version: 66.11
glider: 187
mission: 2
dive: 796
start: 4 14 113 3 35 20
data:
$ID,187
$MISSION,2
$DIVE,796
$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,-1589983.4
$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,40
$R_STBD_OVSHOOT,25
$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
$GPS1,140413,032335,4734.831,-12548.210,46,1.0,46,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-75.4
$GPS2,140413,033449,4734.835,-12548.174,12,1.2,12,18.7
$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,20.0,56747,-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,13,begin dive
$GC,17,-0.47,-136.3,0.0,0.0,0,71,0.00,0.00,-52.17,0.000,2,0.000,0.000,129,2189,2611,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-0.47,-136.3,3.1,-3.1,9,112,11.62,2.22,-18.15,0.000,4,0.215,0.063,3037,793,3351,0,0,0,0,0,0,24.46,25.30,26.20
$GC,244,-0.47,-136.3,29.4,-14.4,40,250,0.00,2.22,0.00,0.000,6,0.000,0.051,3029,2200,3352,0,0,0,0,0,0,28.83,25.15,28.83
$GC,555,-0.47,-136.3,77.3,-14.8,101,561,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2199,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,867,-0.47,-136.3,113.7,-10.0,162,873,0.00,2.30,0.00,0.000,4,0.000,0.061,3019,3612,3353,0,0,0,0,0,0,28.83,24.87,28.83
$GC,896,-0.47,-136.3,117.0,-10.6,167,904,0.00,2.22,0.00,0.000,6,0.000,0.043,3019,2186,3353,0,0,0,0,0,0,28.83,25.30,28.83
$GC,1213,-0.47,-136.3,148.6,-9.4,191,1222,0.00,2.22,0.00,0.000,4,0.000,0.050,3019,802,3353,0,0,0,0,0,0,28.83,25.06,28.83
$GC,1242,-0.47,-136.3,151.4,-9.2,194,1252,0.12,2.28,0.00,0.000,6,0.132,0.050,3044,2200,3354,0,0,0,0,0,0,24.92,25.05,28.83
$GC,1552,-0.47,-136.3,175.9,-7.9,215,1553,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2200,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1853,-0.47,-136.3,199.7,-8.0,235,1861,0.00,2.33,0.00,0.000,4,0.000,0.062,3036,3601,3354,0,0,0,0,0,0,28.83,24.79,28.83
$GC,1880,-0.47,-136.3,201.2,-8.1,237,1884,0.00,2.28,0.00,0.000,6,0.000,0.042,3035,2190,3353,0,0,0,0,0,0,28.83,25.28,28.83
$GC,2183,-0.47,-136.3,227.3,-9.0,252,2184,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2186,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2483,-0.47,-136.3,255.5,-9.3,267,2488,0.00,2.38,0.00,0.000,4,0.000,0.062,3025,3605,3354,0,0,0,0,0,0,28.83,24.77,28.83
$GC,2511,-0.47,-136.3,257.5,-9.3,268,2515,0.00,2.28,0.00,0.000,6,0.000,0.041,3026,2196,3353,0,0,0,0,0,0,28.83,25.27,28.83
$GC,2814,-0.47,-136.3,290.1,-10.8,283,2818,0.00,2.20,0.00,0.000,4,0.000,0.050,3026,797,3354,0,0,0,0,0,0,28.83,24.98,28.83
$GC,2840,-0.47,-136.3,292.5,-11.1,284,2844,0.00,2.30,0.00,0.000,6,0.000,0.050,3017,2202,3354,0,0,0,0,0,0,28.83,24.98,28.83
$GC,3143,-0.47,-136.3,326.4,-10.1,299,3148,0.00,2.35,0.00,0.000,4,0.000,0.062,3007,3605,3353,0,0,0,0,0,0,28.83,24.75,28.83
$GC,3170,-0.47,-136.3,328.4,-10.0,300,3175,0.12,2.28,0.00,0.000,6,0.129,0.043,3044,2204,3353,0,0,0,0,0,0,25.04,25.23,28.83
$GC,3473,-0.47,-136.3,351.7,-7.1,315,3475,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2198,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3774,-0.47,-136.3,373.4,-7.5,330,3775,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2198,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4072,-0.47,-136.3,396.1,-7.2,345,4073,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2198,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4374,-0.47,-136.3,414.9,-5.8,356,4375,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2198,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4673,-0.47,-136.3,432.4,-6.1,366,4678,0.00,2.38,0.00,0.000,4,0.000,0.063,3035,3605,3352,0,0,0,0,0,0,28.83,24.67,28.83
