version: 66.11
glider: 187
mission: 2
dive: 715
start: 3 21 113 5 38 8
data:
$ID,187
$MISSION,2
$DIVE,715
$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,-1588942.8
$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,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
$GPS1,210313,052906,4706.309,-12648.934,71,1.0,71,18.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-73.9
$GPS2,210313,053737,4706.324,-12648.876,13,1.4,13,18.6
$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,214.6,18291,-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,-136.3,0.0,0.0,0,75,0.00,0.00,-55.67,0.000,2,0.000,0.000,130,2206,2647,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-0.47,-136.3,3.1,-3.2,10,117,11.65,2.35,-17.85,0.000,4,0.216,0.075,3030,3608,3352,0,0,0,0,0,0,24.44,25.28,26.22
$GC,218,-0.47,-136.3,23.3,-12.7,35,225,0.00,2.20,0.00,0.000,6,0.000,0.044,3030,2200,3354,0,0,0,0,0,0,28.83,25.46,28.83
$GC,530,-0.47,-136.3,67.3,-13.5,96,536,0.00,2.20,0.00,0.000,4,0.000,0.051,3029,798,3354,0,0,0,0,0,0,28.83,25.30,28.83
$GC,570,-0.47,-136.3,72.7,-12.4,103,577,0.00,2.20,0.00,0.000,6,0.000,0.051,3020,2199,3354,0,0,0,0,0,0,28.83,25.32,28.83
$GC,883,-0.47,-136.3,111.0,-11.9,164,890,0.00,2.22,0.00,0.000,4,0.000,0.050,3020,788,3354,0,0,0,0,0,0,28.83,25.32,28.83
$GC,917,-0.47,-136.3,114.8,-11.1,170,926,0.12,2.22,0.00,0.000,6,0.135,0.051,3045,2202,3354,0,0,0,0,0,0,25.19,25.32,28.83
$GC,1234,-0.47,-136.3,143.1,-9.3,198,1243,0.00,2.35,0.00,0.000,4,0.000,0.063,3037,3617,3354,0,0,0,0,0,0,28.83,25.13,28.83
$GC,1274,-0.47,-136.3,147.2,-10.2,202,1284,0.00,2.28,0.00,0.000,6,0.000,0.043,3037,2193,3355,0,0,0,0,0,0,28.83,25.53,28.83
$GC,1584,-0.47,-136.3,179.0,-10.2,223,1593,0.00,2.22,0.00,0.000,4,0.000,0.050,3037,807,3355,0,0,0,0,0,0,28.83,25.31,28.83
$GC,1645,-0.47,-136.3,185.0,-10.1,229,1653,0.00,2.22,0.00,0.000,6,0.000,0.050,3028,2194,3355,0,0,0,0,0,0,28.83,25.32,28.83
$GC,1964,-0.47,-136.3,216.1,-9.6,248,1969,0.00,2.35,0.00,0.000,4,0.000,0.063,3017,3607,3355,0,0,0,0,0,0,28.83,25.12,28.83
$GC,2024,-0.47,-136.3,221.9,-9.6,251,2030,0.00,2.22,0.00,0.000,6,0.000,0.044,3017,2209,3355,0,0,0,0,0,0,28.83,25.51,28.83
$GC,2345,-0.47,-136.3,253.9,-10.1,267,2349,0.00,2.22,0.00,0.000,4,0.000,0.050,3017,797,3355,0,0,0,0,0,0,28.83,25.29,28.83
$GC,2404,-0.47,-136.3,260.0,-10.2,270,2410,0.12,2.28,0.00,0.000,6,0.135,0.050,3043,2200,3355,0,0,0,0,0,0,25.17,25.30,28.83
$GC,2725,-0.47,-136.3,286.6,-8.0,286,2729,0.00,2.33,0.00,0.000,4,0.000,0.063,3034,3606,3354,0,0,0,0,0,0,28.83,25.10,28.83
$GC,2792,-0.47,-136.3,291.6,-8.3,289,2796,0.00,2.28,0.00,0.000,6,0.000,0.044,3034,2188,3355,0,0,0,0,0,0,28.83,25.51,28.83
$GC,3094,-0.47,-136.3,316.9,-8.1,304,3095,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2186,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3395,-0.47,-136.3,341.3,-8.1,319,3396,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2186,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3695,-0.47,-136.3,365.3,-7.8,334,3696,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2186,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3994,-0.47,-136.3,388.6,-7.7,349,4000,0.00,2.38,0.00,0.000,4,0.000,0.063,3024,3606,3354,0,0,0,0,0,0,28.83,25.07,28.83
$GC,4023,-0.47,-136.3,390.1,-7.6,350,4027,0.00,2.28,0.00,0.000,6,0.000,0.044,3024,2194,3355,0,0,0,0,0,0,28.83,25.47,28.83
