version: 66.11
glider: 187
mission: 2
dive: 742
start: 3 29 113 9 18 22
data:
$ID,187
$MISSION,2
$DIVE,742
$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,-1589900.5
$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,41
$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
$GPS1,290313,091030,4745.096,-12524.298,39,2.0,39,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-78.7
$GPS2,290313,091749,4745.172,-12524.334,17,1.3,17,18.7
$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,37.4,21494,-13.3,-7.021,-18.50
$D_GRID,837
$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,-136.3,0.0,0.0,0,80,0.00,0.00,-60.42,0.000,2,0.000,0.000,112,2200,2590,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.47,-136.3,3.4,-3.5,11,121,11.73,2.28,-17.30,0.000,4,0.215,0.066,3034,791,3353,0,0,0,0,0,0,24.45,25.34,26.22
$GC,307,-0.47,-136.3,38.5,-13.2,53,314,0.00,2.25,0.00,0.000,6,0.000,0.052,3026,2206,3355,0,0,0,0,0,0,28.83,25.28,28.83
$GC,622,-0.47,-136.3,82.5,-13.3,114,628,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2206,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,935,-0.47,-136.3,119.7,-11.3,175,942,0.00,2.28,0.00,0.000,4,0.000,0.062,3016,3609,3356,0,0,0,0,0,0,28.83,25.13,28.83
$GC,970,-0.47,-136.3,123.7,-11.3,179,979,0.00,2.28,0.00,0.000,6,0.000,0.044,3016,2189,3356,0,0,0,0,0,0,28.83,25.48,28.83
$GC,1280,-0.47,-136.3,157.8,-10.6,200,1289,0.00,2.25,0.00,0.000,4,0.000,0.050,3016,798,3356,0,0,0,0,0,0,28.83,25.28,28.83
$GC,1321,-0.47,-136.3,162.2,-11.1,204,1329,0.00,2.28,0.00,0.000,6,0.000,0.051,3015,2202,3356,0,0,0,0,0,0,28.83,25.28,28.83
$GC,1630,-0.47,-136.3,196.6,-11.4,225,1631,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2202,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1935,-0.47,-136.3,230.3,-10.6,241,1940,0.00,2.28,0.00,0.000,4,0.000,0.049,3015,797,3356,0,0,0,0,0,0,28.83,25.27,28.83
$GC,1964,-0.47,-136.3,232.4,-10.6,242,1974,0.12,2.30,0.00,0.000,6,0.134,0.050,3041,2213,3356,0,0,0,0,0,0,25.14,25.26,28.83
$GC,2277,-0.47,-136.3,258.6,-7.9,258,2281,0.00,2.28,0.00,0.000,4,0.000,0.063,3033,3613,3356,0,0,0,0,0,0,28.83,25.06,28.83
$GC,2313,-0.47,-136.3,261.1,-8.0,259,2317,0.00,2.28,0.00,0.000,6,0.000,0.043,3033,2196,3356,0,0,0,0,0,0,28.83,25.47,28.83
$GC,2616,-0.47,-136.3,288.9,-9.3,274,2617,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2193,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2915,-0.47,-136.3,317.1,-9.4,289,2916,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2193,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3215,-0.47,-136.3,344.7,-9.1,304,3221,0.00,2.28,0.00,0.000,4,0.000,0.051,3033,790,3356,0,0,0,0,0,0,28.83,25.21,28.83
$GC,3243,-0.47,-136.3,346.6,-9.2,305,3247,0.00,2.30,0.00,0.000,6,0.000,0.051,3028,2199,3356,0,0,0,0,0,0,28.83,25.21,28.83
$GC,3545,-0.47,-136.3,375.6,-9.4,320,3550,0.00,2.35,0.00,0.000,4,0.000,0.063,3018,3613,3355,0,0,0,0,0,0,28.83,25.02,28.83
$GC,3613,-0.47,-136.3,381.2,-9.2,323,3617,0.00,2.28,0.00,0.000,6,0.000,0.044,3019,2201,3355,0,0,0,0,0,0,28.83,25.44,28.83
$GC,3936,-0.47,-136.3,410.8,-8.7,337,3940,0.00,2.25,0.00,0.000,4,0.000,0.052,3019,805,3356,0,0,0,0,0,0,28.83,25.19,28.83
$GC,3965,-0.47,-136.3,413.5,-8.6,338,3971,0.08,2.25,0.00,0.000,6,0.111,0.052,3038,2195,3355,0,0,0,0,0,0,25.03,25.20,28.83
