version: 66.11
glider: 187
mission: 2
dive: 576
start: 2 8 113 13 9 33
data:
$ID,187
$MISSION,2
$DIVE,576
$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,-1588731.6
$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,27
$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
$GPS1,080213,130136,4722.467,-12612.326,30,1.0,30,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-76.7
$GPS2,080213,130900,4722.502,-12612.312,11,1.0,16,18.6
$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,220.2,73245,-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,-136.3,0.0,0.0,0,74,0.00,0.00,-55.60,0.000,2,0.000,0.000,108,2194,2528,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-0.47,-136.3,3.1,-3.4,10,122,11.65,2.40,-25.10,0.000,4,0.213,0.076,3027,3610,3352,0,0,0,0,0,0,24.56,25.34,26.25
$GC,212,-0.47,-136.3,18.7,-13.1,34,219,0.00,2.20,0.00,0.000,6,0.000,0.044,3027,2197,3354,0,0,0,0,0,0,28.83,25.61,28.83
$GC,525,-0.47,-136.3,64.1,-14.6,95,532,0.00,2.20,0.00,0.000,4,0.000,0.051,3027,800,3355,0,0,0,0,0,0,28.83,25.53,28.83
$GC,575,-0.47,-136.3,71.7,-15.1,104,584,0.00,2.22,0.00,0.000,6,0.000,0.052,3017,2203,3355,0,0,0,0,0,0,28.83,25.54,28.83
$GC,890,-0.47,-136.3,114.4,-12.7,165,896,0.00,2.28,0.00,0.000,4,0.000,0.063,3006,3619,3355,0,0,0,0,0,0,28.83,25.44,28.83
$GC,940,-0.47,-136.3,121.4,-13.5,173,949,0.10,2.25,0.00,0.000,6,0.104,0.044,3043,2193,3355,0,0,0,0,0,0,25.51,25.74,28.83
$GC,1254,-0.47,-136.3,150.8,-8.5,194,1260,0.00,2.17,0.00,0.000,4,0.000,0.050,3044,800,3355,0,0,0,0,0,0,28.83,25.58,28.83
$GC,1269,-0.47,-136.3,152.6,-8.7,196,1279,0.00,2.28,0.00,0.000,6,0.000,0.050,3037,2211,3355,0,0,0,0,0,0,28.83,25.58,28.83
$GC,1580,-0.47,-136.3,179.4,-8.7,217,1581,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2211,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1885,-0.47,-136.3,207.6,-9.3,236,1886,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2210,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2184,-0.47,-136.3,234.6,-8.7,251,2185,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2211,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2484,-0.47,-136.3,259.9,-8.3,266,2490,0.00,2.33,0.00,0.000,4,0.000,0.063,3026,3614,3355,0,0,0,0,0,0,28.83,25.44,28.83
$GC,2513,-0.47,-136.3,261.5,-8.4,267,2517,0.00,2.28,0.00,0.000,6,0.000,0.044,3026,2193,3355,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2814,-0.47,-136.3,289.6,-9.0,282,2815,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2190,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3115,-0.47,-136.3,316.1,-8.8,297,3120,0.00,2.33,0.00,0.000,4,0.000,0.063,3016,3604,3355,0,0,0,0,0,0,28.83,25.42,28.83
$GC,3163,-0.47,-136.3,319.7,-8.9,299,3167,0.00,2.25,0.00,0.000,6,0.000,0.044,3016,2194,3355,0,0,0,0,0,0,28.83,25.74,28.83
$GC,3464,-0.47,-136.3,348.9,-9.2,314,3470,0.00,2.25,0.00,0.000,4,0.000,0.050,3016,795,3355,0,0,0,0,0,0,28.83,25.55,28.83
$GC,3512,-0.47,-136.3,352.7,-9.6,316,3517,0.12,2.28,0.00,0.000,6,0.135,0.052,3043,2201,3355,0,0,0,0,0,0,25.44,25.56,28.83
$GC,3816,-0.47,-136.3,374.4,-6.7,331,3820,0.00,2.30,0.00,0.000,4,0.000,0.064,3035,3605,3355,0,0,0,0,0,0,28.83,25.39,28.83
$GC,3875,-0.47,-136.3,378.6,-6.9,334,3880,0.00,2.22,0.00,0.000,6,0.000,0.044,3035,2205,3355,0,0,0,0,0,0,28.83,25.74,28.83
$GC,4204,-0.47,-136.3,402.8,-7.4,350,4205,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2203,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4505,-0.47,-136.3,425.9,-7.9,360,4510,0.00,2.33,0.00,0.000,4,0.000,0.064,3025,3607,3354,0,0,0,0,0,0,28.83,25.39,28.83
