version: 66.11
glider: 187
mission: 2
dive: 525
start: 1 24 113 10 58 56
data:
$ID,187
$MISSION,2
$DIVE,525
$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,570.07721
$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,-1588655
$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,42
$R_STBD_OVSHOOT,24
$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
$GPS1,240113,104306,4708.471,-12638.661,39,1.1,39,18.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-75.5
$GPS2,240113,105825,4708.562,-12638.521,15,1.3,15,18.6
$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,222.4,31424,-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,-136.3,0.0,0.0,0,91,0.00,0.00,-71.75,0.000,2,0.000,0.000,108,2192,2738,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.47,-136.3,3.1,-1.6,13,127,11.70,2.28,-15.27,0.000,4,0.216,0.063,3031,798,3351,0,0,0,0,0,0,24.55,25.50,26.27
$GC,166,-0.47,-136.3,14.9,-13.6,25,173,0.00,2.22,0.00,0.000,6,0.000,0.052,3023,2212,3353,0,0,0,0,0,0,28.83,25.49,28.83
$GC,478,-0.47,-136.3,63.5,-15.7,86,485,0.00,2.25,0.00,0.000,4,0.000,0.062,3013,3615,3353,0,0,0,0,0,0,28.83,25.46,28.83
$GC,502,-0.47,-136.3,67.7,-16.4,90,509,0.00,2.20,0.00,0.000,6,0.000,0.044,3013,2196,3353,0,0,0,0,0,0,28.83,25.71,28.83
$GC,814,-0.47,-136.3,112.3,-11.8,151,821,0.12,0.00,0.00,0.000,6,0.153,0.000,3053,2189,3353,0,0,0,0,0,0,25.92,28.83,28.83
$GC,1136,-0.47,-136.3,139.6,-8.0,182,1144,0.00,2.33,0.00,0.000,4,0.000,0.063,3044,3618,3354,0,0,0,0,0,0,28.83,25.50,28.83
$GC,1175,-0.47,-136.3,143.0,-8.4,186,1183,0.00,2.25,0.00,0.000,6,0.000,0.044,3044,2191,3354,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1484,-0.47,-136.3,171.0,-8.9,207,1494,0.00,2.22,0.00,0.000,4,0.000,0.050,3044,796,3354,0,0,0,0,0,0,28.83,25.63,28.83
$GC,1544,-0.47,-136.3,176.4,-9.3,213,1553,0.00,2.28,0.00,0.000,6,0.000,0.050,3036,2212,3354,0,0,0,0,0,0,28.83,25.64,28.83
$GC,1870,-0.47,-136.3,205.4,-8.7,234,1875,0.00,2.28,0.00,0.000,4,0.000,0.063,3025,3606,3353,0,0,0,0,0,0,28.83,25.51,28.83
$GC,1929,-0.47,-136.3,210.8,-9.0,237,1935,0.00,2.22,0.00,0.000,6,0.000,0.043,3025,2201,3354,0,0,0,0,0,0,28.83,25.81,28.83
$GC,2250,-0.47,-136.3,240.1,-8.9,253,2251,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2198,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2550,-0.47,-136.3,265.5,-8.4,268,2551,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2198,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2851,-0.47,-136.3,290.0,-7.9,283,2852,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2198,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3150,-0.47,-136.3,314.2,-8.1,298,3151,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2198,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3449,-0.47,-136.3,339.2,-8.4,313,3455,0.00,2.35,0.00,0.000,4,0.000,0.063,3015,3612,3353,0,0,0,0,0,0,28.83,25.46,28.83
$GC,3497,-0.47,-136.3,342.5,-8.2,315,3502,0.00,2.28,0.00,0.000,6,0.000,0.044,3015,2191,3353,0,0,0,0,0,0,28.83,25.77,28.83
$GC,3800,-0.47,-136.3,369.7,-8.9,330,3805,0.00,2.33,0.00,0.000,4,0.000,0.063,3004,3604,3353,0,0,0,0,0,0,28.83,25.46,28.83
$GC,3840,-0.47,-136.3,373.3,-8.8,332,3846,0.10,2.22,0.00,0.000,6,0.103,0.044,3042,2202,3353,0,0,0,0,0,0,25.54,25.77,28.83
$GC,4160,-0.47,-136.3,395.0,-6.6,348,4161,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2199,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4481,-0.47,-136.3,417.9,-7.4,360,4485,0.00,2.33,0.00,0.000,4,0.000,0.065,3036,3607,3352,0,0,0,0,0,0,28.83,25.44,28.83
