version: 66.11
glider: 187
mission: 2
dive: 797
start: 4 14 113 11 4 14
data:
$ID,187
$MISSION,2
$DIVE,797
$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,-1589984.6
$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,43
$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
$GPS1,140413,105530,4736.899,-12544.854,45,1.1,45,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-75.4
$GPS2,140413,110343,4736.885,-12544.873,13,1.3,13,18.7
$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,26.6,51233,-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,-136.3,0.0,0.0,0,85,0.00,0.00,-65.88,0.000,2,0.000,0.000,107,2177,2543,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.47,-136.3,3.0,-2.1,12,127,11.60,2.28,-20.62,0.000,4,0.213,0.063,3030,790,3352,0,0,0,0,0,0,24.58,25.34,26.21
$GC,208,-0.47,-136.3,21.8,-15.0,33,215,0.00,2.22,0.00,0.000,6,0.000,0.051,3022,2197,3354,0,0,0,0,0,0,28.83,25.21,28.83
$GC,521,-0.47,-136.3,71.7,-15.4,94,528,0.00,2.30,0.00,0.000,4,0.000,0.061,3011,3611,3353,0,0,0,0,0,0,28.83,24.97,28.83
$GC,552,-0.47,-136.3,76.8,-16.3,99,559,0.12,2.20,0.00,0.000,6,0.136,0.043,3045,2206,3354,0,0,0,0,0,0,25.13,25.34,28.83
$GC,865,-0.47,-136.3,113.4,-10.4,160,872,0.00,2.22,0.00,0.000,4,0.000,0.050,3044,789,3354,0,0,0,0,0,0,28.83,25.10,28.83
$GC,960,-0.47,-136.3,123.2,-10.5,175,969,0.00,2.28,0.00,0.000,6,0.000,0.050,3037,2199,3354,0,0,0,0,0,0,28.83,25.10,28.83
$GC,1271,-0.47,-136.3,156.6,-10.3,196,1272,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2199,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1570,-0.47,-136.3,185.4,-9.3,216,1579,0.00,2.38,0.00,0.000,4,0.000,0.061,3026,3626,3354,0,0,0,0,0,0,28.83,24.85,28.83
$GC,1600,-0.47,-136.3,188.1,-8.9,219,1609,0.00,2.30,0.00,0.000,6,0.000,0.042,3026,2186,3354,0,0,0,0,0,0,28.83,25.30,28.83
$GC,1911,-0.47,-136.3,218.2,-9.8,237,1916,0.00,2.22,0.00,0.000,4,0.000,0.050,3026,804,3354,0,0,0,0,0,0,28.83,25.06,28.83
$GC,1978,-0.47,-136.3,224.1,-9.8,240,1982,0.00,2.28,0.00,0.000,6,0.000,0.050,3017,2200,3354,0,0,0,0,0,0,28.83,25.05,28.83
$GC,2280,-0.47,-136.3,253.5,-9.4,255,2286,0.00,2.33,0.00,0.000,4,0.000,0.061,3007,3604,3354,0,0,0,0,0,0,28.83,24.82,28.83
$GC,2309,-0.47,-136.3,255.4,-9.5,256,2319,0.12,2.28,0.00,0.000,6,0.128,0.042,3043,2189,3354,0,0,0,0,0,0,25.09,25.29,28.83
$GC,2620,-0.47,-136.3,280.6,-8.4,272,2626,0.00,2.25,0.00,0.000,4,0.000,0.050,3043,802,3354,0,0,0,0,0,0,28.83,25.02,28.83
$GC,2680,-0.47,-136.3,286.0,-9.0,275,2686,0.00,2.25,0.00,0.000,6,0.000,0.050,3036,2195,3354,0,0,0,0,0,0,28.83,25.01,28.83
$GC,3001,-0.47,-136.3,315.8,-9.4,291,3006,0.00,2.33,0.00,0.000,4,0.000,0.063,3025,3615,3354,0,0,0,0,0,0,28.83,24.76,28.83
$GC,3080,-0.47,-136.3,323.6,-9.7,295,3086,0.00,2.25,0.00,0.000,6,0.000,0.043,3025,2210,3354,0,0,0,0,0,0,28.83,25.27,28.83
$GC,3403,-0.47,-136.3,354.7,-9.7,311,3407,0.00,2.22,0.00,0.000,4,0.000,0.050,3025,798,3354,0,0,0,0,0,0,28.83,25.00,28.83
$GC,3458,-0.47,-136.3,359.5,-9.6,313,3462,0.00,2.30,0.00,0.000,6,0.000,0.050,3017,2203,3354,0,0,0,0,0,0,28.83,24.98,28.83
$GC,3762,-0.47,-136.3,387.8,-8.6,328,3766,0.00,2.33,0.00,0.000,4,0.000,0.063,3007,3618,3354,0,0,0,0,0,0,28.83,24.73,28.83
$GC,3788,-0.47,-136.3,389.7,-8.7,329,3793,0.12,2.30,0.00,0.000,6,0.127,0.043,3043,2201,3354,0,0,0,0,0,0,25.04,25.23,28.83