$GC,4534,-0.47,-136.3,428.4,-7.9,361,4540,0.00,2.25,0.00,0.000,6,0.000,0.044,3025,2190,3353,0,0,0,0,0,0,28.83,25.71,28.83
$GC,4864,-0.47,-136.3,456.0,-8.5,372,4865,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2188,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5165,-0.47,-136.3,482.2,-8.6,382,5166,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2188,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5464,-0.47,-136.3,507.4,-8.3,392,5465,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2188,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5764,-0.47,-136.3,531.7,-8.2,402,5770,0.00,2.38,0.00,0.000,4,0.000,0.065,3015,3608,3352,0,0,0,0,0,0,28.83,25.34,28.83
$GC,5802,-0.47,-136.3,534.2,-8.2,403,5806,0.00,2.28,0.00,0.000,6,0.000,0.045,3015,2190,3352,0,0,0,0,0,0,28.83,25.68,28.83
$GC,6115,-0.47,-136.3,560.4,-7.8,414,6120,0.00,2.20,0.00,0.000,4,0.000,0.051,3015,804,3352,0,0,0,0,0,0,28.83,25.51,28.83
$GC,6144,-0.47,-136.3,562.9,-7.9,415,6151,0.12,2.28,0.00,0.000,6,0.131,0.053,3042,2204,3352,0,0,0,0,0,0,25.39,25.49,28.83
$GC,6475,-0.47,-136.3,581.9,-5.5,426,6480,0.00,2.33,0.00,0.000,4,0.000,0.066,3034,3611,3352,0,0,0,0,0,0,28.83,25.32,28.83
$GC,6535,-0.47,-136.3,585.3,-5.6,428,6540,0.00,2.25,0.00,0.000,6,0.000,0.047,3034,2197,3352,0,0,0,0,0,0,28.83,25.67,28.83
$GC,6865,-0.47,-136.3,605.0,-6.2,439,6866,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2195,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7165,-0.47,-136.3,625.9,-7.3,449,7170,0.00,2.35,0.00,0.000,4,0.000,0.066,3024,3606,3351,0,0,0,0,0,0,28.83,25.31,28.83
$GC,7203,-0.47,-136.3,628.2,-7.4,450,7209,0.00,2.28,0.00,0.000,6,0.000,0.046,3024,2191,3351,0,0,0,0,0,0,28.83,25.66,28.83
$GC,7525,-0.47,-136.3,654.6,-8.1,461,7526,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2190,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7824,-0.47,-136.3,679.5,-8.2,471,7825,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2189,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8125,-0.47,-136.3,703.3,-7.7,481,8130,0.00,2.35,0.00,0.000,4,0.000,0.067,3014,3604,3350,0,0,0,0,0,0,28.83,25.29,28.83
$GC,8162,-0.47,-136.3,705.9,-7.8,482,8166,0.00,2.28,0.00,0.000,6,0.000,0.047,3013,2191,3350,0,0,0,0,0,0,28.83,25.64,28.83
$GC,8475,-0.47,-136.3,731.9,-8.1,493,8480,0.00,2.35,0.00,0.000,4,0.000,0.067,3004,3602,3350,0,0,0,0,0,0,28.83,25.28,28.83
$GC,8512,-0.47,-136.3,734.4,-8.1,494,8517,0.15,2.28,0.00,0.000,6,0.116,0.047,3049,2191,3350,0,0,0,0,0,0,25.46,25.64,28.83
$GC,8827,-0.47,-136.3,753.8,-5.6,505,8828,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2188,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9126,-0.47,-136.3,770.7,-5.5,515,9131,0.00,2.38,0.00,0.000,4,0.000,0.067,3042,3607,3349,0,0,0,0,0,0,28.83,25.27,28.83
$GC,9164,-0.47,-136.3,772.6,-5.6,516,9168,0.00,2.28,0.00,0.000,6,0.000,0.046,3041,2199,3349,0,0,0,0,0,0,28.83,25.64,28.83
$GC,9477,-0.47,-136.3,791.4,-5.8,527,9481,0.00,2.25,0.00,0.000,4,0.000,0.054,3041,801,3348,0,0,0,0,0,0,28.83,25.42,28.83
$GC,9506,-0.47,-136.3,793.0,-5.8,528,9512,0.00,2.28,0.00,0.000,6,0.000,0.054,3033,2204,3348,0,0,0,0,0,0,28.83,25.42,28.83
$GC,9836,-0.47,-136.3,813.7,-6.2,539,9842,0.00,2.33,0.00,0.000,4,0.000,0.067,3024,3604,3348,0,0,0,0,0,0,28.83,25.25,28.83
$GC,9897,-0.47,-136.3,817.5,-6.4,541,9902,0.00,2.25,0.00,0.000,6,0.000,0.048,3023,2201,3348,0,0,0,0,0,0,28.83,25.63,28.83