$GC,4517,-0.47,-136.3,420.2,-7.4,361,4522,0.00,2.25,0.00,0.000,6,0.000,0.045,3036,2198,3352,0,0,0,0,0,0,28.83,25.75,28.83
$GC,4830,-0.47,-136.3,445.7,-8.1,372,4831,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2196,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5130,-0.47,-136.3,469.1,-7.6,382,5136,0.00,2.33,0.00,0.000,4,0.000,0.065,3026,3604,3352,0,0,0,0,0,0,28.83,25.42,28.83
$GC,5190,-0.47,-136.3,473.9,-7.7,384,5196,0.00,2.25,0.00,0.000,6,0.000,0.046,3026,2187,3351,0,0,0,0,0,0,28.83,25.75,28.83
$GC,5520,-0.47,-136.3,498.7,-7.5,395,5525,0.00,2.38,0.00,0.000,4,0.000,0.064,3016,3612,3351,0,0,0,0,0,0,28.83,25.41,28.83
$GC,5558,-0.47,-136.3,501.1,-7.5,396,5562,0.00,2.28,0.00,0.000,6,0.000,0.045,3017,2193,3351,0,0,0,0,0,0,28.83,25.72,28.83
$GC,5871,-0.47,-136.3,527.8,-8.4,407,5872,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2191,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6170,-0.47,-136.3,553.3,-8.4,417,6176,0.00,2.35,0.00,0.000,4,0.000,0.064,3007,3606,3351,0,0,0,0,0,0,28.83,25.40,28.83
$GC,6230,-0.47,-136.3,558.7,-8.7,419,6237,0.12,2.25,0.00,0.000,6,0.125,0.046,3044,2200,3350,0,0,0,0,0,0,25.57,25.72,28.83
$GC,6561,-0.47,-136.3,581.6,-6.9,430,6565,0.00,2.22,0.00,0.000,4,0.000,0.054,3045,807,3350,0,0,0,0,0,0,28.83,25.53,28.83
$GC,6590,-0.47,-136.3,583.9,-7.0,431,6595,0.00,2.28,0.00,0.000,6,0.000,0.054,3040,2207,3351,0,0,0,0,0,0,28.83,25.54,28.83
$GC,6920,-0.47,-136.3,607.5,-7.1,442,6926,0.00,2.33,0.00,0.000,4,0.000,0.066,3029,3608,3350,0,0,0,0,0,0,28.83,25.38,28.83
$GC,6969,-0.47,-136.3,609.7,-7.1,443,6973,0.00,2.28,0.00,0.000,6,0.000,0.046,3029,2191,3350,0,0,0,0,0,0,28.83,25.71,28.83
$GC,7270,-0.47,-136.3,632.7,-7.0,453,7271,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2189,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7570,-0.47,-136.3,652.7,-6.6,463,7576,0.00,2.35,0.00,0.000,4,0.000,0.066,3019,3607,3349,0,0,0,0,0,0,28.83,25.37,28.83
$GC,7619,-0.47,-136.3,654.9,-6.7,464,7628,0.00,2.28,0.00,0.000,6,0.000,0.046,3019,2189,3348,0,0,0,0,0,0,28.83,25.71,28.83
$GC,7930,-0.47,-136.3,678.3,-7.0,475,7936,0.00,2.35,0.00,0.000,4,0.000,0.066,3010,3606,3348,0,0,0,0,0,0,28.83,25.35,28.83
$GC,7962,-0.47,-136.3,680.4,-7.1,476,7966,0.12,2.20,0.00,0.000,6,0.122,0.047,3047,2192,3348,0,0,0,0,0,0,25.55,25.69,28.83
$GC,8291,-0.47,-136.3,698.3,-5.3,487,8292,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2190,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8590,-0.47,-136.3,715.1,-5.7,497,8591,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2190,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8890,-0.47,-136.3,732.6,-5.8,507,8896,0.00,2.38,0.00,0.000,4,0.000,0.067,3039,3611,3347,0,0,0,0,0,0,28.83,25.33,28.83
$GC,8929,-0.47,-136.3,734.5,-5.9,508,8935,0.00,2.28,0.00,0.000,6,0.000,0.047,3039,2204,3347,0,0,0,0,0,0,28.83,25.68,28.83
$GC,9250,-0.47,-136.3,754.6,-6.0,519,9251,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2204,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9550,-0.47,-136.3,772.4,-5.9,529,9551,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2204,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9851,-0.47,-136.3,789.7,-5.7,539,9856,0.00,2.33,0.00,0.000,4,0.000,0.067,3030,3603,3346,0,0,0,0,0,0,28.83,25.32,28.83
$GC,9898,-0.47,-136.3,791.3,-5.7,540,9902,0.00,2.28,0.00,0.000,6,0.000,0.047,3029,2194,3346,0,0,0,0,0,0,28.83,25.67,28.83
