version: 66.11
glider: 187
mission: 2
dive: 522
start: 1 23 113 12 58 51
data:
$ID,187
$MISSION,2
$DIVE,522
$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,-1588651.2
$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,46
$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
$GPS1,230113,124800,4711.178,-12628.806,39,2.0,39,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-76.7
$GPS2,230113,125818,4711.188,-12628.699,12,1.1,17,18.6
$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,229.4,44635,-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,-136.3,0.0,0.0,0,125,0.00,0.00,-105.57,0.000,2,0.000,0.000,114,2187,2846,0,0,0,0,0,0,28.83,28.83,28.83
$GC,128,-0.47,-136.3,3.4,-3.5,19,160,11.60,2.25,-11.25,0.000,4,0.215,0.065,3036,804,3355,0,0,0,0,0,0,24.56,25.48,26.18
$GC,209,-0.47,-136.3,19.9,-13.9,33,217,0.00,2.20,0.00,0.000,6,0.000,0.052,3028,2202,3356,0,0,0,0,0,0,28.83,25.51,28.83
$GC,522,-0.47,-136.3,67.1,-15.7,94,529,0.00,2.28,0.00,0.000,4,0.000,0.063,3017,3607,3356,0,0,0,0,0,0,28.83,25.49,28.83
$GC,551,-0.47,-136.3,71.6,-15.6,99,558,0.00,2.17,0.00,0.000,6,0.000,0.044,3017,2203,3356,0,0,0,0,0,0,28.83,25.74,28.83
$GC,864,-0.47,-136.3,113.1,-11.1,160,870,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2197,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1179,-0.47,-136.3,147.1,-10.7,188,1181,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2197,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1479,-0.47,-136.3,178.5,-10.2,208,1487,0.00,2.30,0.00,0.000,4,0.000,0.063,3007,3601,3356,0,0,0,0,0,0,28.83,25.55,28.83
$GC,1518,-0.47,-136.3,182.5,-10.0,212,1528,0.12,2.25,0.00,0.000,6,0.131,0.044,3043,2186,3356,0,0,0,0,0,0,25.63,25.82,28.83
$GC,1828,-0.47,-136.3,204.9,-7.2,232,1829,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2186,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2128,-0.47,-136.3,228.1,-7.8,247,2134,0.00,2.33,0.00,0.000,4,0.000,0.062,3034,3606,3356,0,0,0,0,0,0,28.83,25.54,28.83
$GC,2176,-0.47,-136.3,231.3,-7.8,249,2180,0.00,2.25,0.00,0.000,6,0.000,0.043,3034,2188,3356,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2478,-0.47,-136.3,256.4,-7.9,264,2479,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2187,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2779,-0.47,-136.3,280.2,-8.1,279,2780,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2186,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3078,-0.47,-136.3,303.6,-7.8,294,3079,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2186,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3378,-0.47,-136.3,328.2,-8.4,309,3384,0.00,2.35,0.00,0.000,4,0.000,0.063,3025,3607,3356,0,0,0,0,0,0,28.83,25.50,28.83
$GC,3407,-0.47,-136.3,330.1,-8.5,310,3411,0.00,2.25,0.00,0.000,6,0.000,0.044,3025,2195,3356,0,0,0,0,0,0,28.83,25.80,28.83
$GC,3708,-0.47,-136.3,357.9,-8.9,325,3709,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2193,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4008,-0.47,-136.3,383.0,-8.3,340,4014,0.00,2.38,0.00,0.000,4,0.000,0.063,3015,3613,3356,0,0,0,0,0,0,28.83,25.48,28.83
$GC,4049,-0.47,-136.3,386.5,-8.7,342,4054,0.00,2.25,0.00,0.000,6,0.000,0.045,3014,2199,3356,0,0,0,0,0,0,28.83,25.78,28.83
$GC,4358,-0.47,-136.3,414.7,-9.2,355,4359,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2197,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4658,-0.47,-136.3,443.0,-9.5,365,4664,0.00,2.35,0.00,0.000,4,0.000,0.064,3005,3606,3354,0,0,0,0,0,0,28.83,25.46,28.83
