version: 66.11
glider: 187
mission: 2
dive: 561
start: 2 4 113 0 20 57
data:
$ID,187
$MISSION,2
$DIVE,561
$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,-1588707.8
$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,45
$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
$GPS1,040213,001329,4746.125,-12520.623,39,1.6,39,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-78.4
$GPS2,040213,002025,4746.080,-12520.629,16,1.8,16,18.7
$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,217.6,151776,-13.3,-7.021,-18.50
$D_GRID,842
$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,17,-0.47,-136.3,0.0,0.0,0,74,0.00,0.00,-54.95,0.000,2,0.000,0.000,108,2197,2603,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-0.47,-136.3,3.2,-2.2,10,115,11.70,2.33,-17.95,0.000,4,0.216,0.074,3033,3612,3351,0,0,0,0,0,0,24.57,25.39,26.25
$GC,217,-0.47,-136.3,24.6,-13.7,35,224,0.00,2.20,0.00,0.000,6,0.000,0.044,3033,2201,3353,0,0,0,0,0,0,28.83,25.67,28.83
$GC,528,-0.47,-136.3,68.7,-14.1,96,536,0.00,2.17,0.00,0.000,4,0.000,0.050,3033,800,3353,0,0,0,0,0,0,28.83,25.60,28.83
$GC,594,-0.47,-136.3,76.7,-11.0,108,602,0.00,2.20,0.00,0.000,6,0.000,0.051,3024,2210,3354,0,0,0,0,0,0,28.83,25.61,28.83
$GC,907,-0.47,-136.3,109.8,-10.0,169,913,0.00,2.25,0.00,0.000,4,0.000,0.063,3013,3613,3354,0,0,0,0,0,0,28.83,25.52,28.83
$GC,976,-0.47,-136.3,117.7,-10.7,182,984,0.00,2.17,0.00,0.000,6,0.000,0.044,3013,2194,3354,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1298,-0.47,-136.3,152.3,-10.9,205,1299,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2193,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1599,-0.47,-136.3,183.4,-9.8,225,1606,0.00,2.28,0.00,0.000,4,0.000,0.062,3003,3612,3354,0,0,0,0,0,0,28.83,25.53,28.83
$GC,1647,-0.47,-136.3,188.9,-10.8,230,1656,0.15,2.25,0.00,0.000,6,0.123,0.043,3048,2193,3354,0,0,0,0,0,0,25.60,25.81,28.83
$GC,1973,-0.47,-136.3,217.4,-9.0,249,1978,0.00,2.20,0.00,0.000,4,0.000,0.050,3048,805,3354,0,0,0,0,0,0,28.83,25.65,28.83
$GC,2000,-0.47,-136.3,219.3,-9.2,250,2004,0.00,2.25,0.00,0.000,6,0.000,0.050,3042,2208,3354,0,0,0,0,0,0,28.83,25.65,28.83
$GC,2302,-0.47,-136.3,245.6,-7.8,265,2307,0.00,2.28,0.00,0.000,4,0.000,0.062,3031,3606,3354,0,0,0,0,0,0,28.83,25.51,28.83
$GC,2332,-0.47,-136.3,247.3,-7.9,266,2341,0.00,2.20,0.00,0.000,6,0.000,0.043,3030,2204,3354,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2642,-0.47,-136.3,275.7,-9.2,282,2647,0.00,2.33,0.00,0.000,4,0.000,0.062,3020,3608,3354,0,0,0,0,0,0,28.83,25.51,28.83
$GC,2683,-0.47,-136.3,279.6,-9.5,284,2688,0.00,2.22,0.00,0.000,6,0.000,0.043,3020,2199,3354,0,0,0,0,0,0,28.83,25.80,28.83
$GC,3002,-0.47,-136.3,312.2,-9.6,300,3004,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2195,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3303,-0.47,-136.3,339.4,-8.5,315,3304,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2194,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3602,-0.47,-136.3,365.6,-8.9,330,3603,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2195,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3903,-0.47,-136.3,394.6,-9.9,345,3904,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2195,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4202,-0.47,-136.3,421.2,-8.4,356,4207,0.00,2.35,0.00,0.000,4,0.000,0.063,3011,3610,3354,0,0,0,0,0,0,28.83,25.47,28.83
$GC,4240,-0.47,-136.3,423.7,-8.3,357,4245,0.12,2.25,0.00,0.000,6,0.122,0.044,3048,2197,3353,0,0,0,0,0,0,25.62,25.77,28.83
