version: 66.11
glider: 187
mission: 2
dive: 695
start: 3 15 113 4 0 23
data:
$ID,187
$MISSION,2
$DIVE,695
$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,-1588914.4
$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,38
$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
$GPS1,150313,035206,4732.789,-12547.638,31,1.1,31,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-76.0
$GPS2,150313,035949,4732.753,-12547.594,16,1.1,16,18.7
$SPEED_LIMITS,0.122,0.210
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$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,229.5,109742,-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,16,-0.47,-136.3,0.0,0.0,0,104,0.00,0.00,-85.25,0.000,2,0.000,0.000,118,2184,2734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-0.47,-136.3,3.1,-1.9,15,140,11.73,2.28,-14.75,0.000,4,0.216,0.064,3030,790,3351,0,0,0,0,0,0,24.40,25.37,26.24
$GC,189,-0.47,-136.3,17.7,-14.3,29,196,0.00,2.25,0.00,0.000,6,0.000,0.052,3022,2201,3353,0,0,0,0,0,0,28.83,25.34,28.83
$GC,501,-0.47,-136.3,67.8,-16.0,90,508,0.00,2.30,0.00,0.000,4,0.000,0.062,3011,3616,3353,0,0,0,0,0,0,28.83,25.25,28.83
$GC,526,-0.47,-136.3,71.8,-15.8,94,534,0.12,2.20,0.00,0.000,6,0.136,0.044,3045,2193,3354,0,0,0,0,0,0,25.37,25.56,28.83
$GC,839,-0.47,-136.3,106.7,-9.8,155,846,0.00,2.30,0.00,0.000,4,0.000,0.063,3037,3608,3354,0,0,0,0,0,0,28.83,25.25,28.83
$GC,885,-0.47,-136.3,111.7,-10.7,163,892,0.00,2.17,0.00,0.000,6,0.000,0.044,3037,2197,3354,0,0,0,0,0,0,28.83,25.59,28.83
$GC,1200,-0.47,-136.3,144.5,-9.7,193,1201,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2196,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1500,-0.47,-136.3,171.9,-9.7,213,1501,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2196,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1800,-0.47,-136.3,200.6,-8.5,233,1806,0.00,2.25,0.00,0.000,4,0.000,0.050,3037,793,3354,0,0,0,0,0,0,28.83,25.39,28.83
$GC,1841,-0.47,-136.3,204.1,-8.5,235,1846,0.00,2.25,0.00,0.000,6,0.000,0.051,3029,2196,3354,0,0,0,0,0,0,28.83,25.41,28.83
$GC,2160,-0.47,-136.3,231.9,-8.6,251,2166,0.00,2.33,0.00,0.000,4,0.000,0.063,3019,3607,3354,0,0,0,0,0,0,28.83,25.22,28.83
$GC,2228,-0.47,-136.3,237.2,-8.7,254,2232,0.00,2.25,0.00,0.000,6,0.000,0.043,3019,2197,3354,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2531,-0.47,-136.3,264.5,-8.8,269,2532,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2193,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2830,-0.47,-136.3,293.2,-10.0,284,2831,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2193,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3131,-0.47,-136.3,323.5,-10.1,299,3133,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2194,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3430,-0.47,-136.3,353.8,-9.7,314,3431,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2194,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3732,-0.47,-136.3,380.4,-8.3,329,3736,0.00,2.35,0.00,0.000,4,0.000,0.063,3009,3622,3354,0,0,0,0,0,0,28.83,25.17,28.83
$GC,3758,-0.47,-136.3,382.0,-8.4,330,3763,0.12,2.30,0.00,0.000,6,0.126,0.044,3045,2194,3354,0,0,0,0,0,0,25.37,25.54,28.83
$GC,4071,-0.47,-136.3,403.4,-6.9,345,4072,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2189,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4370,-0.47,-136.3,424.7,-7.1,355,4376,0.00,2.38,0.00,0.000,4,0.000,0.064,3037,3615,3354,0,0,0,0,0,0,28.83,25.15,28.83
