version: 66.11
glider: 187
mission: 2
dive: 638
start: 2 26 113 17 25 1
data:
$ID,187
$MISSION,2
$DIVE,638
$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,-1588828.2
$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,43
$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
$GPS1,260213,171306,4719.485,-12606.688,35,1.1,35,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-73.8
$GPS2,260213,172430,4719.516,-12606.599,12,1.2,17,18.6
$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,236.0,76523,-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,-136.3,0.0,0.0,0,119,0.00,0.00,-99.55,0.000,2,0.000,0.000,110,2192,2734,0,0,0,0,0,0,28.83,28.83,28.83
$GC,123,-0.47,-136.3,3.2,-1.9,18,155,11.55,2.30,-14.45,0.000,4,0.211,0.063,3034,790,3353,0,0,0,0,0,0,24.54,25.45,26.22
$GC,271,-0.47,-136.3,25.3,-13.2,45,278,0.00,2.22,0.00,0.000,6,0.000,0.052,3026,2206,3355,0,0,0,0,0,0,28.83,25.47,28.83
$GC,584,-0.47,-136.3,71.4,-17.4,106,590,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2206,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,894,-0.47,-136.3,115.0,-12.5,167,900,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2206,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1209,-0.47,-136.3,146.9,-9.2,193,1217,0.00,2.30,0.00,0.000,4,0.000,0.063,3016,3611,3355,0,0,0,0,0,0,28.83,25.41,28.83
$GC,1249,-0.47,-136.3,150.6,-9.4,197,1257,0.00,2.22,0.00,0.000,6,0.000,0.043,3016,2203,3355,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1559,-0.47,-136.3,183.4,-10.8,218,1560,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2203,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1868,-0.47,-136.3,217.5,-10.9,236,1874,0.00,2.25,0.00,0.000,4,0.000,0.050,3016,799,3355,0,0,0,0,0,0,28.83,25.53,28.83
$GC,1899,-0.47,-136.3,219.7,-11.0,237,1908,0.10,2.22,0.00,0.000,6,0.103,0.050,3044,2197,3355,0,0,0,0,0,0,25.36,25.54,28.83
$GC,2209,-0.47,-136.3,246.2,-8.0,253,2214,0.00,2.33,0.00,0.000,4,0.000,0.063,3035,3612,3355,0,0,0,0,0,0,28.83,25.38,28.83
$GC,2276,-0.47,-136.3,251.4,-8.3,256,2280,0.00,2.25,0.00,0.000,6,0.000,0.044,3036,2199,3355,0,0,0,0,0,0,28.83,25.70,28.83
$GC,2579,-0.47,-136.3,276.9,-8.4,271,2584,0.00,2.33,0.00,0.000,4,0.000,0.063,3025,3607,3355,0,0,0,0,0,0,28.83,25.37,28.83
$GC,2638,-0.47,-136.3,282.3,-8.7,274,2644,0.00,2.25,0.00,0.000,6,0.000,0.043,3025,2194,3355,0,0,0,0,0,0,28.83,25.70,28.83
$GC,2958,-0.47,-136.3,312.2,-8.9,290,2959,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2192,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3260,-0.47,-136.3,337.3,-8.0,305,3261,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2192,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3558,-0.47,-136.3,360.8,-7.8,320,3564,0.00,2.35,0.00,0.000,4,0.000,0.063,3015,3607,3355,0,0,0,0,0,0,28.83,25.34,28.83
$GC,3607,-0.47,-136.3,364.0,-8.0,322,3611,0.00,2.25,0.00,0.000,6,0.000,0.044,3015,2197,3355,0,0,0,0,0,0,28.83,25.67,28.83
$GC,3911,-0.47,-136.3,392.2,-9.2,337,3912,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2195,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4219,-0.47,-136.3,421.0,-9.3,349,4220,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2194,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4518,-0.47,-136.3,448.6,-9.2,359,4524,0.00,2.35,0.00,0.000,4,0.000,0.064,3005,3612,3354,0,0,0,0,0,0,28.83,25.30,28.83
$GC,4557,-0.47,-136.3,451.4,-9.2,360,4564,0.12,2.28,0.00,0.000,6,0.125,0.045,3042,2193,3353,0,0,0,0,0,0,25.48,25.64,28.83
