version: 66.11
glider: 187
mission: 2
dive: 625
start: 2 22 113 18 5 14
data:
$ID,187
$MISSION,2
$DIVE,625
$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,-1588811.8
$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,41
$R_STBD_OVSHOOT,22
$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
$GPS1,220213,174925,4742.127,-12524.440,62,1.8,62,18.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-73.2
$GPS2,220213,180442,4742.158,-12524.417,12,2.0,17,18.7
$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,189.8,143774,-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,-136.3,0.0,0.0,0,76,0.00,0.00,-57.20,0.000,2,0.000,0.000,129,2205,2590,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-0.47,-136.3,3.2,-3.6,10,118,11.55,2.40,-19.50,0.000,4,0.214,0.080,3028,3621,3352,0,0,0,0,0,0,24.59,25.32,26.29
$GC,164,-0.47,-136.3,15.0,-12.9,24,171,0.00,2.22,0.00,0.000,6,0.000,0.044,3028,2194,3353,0,0,0,0,0,0,28.83,25.57,28.83
$GC,475,-0.47,-136.3,65.1,-17.4,85,481,0.00,2.17,0.00,0.000,4,0.000,0.051,3027,793,3354,0,0,0,0,0,0,28.83,25.46,28.83
$GC,519,-0.47,-136.3,71.9,-14.0,93,525,0.00,2.22,0.00,0.000,6,0.000,0.052,3017,2213,3354,0,0,0,0,0,0,28.83,25.46,28.83
$GC,832,-0.47,-136.3,112.7,-12.9,154,839,0.00,2.22,0.00,0.000,4,0.000,0.050,3017,789,3354,0,0,0,0,0,0,28.83,25.48,28.83
$GC,922,-0.47,-136.3,124.2,-12.3,168,931,0.10,2.28,0.00,0.000,6,0.106,0.051,3044,2203,3354,0,0,0,0,0,0,25.31,25.49,28.83
$GC,1234,-0.47,-136.3,154.0,-8.5,189,1241,0.00,2.28,0.00,0.000,4,0.000,0.063,3035,3619,3354,0,0,0,0,0,0,28.83,25.35,28.83
$GC,1271,-0.47,-136.3,157.4,-8.5,193,1280,0.00,2.28,0.00,0.000,6,0.000,0.044,3035,2184,3354,0,0,0,0,0,0,28.83,25.68,28.83
$GC,1582,-0.47,-136.3,185.5,-9.0,214,1590,0.00,2.35,0.00,0.000,4,0.000,0.063,3025,3613,3354,0,0,0,0,0,0,28.83,25.35,28.83
$GC,1631,-0.47,-136.3,190.3,-9.5,219,1641,0.00,2.25,0.00,0.000,6,0.000,0.044,3025,2191,3354,0,0,0,0,0,0,28.83,25.68,28.83
$GC,1947,-0.47,-136.3,219.0,-9.0,237,1952,0.00,2.22,0.00,0.000,4,0.000,0.050,3025,795,3354,0,0,0,0,0,0,28.83,25.49,28.83
$GC,1995,-0.47,-136.3,222.7,-9.1,239,1999,0.00,2.28,0.00,0.000,6,0.000,0.050,3016,2208,3354,0,0,0,0,0,0,28.83,25.49,28.83
$GC,2297,-0.47,-136.3,252.4,-10.3,254,2302,0.00,2.28,0.00,0.000,4,0.000,0.063,3006,3602,3354,0,0,0,0,0,0,28.83,25.36,28.83
$GC,2345,-0.47,-136.3,256.8,-10.6,256,2349,0.12,2.22,0.00,0.000,6,0.129,0.043,3043,2200,3354,0,0,0,0,0,0,25.50,25.68,28.83
$GC,2647,-0.47,-136.3,281.6,-7.3,271,2652,0.00,2.22,0.00,0.000,4,0.000,0.051,3043,801,3354,0,0,0,0,0,0,28.83,25.48,28.83
$GC,2676,-0.47,-136.3,283.0,-7.2,272,2685,0.00,2.25,0.00,0.000,6,0.000,0.050,3037,2200,3354,0,0,0,0,0,0,28.83,25.49,28.83
$GC,2987,-0.47,-136.3,306.5,-7.5,288,2992,0.00,2.30,0.00,0.000,4,0.000,0.063,3027,3606,3354,0,0,0,0,0,0,28.83,25.32,28.83
$GC,3046,-0.47,-136.3,311.5,-8.2,291,3052,0.00,2.25,0.00,0.000,6,0.000,0.044,3026,2189,3354,0,0,0,0,0,0,28.83,25.67,28.83
$GC,3367,-0.47,-136.3,339.9,-8.7,307,3372,0.00,2.35,0.00,0.000,4,0.000,0.063,3016,3610,3354,0,0,0,0,0,0,28.83,25.32,28.83
$GC,3406,-0.47,-136.3,343.6,-8.9,309,3412,0.00,2.25,0.00,0.000,6,0.000,0.044,3016,2196,3354,0,0,0,0,0,0,28.83,25.66,28.83