$GC,4554,-0.47,-136.3,441.9,-5.4,368,4558,0.00,2.33,0.00,0.000,4,0.000,0.065,3039,3602,3353,0,0,0,0,0,0,28.83,25.44,28.83
$GC,4591,-0.47,-136.3,443.6,-5.5,369,4595,0.00,2.25,0.00,0.000,6,0.000,0.044,3040,2192,3353,0,0,0,0,0,0,28.83,25.76,28.83
$GC,4903,-0.47,-136.3,465.0,-7.2,380,4909,0.00,2.22,0.00,0.000,4,0.000,0.051,3040,801,3353,0,0,0,0,0,0,28.83,25.58,28.83
$GC,4942,-0.47,-136.3,467.4,-7.5,381,4946,0.00,2.25,0.00,0.000,6,0.000,0.051,3032,2201,3353,0,0,0,0,0,0,28.83,25.59,28.83
$GC,5254,-0.47,-136.3,492.4,-7.6,392,5260,0.00,2.33,0.00,0.000,4,0.000,0.064,3022,3609,3352,0,0,0,0,0,0,28.83,25.44,28.83
$GC,5314,-0.47,-136.3,497.1,-7.6,394,5319,0.00,2.25,0.00,0.000,6,0.000,0.044,3021,2198,3352,0,0,0,0,0,0,28.83,25.75,28.83
$GC,5644,-0.47,-136.3,524.2,-8.5,405,5645,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2196,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5945,-0.47,-136.3,547.1,-7.1,415,5950,0.00,2.33,0.00,0.000,4,0.000,0.065,3012,3601,3351,0,0,0,0,0,0,28.83,25.42,28.83
$GC,5992,-0.47,-136.3,549.2,-7.0,416,5997,0.12,2.25,0.00,0.000,6,0.122,0.046,3049,2195,3351,0,0,0,0,0,0,25.59,25.73,28.83
$GC,6294,-0.47,-136.3,566.6,-5.2,426,6300,0.00,2.22,0.00,0.000,4,0.000,0.052,3049,803,3351,0,0,0,0,0,0,28.83,25.55,28.83
$GC,6325,-0.47,-136.3,568.3,-5.4,427,6330,0.00,2.25,0.00,0.000,6,0.000,0.053,3045,2198,3351,0,0,0,0,0,0,28.83,25.56,28.83
$GC,6654,-0.47,-136.3,588.1,-6.1,438,6660,0.00,2.33,0.00,0.000,4,0.000,0.065,3035,3605,3351,0,0,0,0,0,0,28.83,25.40,28.83
$GC,6733,-0.47,-136.3,592.0,-6.4,440,6737,0.00,2.25,0.00,0.000,6,0.000,0.046,3034,2202,3350,0,0,0,0,0,0,28.83,25.72,28.83
$GC,7035,-0.47,-136.3,613.0,-6.4,450,7040,0.00,2.25,0.00,0.000,4,0.000,0.054,3034,796,3351,0,0,0,0,0,0,28.83,25.52,28.83
$GC,7072,-0.47,-136.3,615.1,-6.6,451,7076,0.00,2.30,0.00,0.000,6,0.000,0.054,3028,2211,3351,0,0,0,0,0,0,28.83,25.53,28.83
$GC,7385,-0.47,-136.3,637.5,-6.8,462,7390,0.00,2.30,0.00,0.000,4,0.000,0.066,3017,3605,3350,0,0,0,0,0,0,28.83,25.37,28.83
$GC,7434,-0.47,-136.3,639.6,-6.7,463,7443,0.00,2.28,0.00,0.000,6,0.000,0.047,3017,2190,3350,0,0,0,0,0,0,28.83,25.70,28.83
$GC,7744,-0.47,-136.3,664.1,-7.0,474,7746,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2191,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8044,-0.47,-136.3,686.7,-7.5,484,8051,0.00,2.38,0.00,0.000,4,0.000,0.065,3007,3608,3350,0,0,0,0,0,0,28.83,25.37,28.83
$GC,8076,-0.47,-136.3,689.0,-7.5,485,8081,0.10,2.25,0.00,0.000,6,0.095,0.047,3046,2206,3349,0,0,0,0,0,0,25.51,25.70,28.83
$GC,8405,-0.47,-136.3,710.6,-6.8,496,8406,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2203,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8705,-0.47,-136.3,729.8,-6.2,506,8706,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2203,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9006,-0.47,-136.3,747.6,-5.7,516,9010,0.00,2.35,0.00,0.000,4,0.000,0.067,3038,3610,3349,0,0,0,0,0,0,28.83,25.34,28.83
$GC,9043,-0.47,-136.3,749.4,-5.7,517,9047,0.00,2.30,0.00,0.000,6,0.000,0.047,3038,2189,3348,0,0,0,0,0,0,28.83,25.67,28.83
$GC,9355,-0.47,-136.3,767.6,-5.3,528,9356,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2187,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9656,-0.47,-136.3,782.9,-5.1,538,9661,0.00,2.38,0.00,0.000,4,0.000,0.067,3028,3608,3348,0,0,0,0,0,0,28.83,25.32,28.83
