version: 66.11
glider: 187
mission: 2
dive: 681
start: 3 11 113 15 34 58
data:
$ID,187
$MISSION,2
$DIVE,681
$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,-1588896.6
$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,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
$GPS1,110313,152729,4746.785,-12521.740,39,1.0,44,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-78.9
$GPS2,110313,153424,4746.874,-12521.826,11,1.3,16,18.7
$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,71.7,17142,-13.3,-7.021,-18.50
$D_GRID,775
$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,-136.3,0.0,0.0,0,75,0.00,0.00,-55.83,0.000,2,0.000,0.000,107,2195,2496,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-0.47,-136.3,3.5,-3.3,10,117,11.62,2.40,-19.90,0.000,4,0.211,0.076,3027,3607,3353,0,0,0,0,0,0,24.45,25.28,26.25
$GC,170,-0.47,-136.3,19.3,-15.2,26,177,0.00,2.25,0.00,0.000,6,0.000,0.044,3027,2185,3355,0,0,0,0,0,0,28.83,25.52,28.83
$GC,482,-0.47,-136.3,66.9,-15.9,87,488,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2179,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,793,-0.47,-136.3,104.0,-11.2,148,800,0.00,2.17,0.00,0.000,4,0.000,0.050,3027,791,3356,0,0,0,0,0,0,28.83,25.42,28.83
$GC,865,-0.47,-136.3,111.0,-9.3,161,872,0.00,2.20,0.00,0.000,6,0.000,0.051,3018,2198,3355,0,0,0,0,0,0,28.83,25.43,28.83
$GC,1175,-0.47,-136.3,142.4,-11.0,194,1184,0.00,2.33,0.00,0.000,4,0.000,0.063,3007,3608,3356,0,0,0,0,0,0,28.83,25.27,28.83
$GC,1215,-0.47,-136.3,147.0,-11.4,198,1225,0.12,2.28,0.00,0.000,6,0.129,0.043,3044,2183,3355,0,0,0,0,0,0,25.44,25.61,28.83
$GC,1529,-0.47,-136.3,175.7,-9.0,219,1536,0.00,2.17,0.00,0.000,4,0.000,0.050,3044,790,3356,0,0,0,0,0,0,28.83,25.41,28.83
$GC,1555,-0.47,-136.3,178.4,-9.1,222,1564,0.00,2.30,0.00,0.000,6,0.000,0.051,3037,2211,3356,0,0,0,0,0,0,28.83,25.41,28.83
$GC,1880,-0.47,-136.3,205.6,-8.5,243,1881,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2210,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2180,-0.47,-136.3,232.0,-8.8,258,2186,0.00,2.33,0.00,0.000,4,0.000,0.063,3026,3615,3355,0,0,0,0,0,0,28.83,25.25,28.83
$GC,2220,-0.47,-136.3,235.6,-8.8,260,2225,0.00,2.28,0.00,0.000,6,0.000,0.044,3026,2192,3355,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2541,-0.47,-136.3,264.3,-8.6,276,2542,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2189,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2841,-0.47,-136.3,290.7,-9.1,291,2843,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2189,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3140,-0.47,-136.3,316.2,-8.1,306,3141,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2189,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3441,-0.47,-136.3,338.8,-7.7,321,3442,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2189,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3740,-0.47,-136.3,361.5,-7.8,336,3746,0.00,2.38,0.00,0.000,4,0.000,0.062,3016,3612,3355,0,0,0,0,0,0,28.83,25.21,28.83
$GC,3768,-0.47,-136.3,363.1,-7.7,337,3772,0.00,2.28,0.00,0.000,6,0.000,0.044,3017,2194,3355,0,0,0,0,0,0,28.83,25.57,28.83
$GC,4071,-0.47,-136.3,389.3,-8.7,352,4076,0.00,2.22,0.00,0.000,4,0.000,0.051,3016,801,3355,0,0,0,0,0,0,28.83,25.37,28.83
$GC,4098,-0.47,-136.3,391.1,-8.7,353,4103,0.12,2.28,0.00,0.000,6,0.134,0.051,3045,2204,3355,0,0,0,0,0,0,25.25,25.37,28.83