$GC,4295,-0.47,-136.3,436.1,-6.6,349,4301,0.00,2.35,0.00,0.000,4,0.000,0.064,3030,3609,3355,0,0,0,0,0,0,28.83,24.98,28.83
$GC,4356,-0.47,-136.3,440.2,-6.6,351,4361,0.00,2.25,0.00,0.000,6,0.000,0.045,3030,2205,3355,0,0,0,0,0,0,28.83,25.43,28.83
$GC,4685,-0.47,-136.3,463.8,-7.4,362,4690,0.00,2.35,0.00,0.000,4,0.000,0.064,3020,3604,3355,0,0,0,0,0,0,28.83,24.98,28.83
$GC,4716,-0.47,-136.3,466.1,-7.6,363,4721,0.00,2.25,0.00,0.000,6,0.000,0.044,3020,2197,3354,0,0,0,0,0,0,28.83,25.41,28.83
$GC,5046,-0.47,-136.3,493.9,-8.4,374,5047,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2195,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5345,-0.47,-136.3,517.2,-7.7,384,5351,0.00,2.28,0.00,0.000,4,0.000,0.052,3020,800,3353,0,0,0,0,0,0,28.83,25.15,28.83
$GC,5375,-0.47,-136.3,519.6,-7.8,385,5380,0.00,2.30,0.00,0.000,6,0.000,0.053,3016,2202,3353,0,0,0,0,0,0,28.83,25.15,28.83
$GC,5706,-0.47,-136.3,547.6,-8.7,396,5710,0.00,2.35,0.00,0.000,4,0.000,0.065,3006,3606,3353,0,0,0,0,0,0,28.83,24.94,28.83
$GC,5766,-0.47,-136.3,553.2,-9.1,398,5771,0.10,2.25,0.00,0.000,6,0.101,0.045,3044,2204,3353,0,0,0,0,0,0,25.15,25.39,28.83
$GC,6095,-0.47,-136.3,575.1,-6.2,409,6101,0.00,2.35,0.00,0.000,4,0.000,0.064,3036,3599,3353,0,0,0,0,0,0,28.83,24.94,28.83
$GC,6133,-0.47,-136.3,577.1,-6.1,410,6137,0.00,2.28,0.00,0.000,6,0.000,0.045,3036,2198,3353,0,0,0,0,0,0,28.83,25.38,28.83
$GC,6447,-0.47,-136.3,596.8,-6.1,421,6451,0.00,2.28,0.00,0.000,4,0.000,0.054,3036,797,3353,0,0,0,0,0,0,28.83,25.11,28.83
$GC,6484,-0.47,-136.3,598.7,-6.2,422,6488,0.00,2.30,0.00,0.000,6,0.000,0.052,3028,2199,3352,0,0,0,0,0,0,28.83,25.13,28.83
$GC,6796,-0.47,-136.3,619.0,-6.4,433,6802,0.00,2.35,0.00,0.000,4,0.000,0.065,3018,3605,3352,0,0,0,0,0,0,28.83,24.91,28.83
$GC,6905,-0.47,-136.3,625.4,-7.0,436,6914,0.00,2.28,0.00,0.000,6,0.000,0.044,3018,2197,3352,0,0,0,0,0,0,28.83,25.37,28.83
$GC,7216,-0.47,-136.3,650.0,-7.8,447,7222,0.00,2.38,0.00,0.000,4,0.000,0.065,3009,3611,3352,0,0,0,0,0,0,28.83,24.89,28.83
$GC,7246,-0.47,-136.3,652.4,-7.9,448,7252,0.08,2.28,0.00,0.000,6,0.103,0.047,3039,2207,3351,0,0,0,0,0,0,25.14,25.33,28.83
$GC,7577,-0.47,-136.3,674.1,-6.2,459,7582,0.00,2.33,0.00,0.000,4,0.000,0.066,3031,3608,3351,0,0,0,0,0,0,28.83,24.88,28.83
$GC,7606,-0.47,-136.3,676.1,-6.3,460,7612,0.00,2.28,0.00,0.000,6,0.000,0.046,3031,2201,3351,0,0,0,0,0,0,28.83,25.34,28.83
$GC,7936,-0.47,-136.3,699.8,-7.4,471,7942,0.00,2.30,0.00,0.000,4,0.000,0.054,3031,795,3351,0,0,0,0,0,0,28.83,25.07,28.83
$GC,7985,-0.47,-136.3,702.2,-7.5,472,7994,0.00,2.33,0.00,0.000,6,0.000,0.054,3023,2207,3351,0,0,0,0,0,0,28.83,25.07,28.83
$GC,8296,-0.47,-136.3,727.2,-6.9,483,8302,0.00,2.35,0.00,0.000,4,0.000,0.065,3013,3606,3350,0,0,0,0,0,0,28.83,24.88,28.83
$GC,8366,-0.47,-136.3,732.2,-7.5,485,8371,0.00,2.30,0.00,0.000,6,0.000,0.046,3013,2194,3350,0,0,0,0,0,0,28.83,25.32,28.83
$GC,8687,-0.47,-136.3,762.2,-9.1,496,8692,0.00,2.25,0.00,0.000,4,0.000,0.054,3013,808,3350,0,0,0,0,0,0,28.83,25.07,28.83
$GC,8734,-0.47,-136.3,764.8,-8.9,497,8739,0.15,2.30,0.00,0.000,6,0.126,0.054,3048,2204,3350,0,0,0,0,0,0,24.93,25.07,28.83
$GC,9036,-0.47,-136.3,786.2,-5.9,507,9042,0.00,2.35,0.00,0.000,4,0.000,0.066,3039,3603,3350,0,0,0,0,0,0,28.83,24.84,28.83
$GC,9075,-0.47,-136.3,787.9,-5.9,508,9081,0.00,2.30,0.00,0.000,6,0.000,0.047,3039,2189,3350,0,0,0,0,0,0,28.83,25.32,28.83
