version: 66.11
glider: 187
mission: 2
dive: 731
start: 3 26 113 2 25 3
data:
$ID,187
$MISSION,2
$DIVE,731
$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,-1588970.1
$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,31
$R_STBD_OVSHOOT,24
$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
$GPS1,260313,021706,4724.924,-12603.453,30,0.8,30,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-78.8
$GPS2,260313,022430,4724.917,-12603.417,15,1.2,20,18.6
$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,33.0,82845,-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,-136.3,0.0,0.0,0,99,0.00,0.00,-80.35,0.000,2,0.000,0.000,120,2196,2836,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.47,-136.3,3.4,-3.4,14,135,11.68,2.35,-11.52,0.000,4,0.214,0.076,3023,3621,3354,0,0,0,0,0,0,24.44,25.25,26.22
$GC,307,-0.47,-136.3,35.5,-12.7,52,314,0.00,2.22,0.00,0.000,6,0.000,0.044,3023,2192,3356,0,0,0,0,0,0,28.83,25.46,28.83
$GC,620,-0.47,-136.3,81.8,-15.4,113,627,0.00,2.20,0.00,0.000,4,0.000,0.051,3023,793,3356,0,0,0,0,0,0,28.83,25.29,28.83
$GC,707,-0.47,-136.3,93.4,-11.9,129,714,0.00,2.25,0.00,0.000,6,0.000,0.051,3013,2209,3356,0,0,0,0,0,0,28.83,25.30,28.83
$GC,1019,-0.47,-136.3,130.7,-11.4,178,1020,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2209,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1319,-0.47,-136.3,162.7,-11.0,198,1328,0.00,2.28,0.00,0.000,4,0.000,0.050,3013,794,3356,0,0,0,0,0,0,28.83,25.30,28.83
$GC,1380,-0.47,-136.3,169.3,-10.8,204,1390,0.10,2.28,0.00,0.000,6,0.108,0.050,3040,2202,3356,0,0,0,0,0,0,25.10,25.30,28.83
$GC,1692,-0.47,-136.3,196.2,-8.7,225,1698,0.00,2.28,0.00,0.000,4,0.000,0.062,3032,3611,3356,0,0,0,0,0,0,28.83,25.12,28.83
$GC,1730,-0.47,-136.3,199.8,-9.0,229,1738,0.00,2.28,0.00,0.000,6,0.000,0.043,3032,2173,3356,0,0,0,0,0,0,28.83,25.51,28.83
$GC,2041,-0.47,-136.3,228.6,-9.1,245,2045,0.00,2.20,0.00,0.000,4,0.000,0.050,3032,797,3356,0,0,0,0,0,0,28.83,25.29,28.83
$GC,2067,-0.47,-136.3,230.4,-9.0,246,2072,0.00,2.28,0.00,0.000,6,0.000,0.050,3023,2202,3356,0,0,0,0,0,0,28.83,25.29,28.83
$GC,2370,-0.47,-136.3,259.3,-9.2,261,2371,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2202,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2670,-0.47,-136.3,285.7,-8.5,276,2671,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2202,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2969,-0.47,-136.3,311.9,-9.0,291,2970,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2202,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3269,-0.47,-136.3,337.8,-8.4,306,3275,0.00,2.35,0.00,0.000,4,0.000,0.062,3012,3610,3356,0,0,0,0,0,0,28.83,25.08,28.83
$GC,3310,-0.47,-136.3,341.4,-8.9,308,3315,0.00,2.25,0.00,0.000,6,0.000,0.044,3012,2201,3356,0,0,0,0,0,0,28.83,25.48,28.83
$GC,3629,-0.47,-136.3,370.2,-8.9,324,3636,0.12,2.25,0.00,0.000,4,0.139,0.051,3048,803,3356,0,0,0,0,0,0,25.95,25.22,28.83
$GC,3658,-0.47,-136.3,371.8,-8.7,325,3662,0.00,2.28,0.00,0.000,6,0.000,0.051,3042,2201,3356,0,0,0,0,0,0,28.83,25.24,28.83
$GC,3962,-0.47,-136.3,392.2,-6.4,340,3966,0.00,2.30,0.00,0.000,4,0.000,0.064,3031,3609,3356,0,0,0,0,0,0,28.83,25.03,28.83
$GC,4030,-0.47,-136.3,397.1,-6.9,343,4035,0.00,2.25,0.00,0.000,6,0.000,0.044,3031,2204,3356,0,0,0,0,0,0,28.83,25.46,28.83