$GC,4408,-0.47,-136.3,426.9,-7.1,356,4412,0.00,2.30,0.00,0.000,6,0.000,0.044,3037,2188,3354,0,0,0,0,0,0,28.83,25.53,28.83
$GC,4721,-0.47,-136.3,450.6,-7.2,367,4722,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2185,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5020,-0.47,-136.3,470.6,-6.5,377,5021,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2186,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5321,-0.47,-136.3,489.4,-6.1,387,5326,0.00,2.38,0.00,0.000,4,0.000,0.064,3027,3614,3353,0,0,0,0,0,0,28.83,25.13,28.83
$GC,5369,-0.47,-136.3,491.4,-6.3,388,5378,0.00,2.28,0.00,0.000,6,0.000,0.044,3027,2192,3353,0,0,0,0,0,0,28.83,25.55,28.83
$GC,5681,-0.47,-136.3,514.2,-7.0,399,5682,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2192,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5980,-0.47,-136.3,537.0,-7.7,409,5981,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2192,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6282,-0.47,-136.3,558.8,-6.9,419,6286,0.00,2.33,0.00,0.000,4,0.000,0.066,3018,3612,3352,0,0,0,0,0,0,28.83,25.09,28.83
$GC,6340,-0.47,-136.3,563.1,-7.0,421,6346,0.00,2.28,0.00,0.000,6,0.000,0.046,3018,2207,3351,0,0,0,0,0,0,28.83,25.49,28.83
$GC,6670,-0.47,-136.3,586.6,-7.0,432,6671,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2206,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6971,-0.47,-136.3,608.6,-7.4,442,6972,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2206,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7270,-0.47,-136.3,631.8,-7.9,452,7271,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2206,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7570,-0.47,-136.3,656.3,-8.3,462,7571,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2206,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7870,-0.47,-136.3,682.2,-8.7,472,7876,0.00,2.38,0.00,0.000,4,0.000,0.066,3008,3612,3350,0,0,0,0,0,0,28.83,25.05,28.83
$GC,7909,-0.47,-136.3,684.9,-8.8,473,7915,0.12,2.30,0.00,0.000,6,0.123,0.047,3045,2194,3350,0,0,0,0,0,0,25.29,25.45,28.83
$GC,8230,-0.47,-136.3,707.2,-6.4,484,8231,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2192,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8530,-0.47,-136.3,725.0,-5.5,494,8536,0.00,2.38,0.00,0.000,4,0.000,0.067,3038,3610,3349,0,0,0,0,0,0,28.83,25.02,28.83
$GC,8562,-0.47,-136.3,726.7,-5.5,495,8566,0.00,2.22,0.00,0.000,6,0.000,0.047,3037,2200,3349,0,0,0,0,0,0,28.83,25.44,28.83
$GC,8890,-0.47,-136.3,745.0,-5.1,506,8892,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2198,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9190,-0.47,-136.3,759.3,-4.9,516,9196,0.00,2.38,0.00,0.000,4,0.000,0.067,3028,3612,3348,0,0,0,0,0,0,28.83,25.00,28.83
$GC,9230,-0.47,-136.3,760.8,-5.0,517,9236,0.00,2.30,0.00,0.000,6,0.000,0.047,3028,2199,3348,0,0,0,0,0,0,28.83,25.41,28.83
$GC,9550,-0.47,-136.3,781.2,-6.6,528,9556,0.00,2.38,0.00,0.000,4,0.000,0.067,3018,3608,3348,0,0,0,0,0,0,28.83,25.02,28.83
$GC,9580,-0.47,-136.3,783.3,-6.7,529,9586,0.00,2.28,0.00,0.000,6,0.000,0.047,3018,2199,3348,0,0,0,0,0,0,28.83,25.41,28.83
$GC,9911,-0.47,-136.3,807.8,-7.5,540,9916,0.00,2.38,0.00,0.000,4,0.000,0.067,3009,3607,3347,0,0,0,0,0,0,28.83,24.98,28.83
$GC,9970,-0.47,-136.3,812.8,-7.9,542,9977,0.12,2.30,0.00,0.000,6,0.125,0.047,3045,2189,3347,0,0,0,0,0,0,25.25,25.41,28.83
$GC,10300,-0.47,-136.3,834.5,-6.4,553,10306,0.00,2.38,0.00,0.000,4,0.000,0.067,3038,3604,3347,0,0,0,0,0,0,28.83,24.98,28.83
