version: 66.11
glider: 187
mission: 2
dive: 721
start: 3 23 113 1 6 51
data:
$ID,187
$MISSION,2
$DIVE,721
$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,-1588954.8
$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,35
$R_STBD_OVSHOOT,26
$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
$GPS1,230313,005524,4703.766,-12649.558,39,1.4,39,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-76.9
$GPS2,230313,010618,4703.746,-12649.509,13,1.3,13,18.6
$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,40.8,152205,-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,18,-0.47,-136.3,0.0,0.0,0,65,0.00,0.00,-45.65,0.000,2,0.000,0.000,116,2205,2439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-0.47,-136.3,3.8,-5.4,8,113,11.50,2.33,-25.75,0.000,4,0.209,0.063,3039,782,3351,0,0,0,0,0,0,24.54,25.34,26.22
$GC,269,-0.47,-136.3,26.7,-13.6,45,276,0.00,2.25,0.00,0.000,6,0.000,0.050,3031,2210,3353,0,0,0,0,0,0,28.83,25.29,28.83
$GC,582,-0.47,-136.3,70.9,-13.6,106,588,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2210,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,892,-0.47,-136.3,110.6,-11.0,167,899,0.00,2.22,0.00,0.000,4,0.000,0.050,3031,794,3354,0,0,0,0,0,0,28.83,25.29,28.83
$GC,972,-0.47,-136.3,119.3,-11.0,182,980,0.00,2.22,0.00,0.000,6,0.000,0.050,3021,2209,3354,0,0,0,0,0,0,28.83,25.31,28.83
$GC,1277,-0.47,-136.3,152.6,-9.7,203,1278,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2209,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1578,-0.47,-136.3,180.6,-9.5,223,1586,0.00,2.28,0.00,0.000,4,0.000,0.050,3021,790,3354,0,0,0,0,0,0,28.83,25.29,28.83
$GC,1617,-0.47,-136.3,184.5,-9.7,227,1626,0.00,2.30,0.00,0.000,6,0.000,0.050,3012,2206,3353,0,0,0,0,0,0,28.83,25.29,28.83
$GC,1932,-0.47,-136.3,214.8,-9.6,246,1934,0.12,0.00,0.00,0.000,6,0.140,0.000,3048,2206,3354,0,0,0,0,0,0,25.95,28.83,28.83
$GC,2233,-0.47,-136.3,238.5,-8.2,261,2238,0.00,2.28,0.00,0.000,4,0.000,0.050,3048,787,3354,0,0,0,0,0,0,28.83,25.27,28.83
$GC,2260,-0.47,-136.3,240.3,-8.3,262,2264,0.00,2.30,0.00,0.000,6,0.000,0.050,3041,2202,3354,0,0,0,0,0,0,28.83,25.28,28.83
$GC,2562,-0.47,-136.3,269.6,-9.6,277,2568,0.00,2.33,0.00,0.000,4,0.000,0.063,3030,3609,3353,0,0,0,0,0,0,28.83,25.09,28.83
$GC,2593,-0.47,-136.3,271.5,-9.5,278,2601,0.00,2.25,0.00,0.000,6,0.000,0.044,3030,2194,3354,0,0,0,0,0,0,28.83,25.48,28.83
$GC,2902,-0.47,-136.3,301.3,-8.7,294,2908,0.00,2.25,0.00,0.000,4,0.000,0.050,3030,800,3354,0,0,0,0,0,0,28.83,25.25,28.83
$GC,2962,-0.47,-136.3,306.7,-8.9,297,2968,0.00,2.25,0.00,0.000,6,0.000,0.051,3026,2197,3354,0,0,0,0,0,0,28.83,25.26,28.83
$GC,3283,-0.47,-136.3,334.1,-8.3,313,3288,0.00,2.33,0.00,0.000,4,0.000,0.063,3016,3605,3353,0,0,0,0,0,0,28.83,25.06,28.83
$GC,3322,-0.47,-136.3,337.5,-8.4,315,3328,0.00,2.25,0.00,0.000,6,0.000,0.044,3016,2201,3354,0,0,0,0,0,0,28.83,25.47,28.83
$GC,3642,-0.47,-136.3,366.9,-9.3,331,3648,0.00,2.28,0.00,0.000,4,0.000,0.051,3016,790,3354,0,0,0,0,0,0,28.83,25.22,28.83
$GC,3723,-0.47,-136.3,374.7,-9.7,335,3729,0.08,2.28,0.00,0.000,6,0.112,0.052,3039,2200,3353,0,0,0,0,0,0,25.07,25.25,28.83
$GC,4044,-0.47,-136.3,398.9,-7.1,351,4048,0.00,2.30,0.00,0.000,4,0.000,0.063,3030,3615,3353,0,0,0,0,0,0,28.83,25.03,28.83
$GC,4092,-0.47,-136.3,401.0,-7.2,353,4101,0.00,2.28,0.00,0.000,6,0.000,0.044,3030,2197,3354,0,0,0,0,0,0,28.83,25.46,28.83
$GC,4403,-0.47,-136.3,425.6,-7.3,364,4408,0.00,2.22,0.00,0.000,4,0.000,0.052,3031,810,3353,0,0,0,0,0,0,28.83,25.21,28.83
