version: 66.11
glider: 187
mission: 2
dive: 743
start: 3 29 113 15 18 33
data:
$ID,187
$MISSION,2
$DIVE,743
$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,-1589901.8
$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,39
$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
$GPS1,290313,151053,4746.504,-12521.511,29,1.5,46,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-78.5
$GPS2,290313,151800,4746.494,-12521.459,13,1.9,18,18.7
$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,42.9,17165,-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,18,-0.47,-136.3,0.0,0.0,0,92,0.00,0.00,-71.80,0.000,2,0.000,0.000,113,2217,2535,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.47,-136.3,3.0,-0.4,13,134,11.73,2.35,-20.08,0.000,4,0.215,0.065,3033,788,3351,0,0,0,0,0,0,24.46,25.34,26.24
$GC,279,-0.47,-136.3,31.6,-14.0,47,287,0.00,2.22,0.00,0.000,6,0.000,0.052,3025,2198,3353,0,0,0,0,0,0,28.83,25.30,28.83
$GC,594,-0.47,-136.3,78.1,-13.6,108,600,0.00,2.28,0.00,0.000,4,0.000,0.062,3014,3608,3354,0,0,0,0,0,0,28.83,25.17,28.83
$GC,648,-0.47,-136.3,85.4,-12.7,118,655,0.00,2.22,0.00,0.000,6,0.000,0.044,3014,2192,3354,0,0,0,0,0,0,28.83,25.50,28.83
$GC,971,-0.47,-136.3,125.5,-11.1,175,979,0.00,2.22,0.00,0.000,4,0.000,0.050,3014,794,3354,0,0,0,0,0,0,28.83,25.31,28.83
$GC,1000,-0.47,-136.3,129.1,-11.5,178,1009,0.15,2.28,0.00,0.000,6,0.129,0.050,3046,2201,3354,0,0,0,0,0,0,25.15,25.31,28.83
$GC,1310,-0.47,-136.3,158.4,-9.5,199,1311,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2200,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1611,-0.47,-136.3,184.0,-7.7,219,1619,0.00,2.33,0.00,0.000,4,0.000,0.062,3038,3610,3354,0,0,0,0,0,0,28.83,25.13,28.83
$GC,1640,-0.47,-136.3,186.4,-8.3,222,1649,0.00,2.28,0.00,0.000,6,0.000,0.043,3038,2186,3354,0,0,0,0,0,0,28.83,25.51,28.83
$GC,1962,-0.47,-136.3,214.7,-9.1,241,1966,0.00,2.17,0.00,0.000,4,0.000,0.050,3037,803,3354,0,0,0,0,0,0,28.83,25.28,28.83
$GC,2018,-0.47,-136.3,219.6,-9.4,243,2022,0.00,2.28,0.00,0.000,6,0.000,0.050,3029,2204,3354,0,0,0,0,0,0,28.83,25.29,28.83
$GC,2321,-0.47,-136.3,248.8,-9.3,258,2326,0.00,2.28,0.00,0.000,4,0.000,0.062,3019,3608,3354,0,0,0,0,0,0,28.83,25.09,28.83
$GC,2360,-0.47,-136.3,252.8,-9.6,260,2366,0.00,2.22,0.00,0.000,6,0.000,0.043,3019,2208,3354,0,0,0,0,0,0,28.83,25.47,28.83
$GC,2683,-0.47,-136.3,283.8,-9.2,276,2684,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2206,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2980,-0.47,-136.3,311.1,-9.3,291,2986,0.00,2.28,0.00,0.000,4,0.000,0.050,3019,800,3354,0,0,0,0,0,0,28.83,25.24,28.83
$GC,3061,-0.47,-136.3,318.6,-9.4,295,3066,0.08,2.25,0.00,0.000,6,0.112,0.051,3038,2195,3354,0,0,0,0,0,0,25.08,25.25,28.83
$GC,3380,-0.47,-136.3,341.2,-6.6,311,3385,0.00,2.35,0.00,0.000,4,0.000,0.063,3030,3613,3354,0,0,0,0,0,0,28.83,25.06,28.83
$GC,3440,-0.47,-136.3,345.4,-7.0,314,3446,0.00,2.28,0.00,0.000,6,0.000,0.044,3030,2192,3354,0,0,0,0,0,0,28.83,25.46,28.83
$GC,3761,-0.47,-136.3,369.4,-7.6,330,3765,0.00,2.22,0.00,0.000,4,0.000,0.051,3030,805,3354,0,0,0,0,0,0,28.83,25.21,28.83
$GC,3800,-0.47,-136.3,372.5,-7.6,332,3805,0.00,2.25,0.00,0.000,6,0.000,0.051,3023,2195,3354,0,0,0,0,0,0,28.83,25.22,28.83
$GC,4120,-0.47,-136.3,396.8,-7.7,348,4125,0.00,2.35,0.00,0.000,4,0.000,0.064,3012,3611,3354,0,0,0,0,0,0,28.83,25.01,28.83
