version: 66.11
glider: 187
mission: 2
dive: 675
start: 3 9 113 23 16 52
data:
$ID,187
$MISSION,2
$DIVE,675
$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,-1588886.6
$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
$GPS1,090313,230906,4736.866,-12540.699,31,1.1,31,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-78.0
$GPS2,090313,231619,4736.858,-12540.710,13,1.4,13,18.7
$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,33.9,47006,-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,-136.3,0.0,0.0,0,86,0.00,0.00,-66.65,0.000,2,0.000,0.000,108,2190,2812,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.47,-136.3,3.3,-1.6,12,122,11.68,2.20,-12.35,0.000,4,0.214,0.063,3033,794,3352,0,0,0,0,0,0,24.49,25.39,26.23
$GC,352,-0.47,-136.3,45.1,-15.1,62,360,0.00,2.22,0.00,0.000,6,0.000,0.052,3025,2209,3354,0,0,0,0,0,0,28.83,25.38,28.83
$GC,668,-0.47,-136.3,91.9,-12.8,123,675,0.00,2.20,0.00,0.000,4,0.000,0.050,3024,799,3354,0,0,0,0,0,0,28.83,25.41,28.83
$GC,698,-0.47,-136.3,95.7,-12.1,128,704,0.00,2.20,0.00,0.000,6,0.000,0.052,3014,2202,3354,0,0,0,0,0,0,28.83,25.41,28.83
$GC,1010,-0.47,-136.3,131.4,-10.8,175,1018,0.00,2.30,0.00,0.000,4,0.000,0.062,3004,3607,3354,0,0,0,0,0,0,28.83,25.27,28.83
$GC,1050,-0.47,-136.3,135.9,-11.4,179,1059,0.10,2.22,0.00,0.000,6,0.105,0.043,3042,2192,3355,0,0,0,0,0,0,25.37,25.61,28.83
$GC,1360,-0.47,-136.3,162.9,-8.8,200,1361,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2192,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1659,-0.47,-136.3,189.4,-8.8,220,1660,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2191,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1959,-0.47,-136.3,217.0,-9.1,237,1960,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2191,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2260,-0.47,-136.3,244.2,-9.0,252,2261,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2192,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2560,-0.47,-136.3,271.0,-8.8,267,2565,0.00,2.33,0.00,0.000,4,0.000,0.063,3034,3605,3355,0,0,0,0,0,0,28.83,25.23,28.83
$GC,2589,-0.47,-136.3,272.6,-8.8,268,2598,0.00,2.25,0.00,0.000,6,0.000,0.044,3034,2191,3355,0,0,0,0,0,0,28.83,25.59,28.83
$GC,2900,-0.47,-136.3,300.6,-8.6,284,2901,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2191,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3200,-0.47,-136.3,324.4,-7.3,299,3201,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2191,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3500,-0.47,-136.3,346.0,-7.0,314,3501,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2191,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3801,-0.47,-136.3,366.5,-6.5,329,3802,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2191,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4100,-0.47,-136.3,386.2,-6.7,344,4105,0.00,2.38,0.00,0.000,4,0.000,0.063,3024,3613,3354,0,0,0,0,0,0,28.83,25.18,28.83
$GC,4168,-0.47,-136.3,390.2,-6.7,347,4172,0.00,2.28,0.00,0.000,6,0.000,0.045,3024,2198,3354,0,0,0,0,0,0,28.83,25.55,28.83
$GC,4490,-0.47,-136.3,414.1,-7.2,360,4491,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2196,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4789,-0.47,-136.3,437.1,-7.9,370,4790,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2196,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5089,-0.47,-136.3,461.4,-8.2,380,5095,0.00,2.38,0.00,0.000,4,0.000,0.064,3013,3609,3354,0,0,0,0,0,0,28.83,25.15,28.83
