version: 66.11
glider: 187
mission: 2
dive: 781
start: 4 9 113 14 48 57
data:
$ID,187
$MISSION,2
$DIVE,781
$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,-1589964.4
$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,33
$R_STBD_OVSHOOT,24
$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
$GPS1,090413,144006,4703.936,-12650.412,30,1.2,30,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-76.1
$GPS2,090413,144825,4703.955,-12650.305,24,1.5,24,18.6
$SPEED_LIMITS,0.122,0.210
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$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,22.5,152781,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.47,-136.3,0.0,0.0,0,71,0.00,0.00,-51.50,0.000,2,0.000,0.000,115,2192,2577,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.47,-136.3,3.0,-1.8,9,118,11.70,2.42,-20.77,0.000,4,0.216,0.076,3023,3629,3352,0,0,0,0,0,0,24.54,25.22,26.22
$GC,234,-0.47,-136.3,26.3,-15.8,38,241,0.00,2.25,0.00,0.000,6,0.000,0.044,3023,2194,3354,0,0,0,0,0,0,28.83,25.36,28.83
$GC,546,-0.47,-136.3,74.7,-15.5,99,554,0.00,2.22,0.00,0.000,4,0.000,0.051,3022,785,3355,0,0,0,0,0,0,28.83,25.13,28.83
$GC,652,-0.47,-136.3,90.7,-14.2,119,660,0.00,2.25,0.00,0.000,6,0.000,0.050,3013,2208,3355,0,0,0,0,0,0,28.83,25.14,28.83
$GC,969,-0.47,-136.3,133.9,-12.6,167,979,0.00,2.30,0.00,0.000,4,0.000,0.050,3013,794,3355,0,0,0,0,0,0,28.83,25.11,28.83
$GC,1029,-0.47,-136.3,141.3,-12.4,173,1039,0.15,2.30,0.00,0.000,6,0.130,0.050,3046,2204,3355,0,0,0,0,0,0,24.95,25.12,28.83
$GC,1341,-0.47,-136.3,169.7,-8.6,194,1348,0.00,2.35,0.00,0.000,4,0.000,0.063,3037,3613,3355,0,0,0,0,0,0,28.83,24.90,28.83
$GC,1369,-0.47,-136.3,172.3,-8.5,197,1378,0.00,2.30,0.00,0.000,6,0.000,0.043,3037,2185,3355,0,0,0,0,0,0,28.83,25.34,28.83
$GC,1680,-0.47,-136.3,198.1,-7.9,218,1688,0.00,2.25,0.00,0.000,4,0.000,0.050,3037,801,3355,0,0,0,0,0,0,28.83,25.10,28.83
$GC,1720,-0.47,-136.3,201.5,-8.5,222,1725,0.00,2.25,0.00,0.000,6,0.000,0.050,3029,2194,3355,0,0,0,0,0,0,28.83,25.10,28.83
$GC,2040,-0.47,-136.3,228.8,-8.6,238,2045,0.00,2.35,0.00,0.000,4,0.000,0.062,3018,3603,3355,0,0,0,0,0,0,28.83,24.87,28.83
$GC,2080,-0.47,-136.3,232.3,-8.8,240,2085,0.00,2.25,0.00,0.000,6,0.000,0.043,3018,2196,3355,0,0,0,0,0,0,28.83,25.33,28.83
$GC,2401,-0.47,-136.3,261.4,-9.1,256,2405,0.00,2.20,0.00,0.000,4,0.000,0.051,3018,797,3355,0,0,0,0,0,0,28.83,25.07,28.83
$GC,2508,-0.47,-136.3,271.1,-9.7,261,2512,0.12,2.30,0.00,0.000,6,0.135,0.050,3046,2205,3355,0,0,0,0,0,0,24.94,25.08,28.83
$GC,2810,-0.47,-136.3,295.5,-7.9,276,2815,0.00,2.35,0.00,0.000,4,0.000,0.063,3037,3612,3355,0,0,0,0,0,0,28.83,24.85,28.83
$GC,2839,-0.47,-136.3,297.2,-8.0,277,2848,0.00,2.30,0.00,0.000,6,0.000,0.044,3037,2188,3355,0,0,0,0,0,0,28.83,25.31,28.83
$GC,3150,-0.47,-136.3,325.1,-8.9,293,3151,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2188,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3450,-0.47,-136.3,351.5,-8.5,308,3451,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2187,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3751,-0.47,-136.3,375.3,-7.6,323,3752,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2188,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4051,-0.47,-136.3,397.1,-7.4,338,4055,0.00,2.20,0.00,0.000,4,0.000,0.051,3037,802,3355,0,0,0,0,0,0,28.83,25.02,28.83
$GC,4090,-0.47,-136.3,400.3,-7.8,340,4096,0.00,2.30,0.00,0.000,6,0.000,0.051,3029,2214,3355,0,0,0,0,0,0,28.83,25.02,28.83