$GC,4161,-0.47,-136.3,400.0,-7.9,350,4166,0.00,2.25,0.00,0.000,6,0.000,0.044,3012,2207,3354,0,0,0,0,0,0,28.83,25.44,28.83
$GC,4480,-0.47,-136.3,426.4,-7.9,361,4487,0.12,2.28,0.00,0.000,4,0.138,0.051,3048,800,3353,0,0,0,0,0,0,25.94,25.18,28.83
$GC,4518,-0.47,-136.3,428.5,-7.7,362,4522,0.00,2.30,0.00,0.000,6,0.000,0.052,3044,2205,3354,0,0,0,0,0,0,28.83,25.19,28.83
$GC,4831,-0.47,-136.3,450.2,-7.1,373,4836,0.00,2.33,0.00,0.000,4,0.000,0.064,3034,3603,3353,0,0,0,0,0,0,28.83,24.99,28.83
$GC,4878,-0.47,-136.3,452.5,-7.2,374,4882,0.00,2.28,0.00,0.000,6,0.000,0.044,3034,2193,3353,0,0,0,0,0,0,28.83,25.42,28.83
$GC,5180,-0.47,-136.3,478.0,-8.0,384,5186,0.00,2.25,0.00,0.000,4,0.000,0.052,3034,802,3353,0,0,0,0,0,0,28.83,25.18,28.83
$GC,5218,-0.47,-136.3,480.6,-8.1,385,5222,0.00,2.30,0.00,0.000,6,0.000,0.052,3029,2206,3353,0,0,0,0,0,0,28.83,25.18,28.83
$GC,5532,-0.47,-136.3,507.7,-8.7,396,5536,0.00,2.35,0.00,0.000,4,0.000,0.065,3021,3615,3352,0,0,0,0,0,0,28.83,24.98,28.83
$GC,5560,-0.47,-136.3,510.3,-8.6,397,5566,0.00,2.30,0.00,0.000,6,0.000,0.045,3021,2196,3352,0,0,0,0,0,0,28.83,25.39,28.83
$GC,5891,-0.47,-136.3,537.5,-7.9,408,5896,0.00,2.25,0.00,0.000,4,0.000,0.052,3021,803,3352,0,0,0,0,0,0,28.83,25.15,28.83
$GC,5921,-0.47,-136.3,540.0,-7.9,409,5926,0.00,2.28,0.00,0.000,6,0.000,0.053,3016,2199,3352,0,0,0,0,0,0,28.83,25.16,28.83
$GC,6251,-0.47,-136.3,567.0,-8.2,420,6252,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2199,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6550,-0.47,-136.3,592.6,-8.8,430,6552,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2199,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6852,-0.47,-136.3,619.2,-8.8,440,6853,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2199,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7150,-0.47,-136.3,645.9,-8.8,450,7156,0.00,2.38,0.00,0.000,4,0.000,0.065,3011,3608,3351,0,0,0,0,0,0,28.83,24.92,28.83
$GC,7211,-0.47,-136.3,651.1,-8.7,452,7217,0.08,2.28,0.00,0.000,6,0.103,0.046,3041,2194,3351,0,0,0,0,0,0,25.16,25.35,28.83
$GC,7541,-0.47,-136.3,671.9,-6.3,463,7546,0.00,2.40,0.00,0.000,4,0.000,0.066,3037,3606,3350,0,0,0,0,0,0,28.83,24.90,28.83
$GC,7582,-0.47,-136.3,673.8,-6.2,464,7586,0.00,2.28,0.00,0.000,6,0.000,0.047,3036,2197,3350,0,0,0,0,0,0,28.83,25.35,28.83
$GC,7901,-0.47,-136.3,695.4,-6.6,475,7906,0.00,2.38,0.00,0.000,4,0.000,0.066,3028,3604,3350,0,0,0,0,0,0,28.83,24.89,28.83
$GC,7931,-0.47,-136.3,697.5,-6.7,476,7936,0.00,2.28,0.00,0.000,6,0.000,0.046,3027,2193,3350,0,0,0,0,0,0,28.83,25.35,28.83
$GC,8261,-0.47,-136.3,720.3,-6.6,487,8262,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2190,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8561,-0.47,-136.3,740.7,-6.8,497,8562,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2190,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8861,-0.47,-136.3,760.2,-6.4,507,8862,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2190,3349,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9098,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9098,begin apogee
$GC,9106,-0.22,0.0,775.3,-6.2,515,9233,0.28,0.00,123.10,1.016,6,0.106,0.000,3123,2333,2794,0,0,0,0,0,0,25.47,28.83,22.85
$STATE,9233,end apogee,CONTROL_FINISHED_OK
$STATE,9234,begin climb
$GC,9236,0.47,136.3,778.2,0.0,519,9369,0.65,0.00,128.52,0.981,6,0.076,0.000,3348,2333,2237,0,0,0,0,0,0,24.59,28.83,22.44