$GC,9396,-0.47,-136.3,806.8,-5.9,519,9397,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2189,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9696,-0.47,-136.3,823.5,-5.5,529,9697,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2189,3349,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9963,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9964,begin apogee
$GC,9972,-0.22,0.0,838.2,-5.4,538,10099,0.25,0.00,123.80,1.056,6,0.109,0.000,3126,2331,2794,0,0,0,0,0,0,25.54,28.83,22.76
$STATE,10100,end apogee,CONTROL_FINISHED_OK
$STATE,10100,begin climb
$GC,10103,0.47,136.3,840.9,0.0,542,10237,0.62,0.00,129.95,1.022,6,0.074,0.000,3344,2331,2238,0,0,0,0,0,0,24.53,28.83,22.22
$GC,10531,0.47,136.3,811.1,8.4,557,10535,0.00,2.30,0.00,0.000,4,0.000,0.068,3344,3731,2227,0,0,0,0,0,0,28.83,25.30,28.83
$GC,10564,0.47,136.3,809.3,8.4,558,10568,0.00,2.30,0.00,0.000,6,0.000,0.049,3354,2326,2226,0,0,0,0,0,0,28.83,25.51,28.83
$GC,10866,0.47,136.3,781.9,8.4,568,10867,0.00,0.00,0.00,0.000,6,0.000,0.000,3355,2324,2224,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11168,0.47,136.3,757.6,7.9,578,11169,0.00,0.00,0.00,0.000,6,0.000,0.000,3355,2325,2224,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11466,0.47,136.3,734.8,7.6,588,11472,0.00,2.30,0.00,0.000,4,0.000,0.056,3365,923,2223,0,0,0,0,0,0,28.83,25.36,28.83
$GC,11514,0.47,136.3,732.5,7.5,589,11518,0.00,2.30,0.00,0.000,6,0.000,0.056,3365,2319,2223,0,0,0,0,0,0,28.83,25.34,28.83
$GC,11817,0.47,136.3,706.5,8.0,599,11822,0.00,2.38,0.00,0.000,4,0.000,0.068,3365,3733,2222,0,0,0,0,0,0,28.83,25.20,28.83
$GC,11854,0.47,136.3,703.8,8.3,600,11858,0.00,2.30,0.00,0.000,6,0.000,0.049,3375,2325,2222,0,0,0,0,0,0,28.83,25.49,28.83
$GC,12166,0.47,136.3,676.6,8.5,611,12172,0.00,2.33,0.00,0.000,4,0.000,0.056,3386,915,2222,0,0,0,0,0,0,28.83,25.29,28.83
$GC,12204,0.47,136.3,674.0,8.6,612,12209,0.15,2.33,0.00,0.000,6,0.135,0.057,3346,2326,2222,0,0,0,0,0,0,25.12,25.28,28.83
$GC,12518,0.48,145.6,651.8,6.7,623,12530,0.00,2.40,6.62,0.774,4,0.000,0.069,3346,3738,2200,0,0,0,0,0,0,28.83,25.36,23.87
$GC,12586,0.48,147.4,648.0,6.9,625,12590,0.00,2.30,0.00,0.000,6,0.000,0.049,3353,2326,2200,0,0,0,0,0,0,28.83,25.57,28.83
$GC,12888,0.48,147.4,624.6,7.3,635,12889,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,2324,2199,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,20943,end climb,SURFACE_DEPTH_REACHED
$STATE,20943,begin surface coast
$FINISH,1.4,1.003114
$STATE,20984,end surface coast,CONTROL_FINISHED_OK
$STATE,20984,begin surface
$SM_CCo,21067,0.00,0.000,0,0,927,457.98
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$IRIDIUM_FIX,4722.92,-12532.26,290313,010138
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.38
$INTERNAL_PRESSURE,9.0304
$TCM_TEMP,18.90
$XPDR_PINGS,7
$24V_AH,22.2,104.449
$10V_AH,9.7,78.625
$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,22.000,193.450,535.600,0.000,0.000,28.389,35.873,218.979,1.750,0.000,20.196,3079.033,14967.637,788.877,2231.503,427.202,0.000,1904.005,0.000,1930.483,0.000,0.535,0.000
$DEVICE_MAMPS,214.965,81.855,1055.700,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,827.769,638.144,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,66821,1206
$CAP_FILE_SIZE,170381,0
$CFSIZE,260165632,195002368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.100,250.0,1
$GPS,290313,151053,4746.504,-12521.511,29,1.5,46,18.7