$GC,4324,-0.47,-136.3,416.0,-8.2,362,4325,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2192,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4624,-0.47,-136.3,440.3,-8.0,372,4630,0.00,2.38,0.00,0.000,4,0.000,0.064,3013,3607,3354,0,0,0,0,0,0,28.83,25.03,28.83
$GC,4654,-0.47,-136.3,442.9,-8.1,373,4659,0.00,2.28,0.00,0.000,6,0.000,0.045,3013,2197,3353,0,0,0,0,0,0,28.83,25.45,28.83
$GC,4985,-0.47,-136.3,471.2,-8.4,384,4986,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2194,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5284,-0.47,-136.3,496.2,-8.4,394,5285,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2194,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5584,-0.47,-136.3,521.2,-8.5,404,5585,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2194,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5885,-0.47,-136.3,545.1,-7.7,414,5889,0.00,2.25,0.00,0.000,4,0.000,0.054,3013,808,3352,0,0,0,0,0,0,28.83,25.19,28.83
$GC,5922,-0.47,-136.3,547.7,-7.8,415,5927,0.15,2.28,0.00,0.000,6,0.126,0.053,3048,2198,3352,0,0,0,0,0,0,25.06,25.20,28.83
$GC,6235,-0.47,-136.3,566.8,-5.9,426,6241,0.00,2.35,0.00,0.000,4,0.000,0.066,3039,3607,3352,0,0,0,0,0,0,28.83,24.98,28.83
$GC,6296,-0.47,-136.3,570.9,-6.4,428,6301,0.00,2.28,0.00,0.000,6,0.000,0.047,3040,2196,3352,0,0,0,0,0,0,28.83,25.41,28.83
$GC,6626,-0.47,-136.3,592.9,-6.6,439,6631,0.00,2.25,0.00,0.000,4,0.000,0.053,3039,803,3352,0,0,0,0,0,0,28.83,25.18,28.83
$GC,6655,-0.47,-136.3,595.0,-6.7,440,6661,0.00,2.28,0.00,0.000,6,0.000,0.053,3031,2202,3352,0,0,0,0,0,0,28.83,25.18,28.83
$GC,6986,-0.47,-136.3,619.0,-7.3,451,6990,0.00,2.35,0.00,0.000,4,0.000,0.066,3020,3609,3351,0,0,0,0,0,0,28.83,24.97,28.83
$GC,7033,-0.47,-136.3,621.4,-7.5,452,7037,0.00,2.30,0.00,0.000,6,0.000,0.046,3020,2192,3351,0,0,0,0,0,0,28.83,25.40,28.83
$GC,7335,-0.47,-136.3,647.1,-8.0,462,7340,0.00,2.38,0.00,0.000,4,0.000,0.066,3010,3606,3351,0,0,0,0,0,0,28.83,24.96,28.83
$GC,7373,-0.47,-136.3,649.6,-8.1,463,7378,0.12,2.30,0.00,0.000,6,0.124,0.046,3046,2188,3350,0,0,0,0,0,0,25.24,25.39,28.83
$GC,7687,-0.47,-136.3,669.6,-6.0,474,7691,0.00,2.35,0.00,0.000,4,0.000,0.066,3039,3612,3351,0,0,0,0,0,0,28.83,24.94,28.83
$GC,7716,-0.47,-136.3,671.3,-6.0,475,7722,0.00,2.28,0.00,0.000,6,0.000,0.047,3039,2208,3350,0,0,0,0,0,0,28.83,25.39,28.83
$GC,8047,-0.47,-136.3,692.3,-6.3,486,8048,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2206,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8346,-0.47,-136.3,710.6,-6.1,496,8347,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2206,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8646,-0.47,-136.3,728.9,-6.0,506,8652,0.00,2.38,0.00,0.000,4,0.000,0.067,3029,3613,3350,0,0,0,0,0,0,28.83,24.91,28.83
$GC,8676,-0.47,-136.3,730.8,-6.1,507,8681,0.00,2.30,0.00,0.000,6,0.000,0.047,3029,2192,3350,0,0,0,0,0,0,28.83,25.35,28.83
$GC,9007,-0.47,-136.3,752.1,-6.3,518,9008,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2190,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9306,-0.47,-136.3,770.4,-6.1,528,9311,0.00,2.40,0.00,0.000,4,0.000,0.067,3020,3611,3349,0,0,0,0,0,0,28.83,24.89,28.83
$GC,9354,-0.47,-136.3,772.4,-6.1,529,9358,0.00,2.30,0.00,0.000,6,0.000,0.047,3020,2197,3349,0,0,0,0,0,0,28.83,25.34,28.83
$GC,9658,-0.47,-136.3,792.3,-6.2,539,9659,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2195,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9956,-0.47,-136.3,811.4,-6.5,549,9961,0.00,2.38,0.00,0.000,4,0.000,0.067,3010,3603,3348,0,0,0,0,0,0,28.83,24.89,28.83