$GC,10200,-0.47,-136.3,810.7,-6.0,550,10201,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2192,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10501,-0.47,-136.3,827.3,-5.4,560,10502,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2192,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10800,-0.47,-136.3,843.6,-5.5,570,10806,0.00,2.38,0.00,0.000,4,0.000,0.067,3020,3611,3345,0,0,0,0,0,0,28.83,25.27,28.83
$GC,10838,-0.47,-136.3,845.4,-5.6,571,10842,0.00,2.30,0.00,0.000,6,0.000,0.047,3020,2192,3345,0,0,0,0,0,0,28.83,25.64,28.83
$GC,11151,-0.47,-136.3,865.6,-6.4,582,11152,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2190,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11452,-0.47,-136.3,883.8,-6.1,592,11453,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2190,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11751,-0.47,-136.3,902.6,-6.4,602,11756,0.00,2.38,0.00,0.000,4,0.000,0.067,3011,3607,3345,0,0,0,0,0,0,28.83,25.27,28.83
$GC,11789,-0.47,-136.3,904.4,-6.4,603,11793,0.12,2.30,0.00,0.000,6,0.120,0.047,3048,2190,3344,0,0,0,0,0,0,25.50,25.63,28.83
$GC,12103,-0.47,-136.3,921.8,-5.3,614,12107,0.00,2.38,0.00,0.000,4,0.000,0.068,3041,3603,3344,0,0,0,0,0,0,28.83,25.26,28.83
$GC,12140,-0.47,-136.3,923.4,-5.4,615,12144,0.00,2.30,0.00,0.000,6,0.000,0.048,3040,2190,3344,0,0,0,0,0,0,28.83,25.62,28.83
$GC,12452,-0.47,-136.3,942.5,-6.0,626,12453,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2188,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12754,-0.47,-136.3,961.7,-6.6,636,12758,0.00,2.33,0.00,0.000,4,0.000,0.067,3031,3607,3344,0,0,0,0,0,0,28.83,25.24,28.83
$GC,12792,-0.47,-136.3,963.8,-6.7,637,12798,0.00,2.30,0.00,0.000,6,0.000,0.049,3031,2190,3344,0,0,0,0,0,0,28.83,25.61,28.83
$GC,13113,-0.47,-136.3,985.7,-6.4,648,13114,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2190,3344,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13199,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13199,begin apogee
$GC,13207,-0.22,0.0,991.0,-6.1,651,13338,0.28,0.00,126.20,1.157,6,0.104,0.000,3127,2331,2793,0,0,0,0,0,0,25.69,28.83,22.51
$STATE,13339,end apogee,CONTROL_FINISHED_OK
$STATE,13339,begin climb
$GC,13342,0.47,136.3,994.4,0.0,655,13484,0.65,2.62,134.60,1.123,4,0.067,0.067,3350,3734,2237,0,0,0,0,0,0,24.37,23.32,21.75
$GC,13513,0.48,154.8,987.3,6.3,661,13539,0.00,2.45,19.17,1.032,6,0.000,0.047,3360,2336,2160,0,0,0,0,0,0,28.83,23.87,21.96
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$STATE,25520,end climb,SURFACE_DEPTH_REACHED
$STATE,25520,begin surface coast
$FINISH,1.2,1.012034
$STATE,25546,end surface coast,CONTROL_FINISHED_OK
$STATE,25546,begin surface
$SM_CCo,25565,109.75,0.508,1,0,469,570.08
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$TT8_MAMPS,0.028462,0.028462
$HUMID,44.92
$INTERNAL_PRESSURE,8.98157
$TCM_TEMP,18.90
$XPDR_PINGS,3
$24V_AH,21.7,73.245
$10V_AH,9.8,57.774
$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
$DEVICE_SECS,22.100,203.075,468.475,109.750,0.000,140.332,375.530,0.000,0.750,0.000,15.874,3565.152,18968.504,883.239,2725.304,447.646,0.000,2117.733,0.000,2176.185,0.000,0.537,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,950.050,701.264,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297004
$DATA_FILE_SIZE,76911,1380
$CAP_FILE_SIZE,192772,0
$CFSIZE,260165632,213573632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.097, 63.2,1
$GPS,240113,180805,4707.136,-12642.070,26,1.8,26,18.6