version: 66.11
glider: 187
mission: 2
dive: 736
start: 3 27 113 12 53 44
data:
$ID,187
$MISSION,2
$DIVE,736
$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,-1589884
$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,34
$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
$GPS1,270313,124236,4733.962,-12547.064,37,1.6,37,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-79.5
$GPS2,270313,125313,4733.935,-12547.074,15,1.6,15,18.7
$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,37.0,56584,-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,-136.3,0.0,0.0,0,81,0.00,0.00,-61.28,0.000,2,0.000,0.000,106,2201,2741,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.47,-136.3,3.2,-2.4,11,117,11.85,2.40,-14.65,0.000,4,0.220,0.076,3021,3610,3352,0,0,0,0,0,0,24.49,25.25,26.21
$GC,166,-0.47,-136.3,17.4,-14.3,25,174,0.00,2.22,0.00,0.000,6,0.000,0.044,3021,2192,3354,0,0,0,0,0,0,28.83,25.45,28.83
$GC,480,-0.47,-136.3,66.6,-15.8,86,487,0.00,2.20,0.00,0.000,4,0.000,0.050,3021,798,3355,0,0,0,0,0,0,28.83,25.28,28.83
$GC,585,-0.47,-136.3,82.6,-14.8,106,593,0.12,2.22,0.00,0.000,6,0.139,0.051,3045,2205,3355,0,0,0,0,0,0,25.15,25.29,28.83
$GC,899,-0.47,-136.3,117.1,-11.1,167,906,0.00,2.28,0.00,0.000,4,0.000,0.062,3036,3610,3356,0,0,0,0,0,0,28.83,25.11,28.83
$GC,919,-0.47,-136.3,119.3,-11.2,170,926,0.00,2.20,0.00,0.000,6,0.000,0.044,3036,2193,3355,0,0,0,0,0,0,28.83,25.49,28.83
$GC,1225,-0.47,-136.3,151.3,-9.6,191,1232,0.00,2.22,0.00,0.000,4,0.000,0.050,3036,803,3356,0,0,0,0,0,0,28.83,25.29,28.83
$GC,1284,-0.47,-136.3,157.1,-9.7,197,1293,0.00,2.28,0.00,0.000,6,0.000,0.050,3028,2206,3356,0,0,0,0,0,0,28.83,25.28,28.83
$GC,1594,-0.47,-136.3,187.6,-9.7,218,1595,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2205,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1910,-0.47,-136.3,219.6,-10.1,236,1911,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2205,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2209,-0.47,-136.3,249.2,-9.6,251,2210,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2205,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2510,-0.47,-136.3,276.4,-8.9,266,2511,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2205,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2809,-0.47,-136.3,302.7,-8.7,281,2810,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2205,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3109,-0.47,-136.3,329.5,-8.7,296,3114,0.00,2.35,0.00,0.000,4,0.000,0.063,3017,3614,3356,0,0,0,0,0,0,28.83,25.04,28.83
$GC,3137,-0.47,-136.3,331.1,-8.6,297,3141,0.00,2.28,0.00,0.000,6,0.000,0.044,3017,2201,3356,0,0,0,0,0,0,28.83,25.45,28.83
$GC,3440,-0.47,-136.3,358.9,-9.1,312,3441,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2199,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3739,-0.47,-136.3,385.0,-8.8,327,3744,0.00,2.28,0.00,0.000,4,0.000,0.051,3017,798,3355,0,0,0,0,0,0,28.83,25.20,28.83
$GC,3768,-0.47,-136.3,386.7,-8.7,328,3778,0.12,2.30,0.00,0.000,6,0.133,0.052,3043,2208,3355,0,0,0,0,0,0,25.08,25.20,28.83
$GC,4090,-0.47,-136.3,411.4,-7.6,342,4095,0.00,2.33,0.00,0.000,4,0.000,0.064,3034,3606,3355,0,0,0,0,0,0,28.83,25.01,28.83
$GC,4157,-0.47,-136.3,416.1,-7.5,344,4161,0.00,2.28,0.00,0.000,6,0.000,0.044,3034,2191,3355,0,0,0,0,0,0,28.83,25.43,28.83