$GC,3727,-0.47,-136.3,373.5,-9.4,325,3729,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2193,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4027,-0.47,-136.3,401.8,-9.6,340,4028,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2193,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4327,-0.47,-136.3,429.7,-9.2,350,4328,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2193,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4627,-0.47,-136.3,456.4,-8.6,360,4628,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2193,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4927,-0.47,-136.3,481.5,-8.1,370,4929,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2193,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5227,-0.47,-136.3,506.8,-8.6,380,5232,0.00,2.38,0.00,0.000,4,0.000,0.065,3007,3611,3353,0,0,0,0,0,0,28.83,25.27,28.83
$GC,5286,-0.47,-136.3,512.2,-8.9,382,5293,0.12,2.28,0.00,0.000,6,0.125,0.046,3044,2204,3353,0,0,0,0,0,0,25.46,25.62,28.83
$GC,5617,-0.47,-136.3,537.5,-7.6,393,5619,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2202,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5917,-0.47,-136.3,559.0,-6.9,403,5918,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2202,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6217,-0.47,-136.3,578.4,-6.3,413,6218,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2202,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6518,-0.47,-136.3,596.2,-5.9,423,6522,0.00,2.35,0.00,0.000,4,0.000,0.066,3036,3606,3352,0,0,0,0,0,0,28.83,25.24,28.83
$GC,6548,-0.47,-136.3,597.9,-5.8,424,6552,0.00,2.20,0.00,0.000,6,0.000,0.047,3036,2200,3352,0,0,0,0,0,0,28.83,25.60,28.83
$GC,6877,-0.47,-136.3,618.9,-6.4,435,6878,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2197,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7178,-0.47,-136.3,638.7,-6.8,445,7183,0.00,2.35,0.00,0.000,4,0.000,0.067,3026,3600,3351,0,0,0,0,0,0,28.83,25.20,28.83
$GC,7225,-0.47,-136.3,640.9,-6.9,446,7229,0.00,2.25,0.00,0.000,6,0.000,0.046,3026,2199,3351,0,0,0,0,0,0,28.83,25.59,28.83
$GC,7527,-0.47,-136.3,665.6,-7.9,456,7528,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2197,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7827,-0.47,-136.3,689.2,-7.5,466,7833,0.00,2.38,0.00,0.000,4,0.000,0.067,3017,3607,3351,0,0,0,0,0,0,28.83,25.20,28.83
$GC,7865,-0.47,-136.3,691.6,-7.4,467,7869,0.00,2.28,0.00,0.000,6,0.000,0.047,3016,2190,3351,0,0,0,0,0,0,28.83,25.57,28.83
$GC,8177,-0.47,-136.3,714.8,-7.1,478,8179,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2188,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8478,-0.47,-136.3,736.9,-7.5,488,8479,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2188,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8779,-0.47,-136.3,758.5,-6.8,498,8783,0.00,2.35,0.00,0.000,4,0.000,0.067,3007,3601,3350,0,0,0,0,0,0,28.83,25.18,28.83
$GC,8816,-0.47,-136.3,760.6,-6.7,499,8821,0.12,2.25,0.00,0.000,6,0.122,0.047,3045,2198,3350,0,0,0,0,0,0,25.41,25.56,28.83
$GC,9129,-0.47,-136.3,775.9,-4.5,510,9135,0.00,2.35,0.00,0.000,4,0.000,0.067,3037,3604,3349,0,0,0,0,0,0,28.83,25.17,28.83
$GC,9160,-0.47,-136.3,777.5,-4.8,511,9165,0.00,2.22,0.00,0.000,6,0.000,0.047,3036,2207,3349,0,0,0,0,0,0,28.83,25.56,28.83
$GC,9489,-0.47,-136.3,794.8,-5.3,522,9490,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2206,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9790,-0.47,-136.3,813.5,-6.5,532,9795,0.00,2.35,0.00,0.000,4,0.000,0.067,3026,3608,3349,0,0,0,0,0,0,28.83,25.16,28.83
$GC,9838,-0.47,-136.3,815.5,-6.6,533,9847,0.00,2.28,0.00,0.000,6,0.000,0.047,3027,2191,3348,0,0,0,0,0,0,28.83,25.54,28.83