$GC,9693,-0.47,-136.3,784.5,-5.2,539,9698,0.00,2.28,0.00,0.000,6,0.000,0.047,3028,2196,3347,0,0,0,0,0,0,28.83,25.67,28.83
$GC,10006,-0.47,-136.3,803.6,-6.0,550,10007,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2193,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10307,-0.47,-136.3,821.1,-5.9,560,10312,0.00,2.35,0.00,0.000,4,0.000,0.067,3019,3606,3346,0,0,0,0,0,0,28.83,25.31,28.83
$GC,10366,-0.47,-136.3,824.5,-6.0,562,10372,0.00,2.25,0.00,0.000,6,0.000,0.047,3019,2198,3347,0,0,0,0,0,0,28.83,25.66,28.83
$STATE,10663,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10663,begin apogee
$GC,10670,-0.22,0.0,843.4,-6.2,572,10797,0.30,0.00,123.53,1.070,6,0.106,0.000,3123,2338,2794,0,0,0,0,0,0,25.62,28.83,22.79
$STATE,10798,end apogee,CONTROL_FINISHED_OK
$STATE,10798,begin climb
$GC,10802,0.47,136.3,846.3,0.0,576,10936,0.65,0.00,130.45,1.034,6,0.074,0.000,3348,2338,2238,0,0,0,0,0,0,24.56,28.83,22.14
$GC,11226,0.47,136.3,816.2,8.6,591,11232,0.00,2.35,0.00,0.000,4,0.000,0.067,3348,3732,2227,0,0,0,0,0,0,28.83,25.29,28.83
$GC,11263,0.47,136.3,813.3,8.8,592,11268,0.00,2.30,0.00,0.000,6,0.000,0.049,3358,2327,2226,0,0,0,0,0,0,28.83,25.51,28.83
$GC,11577,0.47,136.3,786.6,8.2,603,11581,0.00,2.28,0.00,0.000,4,0.000,0.057,3368,925,2225,0,0,0,0,0,0,28.83,25.57,28.83
$GC,11624,0.47,136.3,784.3,8.1,604,11628,0.00,2.28,0.00,0.000,6,0.000,0.056,3369,2319,2225,0,0,0,0,0,0,28.83,25.58,28.83
$GC,11926,0.47,136.3,757.6,8.1,614,11931,0.00,2.35,0.00,0.000,4,0.000,0.067,3369,3736,2224,0,0,0,0,0,0,28.83,25.53,28.83
$GC,11975,0.47,136.3,754.8,8.4,615,11984,0.12,2.28,0.00,0.000,6,0.151,0.048,3347,2325,2223,0,0,0,0,0,0,25.53,25.73,28.83
$GC,12286,0.47,136.3,728.5,8.1,626,12292,0.00,2.35,0.00,0.000,4,0.000,0.068,3347,3733,2223,0,0,0,0,0,0,28.83,25.52,28.83
$GC,12316,0.47,136.3,725.8,8.4,627,12321,0.00,2.28,0.00,0.000,6,0.000,0.050,3355,2326,2222,0,0,0,0,0,0,28.83,25.75,28.83
$GC,12647,0.47,136.3,696.0,8.9,638,12651,0.00,2.28,0.00,0.000,4,0.000,0.056,3365,924,2223,0,0,0,0,0,0,28.83,25.61,28.83
$GC,12676,0.47,136.3,693.3,8.9,639,12682,0.00,2.30,0.00,0.000,6,0.000,0.056,3365,2332,2222,0,0,0,0,0,0,28.83,25.60,28.83
$GC,13006,0.47,136.3,662.3,9.3,650,13011,0.00,2.33,0.00,0.000,4,0.000,0.068,3365,3734,2222,0,0,0,0,0,0,28.83,25.49,28.83
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$STATE,21489,end climb,SURFACE_DEPTH_REACHED
$STATE,21489,begin surface coast
$FINISH,1.3,1.024530
$STATE,21548,end surface coast,CONTROL_FINISHED_OK
$STATE,21548,begin surface
$SM_CCo,21567,10.98,0.177,1,0,1571,300.00
$SM_GC,2.34,8.32,0.20,10.98,0.032,0.070,0.177,113,2189,1571,-9.45,0.88,300.00,0,0,0,0,1,0,25.99,26.01,23.92
$IRIDIUM_FIX,4732.49,-12521.83,030213,191936
$TT8_MAMPS,0.026215,0.026215
$HUMID,46.57
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,19.10
$XPDR_PINGS,3
$24V_AH,22.1,78.297
$10V_AH,9.8,61.228
$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,22.250,210.650,399.025,10.975,0.000,25.806,42.967,203.597,0.750,0.000,17.272,3346.678,15142.218,726.715,2349.483,434.248,0.000,1885.984,0.000,2056.873,0.000,0.535,0.000
$DEVICE_MAMPS,215.730,81.090,1070.235,177.480,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,892.265,710.671,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296872
$DATA_FILE_SIZE,70197,1298
$CAP_FILE_SIZE,180592,0
$CFSIZE,260165632,210550784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.083,123.1,1
$GPS,040213,062206,4744.264,-12524.100,43,1.2,43,18.7