350,0,0,0,0,0,0,28.83,25.38,28.83
$GC,8591,-0.47,-136.3,706.7,-7.2,510,8592,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2196,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8890,-0.47,-136.3,729.9,-7.9,520,8891,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2196,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9191,-0.47,-136.3,751.9,-6.8,530,9196,0.00,2.38,0.00,0.000,4,0.000,0.067,3025,3606,3349,0,0,0,0,0,0,28.83,24.89,28.83
$GC,9222,-0.47,-136.3,754.0,-6.8,531,9226,0.00,2.28,0.00,0.000,6,0.000,0.047,3025,2209,3349,0,0,0,0,0,0,28.83,25.34,28.83
$GC,9551,-0.47,-136.3,775.7,-6.5,542,9552,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2206,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9851,-0.47,-136.3,795.9,-6.8,552,9852,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2206,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10152,-0.47,-136.3,818.4,-7.6,562,10153,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2206,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10450,-0.47,-136.3,841.3,-7.6,572,10451,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2206,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10751,-0.47,-136.3,863.0,-7.1,582,10756,0.00,2.38,0.00,0.000,4,0.000,0.067,3016,3612,3347,0,0,0,0,0,0,28.83,24.86,28.83
$GC,10789,-0.47,-136.3,865.1,-7.0,583,10795,0.00,2.33,0.00,0.000,6,0.000,0.047,3016,2188,3347,0,0,0,0,0,0,28.83,25.30,28.83
$GC,11111,-0.47,-136.3,889.3,-7.3,594,11112,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2186,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11410,-0.47,-136.3,910.8,-7.2,604,11416,0.00,2.40,0.00,0.000,4,0.000,0.066,3011,3608,3347,0,0,0,0,0,0,28.83,24.84,28.83
$GC,11448,-0.47,-136.3,913.1,-7.3,605,11453,0.12,2.30,0.00,0.000,6,0.120,0.047,3048,2198,3347,0,0,0,0,0,0,25.15,25.29,28.83
$GC,11763,-0.47,-136.3,931.9,-5.6,616,11767,0.00,2.35,0.00,0.000,4,0.000,0.068,3041,3609,3346,0,0,0,0,0,0,28.83,24.79,28.83
$GC,11792,-0.47,-136.3,933.6,-5.7,617,11797,0.00,2.28,0.00,0.000,6,0.000,0.048,3041,2207,3346,0,0,0,0,0,0,28.83,25.28,28.83
$GC,12123,-0.47,-136.3,951.0,-4.9,628,12124,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2207,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12422,-0.47,-136.3,963.2,-3.7,638,12427,0.00,2.38,0.00,0.000,4,0.000,0.068,3032,3606,3346,0,0,0,0,0,0,28.83,24.79,28.83
$GC,12460,-0.47,-136.3,964.2,-3.6,639,12464,0.00,2.33,0.00,0.000,6,0.000,0.048,3032,2188,3346,0,0,0,0,0,0,28.83,25.27,28.83
$GC,12773,-0.47,-136.3,976.2,-3.8,650,12774,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2185,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13073,-0.47,-136.3,988.7,-4.4,660,13078,0.00,2.40,0.00,0.000,4,0.000,0.067,3022,3602,3346,0,0,0,0,0,0,28.83,24.78,28.83
$STATE,13099,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13099,begin apogee
$GC,13108,-0.22,0.0,990.1,-4.5,661,13239,0.28,0.00,126.12,1.153,6,0.103,0.000,3119,2320,2793,0,0,0,0,0,0,25.46,28.83,22.50
$STATE,13240,end apogee,CONTROL_FINISHED_OK
$STATE,13240,begin climb
$GC,13244,0.47,136.3,992.9,0.0,665,13385,0.68,2.65,133.90,1.116,4,0.070,0.067,3348,3740,2237,0,0,0,0,0,0,24.40,23.46,21.74
$GC,13413,0.48,163.6,986.0,5.9,671,13446,0.00,2.45,27.20,1.056,6,0.000,0.047,3359,2326,2126,0,0,0,0,0,0,28.83,24.06,22.00
$GC,13744,0.48,163.6,954.2,9.1,682,13749,0.00,2.30,0.00,0.000,4,0.000,0.057,3369,924,2119,0,0,0,0,0,0,28.83,25.34,28.83
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$STATE,25529,end climb,SURFACE_DEPTH_REACHED
$STATE,25529,begin surface coast
$FINISH,1.4,1.025218
$STATE,25571,end surface coast,CONTROL_FINISHED_OK
$STATE,25571,begin surface
$SM_CCo,25653,0.00,0.000,0,0,1558,303.19
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$IRIDIUM_FIX,4651.23,-12630.04,240313,060629
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.18
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,19.10
$XPDR_PINGS,0
$24V_AH,21.7,102.208
$10V_AH,9.7,77.060
$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,22.175,203.275,409.450,0.000,0.000,25.668,37.831,240.410,0.000,0.000,20.239,3697.796,18586.951,690.279,2661.124,466.822,0.000,1979.937,0.000,2324.312,0.000,0.535,0.000
$DEVICE_MAMPS,214.200,76.500,1152.855,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,987.520,747.545,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296904
$DATA_FILE_SIZE,80209,1433
$CAP_FILE_SIZE,192115,0
$CFSIZE,260165632,196358144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.026,282.4,1
$GPS,240313,212753,4716.213,-12620.447,34,1.6,51,18.6