$GC,4711,-0.47,-136.3,434.2,-6.1,367,4715,0.00,2.30,0.00,0.000,6,0.000,0.044,3035,2195,3352,0,0,0,0,0,0,28.83,25.18,28.83
$GC,5025,-0.47,-136.3,455.3,-6.5,378,5026,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2193,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5324,-0.47,-136.3,475.9,-6.8,388,5325,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2193,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5623,-0.47,-136.3,496.6,-7.1,398,5624,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2193,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5923,-0.47,-136.3,519.0,-7.9,408,5929,0.00,2.40,0.00,0.000,4,0.000,0.064,3026,3606,3351,0,0,0,0,0,0,28.83,24.62,28.83
$GC,5954,-0.47,-136.3,521.4,-7.9,409,5959,0.00,2.30,0.00,0.000,6,0.000,0.047,3026,2194,3350,0,0,0,0,0,0,28.83,25.12,28.83
$GC,6283,-0.47,-136.3,547.5,-7.6,420,6285,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2193,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6583,-0.47,-136.3,570.4,-7.8,430,6589,0.00,2.40,0.00,0.000,4,0.000,0.064,3016,3606,3350,0,0,0,0,0,0,28.83,24.60,28.83
$GC,6645,-0.47,-136.3,575.6,-8.2,432,6649,0.00,2.30,0.00,0.000,6,0.000,0.046,3016,2195,3350,0,0,0,0,0,0,28.83,25.11,28.83
$GC,6973,-0.47,-136.3,605.8,-9.1,443,6979,0.00,2.40,0.00,0.000,4,0.000,0.065,3010,3608,3350,0,0,0,0,0,0,28.83,24.58,28.83
$GC,7004,-0.47,-136.3,608.7,-9.1,444,7010,0.08,2.30,0.00,0.000,6,0.101,0.046,3041,2191,3350,0,0,0,0,0,0,24.91,25.10,28.83
$GC,7335,-0.47,-136.3,632.3,-6.8,455,7336,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2190,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7634,-0.47,-136.3,651.8,-6.4,465,7639,0.00,2.42,0.00,0.000,4,0.000,0.065,3034,3610,3349,0,0,0,0,0,0,28.83,24.56,28.83
$GC,7672,-0.47,-136.3,653.8,-6.4,466,7676,0.00,2.33,0.00,0.000,6,0.000,0.046,3034,2197,3349,0,0,0,0,0,0,28.83,25.09,28.83
$GC,7984,-0.47,-136.3,675.8,-6.9,477,7985,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2195,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8285,-0.47,-136.3,696.9,-7.0,487,8286,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2195,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8584,-0.47,-136.3,717.8,-7.0,497,8590,0.00,2.42,0.00,0.000,4,0.000,0.066,3024,3610,3347,0,0,0,0,0,0,28.83,24.51,28.83
$GC,8654,-0.47,-136.3,721.9,-6.9,499,8659,0.00,2.33,0.00,0.000,6,0.000,0.047,3024,2200,3347,0,0,0,0,0,0,28.83,25.06,28.83
$GC,8975,-0.47,-136.3,743.2,-6.1,510,8976,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2198,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9274,-0.47,-136.3,762.0,-6.5,520,9280,0.00,2.40,0.00,0.000,4,0.000,0.066,3014,3604,3347,0,0,0,0,0,0,28.83,24.50,28.83
$GC,9304,-0.47,-136.3,764.1,-6.5,521,9309,0.00,2.30,0.00,0.000,6,0.000,0.047,3014,2196,3347,0,0,0,0,0,0,28.83,25.04,28.83
$GC,9635,-0.47,-136.3,787.5,-7.1,532,9636,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2194,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9934,-0.47,-136.3,808.7,-7.0,542,9939,0.00,2.40,0.00,0.000,4,0.000,0.066,3005,3600,3347,0,0,0,0,0,0,28.83,24.48,28.83
$GC,9982,-0.47,-136.3,810.8,-7.1,543,9987,0.15,2.30,0.00,0.000,6,0.116,0.047,3049,2201,3346,0,0,0,0,0,0,24.84,25.03,28.83
