version: 66.11
glider: 187
mission: 2
dive: 710
start: 3 19 113 17 27 31
data:
$ID,187
$MISSION,2
$DIVE,710
$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,-1588936.4
$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,37
$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
$GPS1,190313,171506,4713.044,-12636.993,69,0.9,69,18.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-76.1
$GPS2,190313,172700,4713.069,-12636.836,13,1.1,18,18.6
$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,211.3,37972,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-0.47,-136.3,0.0,0.0,0,88,0.00,0.00,-67.70,0.000,2,0.000,0.000,111,2198,2622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.47,-136.3,3.2,-3.8,12,130,11.62,2.30,-19.58,0.000,4,0.210,0.065,3041,797,3351,0,0,0,0,0,0,24.43,25.34,26.23
$GC,295,-0.47,-136.3,27.5,-11.2,50,302,0.00,2.22,0.00,0.000,6,0.000,0.052,3034,2208,3353,0,0,0,0,0,0,28.83,25.32,28.83
$GC,608,-0.47,-136.3,70.3,-14.3,111,616,0.00,2.28,0.00,0.000,4,0.000,0.063,3023,3618,3353,0,0,0,0,0,0,28.83,25.20,28.83
$GC,674,-0.47,-136.3,79.4,-12.3,123,682,0.00,2.20,0.00,0.000,6,0.000,0.044,3023,2194,3353,0,0,0,0,0,0,28.83,25.54,28.83
$GC,989,-0.47,-136.3,113.3,-9.9,184,994,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2192,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1307,-0.47,-136.3,146.5,-10.8,213,1316,0.00,2.22,0.00,0.000,4,0.000,0.050,3023,803,3353,0,0,0,0,0,0,28.83,25.35,28.83
$GC,1368,-0.47,-136.3,152.8,-10.3,219,1377,0.00,2.25,0.00,0.000,6,0.000,0.051,3013,2203,3353,0,0,0,0,0,0,28.83,25.33,28.83
$GC,1678,-0.47,-136.3,188.9,-12.1,240,1686,0.00,2.30,0.00,0.000,4,0.000,0.062,3003,3604,3353,0,0,0,0,0,0,28.83,25.18,28.83
$GC,1718,-0.47,-136.3,193.5,-11.7,244,1727,0.10,2.22,0.00,0.000,6,0.102,0.043,3041,2196,3353,0,0,0,0,0,0,25.32,25.56,28.83
$GC,2028,-0.47,-136.3,220.5,-7.9,261,2030,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2196,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2328,-0.47,-136.3,244.0,-8.1,276,2333,0.00,2.22,0.00,0.000,4,0.000,0.050,3041,801,3353,0,0,0,0,0,0,28.83,25.32,28.83
$GC,2387,-0.47,-136.3,248.8,-8.0,279,2393,0.00,2.28,0.00,0.000,6,0.000,0.050,3035,2205,3353,0,0,0,0,0,0,28.83,25.32,28.83
$GC,2708,-0.47,-136.3,275.1,-8.3,295,2713,0.00,2.33,0.00,0.000,4,0.000,0.063,3024,3614,3353,0,0,0,0,0,0,28.83,25.13,28.83
$GC,2787,-0.47,-136.3,282.2,-9.0,299,2793,0.00,2.28,0.00,0.000,6,0.000,0.044,3024,2191,3353,0,0,0,0,0,0,28.83,25.53,28.83
$GC,3109,-0.47,-136.3,311.1,-9.0,315,3110,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2189,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3408,-0.47,-136.3,338.7,-9.5,330,3414,0.00,2.35,0.00,0.000,4,0.000,0.063,3014,3606,3353,0,0,0,0,0,0,28.83,25.12,28.83
$GC,3448,-0.47,-136.3,342.5,-9.5,332,3453,0.00,2.22,0.00,0.000,6,0.000,0.044,3014,2210,3353,0,0,0,0,0,0,28.83,25.51,28.83
$GC,3768,-0.47,-136.3,373.5,-9.4,348,3769,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2207,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4069,-0.47,-136.3,400.9,-8.9,363,4073,0.00,2.25,0.00,0.000,4,0.000,0.050,3014,797,3353,0,0,0,0,0,0,28.83,25.28,28.83
$GC,4099,-0.47,-136.3,403.5,-8.9,364,4104,0.15,2.22,0.00,0.000,6,0.126,0.052,3047,2208,3353,0,0,0,0,0,0,25.13,25.27,28.83
$GC,4418,-0.47,-136.3,425.4,-6.5,375,4423,0.00,2.33,0.00,0.000,4,0.000,0.063,3039,3609,3353,0,0,0,0,0,0,28.83,25.09,28.83