$GC,4411,-0.47,-136.3,425.9,-8.0,351,4412,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2213,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4710,-0.47,-136.3,449.7,-8.0,361,4715,0.00,2.38,0.00,0.000,4,0.000,0.064,3019,3623,3354,0,0,0,0,0,0,28.83,24.77,28.83
$GC,4739,-0.47,-136.3,452.2,-8.0,362,4745,0.00,2.33,0.00,0.000,6,0.000,0.044,3019,2195,3354,0,0,0,0,0,0,28.83,25.25,28.83
$GC,5071,-0.47,-136.3,479.4,-8.3,373,5072,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2192,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5370,-0.47,-136.3,504.8,-8.3,383,5371,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2192,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5670,-0.47,-136.3,528.6,-8.0,393,5671,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2192,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5970,-0.47,-136.3,553.1,-8.2,403,5971,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2192,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6271,-0.47,-136.3,578.2,-8.2,413,6272,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2192,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6570,-0.47,-136.3,603.8,-8.5,423,6571,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2192,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6869,-0.47,-136.3,628.7,-8.3,433,6871,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2192,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7171,-0.47,-136.3,652.3,-7.7,443,7172,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2192,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7470,-0.47,-136.3,674.9,-7.5,453,7471,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2192,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7770,-0.47,-136.3,698.1,-7.8,463,7771,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2192,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8069,-0.47,-136.3,720.9,-7.5,473,8071,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2192,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8371,-0.47,-136.3,742.8,-7.3,483,8376,0.00,2.40,0.00,0.000,4,0.000,0.066,3010,3604,3350,0,0,0,0,0,0,28.83,24.67,28.83
$GC,8400,-0.47,-136.3,745.0,-7.3,484,8406,0.08,2.28,0.00,0.000,6,0.102,0.047,3041,2200,3350,0,0,0,0,0,0,24.97,25.17,28.83
$GC,8730,-0.47,-136.3,765.0,-6.0,495,8735,0.00,2.30,0.00,0.000,4,0.000,0.054,3041,801,3351,0,0,0,0,0,0,28.83,24.87,28.83
$GC,8761,-0.47,-136.3,767.1,-6.1,496,8766,0.00,2.30,0.00,0.000,6,0.000,0.055,3041,2197,3350,0,0,0,0,0,0,28.83,24.87,28.83
$GC,9090,-0.47,-136.3,785.4,-5.4,507,9095,0.00,2.40,0.00,0.000,4,0.000,0.066,3033,3608,3350,0,0,0,0,0,0,28.83,24.64,28.83
$GC,9138,-0.47,-136.3,787.0,-5.4,508,9142,0.00,2.33,0.00,0.000,6,0.000,0.047,3033,2193,3350,0,0,0,0,0,0,28.83,25.15,28.83
$GC,9441,-0.47,-136.3,804.2,-5.2,518,9442,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2191,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9740,-0.47,-136.3,820.0,-5.4,528,9741,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2191,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10040,-0.47,-136.3,836.4,-5.5,538,10046,0.00,2.42,0.00,0.000,4,0.000,0.066,3024,3611,3349,0,0,0,0,0,0,28.83,24.61,28.83
$GC,10079,-0.47,-136.3,838.3,-5.7,539,10085,0.00,2.33,0.00,0.000,6,0.000,0.047,3024,2200,3348,0,0,0,0,0,0,28.83,25.12,28.83
$GC,10400,-0.47,-136.3,857.8,-5.9,550,10401,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2198,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10700,-0.47,-136.3,876.2,-6.2,560,10705,0.00,2.40,0.00,0.000,4,0.000,0.067,3014,3604,3348,0,0,0,0,0,0,28.83,24.59,28.83