$GC,4432,-0.47,-136.3,427.9,-7.4,365,4438,0.00,2.28,0.00,0.000,6,0.000,0.052,3029,2208,3353,0,0,0,0,0,0,28.83,25.21,28.83
$GC,4762,-0.47,-136.3,452.3,-7.3,376,4763,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2207,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5063,-0.47,-136.3,474.7,-7.5,386,5064,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2207,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5362,-0.47,-136.3,497.3,-7.4,396,5368,0.00,2.35,0.00,0.000,4,0.000,0.064,3020,3611,3352,0,0,0,0,0,0,28.83,24.98,28.83
$GC,5410,-0.47,-136.3,499.5,-7.4,397,5414,0.00,2.28,0.00,0.000,6,0.000,0.046,3020,2202,3352,0,0,0,0,0,0,28.83,25.42,28.83
$GC,5712,-0.47,-136.3,524.2,-7.7,407,5713,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2200,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6013,-0.47,-136.3,548.1,-8.2,417,6015,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2200,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6312,-0.47,-136.3,572.7,-8.2,427,6318,0.00,2.28,0.00,0.000,4,0.000,0.053,3020,801,3352,0,0,0,0,0,0,28.83,25.15,28.83
$GC,6372,-0.47,-136.3,578.1,-8.5,429,6379,0.08,2.28,0.00,0.000,6,0.112,0.053,3040,2200,3351,0,0,0,0,0,0,25.01,25.18,28.83
$GC,6704,-0.47,-136.3,601.6,-6.9,440,6708,0.00,2.33,0.00,0.000,4,0.000,0.066,3031,3620,3351,0,0,0,0,0,0,28.83,24.94,28.83
$GC,6762,-0.47,-136.3,605.9,-7.0,442,6768,0.00,2.28,0.00,0.000,6,0.000,0.044,3032,2195,3351,0,0,0,0,0,0,28.83,25.44,28.83
$GC,7092,-0.47,-136.3,630.0,-7.2,453,7098,0.00,2.38,0.00,0.000,4,0.000,0.066,3022,3608,3350,0,0,0,0,0,0,28.83,24.94,28.83
$GC,7123,-0.47,-136.3,632.2,-7.2,454,7128,0.00,2.25,0.00,0.000,6,0.000,0.046,3021,2205,3351,0,0,0,0,0,0,28.83,25.39,28.83
$GC,7453,-0.47,-136.3,655.4,-6.6,465,7454,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2204,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7752,-0.47,-136.3,675.0,-6.5,475,7754,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2204,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8053,-0.47,-136.3,695.0,-6.6,485,8054,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2204,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8352,-0.47,-136.3,714.3,-6.4,495,8358,0.00,2.38,0.00,0.000,4,0.000,0.066,3012,3608,3349,0,0,0,0,0,0,28.83,24.91,28.83
$GC,8390,-0.47,-136.3,716.3,-6.4,496,8395,0.12,2.30,0.00,0.000,6,0.121,0.047,3049,2191,3349,0,0,0,0,0,0,25.20,25.35,28.83
$GC,8705,-0.47,-136.3,732.9,-5.0,507,8706,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2190,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9004,-0.47,-136.3,748.8,-5.4,517,9009,0.00,2.38,0.00,0.000,4,0.000,0.067,3041,3602,3348,0,0,0,0,0,0,28.83,24.89,28.83
$GC,9035,-0.47,-136.3,750.3,-5.3,518,9039,0.00,2.22,0.00,0.000,6,0.000,0.047,3041,2190,3348,0,0,0,0,0,0,28.83,25.35,28.83
$GC,9365,-0.47,-136.3,768.8,-5.6,529,9369,0.00,2.20,0.00,0.000,4,0.000,0.054,3041,803,3348,0,0,0,0,0,0,28.83,25.08,28.83
$GC,9394,-0.47,-136.3,770.6,-5.7,530,9399,0.00,2.30,0.00,0.000,6,0.000,0.054,3033,2207,3348,0,0,0,0,0,0,28.83,25.09,28.83
$GC,9724,-0.47,-136.3,790.3,-5.9,541,9730,0.00,2.35,0.00,0.000,4,0.000,0.067,3023,3605,3347,0,0,0,0,0,0,28.83,24.88,28.83
$GC,9784,-0.47,-136.3,794.5,-6.3,543,9790,0.00,2.28,0.00,0.000,6,0.000,0.047,3023,2194,3347,0,0,0,0,0,0,28.83,25.34,28.83
$GC,10115,-0.47,-136.3,815.6,-6.6,554,10116,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2193,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10414,-0.47,-136.3,834.2,-6.2,564,10419,0.00,2.40,0.00,0.000,4,0.000,0.067,3013,3608,3347,0,0,0,0,0,0,28.83,24.84,28.83