$GC,10150,-0.47,-136.3,836.9,-6.6,544,10151,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2191,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10449,-0.47,-136.3,855.6,-6.3,554,10455,0.00,2.38,0.00,0.000,4,0.000,0.067,3016,3610,3348,0,0,0,0,0,0,28.83,25.13,28.83
$GC,10498,-0.47,-136.3,857.7,-6.4,555,10507,0.00,2.28,0.00,0.000,6,0.000,0.047,3016,2194,3348,0,0,0,0,0,0,28.83,25.53,28.83
$GC,10809,-0.47,-136.3,881.0,-7.1,566,10810,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2194,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11109,-0.47,-136.3,902.1,-7.0,576,11115,0.00,2.35,0.00,0.000,4,0.000,0.067,3007,3598,3348,0,0,0,0,0,0,28.83,25.13,28.83
$GC,11139,-0.47,-136.3,904.4,-7.0,577,11145,0.12,2.25,0.00,0.000,6,0.119,0.048,3045,2203,3347,0,0,0,0,0,0,25.39,25.52,28.83
$GC,11470,-0.47,-136.3,922.2,-5.4,588,11475,0.00,2.30,0.00,0.000,4,0.000,0.068,3037,3605,3347,0,0,0,0,0,0,28.83,25.11,28.83
$GC,11509,-0.47,-136.3,923.8,-5.4,589,11515,0.00,2.28,0.00,0.000,6,0.000,0.047,3037,2193,3347,0,0,0,0,0,0,28.83,25.52,28.83
$GC,11831,-0.47,-136.3,942.1,-5.5,600,11832,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2192,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12130,-0.47,-136.3,958.5,-5.6,610,12135,0.00,2.33,0.00,0.000,4,0.000,0.068,3027,3606,3347,0,0,0,0,0,0,28.83,25.10,28.83
$GC,12167,-0.47,-136.3,960.2,-5.6,611,12171,0.00,2.28,0.00,0.000,6,0.000,0.047,3027,2194,3347,0,0,0,0,0,0,28.83,25.51,28.83
$GC,12481,-0.47,-136.3,979.1,-5.8,622,12482,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2193,3347,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12686,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12687,begin apogee
$GC,12694,-0.22,0.0,990.7,-5.5,629,12826,0.28,0.00,126.90,1.159,6,0.102,0.000,3124,2336,2794,0,0,0,0,0,0,25.63,28.83,22.45
$STATE,12827,end apogee,CONTROL_FINISHED_OK
$STATE,12827,begin climb
$GC,12829,0.47,136.3,994.2,0.0,633,12971,0.65,2.58,134.60,1.121,4,0.067,0.067,3346,3723,2237,0,0,0,0,0,0,24.41,23.40,21.75
$GC,12991,0.49,178.0,988.4,5.4,639,13039,0.00,2.42,41.60,1.080,6,0.000,0.048,3357,2334,2067,0,0,0,0,0,0,28.83,23.86,21.79
$GC,13340,0.49,178.0,957.9,8.2,651,13346,0.00,2.33,0.00,0.000,4,0.000,0.057,3367,921,2058,0,0,0,0,0,0,28.83,25.33,28.83
$GC,13400,0.49,178.0,952.9,8.2,653,13406,0.00,2.28,0.00,0.000,6,0.000,0.057,3367,2312,2057,0,0,0,0,0,0,28.83,25.40,28.83
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$STATE,25134,end climb,SURFACE_DEPTH_REACHED
$STATE,25135,begin surface coast
$FINISH,3.6,1.025219
$STATE,25145,end surface coast,CONTROL_FINISHED_OK
$STATE,25146,begin surface
$SM_CCo,25166,66.30,0.472,1,0,469,570.08
$SM_GC,2.03,8.50,0.20,66.30,0.029,0.070,0.472,128,2192,469,-9.45,0.93,570.08,0,0,0,0,1,0,25.49,25.49,23.86
$IRIDIUM_FIX,4726.11,-12520.74,220213,171757
$TT8_MAMPS,0.027713,0.027713
$HUMID,45.66
$INTERNAL_PRESSURE,8.9718
$TCM_TEMP,19.00
$XPDR_PINGS,2
$24V_AH,21.7,87.546
$10V_AH,9.7,67.339
$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,22.375,230.000,543.150,66.300,0.000,134.148,375.528,0.000,0.500,0.000,18.788,3637.289,18324.408,910.131,2805.801,468.222,0.000,2201.116,0.000,2250.888,0.000,0.535,0.000
$DEVICE_MAMPS,214.200,81.855,1158.975,472.005,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,973.552,736.608,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297024
$DATA_FILE_SIZE,76683,1416
$CAP_FILE_SIZE,199128,0
$CFSIZE,260165632,205025280
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.055, 47.8,1
$GPS,230213,010800,4739.332,-12526.671,86,1.2,86,18.7