$GC,4469,-0.47,-136.3,441.1,-7.9,355,4470,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2188,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4770,-0.47,-136.3,464.4,-7.4,365,4771,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2188,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5069,-0.47,-136.3,485.4,-7.0,375,5070,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2188,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5369,-0.47,-136.3,505.2,-6.4,385,5370,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2188,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5670,-0.47,-136.3,525.1,-6.8,395,5675,0.00,2.35,0.00,0.000,4,0.000,0.065,3024,3616,3352,0,0,0,0,0,0,28.83,24.96,28.83
$GC,5717,-0.47,-136.3,527.1,-6.8,396,5721,0.00,2.30,0.00,0.000,6,0.000,0.045,3025,2194,3352,0,0,0,0,0,0,28.83,25.39,28.83
$GC,6019,-0.47,-136.3,550.5,-7.6,406,6025,0.00,2.25,0.00,0.000,4,0.000,0.053,3024,802,3352,0,0,0,0,0,0,28.83,25.13,28.83
$GC,6058,-0.47,-136.3,552.9,-7.8,407,6064,0.00,2.30,0.00,0.000,6,0.000,0.053,3016,2204,3352,0,0,0,0,0,0,28.83,25.14,28.83
$GC,6379,-0.47,-136.3,581.6,-8.8,418,6385,0.00,2.35,0.00,0.000,4,0.000,0.064,3006,3603,3351,0,0,0,0,0,0,28.83,24.94,28.83
$GC,6447,-0.47,-136.3,587.2,-9.0,420,6452,0.12,2.28,0.00,0.000,6,0.126,0.045,3043,2201,3351,0,0,0,0,0,0,25.20,25.38,28.83
$GC,6762,-0.47,-136.3,609.8,-7.0,431,6766,0.00,2.25,0.00,0.000,4,0.000,0.054,3043,805,3351,0,0,0,0,0,0,28.83,25.12,28.83
$GC,6808,-0.47,-136.3,612.1,-7.0,432,6813,0.00,2.30,0.00,0.000,6,0.000,0.053,3037,2206,3351,0,0,0,0,0,0,28.83,25.12,28.83
$GC,7111,-0.47,-136.3,633.8,-6.9,442,7116,0.00,2.35,0.00,0.000,4,0.000,0.066,3027,3605,3351,0,0,0,0,0,0,28.83,24.91,28.83
$GC,7170,-0.47,-136.3,638.1,-7.0,444,7176,0.00,2.25,0.00,0.000,6,0.000,0.046,3027,2204,3351,0,0,0,0,0,0,28.83,25.37,28.83
$GC,7501,-0.47,-136.3,661.8,-7.2,455,7502,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2202,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7800,-0.47,-136.3,682.8,-6.9,465,7802,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2202,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8100,-0.47,-136.3,702.6,-6.6,475,8106,0.00,2.38,0.00,0.000,4,0.000,0.066,3017,3607,3350,0,0,0,0,0,0,28.83,24.88,28.83
$GC,8149,-0.47,-136.3,704.6,-6.7,476,8159,0.00,2.30,0.00,0.000,6,0.000,0.047,3017,2189,3350,0,0,0,0,0,0,28.83,25.33,28.83
$GC,8462,-0.47,-136.3,726.8,-6.5,487,8466,0.00,2.20,0.00,0.000,4,0.000,0.054,3017,803,3350,0,0,0,0,0,0,28.83,25.07,28.83
$GC,8492,-0.47,-136.3,729.0,-6.6,488,8497,0.12,2.25,0.00,0.000,6,0.132,0.054,3044,2208,3350,0,0,0,0,0,0,24.98,25.08,28.83
$GC,8812,-0.47,-136.3,746.7,-5.3,499,8816,0.00,2.33,0.00,0.000,4,0.000,0.067,3034,3619,3350,0,0,0,0,0,0,28.83,24.85,28.83
$GC,8870,-0.47,-136.3,750.1,-5.5,501,8876,0.00,2.30,0.00,0.000,6,0.000,0.047,3034,2199,3349,0,0,0,0,0,0,28.83,25.33,28.83
$GC,9200,-0.47,-136.3,767.1,-5.0,512,9202,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2197,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9502,-0.47,-136.3,782.7,-5.4,522,9506,0.00,2.35,0.00,0.000,4,0.000,0.067,3025,3617,3349,0,0,0,0,0,0,28.83,24.83,28.83
$GC,9558,-0.47,-136.3,785.7,-5.8,524,9563,0.00,2.33,0.00,0.000,6,0.000,0.047,3025,2193,3349,0,0,0,0,0,0,28.83,25.29,28.83
$GC,9871,-0.47,-136.3,806.8,-6.8,535,9872,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2190,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10172,-0.47,-136.3,828.4,-7.3,545,10177,0.00,2.38,0.00,0.000,4,0.000,0.067,3015,3602,3348,0,0,0,0,0,0,28.83,24.82,28.83
$GC,10219,-0.47,-136.3,830.9,-7.5,546,10223,0.00,2.30,0.00,0.000,6,0.000,0.047,3015,2193,3348,0,0,0,0,0,0,28.83,25.29,28.83