$GC,10512,-0.47,-136.3,840.5,-6.9,567,10516,0.00,2.30,0.00,0.000,6,0.000,0.047,3013,2194,3346,0,0,0,0,0,0,28.83,25.31,28.83
$GC,10825,-0.47,-136.3,864.1,-7.7,578,10827,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2193,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11124,-0.47,-136.3,887.4,-7.9,588,11130,0.00,2.40,0.00,0.000,4,0.000,0.067,3005,3611,3346,0,0,0,0,0,0,28.83,24.83,28.83
$GC,11162,-0.47,-136.3,889.8,-8.0,589,11167,0.12,2.30,0.00,0.000,6,0.124,0.048,3042,2200,3346,0,0,0,0,0,0,25.13,25.29,28.83
$GC,11477,-0.47,-136.3,910.9,-6.4,600,11478,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2198,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11776,-0.47,-136.3,929.3,-6.0,610,11777,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2198,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12076,-0.47,-136.3,945.8,-5.2,620,12077,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2198,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12377,-0.47,-136.3,961.4,-5.4,630,12378,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2198,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12676,-0.47,-136.3,978.1,-5.5,640,12682,0.00,2.40,0.00,0.000,4,0.000,0.067,3035,3611,3345,0,0,0,0,0,0,28.83,24.79,28.83
$GC,12706,-0.47,-136.3,979.9,-5.6,641,12711,0.00,2.30,0.00,0.000,6,0.000,0.049,3035,2194,3345,0,0,0,0,0,0,28.83,25.26,28.83
$STATE,12883,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12883,begin apogee
$GC,12891,-0.22,0.0,990.5,-5.8,647,13022,0.25,0.00,126.10,1.159,6,0.107,0.000,3123,2333,2793,0,0,0,0,0,0,25.55,28.83,22.46
$STATE,13023,end apogee,CONTROL_FINISHED_OK
$STATE,13023,begin climb
$GC,13026,0.47,136.3,994.6,0.0,651,13167,0.65,2.60,134.18,1.123,4,0.071,0.067,3345,3730,2237,0,0,0,0,0,0,24.37,23.41,21.68
$GC,13217,0.48,145.6,986.2,6.7,658,13235,0.00,2.40,9.93,0.963,6,0.000,0.048,3356,2330,2199,0,0,0,0,0,0,28.83,24.27,22.29
$GC,13536,0.48,145.6,958.1,8.6,669,13541,0.00,2.30,0.00,0.000,4,0.000,0.057,3366,918,2193,0,0,0,0,0,0,28.83,25.34,28.83
$GC,13573,0.48,145.6,955.4,8.7,670,13578,0.00,2.33,0.00,0.000,6,0.000,0.057,3366,2325,2191,0,0,0,0,0,0,28.83,25.36,28.83
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$STATE,25732,end climb,SURFACE_DEPTH_REACHED
$STATE,25732,begin surface coast
$FINISH,1.5,1.012437
$STATE,25788,end surface coast,CONTROL_FINISHED_OK
$STATE,25788,begin surface
$SM_CCo,25869,0.00,0.000,0,0,1379,347.10
$SM_GC,2.34,8.30,0.20,0.00,0.025,0.073,0.000,113,2199,1379,-9.46,1.10,347.10,0,0,0,0,0,0,25.89,25.98,28.83
$IRIDIUM_FIX,4644.93,-12647.14,220313,171708
$TT8_MAMPS,0.027713,0.027713
$HUMID,47.75
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,18.90
$XPDR_PINGS,1
$24V_AH,21.7,101.487
$10V_AH,9.7,76.556
$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,22.000,222.075,449.875,0.000,0.000,28.547,34.152,436.654,0.250,0.000,13.833,3664.734,18823.826,744.480,2721.714,554.036,0.000,2027.966,0.000,2272.875,0.000,0.535,0.000
$DEVICE_MAMPS,208.845,83.385,1158.975,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,979.883,739.979,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296912
$DATA_FILE_SIZE,76795,1423
$CAP_FILE_SIZE,202917,0
$CFSIZE,260165632,196796416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.071,296.1,1
$GPS,230313,081906,4706.257,-12645.130,27,1.6,27,18.6