$GC,4697,-0.47,-136.3,446.0,-9.6,366,4702,0.15,2.28,0.00,0.000,6,0.120,0.045,3049,2189,3354,0,0,0,0,0,0,25.58,25.76,28.83
$GC,5010,-0.47,-136.3,470.0,-7.4,377,5011,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2187,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5310,-0.47,-136.3,492.5,-7.5,387,5311,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2187,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5610,-0.47,-136.3,514.8,-7.4,397,5616,0.00,2.35,0.00,0.000,4,0.000,0.065,3041,3609,3353,0,0,0,0,0,0,28.83,25.44,28.83
$GC,5648,-0.47,-136.3,517.1,-7.3,398,5652,0.00,2.28,0.00,0.000,6,0.000,0.046,3041,2193,3353,0,0,0,0,0,0,28.83,25.75,28.83
$GC,5960,-0.47,-136.3,539.9,-7.0,409,5962,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2190,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6260,-0.47,-136.3,560.3,-6.9,419,6265,0.00,2.35,0.00,0.000,4,0.000,0.065,3031,3605,3352,0,0,0,0,0,0,28.83,25.41,28.83
$GC,6320,-0.47,-136.3,564.9,-7.2,421,6326,0.00,2.22,0.00,0.000,6,0.000,0.047,3031,2209,3352,0,0,0,0,0,0,28.83,25.75,28.83
$GC,6650,-0.47,-136.3,591.3,-8.2,432,6651,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2207,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6950,-0.47,-136.3,614.8,-7.7,442,6956,0.00,2.33,0.00,0.000,4,0.000,0.066,3022,3602,3352,0,0,0,0,0,0,28.83,25.40,28.83
$GC,6988,-0.47,-136.3,617.3,-7.8,443,6993,0.00,2.28,0.00,0.000,6,0.000,0.047,3021,2191,3352,0,0,0,0,0,0,28.83,25.72,28.83
$GC,7301,-0.47,-136.3,642.8,-7.8,454,7302,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2190,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7601,-0.47,-136.3,665.7,-7.4,464,7606,0.00,2.38,0.00,0.000,4,0.000,0.066,3011,3621,3351,0,0,0,0,0,0,28.83,25.39,28.83
$GC,7640,-0.47,-136.3,668.0,-7.5,465,7646,0.12,2.30,0.00,0.000,6,0.122,0.047,3049,2193,3351,0,0,0,0,0,0,25.57,25.71,28.83
$GC,7961,-0.47,-136.3,688.0,-6.1,476,7962,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2192,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8261,-0.47,-136.3,706.4,-6.2,486,8263,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2192,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8562,-0.47,-136.3,724.4,-5.9,496,8567,0.00,2.35,0.00,0.000,4,0.000,0.067,3041,3602,3351,0,0,0,0,0,0,28.83,25.36,28.83
$GC,8599,-0.47,-136.3,726.2,-6.0,497,8603,0.00,2.28,0.00,0.000,6,0.000,0.047,3040,2193,3350,0,0,0,0,0,0,28.83,25.70,28.83
$GC,8911,-0.47,-136.3,745.7,-6.1,508,8917,0.00,2.22,0.00,0.000,4,0.000,0.054,3041,806,3350,0,0,0,0,0,0,28.83,25.50,28.83
$GC,8941,-0.47,-136.3,747.4,-6.0,509,8947,0.00,2.25,0.00,0.000,6,0.000,0.054,3033,2202,3350,0,0,0,0,0,0,28.83,25.51,28.83
$GC,9272,-0.47,-136.3,766.6,-5.8,520,9277,0.00,2.33,0.00,0.000,4,0.000,0.067,3023,3607,3349,0,0,0,0,0,0,28.83,25.34,28.83
$GC,9339,-0.47,-136.3,770.2,-5.9,522,9344,0.00,2.28,0.00,0.000,6,0.000,0.047,3023,2193,3349,0,0,0,0,0,0,28.83,25.68,28.83
$GC,9652,-0.47,-136.3,790.5,-6.4,533,9657,0.00,2.35,0.00,0.000,4,0.000,0.067,3013,3603,3349,0,0,0,0,0,0,28.83,25.33,28.83
$GC,9683,-0.47,-136.3,792.6,-6.6,534,9688,0.00,2.25,0.00,0.000,6,0.000,0.047,3013,2199,3349,0,0,0,0,0,0,28.83,25.67,28.83
$GC,10012,-0.47,-136.3,816.6,-7.2,545,10013,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2197,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10312,-0.47,-136.3,838.1,-7.0,555,10318,0.10,2.35,0.00,0.000,4,0.151,0.067,3033,3606,3348,0,0,0,0,0,0,26.13,25.31,28.83