$GC,9663,0.47,136.3,747.7,8.5,534,9665,0.00,0.00,0.00,0.000,6,0.000,0.000,3348,2333,2228,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9960,0.47,136.3,721.5,8.8,544,9962,0.00,0.00,0.00,0.000,6,0.000,0.000,3348,2333,2226,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10260,0.47,136.3,696.6,8.0,554,10262,0.00,0.00,0.00,0.000,6,0.000,0.000,3348,2333,2225,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10561,0.47,136.3,672.7,7.8,564,10566,0.00,2.33,0.00,0.000,4,0.000,0.055,3358,927,2224,0,0,0,0,0,0,28.83,25.37,28.83
$GC,10598,0.47,136.3,670.6,7.6,565,10603,0.00,2.30,0.00,0.000,6,0.000,0.056,3358,2326,2224,0,0,0,0,0,0,28.83,25.35,28.83
$GC,10911,0.47,136.3,646.3,7.3,576,10916,0.00,2.40,0.00,0.000,4,0.000,0.067,3359,3748,2224,0,0,0,0,0,0,28.83,25.21,28.83
$GC,10959,0.47,136.3,643.6,7.6,577,10963,0.00,2.33,0.00,0.000,6,0.000,0.049,3369,2326,2223,0,0,0,0,0,0,28.83,25.49,28.83
$GC,11262,0.47,136.3,617.6,8.3,587,11266,0.00,2.38,0.00,0.000,4,0.000,0.067,3368,3733,2223,0,0,0,0,0,0,28.83,25.17,28.83
$GC,11309,0.47,136.3,614.9,8.4,588,11314,0.12,2.30,0.00,0.000,6,0.146,0.048,3347,2328,2222,0,0,0,0,0,0,25.27,25.48,28.83
$GC,11611,0.47,138.9,591.7,6.9,598,11616,0.00,2.38,0.00,0.000,4,0.000,0.067,3347,3735,2222,0,0,0,0,0,0,28.83,25.14,28.83
$GC,11650,0.47,138.9,589.4,7.1,599,11656,0.00,2.33,0.00,0.000,6,0.000,0.048,3356,2313,2222,0,0,0,0,0,0,28.83,25.45,28.83
$GC,11971,0.47,138.9,564.8,7.5,610,11977,0.00,2.28,0.00,0.000,4,0.000,0.056,3365,922,2222,0,0,0,0,0,0,28.83,25.25,28.83
$GC,12000,0.47,138.9,562.5,7.6,611,12006,0.00,2.33,0.00,0.000,6,0.000,0.056,3365,2333,2222,0,0,0,0,0,0,28.83,25.25,28.83
$GC,12332,0.47,138.9,537.1,7.7,622,12336,0.00,2.35,0.00,0.000,4,0.000,0.068,3365,3734,2222,0,0,0,0,0,0,28.83,25.08,28.83
$GC,12370,0.47,138.9,534.5,8.0,623,12376,0.00,2.30,0.00,0.000,6,0.000,0.048,3375,2325,2221,0,0,0,0,0,0,28.83,25.42,28.83
$GC,12691,0.47,138.9,508.2,7.7,634,12696,0.00,2.40,0.00,0.000,4,0.000,0.066,3375,3749,2221,0,0,0,0,0,0,28.83,25.07,28.83
$GC,12730,0.47,138.9,505.6,7.9,635,12736,0.15,2.33,0.00,0.000,6,0.139,0.048,3346,2325,2221,0,0,0,0,0,0,25.15,25.41,28.83
$GC,13051,0.47,140.6,482.6,7.0,646,13052,0.00,0.00,0.00,0.000,6,0.000,0.000,3346,2323,2221,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,19803,end climb,SURFACE_DEPTH_REACHED
$STATE,19803,begin surface coast
$FINISH,1.4,1.013377
$STATE,19866,end surface coast,CONTROL_FINISHED_OK
$STATE,19866,begin surface
$SM_CCo,19946,0.00,0.000,0,0,1501,316.93
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$IRIDIUM_FIX,4732.49,-12524.44,290313,090950
$TT8_MAMPS,0.026964,0.026964
$HUMID,49.17
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,18.90
$XPDR_PINGS,9
$24V_AH,22.4,104.567
$10V_AH,9.7,78.708
$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,21.800,161.075,417.875,0.000,0.000,25.116,43.948,208.498,2.250,0.000,19.124,3117.852,13973.451,664.985,2199.193,411.890,0.000,1736.236,0.000,1912.200,0.000,0.535,0.000
$DEVICE_MAMPS,214.965,82.620,1015.920,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,840.442,675.508,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296896
$DATA_FILE_SIZE,67038,1221
$CAP_FILE_SIZE,159555,0
$CFSIZE,260165632,194936832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.121,287.3,1
$GPS,290313,205226,4748.204,-12518.318,27,3.5,46,18.7