$GC,4401,-0.47,-136.3,412.2,-6.6,365,4406,0.00,2.30,0.00,0.000,4,0.000,0.064,3036,3603,3356,0,0,0,0,0,0,28.83,25.18,28.83
$GC,4449,-0.47,-136.3,414.3,-6.6,366,4459,0.00,2.25,0.00,0.000,6,0.000,0.044,3036,2194,3355,0,0,0,0,0,0,28.83,25.58,28.83
$GC,4760,-0.47,-136.3,438.3,-7.4,377,4766,0.00,2.35,0.00,0.000,4,0.000,0.063,3026,3609,3355,0,0,0,0,0,0,28.83,25.18,28.83
$GC,4820,-0.47,-136.3,442.8,-7.4,379,4826,0.00,2.28,0.00,0.000,6,0.000,0.044,3026,2192,3355,0,0,0,0,0,0,28.83,25.56,28.83
$GC,5150,-0.47,-136.3,467.6,-7.6,390,5156,0.00,2.38,0.00,0.000,4,0.000,0.063,3016,3614,3355,0,0,0,0,0,0,28.83,25.18,28.83
$GC,5229,-0.47,-136.3,472.7,-7.9,392,5239,0.00,2.28,0.00,0.000,6,0.000,0.043,3016,2190,3354,0,0,0,0,0,0,28.83,25.57,28.83
$GC,5540,-0.47,-136.3,500.3,-8.6,403,5541,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2190,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5840,-0.47,-136.3,526.0,-8.5,413,5842,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2191,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6141,-0.47,-136.3,551.8,-8.4,423,6146,0.00,2.35,0.00,0.000,4,0.000,0.064,3011,3603,3353,0,0,0,0,0,0,28.83,25.14,28.83
$GC,6188,-0.47,-136.3,554.3,-8.4,424,6193,0.12,2.25,0.00,0.000,6,0.120,0.045,3048,2207,3353,0,0,0,0,0,0,25.39,25.53,28.83
$GC,6490,-0.47,-136.3,574.1,-5.6,434,6496,0.00,2.33,0.00,0.000,4,0.000,0.065,3041,3603,3353,0,0,0,0,0,0,28.83,25.13,28.83
$GC,6521,-0.47,-136.3,575.7,-5.6,435,6526,0.00,2.25,0.00,0.000,6,0.000,0.046,3041,2199,3352,0,0,0,0,0,0,28.83,25.53,28.83
$GC,6850,-0.47,-136.3,597.3,-6.7,446,6851,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2196,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7150,-0.47,-136.3,615.4,-6.1,456,7156,0.00,2.35,0.00,0.000,4,0.000,0.066,3031,3605,3352,0,0,0,0,0,0,28.83,25.10,28.83
$GC,7189,-0.47,-136.3,617.2,-6.1,457,7195,0.00,2.28,0.00,0.000,6,0.000,0.047,3031,2197,3352,0,0,0,0,0,0,28.83,25.50,28.83
$GC,7510,-0.47,-136.3,639.2,-6.6,468,7516,0.00,2.35,0.00,0.000,4,0.000,0.066,3021,3602,3352,0,0,0,0,0,0,28.83,25.08,28.83
$GC,7548,-0.47,-136.3,641.3,-6.6,469,7552,0.00,2.28,0.00,0.000,6,0.000,0.047,3021,2195,3352,0,0,0,0,0,0,28.83,25.49,28.83
$GC,7862,-0.47,-136.3,662.8,-6.5,480,7866,0.00,2.25,0.00,0.000,4,0.000,0.054,3021,799,3351,0,0,0,0,0,0,28.83,25.27,28.83
$GC,7891,-0.47,-136.3,664.8,-6.6,481,7897,0.00,2.25,0.00,0.000,6,0.000,0.054,3015,2191,3352,0,0,0,0,0,0,28.83,25.28,28.83
$GC,8221,-0.47,-136.3,687.8,-6.9,492,8226,0.00,2.35,0.00,0.000,4,0.000,0.065,3005,3606,3351,0,0,0,0,0,0,28.83,25.08,28.83
$GC,8359,-0.47,-136.3,697.3,-8.0,496,8370,0.15,2.28,0.00,0.000,6,0.115,0.046,3049,2190,3351,0,0,0,0,0,0,25.31,25.48,28.83
$GC,8671,-0.47,-136.3,716.6,-5.8,507,8672,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2189,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8971,-0.47,-136.3,732.2,-5.2,517,8972,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2189,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9272,-0.47,-136.3,747.7,-5.0,527,9273,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2189,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9571,-0.47,-136.3,756.7,-0.3,537,9576,0.00,2.38,0.00,0.000,4,0.000,0.069,3048,3602,3350,0,0,0,0,0,0,28.83,25.01,28.83
$STATE,9688,end dive,NO_VERTICAL_VELOCITY
$STATE,9688,begin apogee
$GC,9697,-0.22,0.0,756.8,0.0,541,9824,0.20,0.00,123.25,1.009,6,0.093,0.000,3128,2328,2794,0,0,0,0,0,0,25.83,28.83,22.77