$GC,4878,-0.47,-136.3,477.2,-7.8,371,4884,0.00,2.38,0.00,0.000,4,0.000,0.064,3034,3622,3353,0,0,0,0,0,0,28.83,25.28,28.83
$GC,4916,-0.47,-136.3,479.5,-7.7,372,4920,0.00,2.28,0.00,0.000,6,0.000,0.043,3034,2194,3353,0,0,0,0,0,0,28.83,25.66,28.83
$GC,5229,-0.47,-136.3,503.7,-7.5,383,5234,0.00,2.35,0.00,0.000,4,0.000,0.065,3024,3606,3353,0,0,0,0,0,0,28.83,25.27,28.83
$GC,5258,-0.47,-136.3,506.0,-7.4,384,5265,0.00,2.25,0.00,0.000,6,0.000,0.045,3024,2204,3353,0,0,0,0,0,0,28.83,25.63,28.83
$GC,5588,-0.47,-136.3,530.0,-7.2,395,5594,0.00,2.35,0.00,0.000,4,0.000,0.064,3013,3607,3352,0,0,0,0,0,0,28.83,25.27,28.83
$GC,5626,-0.47,-136.3,532.1,-7.0,396,5630,0.00,2.28,0.00,0.000,6,0.000,0.045,3013,2192,3353,0,0,0,0,0,0,28.83,25.60,28.83
$GC,5940,-0.47,-136.3,557.5,-8.5,407,5941,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2190,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6239,-0.47,-136.3,583.2,-8.7,417,6245,0.00,2.35,0.00,0.000,4,0.000,0.065,3004,3604,3352,0,0,0,0,0,0,28.83,25.25,28.83
$GC,6268,-0.47,-136.3,585.9,-8.8,418,6275,0.15,2.25,0.00,0.000,6,0.117,0.045,3049,2200,3352,0,0,0,0,0,0,25.43,25.61,28.83
$GC,6600,-0.47,-136.3,607.9,-6.4,429,6604,0.00,2.30,0.00,0.000,4,0.000,0.067,3041,3607,3352,0,0,0,0,0,0,28.83,25.22,28.83
$GC,6639,-0.47,-136.3,610.0,-6.5,430,6644,0.00,2.28,0.00,0.000,6,0.000,0.047,3041,2194,3351,0,0,0,0,0,0,28.83,25.59,28.83
$GC,6959,-0.47,-136.3,631.1,-6.0,441,6964,0.00,2.35,0.00,0.000,4,0.000,0.066,3030,3606,3351,0,0,0,0,0,0,28.83,25.22,28.83
$GC,7008,-0.47,-136.3,632.9,-6.0,442,7017,0.00,2.28,0.00,0.000,6,0.000,0.046,3031,2190,3351,0,0,0,0,0,0,28.83,25.60,28.83
$GC,7319,-0.47,-136.3,653.2,-6.1,453,7325,0.00,2.35,0.00,0.000,4,0.000,0.066,3020,3605,3351,0,0,0,0,0,0,28.83,25.21,28.83
$GC,7357,-0.47,-136.3,655.0,-6.1,454,7361,0.00,2.25,0.00,0.000,6,0.000,0.046,3020,2205,3351,0,0,0,0,0,0,28.83,25.59,28.83
$GC,7671,-0.47,-136.3,676.7,-6.7,465,7675,0.00,2.30,0.00,0.000,4,0.000,0.067,3011,3611,3351,0,0,0,0,0,0,28.83,25.20,28.83
$GC,7699,-0.47,-136.3,678.7,-6.7,466,7706,0.08,2.25,0.00,0.000,6,0.096,0.046,3042,2202,3350,0,0,0,0,0,0,25.41,25.58,28.83
$GC,8030,-0.47,-136.3,697.6,-5.6,477,8031,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2200,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8330,-0.47,-136.3,714.4,-5.7,487,8335,0.00,2.35,0.00,0.000,4,0.000,0.067,3034,3609,3349,0,0,0,0,0,0,28.83,25.18,28.83
$GC,8377,-0.47,-136.3,716.1,-5.8,488,8382,0.00,2.28,0.00,0.000,6,0.000,0.047,3034,2198,3349,0,0,0,0,0,0,28.83,25.56,28.83
$GC,8679,-0.47,-136.3,735.7,-6.2,498,8685,0.00,2.35,0.00,0.000,4,0.000,0.067,3024,3601,3349,0,0,0,0,0,0,28.83,25.17,28.83
$GC,8709,-0.47,-136.3,737.6,-6.3,499,8715,0.00,2.25,0.00,0.000,6,0.000,0.047,3024,2199,3348,0,0,0,0,0,0,28.83,25.56,28.83
$GC,9040,-0.47,-136.3,761.3,-7.4,510,9045,0.00,2.35,0.00,0.000,4,0.000,0.067,3013,3605,3348,0,0,0,0,0,0,28.83,25.17,28.83
$GC,9077,-0.47,-136.3,763.5,-7.3,511,9081,0.00,2.28,0.00,0.000,6,0.000,0.046,3014,2194,3348,0,0,0,0,0,0,28.83,25.55,28.83
$GC,9389,-0.47,-136.3,787.8,-7.4,522,9395,0.00,2.38,0.00,0.000,4,0.000,0.066,3004,3607,3348,0,0,0,0,0,0,28.83,25.16,28.83
$GC,9420,-0.47,-136.3,790.3,-7.4,523,9426,0.10,2.25,0.00,0.000,6,0.095,0.047,3043,2204,3348,0,0,0,0,0,0,25.35,25.54,28.83
$GC,9750,-0.47,-136.3,809.1,-5.5,534,9751,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2202,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10051,-0.47,-136.3,824.8,-5.1,544,10055,0.00,2.30,0.00,0.000,4,0.000,0.067,3035,3606,3347,0,0,0,0,0,0,28.83,25.15,28.83