$GC,10285,-0.47,-136.3,829.7,-5.8,553,10286,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2199,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10584,-0.47,-136.3,847.4,-5.8,563,10589,0.00,2.40,0.00,0.000,4,0.000,0.067,3042,3604,3345,0,0,0,0,0,0,28.83,24.46,28.83
$GC,10622,-0.47,-136.3,849.2,-5.8,564,10626,0.00,2.33,0.00,0.000,6,0.000,0.047,3042,2193,3345,0,0,0,0,0,0,28.83,25.02,28.83
$GC,10936,-0.47,-136.3,868.8,-6.1,575,10937,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2192,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11235,-0.47,-136.3,887.5,-6.2,585,11240,0.00,2.42,0.00,0.000,4,0.000,0.067,3032,3608,3345,0,0,0,0,0,0,28.83,24.44,28.83
$GC,11265,-0.47,-136.3,889.4,-6.2,586,11270,0.00,2.30,0.00,0.000,6,0.000,0.047,3032,2205,3345,0,0,0,0,0,0,28.83,25.01,28.83
$GC,11596,-0.47,-136.3,911.8,-6.9,597,11597,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2204,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11895,-0.47,-136.3,932.2,-6.8,607,11896,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2204,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12195,-0.47,-136.3,951.7,-6.3,617,12196,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2204,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12495,-0.47,-136.3,969.4,-5.9,627,12500,0.00,2.40,0.00,0.000,4,0.000,0.067,3022,3606,3344,0,0,0,0,0,0,28.83,24.41,28.83
$GC,12534,-0.47,-136.3,971.2,-5.8,628,12540,0.00,2.33,0.00,0.000,6,0.000,0.047,3022,2197,3344,0,0,0,0,0,0,28.83,24.98,28.83
$GC,12855,-0.47,-136.3,989.6,-5.4,639,12860,0.00,2.42,0.00,0.000,4,0.000,0.067,3013,3604,3344,0,0,0,0,0,0,28.83,24.37,28.83
$STATE,12882,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12882,begin apogee
$GC,12892,-0.22,0.0,991.2,-5.4,640,13021,0.32,0.00,124.95,1.157,6,0.103,0.000,3125,2319,2793,0,0,0,0,0,0,25.22,28.83,22.70
$STATE,13022,end apogee,CONTROL_FINISHED_OK
$STATE,13022,begin climb
$GC,13025,0.47,136.3,994.1,0.0,644,13165,0.65,2.65,133.05,1.118,4,0.070,0.067,3346,3732,2237,0,0,0,0,0,0,24.25,23.32,21.89
$GC,13216,0.47,141.4,984.8,6.8,651,13226,0.00,2.42,5.70,0.818,6,0.000,0.049,3357,2299,2217,0,0,0,0,0,0,28.83,24.17,22.31
$GC,13524,0.47,141.4,958.1,8.0,661,13525,0.00,0.00,0.00,0.000,6,0.000,0.000,3357,2299,2211,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13824,0.47,141.4,935.4,7.5,671,13825,0.00,0.00,0.00,0.000,6,0.000,0.000,3357,2299,2210,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14125,0.47,141.4,913.0,7.5,681,14127,0.00,0.00,0.00,0.000,6,0.000,0.000,3357,2299,2209,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,26204,end climb,SURFACE_DEPTH_REACHED
$STATE,26204,begin surface coast
$FINISH,1.3,1.002544
$STATE,26247,end surface coast,CONTROL_FINISHED_OK
$STATE,26247,begin surface
$SM_CCo,26327,0.00,0.000,0,0,1096,416.52
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$IRIDIUM_FIX,4716.56,-12545.23,140413,030356
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.70
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,19.20
$XPDR_PINGS,1
$24V_AH,21.9,112.065
$10V_AH,9.7,83.808
$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
$DEVICE_SECS,22.025,205.025,516.175,0.000,0.000,53.769,115.291,282.313,0.250,0.000,13.268,3689.205,19252.207,769.141,2757.179,517.607,0.000,2062.986,0.000,2296.181,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296932
$DATA_FILE_SIZE,80196,1444
$CAP_FILE_SIZE,200616,0
$CFSIZE,260165632,190353408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.068,197.8,1
$GPS,140413,105530,4736.899,-12544.854,45,1.1,45,18.7