$GC,10349,-0.47,-136.3,836.2,-6.4,554,10359,0.00,2.30,0.00,0.000,6,0.000,0.047,3037,2188,3347,0,0,0,0,0,0,28.83,25.41,28.83
$GC,10660,-0.47,-136.3,854.3,-5.1,565,10666,0.00,2.25,0.00,0.000,4,0.000,0.054,3038,804,3347,0,0,0,0,0,0,28.83,25.17,28.83
$GC,10698,-0.47,-136.3,856.0,-5.0,566,10703,0.00,2.30,0.00,0.000,6,0.000,0.054,3030,2205,3347,0,0,0,0,0,0,28.83,25.17,28.83
$GC,11012,-0.47,-136.3,873.3,-5.4,577,11016,0.00,2.30,0.00,0.000,4,0.000,0.067,3020,3608,3347,0,0,0,0,0,0,28.83,24.96,28.83
$GC,11071,-0.47,-136.3,876.8,-5.6,579,11077,0.00,2.28,0.00,0.000,6,0.000,0.047,3020,2201,3347,0,0,0,0,0,0,28.83,25.40,28.83
$GC,11401,-0.47,-136.3,897.9,-6.4,590,11407,0.00,2.38,0.00,0.000,4,0.000,0.067,3010,3604,3347,0,0,0,0,0,0,28.83,24.95,28.83
$GC,11432,-0.47,-136.3,899.9,-6.5,591,11437,0.12,2.25,0.00,0.000,6,0.122,0.048,3047,2188,3346,0,0,0,0,0,0,25.24,25.38,28.83
$GC,11761,-0.47,-136.3,917.9,-5.2,602,11766,0.00,2.42,0.00,0.000,4,0.000,0.067,3039,3614,3346,0,0,0,0,0,0,28.83,24.94,28.83
$GC,11791,-0.47,-136.3,919.7,-5.4,603,11797,0.00,2.30,0.00,0.000,6,0.000,0.048,3039,2198,3346,0,0,0,0,0,0,28.83,25.38,28.83
$GC,12121,-0.47,-136.3,935.8,-4.5,614,12122,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2197,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12421,-0.47,-136.3,947.9,-4.0,624,12426,0.00,2.40,0.00,0.000,4,0.000,0.067,3030,3607,3346,0,0,0,0,0,0,28.83,24.92,28.83
$GC,12469,-0.47,-136.3,949.2,-4.0,625,12473,0.00,2.30,0.00,0.000,6,0.000,0.048,3030,2198,3345,0,0,0,0,0,0,28.83,25.37,28.83
$GC,12772,-0.47,-136.3,965.7,-5.5,635,12776,0.00,2.35,0.00,0.000,4,0.000,0.068,3021,3608,3345,0,0,0,0,0,0,28.83,24.91,28.83
$GC,12809,-0.47,-136.3,967.5,-5.7,636,12813,0.00,2.30,0.00,0.000,6,0.000,0.048,3020,2198,3345,0,0,0,0,0,0,28.83,25.36,28.83
$GC,13122,-0.47,-136.3,986.8,-5.9,647,13123,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2197,3345,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13179,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13179,begin apogee
$GC,13187,-0.22,0.0,990.2,-5.7,649,13318,0.30,0.00,126.40,1.153,6,0.106,0.000,3124,2337,2795,0,0,0,0,0,0,25.46,28.83,22.43
$STATE,13319,end apogee,CONTROL_FINISHED_OK
$STATE,13319,begin climb
$GC,13322,0.47,136.3,993.0,0.0,653,13464,0.65,2.60,135.02,1.120,4,0.070,0.067,3346,3732,2237,0,0,0,0,0,0,24.39,23.42,21.70
$GC,13481,0.48,161.8,986.0,6.0,659,13512,0.00,2.47,25.60,1.055,6,0.000,0.047,3356,2326,2134,0,0,0,0,0,0,28.83,23.87,21.84
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$STATE,25568,end climb,SURFACE_DEPTH_REACHED
$STATE,25568,begin surface coast
$FINISH,2.7,1.025162
$STATE,25585,end surface coast,CONTROL_FINISHED_OK
$STATE,25585,begin surface
$SM_CCo,25668,0.00,0.000,0,0,1225,384.88
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$IRIDIUM_FIX,4707.04,-12549.26,140313,202049
$TT8_MAMPS,0.027713,0.027713
$HUMID,47.55
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,19.00
$XPDR_PINGS,3
$24V_AH,21.7,97.751
$10V_AH,9.7,73.994
$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
$DEVICE_SECS,22.450,241.150,489.525,0.000,0.000,25.450,37.559,244.796,0.750,0.000,17.747,3667.613,18522.432,816.919,2596.742,518.438,0.000,2123.926,0.000,2277.311,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,975.263,744.207,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296912
$DATA_FILE_SIZE,76927,1418
$CAP_FILE_SIZE,206785,0
$CFSIZE,260165632,199086080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.051, 58.9,1
$GPS,150313,110930,4731.505,-12552.091,40,1.6,40,18.7