$GC,10089,-0.47,-136.3,826.7,-5.3,545,10094,0.00,2.30,0.00,0.000,6,0.000,0.047,3034,2186,3347,0,0,0,0,0,0,28.83,25.53,28.83
$GC,10410,-0.47,-136.3,845.0,-5.6,556,10411,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2184,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10710,-0.47,-136.3,862.0,-5.6,566,10715,0.00,2.38,0.00,0.000,4,0.000,0.067,3024,3601,3347,0,0,0,0,0,0,28.83,25.13,28.83
$GC,10770,-0.47,-136.3,865.6,-5.9,568,10775,0.00,2.25,0.00,0.000,6,0.000,0.048,3024,2198,3347,0,0,0,0,0,0,28.83,25.53,28.83
$GC,11100,-0.47,-136.3,885.3,-6.0,579,11101,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2197,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11400,-0.47,-136.3,904.3,-6.4,589,11401,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2197,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11701,-0.47,-136.3,923.9,-6.5,599,11702,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2197,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12000,-0.47,-136.3,942.7,-6.2,609,12001,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2197,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12300,-0.47,-136.3,961.1,-6.1,619,12305,0.00,2.38,0.00,0.000,4,0.000,0.067,3014,3609,3346,0,0,0,0,0,0,28.83,25.09,28.83
$GC,12339,-0.47,-136.3,963.0,-6.1,620,12344,0.00,2.30,0.00,0.000,6,0.000,0.049,3014,2190,3346,0,0,0,0,0,0,28.83,25.47,28.83
$GC,12660,-0.47,-136.3,985.0,-6.6,631,12665,0.00,2.38,0.00,0.000,4,0.000,0.067,3004,3605,3346,0,0,0,0,0,0,28.83,25.08,28.83
$GC,12708,-0.47,-136.3,987.1,-6.7,632,12713,0.15,2.28,0.00,0.000,6,0.113,0.048,3050,2196,3346,0,0,0,0,0,0,25.32,25.48,28.83
$STATE,12737,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12737,begin apogee
$GC,12745,-0.22,0.0,990.3,-6.7,633,12876,0.20,0.00,126.75,1.160,6,0.106,0.000,3125,2335,2793,0,0,0,0,0,0,25.80,28.83,22.45
$STATE,12877,end apogee,CONTROL_FINISHED_OK
$STATE,12877,begin climb
$GC,12880,0.47,136.3,994.0,0.0,637,13022,0.65,2.60,134.60,1.125,4,0.068,0.067,3347,3735,2238,0,0,0,0,0,0,24.41,23.40,21.75
$GC,13063,0.47,144.8,985.6,6.7,644,13077,0.00,2.38,9.00,0.940,6,0.000,0.049,3358,2330,2203,0,0,0,0,0,0,28.83,24.11,22.14
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$STATE,25850,end climb,SURFACE_DEPTH_REACHED
$STATE,25850,begin surface coast
$FINISH,1.3,1.025239
$STATE,25908,end surface coast,CONTROL_FINISHED_OK
$STATE,25909,begin surface
$SM_CCo,25988,0.00,0.000,0,0,1200,391.01
$SM_GC,2.34,8.30,0.17,0.00,0.024,0.076,0.000,117,2187,1200,-9.47,1.02,391.01,0,0,0,0,0,0,25.95,26.06,28.83
$IRIDIUM_FIX,4707.04,-12600.71,260213,090957
$TT8_MAMPS,0.026964,0.026964
$HUMID,47.83
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,19.10
$XPDR_PINGS,4
$24V_AH,21.7,89.669
$10V_AH,9.8,68.634
$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
$DEVICE_SECS,21.850,202.850,498.400,0.000,0.000,26.330,43.961,443.743,1.000,0.000,17.810,3649.914,18938.027,790.158,2776.205,504.512,0.000,2074.956,0.000,2251.357,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,974.907,724.939,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296832
$DATA_FILE_SIZE,76795,1417
$CAP_FILE_SIZE,204288,0
$CFSIZE,260165632,203931648
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.081, 69.7,1
$GPS,270213,003930,4718.626,-12610.790,43,1.4,43,18.6