$GC,4457,-0.47,-136.3,427.3,-6.5,376,4463,0.00,2.28,0.00,0.000,6,0.000,0.044,3038,2195,3353,0,0,0,0,0,0,28.83,25.49,28.83
$GC,4777,-0.47,-136.3,450.9,-7.3,387,4783,0.00,2.38,0.00,0.000,4,0.000,0.063,3029,3607,3352,0,0,0,0,0,0,28.83,25.06,28.83
$GC,4808,-0.47,-136.3,453.1,-7.3,388,4813,0.00,2.28,0.00,0.000,6,0.000,0.045,3029,2187,3353,0,0,0,0,0,0,28.83,25.48,28.83
$GC,5138,-0.47,-136.3,479.8,-8.0,399,5143,0.00,2.38,0.00,0.000,4,0.000,0.064,3019,3606,3353,0,0,0,0,0,0,28.83,25.06,28.83
$GC,5197,-0.47,-136.3,484.8,-8.1,401,5203,0.00,2.28,0.00,0.000,6,0.000,0.044,3019,2195,3353,0,0,0,0,0,0,28.83,25.47,28.83
$GC,5528,-0.47,-136.3,511.7,-8.2,412,5529,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2192,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5828,-0.47,-136.3,535.5,-7.7,422,5833,0.00,2.35,0.00,0.000,4,0.000,0.064,3010,3602,3352,0,0,0,0,0,0,28.83,25.04,28.83
$GC,5865,-0.47,-136.3,538.0,-7.8,423,5870,0.12,2.28,0.00,0.000,6,0.122,0.045,3046,2193,3352,0,0,0,0,0,0,25.30,25.46,28.83
$GC,6179,-0.47,-136.3,558.1,-6.1,434,6184,0.00,2.35,0.00,0.000,4,0.000,0.065,3039,3601,3352,0,0,0,0,0,0,28.83,25.02,28.83
$GC,6240,-0.47,-136.3,562.0,-6.4,436,6244,0.00,2.22,0.00,0.000,6,0.000,0.046,3039,2188,3351,0,0,0,0,0,0,28.83,25.45,28.83
$GC,6568,-0.47,-136.3,584.9,-7.1,447,6570,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2185,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6869,-0.47,-136.3,605.9,-7.0,457,6874,0.00,2.38,0.00,0.000,4,0.000,0.065,3029,3605,3351,0,0,0,0,0,0,28.83,25.01,28.83
$GC,6900,-0.47,-136.3,608.0,-7.0,458,6904,0.00,2.25,0.00,0.000,6,0.000,0.046,3029,2203,3351,0,0,0,0,0,0,28.83,25.44,28.83
$GC,7229,-0.47,-136.3,630.7,-6.7,469,7230,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2201,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7529,-0.47,-136.3,650.5,-6.6,479,7534,0.00,2.35,0.00,0.000,4,0.000,0.065,3020,3604,3350,0,0,0,0,0,0,28.83,24.98,28.83
$GC,7567,-0.47,-136.3,652.6,-6.6,480,7571,0.00,2.28,0.00,0.000,6,0.000,0.046,3020,2197,3349,0,0,0,0,0,0,28.83,25.41,28.83
$GC,7881,-0.47,-136.3,675.8,-7.4,491,7885,0.00,2.35,0.00,0.000,4,0.000,0.066,3011,3601,3349,0,0,0,0,0,0,28.83,24.98,28.83
$GC,7910,-0.47,-136.3,678.3,-7.6,492,7916,0.08,2.25,0.00,0.000,6,0.099,0.047,3041,2204,3349,0,0,0,0,0,0,25.22,25.41,28.83
$GC,8239,-0.47,-136.3,701.1,-7.1,503,8241,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2202,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8541,-0.47,-136.3,721.8,-6.9,513,8546,0.00,2.35,0.00,0.000,4,0.000,0.067,3033,3599,3348,0,0,0,0,0,0,28.83,24.95,28.83
$GC,8588,-0.47,-136.3,724.0,-6.9,514,8592,0.00,2.30,0.00,0.000,6,0.000,0.047,3033,2188,3348,0,0,0,0,0,0,28.83,25.39,28.83
$GC,8890,-0.47,-136.3,746.6,-7.0,524,8896,0.00,2.40,0.00,0.000,4,0.000,0.067,3024,3607,3348,0,0,0,0,0,0,28.83,24.94,28.83
$GC,8921,-0.47,-136.3,748.8,-7.0,525,8925,0.00,2.28,0.00,0.000,6,0.000,0.047,3023,2199,3347,0,0,0,0,0,0,28.83,25.38,28.83
$GC,9250,-0.47,-136.3,773.0,-7.3,536,9255,0.00,2.38,0.00,0.000,4,0.000,0.067,3014,3602,3347,0,0,0,0,0,0,28.83,24.93,28.83
$GC,9279,-0.47,-136.3,775.1,-7.2,537,9285,0.00,2.30,0.00,0.000,6,0.000,0.047,3014,2192,3347,0,0,0,0,0,0,28.83,25.37,28.83
$GC,9610,-0.47,-136.3,799.6,-7.3,548,9611,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2190,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9909,-0.47,-136.3,821.0,-7.0,558,9915,0.00,2.38,0.00,0.000,4,0.000,0.066,3005,3600,3347,0,0,0,0,0,0,28.83,24.92,28.83