$GC,4111,-0.47,-136.3,413.2,-6.6,342,4113,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2195,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4410,-0.47,-136.3,432.3,-6.3,352,4416,0.00,2.38,0.00,0.000,4,0.000,0.063,3035,3605,3354,0,0,0,0,0,0,28.83,24.70,28.83
$GC,4458,-0.47,-136.3,434.3,-6.3,353,4463,0.00,2.30,0.00,0.000,6,0.000,0.044,3035,2190,3353,0,0,0,0,0,0,28.83,25.21,28.83
$GC,4762,-0.47,-136.3,456.3,-6.8,363,4763,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2188,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5060,-0.47,-136.3,476.5,-6.4,373,5066,0.00,2.40,0.00,0.000,4,0.000,0.064,3026,3608,3353,0,0,0,0,0,0,28.83,24.67,28.83
$GC,5090,-0.47,-136.3,478.5,-6.5,374,5096,0.00,2.28,0.00,0.000,6,0.000,0.044,3026,2204,3353,0,0,0,0,0,0,28.83,25.18,28.83
$GC,5421,-0.47,-136.3,502.1,-7.1,385,5422,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2202,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5720,-0.47,-136.3,524.1,-7.4,395,5726,0.00,2.28,0.00,0.000,4,0.000,0.052,3026,803,3352,0,0,0,0,0,0,28.83,24.89,28.83
$GC,5751,-0.47,-136.3,526.4,-7.4,396,5756,0.00,2.30,0.00,0.000,6,0.000,0.053,3018,2204,3352,0,0,0,0,0,0,28.83,24.89,28.83
$GC,6081,-0.47,-136.3,552.4,-7.9,407,6086,0.00,2.33,0.00,0.000,4,0.000,0.065,3007,3610,3352,0,0,0,0,0,0,28.83,24.63,28.83
$GC,6158,-0.47,-136.3,557.3,-8.0,409,6163,0.12,2.30,0.00,0.000,6,0.127,0.045,3044,2200,3352,0,0,0,0,0,0,24.97,25.15,28.83
$GC,6461,-0.47,-136.3,577.5,-6.2,419,6462,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2196,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6762,-0.47,-136.3,597.2,-6.8,429,6763,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2196,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7060,-0.47,-136.3,618.3,-7.2,439,7066,0.00,2.40,0.00,0.000,4,0.000,0.065,3036,3610,3351,0,0,0,0,0,0,28.83,24.59,28.83
$GC,7098,-0.47,-136.3,620.6,-7.3,440,7102,0.00,2.33,0.00,0.000,6,0.000,0.046,3036,2191,3351,0,0,0,0,0,0,28.83,25.11,28.83
$GC,7410,-0.47,-136.3,644.9,-7.3,451,7412,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2188,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7712,-0.47,-136.3,666.1,-6.8,461,7716,0.00,2.38,0.00,0.000,4,0.000,0.066,3026,3610,3350,0,0,0,0,0,0,28.83,24.57,28.83
$GC,7770,-0.47,-136.3,670.4,-7.0,463,7776,0.00,2.30,0.00,0.000,6,0.000,0.046,3026,2202,3350,0,0,0,0,0,0,28.83,25.11,28.83
$GC,8100,-0.47,-136.3,694.0,-7.1,474,8101,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2200,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8402,-0.47,-136.3,715.5,-7.1,484,8403,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2200,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8700,-0.47,-136.3,736.3,-7.0,494,8706,0.00,2.40,0.00,0.000,4,0.000,0.066,3017,3607,3348,0,0,0,0,0,0,28.83,24.53,28.83
$GC,8748,-0.47,-136.3,738.5,-7.0,495,8753,0.00,2.33,0.00,0.000,6,0.000,0.046,3017,2195,3348,0,0,0,0,0,0,28.83,25.07,28.83
$GC,9051,-0.47,-136.3,762.1,-7.3,505,9052,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2192,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9350,-0.47,-136.3,783.5,-7.1,515,9356,0.00,2.42,0.00,0.000,4,0.000,0.066,3008,3611,3348,0,0,0,0,0,0,28.83,24.52,28.83
$GC,9380,-0.47,-136.3,785.7,-7.3,516,9386,0.12,2.33,0.00,0.000,6,0.125,0.047,3044,2199,3348,0,0,0,0,0,0,24.88,25.05,28.83
$GC,9712,-0.47,-136.3,806.3,-6.1,527,9716,0.00,2.38,0.00,0.000,4,0.000,0.067,3036,3611,3348,0,0,0,0,0,0,28.83,24.49,28.83