$GC,5120,-0.47,-136.3,463.8,-8.2,381,5125,0.00,2.25,0.00,0.000,6,0.000,0.046,3013,2205,3354,0,0,0,0,0,0,28.83,25.54,28.83
$GC,5449,-0.47,-136.3,491.8,-8.6,392,5450,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2202,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5749,-0.47,-136.3,518.2,-8.8,402,5750,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2202,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6050,-0.47,-136.3,547.3,-10.0,412,6055,0.00,2.35,0.00,0.000,4,0.000,0.065,3004,3610,3352,0,0,0,0,0,0,28.83,25.12,28.83
$GC,6087,-0.47,-136.3,550.4,-10.1,413,6092,0.12,2.30,0.00,0.000,6,0.124,0.045,3042,2188,3352,0,0,0,0,0,0,25.34,25.51,28.83
$GC,6400,-0.47,-136.3,575.5,-7.4,424,6406,0.00,2.40,0.00,0.000,4,0.000,0.065,3034,3620,3352,0,0,0,0,0,0,28.83,25.10,28.83
$GC,6430,-0.47,-136.3,577.9,-7.4,425,6436,0.00,2.30,0.00,0.000,6,0.000,0.046,3034,2197,3352,0,0,0,0,0,0,28.83,25.50,28.83
$GC,6761,-0.47,-136.3,602.1,-7.1,436,6766,0.00,2.35,0.00,0.000,4,0.000,0.066,3025,3603,3352,0,0,0,0,0,0,28.83,25.09,28.83
$GC,6798,-0.47,-136.3,604.2,-7.1,437,6802,0.00,2.28,0.00,0.000,6,0.000,0.046,3024,2195,3353,0,0,0,0,0,0,28.83,25.49,28.83
$GC,7110,-0.47,-136.3,628.4,-7.5,448,7112,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2194,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7411,-0.47,-136.3,650.2,-7.2,458,7416,0.00,2.35,0.00,0.000,4,0.000,0.066,3014,3602,3352,0,0,0,0,0,0,28.83,25.08,28.83
$GC,7478,-0.47,-136.3,654.7,-7.4,460,7483,0.00,2.28,0.00,0.000,6,0.000,0.046,3015,2195,3351,0,0,0,0,0,0,28.83,25.48,28.83
$GC,7791,-0.47,-136.3,678.5,-7.4,471,7792,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2194,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8092,-0.47,-136.3,700.3,-7.4,481,8097,0.00,2.35,0.00,0.000,4,0.000,0.066,3005,3603,3351,0,0,0,0,0,0,28.83,25.06,28.83
$GC,8120,-0.47,-136.3,702.5,-7.4,482,8127,0.12,2.28,0.00,0.000,6,0.124,0.046,3041,2194,3351,0,0,0,0,0,0,25.31,25.47,28.83
$GC,8451,-0.47,-136.3,721.7,-5.7,493,8456,0.00,2.38,0.00,0.000,4,0.000,0.066,3034,3608,3351,0,0,0,0,0,0,28.83,25.05,28.83
$GC,8481,-0.47,-136.3,723.7,-5.9,494,8487,0.00,2.28,0.00,0.000,6,0.000,0.047,3034,2201,3351,0,0,0,0,0,0,28.83,25.45,28.83
$GC,8812,-0.47,-136.3,745.0,-6.4,505,8816,0.00,2.35,0.00,0.000,4,0.000,0.067,3024,3624,3351,0,0,0,0,0,0,28.83,25.03,28.83
$GC,8849,-0.47,-136.3,746.9,-6.4,506,8853,0.00,2.33,0.00,0.000,6,0.000,0.047,3024,2194,3350,0,0,0,0,0,0,28.83,25.44,28.83
$GC,9162,-0.47,-136.3,767.4,-6.2,517,9167,0.00,2.38,0.00,0.000,4,0.000,0.067,3014,3606,3350,0,0,0,0,0,0,28.83,25.03,28.83
$GC,9222,-0.47,-136.3,771.4,-6.3,519,9227,0.00,2.28,0.00,0.000,6,0.000,0.047,3014,2192,3350,0,0,0,0,0,0,28.83,25.45,28.83
$GC,9551,-0.47,-136.3,792.8,-6.4,530,9553,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2190,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9851,-0.47,-136.3,812.3,-6.4,540,9857,0.00,2.38,0.00,0.000,4,0.000,0.067,3005,3606,3350,0,0,0,0,0,0,28.83,25.02,28.83
$GC,9882,-0.47,-136.3,814.2,-6.5,541,9888,0.10,2.28,0.00,0.000,6,0.096,0.047,3043,2194,3349,0,0,0,0,0,0,25.22,25.44,28.83
$GC,10211,-0.47,-136.3,830.4,-4.8,552,10217,0.00,2.38,0.00,0.000,4,0.000,0.067,3035,3605,3349,0,0,0,0,0,0,28.83,25.01,28.83
$GC,10241,-0.47,-136.3,832.0,-4.8,553,10247,0.00,2.28,0.00,0.000,6,0.000,0.047,3035,2193,3349,0,0,0,0,0,0,28.83,25.44,28.83