$GC,9978,-0.47,-136.3,825.2,-7.0,560,9983,0.15,2.30,0.00,0.000,6,0.117,0.047,3049,2189,3347,0,0,0,0,0,0,25.18,25.35,28.83
$GC,10292,-0.47,-136.3,841.6,-4.9,571,10293,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2188,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10591,-0.47,-136.3,856.4,-4.9,581,10596,0.00,2.40,0.00,0.000,4,0.000,0.067,3042,3605,3346,0,0,0,0,0,0,28.83,24.89,28.83
$GC,10629,-0.47,-136.3,857.8,-4.8,582,10633,0.00,2.30,0.00,0.000,6,0.000,0.048,3041,2196,3346,0,0,0,0,0,0,28.83,25.34,28.83
$GC,10943,-0.47,-136.3,873.8,-4.9,593,10944,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2195,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11242,-0.47,-136.3,889.2,-5.1,603,11247,0.00,2.40,0.00,0.000,4,0.000,0.067,3031,3604,3346,0,0,0,0,0,0,28.83,24.87,28.83
$GC,11280,-0.47,-136.3,890.7,-5.1,604,11284,0.00,2.30,0.00,0.000,6,0.000,0.047,3031,2199,3346,0,0,0,0,0,0,28.83,25.34,28.83
$GC,11593,-0.47,-136.3,908.0,-5.4,615,11594,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2198,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11892,-0.47,-136.3,925.1,-5.9,625,11897,0.00,2.40,0.00,0.000,4,0.000,0.067,3022,3606,3346,0,0,0,0,0,0,28.83,24.87,28.83
$GC,11930,-0.47,-136.3,927.0,-5.9,626,11934,0.00,2.30,0.00,0.000,6,0.000,0.048,3021,2204,3345,0,0,0,0,0,0,28.83,25.32,28.83
$GC,12244,-0.47,-136.3,948.6,-6.9,637,12248,0.00,2.33,0.00,0.000,4,0.000,0.067,3013,3607,3345,0,0,0,0,0,0,28.83,24.86,28.83
$GC,12281,-0.47,-136.3,950.9,-7.0,638,12285,0.00,2.33,0.00,0.000,6,0.000,0.048,3013,2188,3345,0,0,0,0,0,0,28.83,25.31,28.83
$GC,12593,-0.47,-136.3,974.5,-7.3,649,12595,0.12,0.00,0.00,0.000,6,0.135,0.000,3049,2187,3345,0,0,0,0,0,0,25.98,28.83,28.83
$STATE,12891,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12891,begin apogee
$GC,12899,-0.22,0.0,990.2,-5.0,659,13030,0.20,0.00,126.85,1.151,6,0.107,0.000,3122,2331,2793,0,0,0,0,0,0,25.71,28.83,22.43
$STATE,13031,end apogee,CONTROL_FINISHED_OK
$STATE,13031,begin climb
$GC,13034,0.47,136.3,994.3,0.0,663,13176,0.68,2.60,134.88,1.118,4,0.070,0.067,3352,3725,2237,0,0,0,0,0,0,24.38,23.42,21.68
$GC,13217,0.47,136.3,985.2,7.1,670,13222,0.00,2.38,0.00,0.000,6,0.000,0.048,3362,2325,2233,0,0,0,0,0,0,28.83,24.17,28.83
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$STATE,25920,end climb,SURFACE_DEPTH_REACHED
$STATE,25920,begin surface coast
$FINISH,1.3,1.025234
$STATE,25962,end surface coast,CONTROL_FINISHED_OK
$STATE,25962,begin surface
$SM_CCo,26045,0.00,0.000,0,0,1409,339.50
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$IRIDIUM_FIX,4654.38,-12647.76,190313,171735
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.07
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,18.70
$XPDR_PINGS,3
$24V_AH,21.7,99.900
$10V_AH,9.7,75.474
$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
$DEVICE_SECS,22.575,263.525,445.150,0.000,0.000,53.114,92.612,313.094,0.750,0.000,19.141,3758.092,18814.186,791.593,2851.380,527.327,0.000,2133.119,0.000,2345.372,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,989.028,739.361,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296924
$DATA_FILE_SIZE,80138,1436
$CAP_FILE_SIZE,214457,0
$CFSIZE,260165632,197750784
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.096, 55.9,1
$GPS,200313,004330,4711.660,-12639.049,75,0.9,75,18.6