$GC,4339,-0.47,-136.3,420.9,-7.7,354,4340,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2202,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4640,-0.47,-136.3,444.6,-7.9,364,4642,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2202,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4939,-0.47,-136.3,468.0,-7.7,374,4940,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2202,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5239,-0.47,-136.3,492.0,-7.9,384,5240,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2202,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5540,-0.47,-136.3,516.0,-8.1,394,5545,0.00,2.28,0.00,0.000,4,0.000,0.054,3031,798,3354,0,0,0,0,0,0,28.83,25.18,28.83
$GC,5569,-0.47,-136.3,518.4,-8.0,395,5575,0.00,2.30,0.00,0.000,6,0.000,0.053,3029,2200,3354,0,0,0,0,0,0,28.83,25.17,28.83
$GC,5899,-0.47,-136.3,544.3,-7.8,406,5905,0.00,2.38,0.00,0.000,4,0.000,0.065,3019,3613,3353,0,0,0,0,0,0,28.83,24.96,28.83
$GC,5929,-0.47,-136.3,546.6,-7.7,407,5935,0.00,2.30,0.00,0.000,6,0.000,0.046,3019,2195,3353,0,0,0,0,0,0,28.83,25.39,28.83
$GC,6260,-0.47,-136.3,573.8,-8.3,418,6265,0.00,2.38,0.00,0.000,4,0.000,0.065,3009,3606,3353,0,0,0,0,0,0,28.83,24.97,28.83
$GC,6289,-0.47,-136.3,576.4,-8.3,419,6296,0.12,2.30,0.00,0.000,6,0.125,0.046,3046,2191,3353,0,0,0,0,0,0,25.22,25.39,28.83
$GC,6620,-0.47,-136.3,598.8,-6.6,430,6621,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2187,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6921,-0.47,-136.3,618.0,-6.2,440,6922,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2186,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7220,-0.47,-136.3,636.8,-6.3,450,7225,0.00,2.40,0.00,0.000,4,0.000,0.066,3038,3612,3352,0,0,0,0,0,0,28.83,24.93,28.83
$GC,7258,-0.47,-136.3,638.8,-6.4,451,7262,0.00,2.30,0.00,0.000,6,0.000,0.047,3038,2196,3352,0,0,0,0,0,0,28.83,25.37,28.83
$GC,7571,-0.47,-136.3,660.5,-6.6,462,7576,0.00,2.35,0.00,0.000,4,0.000,0.066,3029,3619,3352,0,0,0,0,0,0,28.83,24.91,28.83
$GC,7619,-0.47,-136.3,662.4,-6.6,463,7623,0.00,2.33,0.00,0.000,6,0.000,0.046,3029,2190,3351,0,0,0,0,0,0,28.83,25.36,28.83
$GC,7921,-0.47,-136.3,685.1,-7.0,473,7926,0.00,2.25,0.00,0.000,4,0.000,0.054,3029,795,3351,0,0,0,0,0,0,28.83,25.12,28.83
$GC,7969,-0.47,-136.3,687.4,-7.1,474,7978,0.00,2.33,0.00,0.000,6,0.000,0.054,3020,2208,3352,0,0,0,0,0,0,28.83,25.11,28.83
$GC,8280,-0.47,-136.3,711.5,-7.2,485,8286,0.00,2.35,0.00,0.000,4,0.000,0.066,3011,3607,3351,0,0,0,0,0,0,28.83,24.91,28.83
$GC,8340,-0.47,-136.3,716.0,-7.4,487,8347,0.12,2.30,0.00,0.000,6,0.121,0.046,3047,2194,3351,0,0,0,0,0,0,25.20,25.35,28.83
$GC,8671,-0.47,-136.3,735.9,-6.1,498,8676,0.00,2.25,0.00,0.000,4,0.000,0.054,3047,802,3351,0,0,0,0,0,0,28.83,25.10,28.83
$GC,8700,-0.47,-136.3,737.7,-6.0,499,8706,0.00,2.28,0.00,0.000,6,0.000,0.054,3042,2194,3351,0,0,0,0,0,0,28.83,25.11,28.83
$GC,9030,-0.47,-136.3,758.7,-6.3,510,9036,0.00,2.38,0.00,0.000,4,0.000,0.067,3031,3607,3350,0,0,0,0,0,0,28.83,24.87,28.83
$GC,9110,-0.47,-136.3,762.7,-6.5,512,9119,0.00,2.30,0.00,0.000,6,0.000,0.047,3031,2192,3350,0,0,0,0,0,0,28.83,25.34,28.83
$GC,9420,-0.47,-136.3,782.9,-6.0,523,9421,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2192,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9721,-0.47,-136.3,801.0,-6.3,533,9722,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2192,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10021,-0.47,-136.3,818.8,-5.9,543,10026,0.00,2.35,0.00,0.000,4,0.000,0.067,3021,3609,3349,0,0,0,0,0,0,28.83,24.84,28.83