$GC,10361,-0.47,-136.3,840.2,-6.9,556,10370,0.00,2.28,0.00,0.000,6,0.000,0.047,3033,2195,3348,0,0,0,0,0,0,28.83,25.66,28.83
$GC,10672,-0.47,-136.3,861.0,-6.3,567,10673,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2194,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10972,-0.47,-136.3,879.7,-6.2,577,10978,0.00,2.35,0.00,0.000,4,0.000,0.067,3023,3605,3347,0,0,0,0,0,0,28.83,25.30,28.83
$GC,11033,-0.47,-136.3,883.7,-6.4,579,11038,0.00,2.25,0.00,0.000,6,0.000,0.048,3023,2199,3347,0,0,0,0,0,0,28.83,25.65,28.83
$GC,11362,-0.47,-136.3,904.8,-6.2,590,11363,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2196,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11662,-0.47,-136.3,922.9,-5.9,600,11667,0.00,2.35,0.00,0.000,4,0.000,0.067,3014,3607,3347,0,0,0,0,0,0,28.83,25.29,28.83
$GC,11693,-0.47,-136.3,925.0,-6.1,601,11697,0.00,2.25,0.00,0.000,6,0.000,0.048,3014,2206,3347,0,0,0,0,0,0,28.83,25.64,28.83
$GC,12022,-0.47,-136.3,947.1,-7.0,612,12023,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2204,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12322,-0.47,-136.3,969.0,-7.5,622,12328,0.00,2.35,0.00,0.000,4,0.000,0.067,3004,3608,3346,0,0,0,0,0,0,28.83,25.27,28.83
$GC,12370,-0.47,-136.3,971.3,-7.5,623,12375,0.15,2.30,0.00,0.000,6,0.116,0.048,3050,2185,3346,0,0,0,0,0,0,25.46,25.63,28.83
$STATE,12669,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12669,begin apogee
$GC,12676,-0.22,0.0,991.7,-6.3,633,12808,0.20,0.00,126.45,1.161,6,0.107,0.000,3124,2341,2794,0,0,0,0,0,0,25.86,28.83,22.59
$STATE,12809,end apogee,CONTROL_FINISHED_OK
$STATE,12809,begin climb
$GC,12813,0.47,136.3,996.9,0.0,637,12955,0.65,2.60,134.68,1.125,4,0.070,0.067,3345,3733,2237,0,0,0,0,0,0,24.37,23.32,21.79
$GC,13003,0.48,168.8,990.4,5.7,644,13041,0.00,2.42,32.35,1.078,6,0.000,0.048,3355,2329,2105,0,0,0,0,0,0,28.83,24.06,22.06
$GC,13344,0.48,168.8,958.9,9.4,655,13349,0.00,2.33,0.00,0.000,4,0.000,0.057,3366,924,2096,0,0,0,0,0,0,28.83,25.27,28.83
$GC,13403,0.48,168.8,953.2,9.6,657,13409,0.00,2.33,0.00,0.000,6,0.000,0.057,3366,2328,2094,0,0,0,0,0,0,28.83,25.37,28.83
$GC,13733,0.48,168.8,917.7,11.1,668,13734,0.00,0.00,0.00,0.000,6,0.000,0.000,3366,2327,2094,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14033,0.48,168.8,885.1,10.6,678,14038,0.00,2.35,0.00,0.000,4,0.000,0.069,3366,3741,2093,0,0,0,0,0,0,28.83,25.52,28.83
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$STATE,24924,end climb,SURFACE_DEPTH_REACHED
$STATE,24924,begin surface coast
$FINISH,1.2,1.025189
$STATE,24970,end surface coast,CONTROL_FINISHED_OK
$STATE,24970,begin surface
$SM_CCo,25049,0.00,0.000,0,0,1341,356.42
$SM_GC,2.30,8.30,0.17,0.00,0.029,0.076,0.000,104,2208,1341,-9.47,1.30,356.42,0,0,0,0,0,0,26.07,26.11,28.83
$IRIDIUM_FIX,4654.38,-12631.92,230113,050541
$TT8_MAMPS,0.026964,0.026964
$HUMID,46.65
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,18.90
$XPDR_PINGS,4
$24V_AH,21.8,72.755
$10V_AH,9.8,57.473
$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,21.975,188.775,466.125,0.000,0.000,27.268,39.252,385.323,1.000,0.000,18.637,3467.421,18378.482,760.215,2597.744,452.581,0.000,1971.580,0.000,2131.579,0.000,0.536,0.000
$DEVICE_MAMPS,214.965,80.325,1160.505,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,926.435,685.136,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296884
$DATA_FILE_SIZE,73483,1346
$CAP_FILE_SIZE,192457,0
$CFSIZE,260165632,213872640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.152, 66.0,1
$GPS,230113,195736,4710.227,-12632.073,38,0.9,38,18.6