$GC,10226,-0.47,-136.3,839.5,-6.7,552,10227,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2199,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10527,-0.47,-136.3,860.0,-6.8,562,10531,0.00,2.35,0.00,0.000,4,0.000,0.067,3014,3606,3347,0,0,0,0,0,0,28.83,25.23,28.83
$GC,10556,-0.47,-136.3,862.1,-6.9,563,10561,0.00,2.28,0.00,0.000,6,0.000,0.047,3013,2193,3347,0,0,0,0,0,0,28.83,25.60,28.83
$GC,10886,-0.47,-136.3,884.8,-6.7,574,10887,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2191,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11186,-0.47,-136.3,904.2,-6.3,584,11192,0.00,2.38,0.00,0.000,4,0.000,0.067,3004,3614,3347,0,0,0,0,0,0,28.83,25.23,28.83
$GC,11235,-0.47,-136.3,906.1,-6.4,585,11245,0.15,2.30,0.00,0.000,6,0.114,0.048,3050,2191,3347,0,0,0,0,0,0,25.43,25.59,28.83
$GC,11546,-0.47,-136.3,921.7,-4.3,596,11547,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2191,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11846,-0.47,-136.3,935.3,-4.7,606,11851,0.00,2.38,0.00,0.000,4,0.000,0.067,3044,3608,3347,0,0,0,0,0,0,28.83,25.20,28.83
$GC,11877,-0.47,-136.3,936.9,-4.8,607,11882,0.00,2.25,0.00,0.000,6,0.000,0.050,3043,2208,3347,0,0,0,0,0,0,28.83,25.58,28.83
$GC,12206,-0.47,-136.3,953.9,-5.3,618,12207,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2206,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12506,-0.47,-136.3,969.8,-5.3,628,12507,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2206,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12807,-0.47,-136.3,985.2,-5.0,638,12812,0.00,2.38,0.00,0.000,4,0.000,0.069,3040,3610,3346,0,0,0,0,0,0,28.83,25.18,28.83
$GC,12844,-0.47,-136.3,986.7,-5.0,639,12848,0.00,2.33,0.00,0.000,6,0.000,0.048,3040,2187,3346,0,0,0,0,0,0,28.83,25.57,28.83
$STATE,12914,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12914,begin apogee
$GC,12921,-0.22,0.0,991.0,-5.3,642,13053,0.22,0.00,126.50,1.158,6,0.109,0.000,3120,2340,2793,0,0,0,0,0,0,25.73,28.83,22.44
$STATE,13054,end apogee,CONTROL_FINISHED_OK
$STATE,13054,begin climb
$GC,13058,0.47,136.3,994.5,0.0,646,13199,0.68,2.60,134.32,1.125,4,0.070,0.067,3349,3730,2238,0,0,0,0,0,0,24.38,23.35,21.71
$GC,13228,0.49,175.6,988.4,5.5,652,13274,0.00,2.45,39.00,1.086,6,0.000,0.047,3360,2330,2077,0,0,0,0,0,0,28.83,23.91,21.82
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$STATE,25381,end climb,SURFACE_DEPTH_REACHED
$STATE,25382,begin surface coast
$FINISH,1.3,1.003932
$STATE,25428,end surface coast,CONTROL_FINISHED_OK
$STATE,25428,begin surface
$SM_CCo,25508,0.00,0.000,0,0,1356,352.74
$SM_GC,2.53,8.30,0.20,0.00,0.027,0.071,0.000,110,2195,1356,-9.46,1.05,352.74,0,0,0,0,0,0,26.03,26.04,28.83
$IRIDIUM_FIX,4707.04,-12612.16,080213,050539
$TT8_MAMPS,0.026964,0.026964
$HUMID,46.49
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,19.00
$XPDR_PINGS,3
$24V_AH,21.7,80.476
$10V_AH,9.7,62.701
$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,22.075,208.000,452.075,0.000,0.000,26.758,36.307,228.367,0.750,0.000,19.926,3614.124,18597.797,739.197,2531.805,458.887,0.000,1995.575,0.000,2216.691,0.000,0.536,0.000
$DEVICE_MAMPS,213.435,80.325,1158.210,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,962.754,715.678,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296912
$DATA_FILE_SIZE,76751,1398
$CAP_FILE_SIZE,196060,0
$CFSIZE,260165632,209215488
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.120, 58.4,1
$GPS,080213,201606,4721.365,-12615.967,47,1.1,47,18.6