$GC,10058,-0.47,-136.3,820.7,-5.9,544,10062,0.00,2.30,0.00,0.000,6,0.000,0.047,3022,2196,3350,0,0,0,0,0,0,28.83,25.31,28.83
$GC,10371,-0.47,-136.3,842.1,-6.9,555,10376,0.00,2.40,0.00,0.000,4,0.000,0.067,3012,3613,3349,0,0,0,0,0,0,28.83,24.84,28.83
$GC,10402,-0.47,-136.3,844.2,-7.0,556,10406,0.00,2.30,0.00,0.000,6,0.000,0.047,3012,2195,3349,0,0,0,0,0,0,28.83,25.30,28.83
$GC,10730,-0.47,-136.3,868.7,-7.4,567,10732,0.12,0.00,0.00,0.000,6,0.134,0.000,3048,2193,3349,0,0,0,0,0,0,25.96,28.83,28.83
$GC,11031,-0.47,-136.3,885.2,-5.2,577,11036,0.00,2.40,0.00,0.000,4,0.000,0.067,3040,3609,3349,0,0,0,0,0,0,28.83,24.82,28.83
$GC,11062,-0.47,-136.3,886.8,-5.2,578,11066,0.00,2.28,0.00,0.000,6,0.000,0.048,3040,2209,3348,0,0,0,0,0,0,28.83,25.29,28.83
$GC,11391,-0.47,-136.3,905.6,-5.7,589,11396,0.00,2.30,0.00,0.000,4,0.000,0.054,3040,796,3348,0,0,0,0,0,0,28.83,25.03,28.83
$GC,11429,-0.47,-136.3,907.3,-5.8,590,11433,0.00,2.33,0.00,0.000,6,0.000,0.055,3032,2202,3348,0,0,0,0,0,0,28.83,25.03,28.83
$GC,11743,-0.47,-136.3,926.7,-5.9,601,11746,0.00,2.33,0.00,0.000,4,0.000,0.067,3022,3609,3348,0,0,0,0,0,0,28.83,24.80,28.83
$GC,11809,-0.47,-136.3,930.7,-6.3,603,11814,0.00,2.33,0.00,0.000,6,0.000,0.047,3022,2188,3348,0,0,0,0,0,0,28.83,25.29,28.83
$GC,12122,-0.47,-136.3,951.2,-6.3,614,12127,0.00,2.25,0.00,0.000,4,0.000,0.054,3022,803,3348,0,0,0,0,0,0,28.83,25.03,28.83
$GC,12161,-0.47,-136.3,953.2,-6.3,615,12167,0.00,2.33,0.00,0.000,6,0.000,0.055,3015,2208,3348,0,0,0,0,0,0,28.83,25.01,28.83
$GC,12482,-0.47,-136.3,975.4,-6.8,626,12488,0.00,2.35,0.00,0.000,4,0.000,0.067,3006,3603,3347,0,0,0,0,0,0,28.83,24.79,28.83
$GC,12542,-0.47,-136.3,979.6,-7.0,628,12548,0.10,2.28,0.00,0.000,6,0.093,0.047,3044,2197,3347,0,0,0,0,0,0,25.06,25.27,28.83
$STATE,12749,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12749,begin apogee
$GC,12757,-0.22,0.0,990.4,-5.1,635,12888,0.22,0.00,126.97,1.151,6,0.107,0.000,3126,2337,2793,0,0,0,0,0,0,25.63,28.83,22.48
$STATE,12889,end apogee,CONTROL_FINISHED_OK
$STATE,12889,begin climb
$GC,12892,0.47,136.3,993.7,0.0,639,13034,0.65,2.58,134.62,1.115,4,0.069,0.066,3348,3726,2237,0,0,0,0,0,0,24.37,23.43,21.70
$GC,13064,0.48,161.4,986.8,6.0,645,13094,0.00,2.42,25.23,1.048,6,0.000,0.047,3359,2330,2135,0,0,0,0,0,0,28.83,24.05,21.98
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$STATE,25028,end climb,SURFACE_DEPTH_REACHED
$STATE,25028,begin surface coast
$FINISH,1.3,1.011844
$STATE,25074,end surface coast,CONTROL_FINISHED_OK
$STATE,25074,begin surface
$SM_CCo,25154,0.00,0.000,0,0,1496,318.40
$SM_GC,2.18,8.38,0.20,0.00,0.031,0.072,0.000,111,2189,1496,-9.46,0.88,318.40,0,0,0,0,0,0,25.88,25.98,28.83
$IRIDIUM_FIX,4703.87,-12610.28,250313,191942
$TT8_MAMPS,0.026964,0.026964
$HUMID,48.11
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,19.00
$XPDR_PINGS,2
$24V_AH,21.7,102.934
$10V_AH,9.7,77.547
$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
$DEVICE_SECS,22.275,213.425,431.500,0.000,0.000,28.753,36.958,219.632,0.500,0.000,21.410,3578.127,18257.166,741.876,2515.218,494.173,0.000,1998.742,0.000,2211.186,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,957.153,724.089,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,76875,1390
$CAP_FILE_SIZE,194649,0
$CFSIZE,260165632,195915776
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,173.341, 53.4,1
$GPS,260313,022430,4724.917,-12603.417,901,99.0,901,18.6