$GC,10749,-0.47,-136.3,878.3,-6.3,561,10758,0.00,2.33,0.00,0.000,6,0.000,0.047,3014,2190,3347,0,0,0,0,0,0,28.83,25.10,28.83
$GC,11060,-0.47,-136.3,900.9,-6.9,572,11066,0.00,2.28,0.00,0.000,4,0.000,0.054,3014,802,3347,0,0,0,0,0,0,28.83,24.83,28.83
$GC,11097,-0.47,-136.3,903.1,-7.0,573,11102,0.12,2.33,0.00,0.000,6,0.132,0.054,3041,2204,3347,0,0,0,0,0,0,24.71,24.82,28.83
$GC,11412,-0.47,-136.3,921.0,-5.4,584,11417,0.00,2.35,0.00,0.000,4,0.000,0.067,3033,3617,3347,0,0,0,0,0,0,28.83,24.56,28.83
$GC,11461,-0.47,-136.3,923.9,-5.7,586,11466,0.00,2.30,0.00,0.000,6,0.000,0.045,3033,2198,3347,0,0,0,0,0,0,28.83,25.16,28.83
$GC,11791,-0.47,-136.3,944.7,-6.4,597,11796,0.00,2.30,0.00,0.000,4,0.000,0.054,3032,797,3347,0,0,0,0,0,0,28.83,24.80,28.83
$GC,11821,-0.47,-136.3,946.9,-6.6,598,11826,0.00,2.33,0.00,0.000,6,0.000,0.055,3030,2204,3347,0,0,0,0,0,0,28.83,24.79,28.83
$GC,12152,-0.47,-136.3,968.8,-6.6,609,12157,0.00,2.40,0.00,0.000,4,0.000,0.068,3027,3614,3347,0,0,0,0,0,0,28.83,24.54,28.83
$GC,12199,-0.47,-136.3,970.7,-6.5,610,12203,0.00,2.33,0.00,0.000,6,0.000,0.047,3027,2199,3346,0,0,0,0,0,0,28.83,25.08,28.83
$STATE,12498,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12498,begin apogee
$GC,12507,-0.22,0.0,990.3,-5.8,620,12637,0.28,0.00,126.07,1.154,6,0.103,0.000,3122,2337,2793,0,0,0,0,0,0,25.41,28.83,22.67
$STATE,12638,end apogee,CONTROL_FINISHED_OK
$STATE,12638,begin climb
$GC,12641,0.47,136.3,993.4,0.0,624,12782,0.68,2.60,133.38,1.117,4,0.069,0.067,3352,3727,2236,0,0,0,0,0,0,24.31,23.36,21.87
$GC,12802,0.48,158.5,986.2,6.1,630,12830,0.00,2.45,22.55,1.039,6,0.000,0.048,3362,2327,2147,0,0,0,0,0,0,28.83,23.86,21.88
$GC,13141,0.48,158.5,949.7,10.7,642,13142,0.00,0.00,0.00,0.000,6,0.000,0.000,3363,2328,2139,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13441,0.48,158.5,917.4,10.6,652,13446,0.00,2.38,0.00,0.000,4,0.000,0.068,3362,3734,2137,0,0,0,0,0,0,28.83,25.29,28.83
$GC,13471,0.48,158.5,913.9,10.8,653,13477,0.00,2.30,0.00,0.000,6,0.000,0.050,3373,2324,2137,0,0,0,0,0,0,28.83,25.51,28.83
$GC,13801,0.48,158.5,877.4,10.7,664,13802,0.00,0.00,0.00,0.000,6,0.000,0.000,3373,2320,2137,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14101,0.48,158.5,846.8,10.1,674,14106,0.00,2.40,0.00,0.000,4,0.000,0.067,3373,3733,2136,0,0,0,0,0,0,28.83,25.12,28.83
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$STATE,24770,end climb,SURFACE_DEPTH_REACHED
$STATE,24770,begin surface coast
$FINISH,1.5,1.001467
$STATE,24808,end surface coast,CONTROL_FINISHED_OK
$STATE,24808,begin surface
$SM_CCo,24889,0.00,0.000,0,0,1426,335.57
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$IRIDIUM_FIX,4644.93,-12651.56,090413,070757
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.93
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,18.80
$XPDR_PINGS,4
$24V_AH,21.9,109.918
$10V_AH,9.7,82.324
$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,21.975,172.800,435.400,0.000,0.000,28.965,37.224,266.377,1.000,0.000,27.113,3467.139,18272.406,695.121,2481.231,459.306,0.000,1889.399,0.000,2127.840,0.000,0.536,0.000
$DEVICE_MAMPS,216.495,81.855,1153.620,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,936.631,694.642,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296936
$DATA_FILE_SIZE,73689,1360
$CAP_FILE_SIZE,180920,0
$CFSIZE,260165632,191688704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.047,250.5,1
$GPS,090413,214506,4707.159,-12647.200,42,1.1,42,18.6