$GC,10573,-0.47,-136.3,849.7,-5.5,564,10577,0.00,2.38,0.00,0.000,4,0.000,0.067,3025,3603,3348,0,0,0,0,0,0,28.83,25.00,28.83
$GC,10601,-0.47,-136.3,851.4,-5.5,565,10607,0.00,2.28,0.00,0.000,6,0.000,0.047,3025,2197,3348,0,0,0,0,0,0,28.83,25.43,28.83
$GC,10931,-0.47,-136.3,870.6,-5.7,576,10937,0.00,2.38,0.00,0.000,4,0.000,0.067,3016,3610,3348,0,0,0,0,0,0,28.83,24.99,28.83
$GC,10962,-0.47,-136.3,872.5,-5.8,577,10967,0.00,2.28,0.00,0.000,6,0.000,0.048,3015,2202,3348,0,0,0,0,0,0,28.83,25.41,28.83
$GC,11291,-0.47,-136.3,894.8,-6.8,588,11293,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2201,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11591,-0.47,-136.3,915.4,-6.9,598,11597,0.00,2.38,0.00,0.000,4,0.000,0.067,3006,3610,3347,0,0,0,0,0,0,28.83,24.98,28.83
$GC,11652,-0.47,-136.3,920.0,-7.2,600,11657,0.10,2.28,0.00,0.000,6,0.096,0.048,3044,2199,3347,0,0,0,0,0,0,25.19,25.40,28.83
$GC,11982,-0.47,-136.3,939.0,-5.7,611,11983,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2197,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12281,-0.47,-136.3,956.3,-5.8,621,12287,0.00,2.38,0.00,0.000,4,0.000,0.068,3036,3604,3347,0,0,0,0,0,0,28.83,24.94,28.83
$GC,12320,-0.47,-136.3,958.0,-5.7,622,12326,0.00,2.30,0.00,0.000,6,0.000,0.048,3036,2191,3347,0,0,0,0,0,0,28.83,25.39,28.83
$GC,12641,-0.47,-136.3,977.7,-6.0,633,12647,0.00,2.40,0.00,0.000,4,0.000,0.067,3027,3609,3347,0,0,0,0,0,0,28.83,24.94,28.83
$GC,12671,-0.47,-136.3,979.5,-6.1,634,12677,0.00,2.28,0.00,0.000,6,0.000,0.048,3026,2206,3347,0,0,0,0,0,0,28.83,25.37,28.83
$STATE,12848,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12848,begin apogee
$GC,12856,-0.22,0.0,990.2,-5.9,640,12988,0.28,0.00,126.97,1.155,6,0.104,0.000,3122,2331,2793,0,0,0,0,0,0,25.56,28.83,22.42
$STATE,12989,end apogee,CONTROL_FINISHED_OK
$STATE,12989,begin climb
$GC,12992,0.47,136.3,993.2,0.0,644,13134,0.68,2.60,134.62,1.121,4,0.070,0.067,3353,3732,2238,0,0,0,0,0,0,24.40,23.42,21.71
$GC,13163,0.48,167.2,986.5,5.8,650,13202,0.00,2.45,30.88,1.074,6,0.000,0.048,3363,2324,2111,0,0,0,0,0,0,28.83,24.01,21.94
$GC,13502,0.48,167.2,951.2,10.1,662,13503,0.00,0.00,0.00,0.000,6,0.000,0.000,3363,2324,2102,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13802,0.48,167.2,921.4,9.6,672,13803,0.00,0.00,0.00,0.000,6,0.000,0.000,3363,2324,2101,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,25054,end climb,SURFACE_DEPTH_REACHED
$STATE,25054,begin surface coast
$FINISH,1.5,1.000827
$STATE,25116,end surface coast,CONTROL_FINISHED_OK
$STATE,25118,begin surface
$SM_CCo,25198,0.00,0.000,0,0,1498,318.15
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$TT8_MAMPS,0.027713,0.027713
$HUMID,48.22
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,18.90
$XPDR_PINGS,3
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$10V_AH,9.8,72.240
$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
$DEVICE_SECS,22.100,194.800,432.175,0.000,0.000,25.622,40.798,215.285,0.750,0.000,14.620,3579.203,18397.424,691.457,2485.831,465.956,0.000,1923.979,0.000,2186.898,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,952.773,710.965,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296900
$DATA_FILE_SIZE,76909,1382
$CAP_FILE_SIZE,189951,0
$CFSIZE,260165632,200704000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.071,176.6,1
$GPS,100313,061806,4738.613,-12537.361,38,0.9,38,18.7