$GC,9994,-0.47,-136.3,813.3,-6.6,550,9999,0.12,2.30,0.00,0.000,6,0.119,0.047,3047,2190,3348,0,0,0,0,0,0,25.20,25.34,28.83
$GC,10309,-0.47,-136.3,829.6,-4.9,561,10310,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2187,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10608,-0.47,-136.3,844.5,-5.0,571,10609,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2188,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10907,-0.47,-136.3,860.9,-5.6,581,10913,0.00,2.40,0.00,0.000,4,0.000,0.067,3039,3609,3347,0,0,0,0,0,0,28.83,24.86,28.83
$GC,10938,-0.47,-136.3,862.6,-5.7,582,10943,0.00,2.28,0.00,0.000,6,0.000,0.049,3039,2204,3347,0,0,0,0,0,0,28.83,25.32,28.83
$GC,11267,-0.47,-136.3,883.1,-6.5,593,11269,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2203,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11568,-0.47,-136.3,903.1,-6.8,603,11569,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2203,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11868,-0.47,-136.3,924.7,-7.4,613,11869,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2203,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12167,-0.47,-136.3,946.8,-7.3,623,12173,0.00,2.38,0.00,0.000,4,0.000,0.067,3030,3607,3347,0,0,0,0,0,0,28.83,24.83,28.83
$GC,12205,-0.47,-136.3,949.2,-7.4,624,12209,0.00,2.33,0.00,0.000,6,0.000,0.049,3029,2188,3346,0,0,0,0,0,0,28.83,25.29,28.83
$GC,12519,-0.47,-136.3,972.3,-7.1,635,12523,0.00,2.28,0.00,0.000,4,0.000,0.055,3029,802,3346,0,0,0,0,0,0,28.83,25.04,28.83
$GC,12548,-0.47,-136.3,974.5,-7.0,636,12553,0.00,2.28,0.00,0.000,6,0.000,0.055,3029,2193,3346,0,0,0,0,0,0,28.83,25.04,28.83
$STATE,12785,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12785,begin apogee
$GC,12792,-0.22,0.0,990.0,-6.4,644,12923,0.28,0.00,126.18,1.159,6,0.106,0.000,3125,2339,2794,0,0,0,0,0,0,25.50,28.83,22.42
$STATE,12924,end apogee,CONTROL_FINISHED_OK
$STATE,12924,begin climb
$GC,12928,0.47,136.3,994.1,0.0,648,13070,0.65,2.58,135.02,1.117,4,0.069,0.054,3358,921,2237,0,0,0,0,0,0,24.41,23.47,21.70
$GC,13112,0.48,150.5,986.1,6.5,655,13131,0.00,2.38,14.50,1.009,6,0.000,0.055,3358,2318,2180,0,0,0,0,0,0,28.83,24.11,22.18
$GC,13429,0.48,150.5,956.8,9.2,665,13435,0.00,2.38,0.00,0.000,4,0.000,0.069,3358,3731,2172,0,0,0,0,0,0,28.83,25.25,28.83
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$STATE,24892,end climb,SURFACE_DEPTH_REACHED
$STATE,24892,begin surface coast
$FINISH,1.4,1.014760
$STATE,24939,end surface coast,CONTROL_FINISHED_OK
$STATE,24939,begin surface
$SM_CCo,25020,0.00,0.000,0,0,1384,345.87
$SM_GC,2.40,8.30,0.20,0.00,0.025,0.074,0.000,115,2183,1384,-9.48,0.82,345.87,0,0,0,0,0,0,25.86,25.99,28.83
$IRIDIUM_FIX,4651.23,-12650.93,200313,222206
$TT8_MAMPS,0.026964,0.026964
$HUMID,48.93
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,19.00
$XPDR_PINGS,1
$24V_AH,21.7,100.615
$10V_AH,9.7,75.961
$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,22.400,227.000,453.400,0.000,0.000,28.868,38.815,285.496,0.250,0.000,14.285,3560.100,18149.959,763.495,2564.347,479.483,0.000,2005.897,0.000,2191.335,0.000,0.536,0.000
$DEVICE_MAMPS,215.730,84.150,1158.975,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,939.091,695.001,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296896
$DATA_FILE_SIZE,76854,1363
$CAP_FILE_SIZE,197396,0
$CFSIZE,260165632,197337088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.145, 63.7,1
$GPS,210313,123624,4704.843,-12650.648,38,1.5,38,18.6