$STATE,9825,end apogee,CONTROL_FINISHED_OK
$STATE,9825,begin climb
$GC,9829,0.47,136.3,756.5,0.0,545,9963,0.62,2.55,127.72,0.977,4,0.071,0.066,3349,3740,2238,0,0,0,0,0,0,24.67,24.05,22.43
$GC,10070,0.47,136.3,746.7,8.2,554,10074,0.00,2.35,0.00,0.000,6,0.000,0.047,3359,2328,2231,0,0,0,0,0,0,28.83,25.15,28.83
$GC,10383,0.47,136.3,717.6,9.2,565,10388,0.00,2.28,0.00,0.000,4,0.000,0.057,3369,920,2227,0,0,0,0,0,0,28.83,25.44,28.83
$GC,10420,0.47,136.3,715.1,9.1,566,10424,0.00,2.30,0.00,0.000,6,0.000,0.055,3369,2326,2226,0,0,0,0,0,0,28.83,25.45,28.83
$GC,10733,0.47,136.3,684.6,9.7,577,10738,0.00,2.35,0.00,0.000,4,0.000,0.067,3369,3737,2225,0,0,0,0,0,0,28.83,25.36,28.83
$GC,10771,0.47,136.3,681.3,10.0,578,10778,0.12,2.30,0.00,0.000,6,0.147,0.048,3347,2322,2224,0,0,0,0,0,0,25.40,25.60,28.83
$GC,11093,0.47,136.3,653.7,8.0,589,11094,0.00,0.00,0.00,0.000,6,0.000,0.000,3347,2318,2224,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11392,0.47,136.3,629.8,7.9,599,11393,0.00,0.00,0.00,0.000,6,0.000,0.000,3347,2318,2223,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11693,0.47,136.3,607.1,7.3,609,11698,0.00,2.28,0.00,0.000,4,0.000,0.056,3355,926,2223,0,0,0,0,0,0,28.83,25.41,28.83
$GC,11730,0.47,136.3,605.1,7.1,610,11734,0.00,2.30,0.00,0.000,6,0.000,0.055,3355,2330,2223,0,0,0,0,0,0,28.83,25.42,28.83
$GC,12043,0.47,136.3,581.0,7.5,621,12048,0.00,2.35,0.00,0.000,4,0.000,0.067,3355,3734,2222,0,0,0,0,0,0,28.83,25.26,28.83
$GC,12091,0.47,136.3,578.5,7.5,622,12095,0.00,2.30,0.00,0.000,6,0.000,0.048,3365,2322,2222,0,0,0,0,0,0,28.83,25.56,28.83
$GC,12392,0.47,136.3,554.6,7.2,632,12398,0.00,2.30,0.00,0.000,4,0.000,0.056,3375,921,2222,0,0,0,0,0,0,28.83,25.37,28.83
$GC,12430,0.47,136.3,552.6,7.1,633,12434,0.00,2.30,0.00,0.000,6,0.000,0.055,3375,2323,2222,0,0,0,0,0,0,28.83,25.37,28.83
$GC,12744,0.47,136.3,528.7,7.6,644,12748,0.00,2.35,0.00,0.000,4,0.000,0.067,3375,3732,2222,0,0,0,0,0,0,28.83,25.23,28.83
$GC,12790,0.47,136.3,526.1,7.7,645,12796,0.15,2.30,0.00,0.000,6,0.141,0.049,3346,2322,2222,0,0,0,0,0,0,25.27,25.53,28.83
$GC,13093,0.48,155.3,505.5,6.3,655,13111,0.00,0.00,16.15,0.826,6,0.000,0.000,3346,2319,2160,0,0,0,0,0,0,28.83,28.83,23.75
$GC,13393,0.48,159.5,485.1,6.9,665,13403,0.00,2.33,4.93,0.624,4,0.000,0.055,3354,915,2143,0,0,0,0,0,0,28.83,25.50,23.81
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$STATE,19518,end climb,SURFACE_DEPTH_REACHED
$STATE,19518,begin surface coast
$FINISH,1.6,1.023943
$STATE,19580,end surface coast,CONTROL_FINISHED_OK
$STATE,19581,begin surface
$SM_CCo,19661,0.00,0.000,0,0,1274,372.61
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$IRIDIUM_FIX,4732.49,-12542.32,110313,090946
$TT8_MAMPS,0.026964,0.026964
$HUMID,48.03
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,19.00
$XPDR_PINGS,3
$24V_AH,22.4,95.827
$10V_AH,9.8,72.778
$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,21.900,174.525,458.750,0.000,0.000,27.473,37.648,204.322,0.750,0.000,17.712,3056.649,13712.955,699.514,2197.454,404.405,0.000,1780.031,0.000,1905.662,0.000,0.535,0.000
$DEVICE_MAMPS,211.140,76.500,1009.035,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,822.151,654.372,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296860
$DATA_FILE_SIZE,66920,1197
$CAP_FILE_SIZE,161810,0
$CFSIZE,260165632,200245248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.145,304.6,1
$GPS,110313,210400,4747.703,-12518.635,42,2.0,42,18.7