$GC,10521,-0.47,-136.3,855.3,-7.4,556,10522,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2190,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10822,-0.47,-136.3,877.7,-7.6,566,10823,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2190,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11121,-0.47,-136.3,900.8,-7.8,576,11122,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2190,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11421,-0.47,-136.3,923.4,-7.5,586,11427,0.00,2.40,0.00,0.000,4,0.000,0.067,3005,3606,3347,0,0,0,0,0,0,28.83,24.79,28.83
$GC,11489,-0.47,-136.3,928.1,-7.6,588,11494,0.15,2.30,0.00,0.000,6,0.118,0.047,3049,2198,3347,0,0,0,0,0,0,25.08,25.26,28.83
$GC,11803,-0.47,-136.3,947.2,-5.9,599,11804,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2196,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12102,-0.47,-136.3,964.1,-5.6,609,12103,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2196,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12403,-0.47,-136.3,982.0,-6.0,619,12407,0.00,2.35,0.00,0.000,4,0.000,0.068,3041,3608,3346,0,0,0,0,0,0,28.83,24.75,28.83
$GC,12440,-0.47,-136.3,984.0,-6.1,620,12444,0.00,2.33,0.00,0.000,6,0.000,0.048,3041,2191,3346,0,0,0,0,0,0,28.83,25.23,28.83
$STATE,12539,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12540,begin apogee
$GC,12547,-0.22,0.0,991.1,-6.4,624,12678,0.22,0.00,126.50,1.151,6,0.108,0.000,3121,2330,2793,0,0,0,0,0,0,25.59,28.83,22.50
$STATE,12679,end apogee,CONTROL_FINISHED_OK
$STATE,12679,begin climb
$GC,12683,0.47,136.3,996.1,0.0,628,12822,0.68,0.00,134.77,1.116,6,0.071,0.000,3351,2330,2238,0,0,0,0,0,0,24.39,28.83,21.73
$GC,13116,0.47,138.4,973.4,6.9,643,13120,0.00,2.28,0.00,0.000,4,0.000,0.057,3361,922,2228,0,0,0,0,0,0,28.83,25.35,28.83
$GC,13140,0.47,141.4,972.0,6.9,644,13150,0.00,2.33,4.25,0.712,6,0.000,0.057,3361,2329,2217,0,0,0,0,0,0,28.83,25.37,23.58
$GC,13454,0.47,141.4,949.0,7.2,654,13458,0.00,2.35,0.00,0.000,4,0.000,0.069,3361,3740,2215,0,0,0,0,0,0,28.83,25.32,28.83
$GC,13490,0.47,141.4,946.5,7.4,655,13494,0.00,2.30,0.00,0.000,6,0.000,0.050,3372,2331,2214,0,0,0,0,0,0,28.83,25.53,28.83
$GC,13804,0.47,141.4,920.9,7.9,666,13808,0.00,2.33,0.00,0.000,4,0.000,0.068,3372,3743,2214,0,0,0,0,0,0,28.83,25.27,28.83
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$STATE,25809,end climb,SURFACE_DEPTH_REACHED
$STATE,25809,begin surface coast
$FINISH,1.3,1.002140
$STATE,25850,end surface coast,CONTROL_FINISHED_OK
$STATE,25850,begin surface
$SM_CCo,25932,0.00,0.000,0,0,1413,339.00
$SM_GC,2.43,8.45,2.10,0.00,0.029,0.053,0.000,115,2201,1413,-9.46,-0.82,339.00,0,0,0,0,0,0,25.92,25.33,28.83
$IRIDIUM_FIX,4716.56,-12549.68,270313,121251
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.18
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,19.00
$XPDR_PINGS,5
$24V_AH,21.7,103.591
$10V_AH,9.7,78.042
$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
$DEVICE_SECS,22.575,216.750,452.875,0.000,0.000,46.096,119.549,252.543,1.250,0.000,16.158,3678.124,18943.414,743.819,2684.148,506.910,0.000,2015.571,0.000,2256.591,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,982.002,742.497,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,76865,1426
$CAP_FILE_SIZE,199984,0
$CFSIZE,260165632,195489792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.036,305.1,1
$GPS,270313,200706,4735.489,-12543.388,31,2.0,31,18.7