$GC,9738,-0.47,-136.3,807.6,-6.2,528,9742,0.00,2.33,0.00,0.000,6,0.000,0.047,3036,2200,3347,0,0,0,0,0,0,28.83,25.04,28.83
$GC,10051,-0.47,-136.3,828.4,-6.3,539,10056,0.00,2.40,0.00,0.000,4,0.000,0.067,3028,3607,3347,0,0,0,0,0,0,28.83,24.49,28.83
$GC,10090,-0.47,-136.3,830.5,-6.4,540,10096,0.00,2.33,0.00,0.000,6,0.000,0.047,3027,2195,3347,0,0,0,0,0,0,28.83,25.03,28.83
$GC,10411,-0.47,-136.3,852.9,-6.6,551,10412,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2193,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10711,-0.47,-136.3,872.5,-6.3,561,10716,0.00,2.40,0.00,0.000,4,0.000,0.067,3018,3604,3346,0,0,0,0,0,0,28.83,24.46,28.83
$GC,10759,-0.47,-136.3,874.4,-6.2,562,10763,0.00,2.33,0.00,0.000,6,0.000,0.047,3018,2190,3346,0,0,0,0,0,0,28.83,25.03,28.83
$GC,11062,-0.47,-136.3,897.4,-7.2,572,11066,0.00,2.28,0.00,0.000,4,0.000,0.054,3018,800,3346,0,0,0,0,0,0,28.83,24.74,28.83
$GC,11090,-0.47,-136.3,899.6,-7.3,573,11096,0.00,2.33,0.00,0.000,6,0.000,0.054,3015,2201,3346,0,0,0,0,0,0,28.83,24.74,28.83
$GC,11420,-0.47,-136.3,925.1,-7.9,584,11427,0.00,2.40,0.00,0.000,4,0.000,0.066,3005,3612,3346,0,0,0,0,0,0,28.83,24.46,28.83
$GC,11520,-0.47,-136.3,932.5,-8.1,587,11526,0.15,2.33,0.00,0.000,6,0.117,0.047,3048,2193,3346,0,0,0,0,0,0,24.81,25.02,28.83
$GC,11841,-0.47,-136.3,953.8,-6.3,598,11842,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2191,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12141,-0.47,-136.3,971.3,-5.7,608,12147,0.00,2.42,0.00,0.000,4,0.000,0.067,3040,3607,3345,0,0,0,0,0,0,28.83,24.43,28.83
$GC,12190,-0.47,-136.3,972.9,-5.6,609,12199,0.00,2.33,0.00,0.000,6,0.000,0.047,3041,2201,3345,0,0,0,0,0,0,28.83,25.00,28.83
$STATE,12468,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12468,begin apogee
$GC,12475,-0.22,0.0,990.7,-6.0,619,12604,0.22,0.00,125.35,1.153,6,0.108,0.000,3121,2340,2794,0,0,0,0,0,0,25.47,28.83,22.70
$STATE,12605,end apogee,CONTROL_FINISHED_OK
$STATE,12605,begin climb
$GC,12609,0.47,136.3,994.7,0.0,623,12750,0.65,2.53,133.32,1.118,4,0.071,0.064,3347,3732,2237,0,0,0,0,0,0,24.27,23.33,21.92
$GC,12783,0.49,171.1,987.1,5.6,629,12822,0.00,2.40,34.28,1.069,6,0.000,0.047,3357,2322,2096,0,0,0,0,0,0,28.83,23.98,22.00
$GC,13132,0.49,171.1,953.7,9.8,641,13136,0.00,2.30,0.00,0.000,4,0.000,0.057,3367,924,2086,0,0,0,0,0,0,28.83,25.37,28.83
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$STATE,24501,end climb,SURFACE_DEPTH_REACHED
$STATE,24501,begin surface coast
$FINISH,1.4,1.022155
$STATE,24543,end surface coast,CONTROL_FINISHED_OK
$STATE,24546,begin surface
$SM_CCo,24626,0.00,0.000,0,0,1438,332.63
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$TT8_MAMPS,0.027713,0.027713
$HUMID,49.13
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,19.00
$XPDR_PINGS,4
$24V_AH,21.9,112.207
$10V_AH,9.7,83.905
$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
$DEVICE_SECS,22.425,242.050,442.425,0.000,0.000,28.688,38.822,267.855,1.000,0.000,14.426,3558.626,17697.682,760.409,2581.388,504.849,0.000,2039.117,0.000,2236.248,0.000,0.536,0.000
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$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,296948
$DATA_FILE_SIZE,76753,1374
$CAP_FILE_SIZE,199032,0
$CFSIZE,260165632,190271488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.127,217.5,1
$GPS,140413,175600,4738.271,-12541.809,42,1.4,42,18.7