version: 66.11
glider: 187
mission: 2
dive: 640
start: 2 27 113 8 16 50
data:
$ID,187
$MISSION,2
$DIVE,640
$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,-1588830.8
$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,43
$R_STBD_OVSHOOT,29
$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
$GPS1,270213,080136,4717.366,-12613.613,40,1.1,40,18.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-73.9
$GPS2,270213,081619,4717.438,-12613.553,12,1.6,12,18.6
$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,227.8,66968,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-0.47,-136.3,0.0,0.0,0,112,0.00,0.00,-91.15,0.000,2,0.000,0.000,108,2212,2549,0,0,0,0,0,0,28.83,28.83,28.83
$GC,115,-0.47,-136.3,3.1,-2.6,16,159,11.48,0.00,-23.48,0.000,6,0.207,0.000,3035,2211,3351,0,0,0,0,0,0,24.48,28.83,26.25
$GC,464,-0.47,-136.3,51.7,-15.1,83,470,0.00,2.20,0.00,0.000,4,0.000,0.050,3035,797,3352,0,0,0,0,0,0,28.83,25.48,28.83
$GC,519,-0.47,-136.3,59.5,-13.4,93,526,0.00,2.20,0.00,0.000,6,0.000,0.051,3027,2204,3352,0,0,0,0,0,0,28.83,25.50,28.83
$GC,831,-0.47,-136.3,102.7,-12.5,154,838,0.00,2.17,0.00,0.000,4,0.000,0.050,3027,801,3352,0,0,0,0,0,0,28.83,25.51,28.83
$GC,876,-0.47,-136.3,108.4,-11.7,162,884,0.00,2.20,0.00,0.000,6,0.000,0.050,3017,2201,3352,0,0,0,0,0,0,28.83,25.53,28.83
$GC,1187,-0.47,-136.3,145.0,-11.7,195,1188,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2201,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1487,-0.47,-136.3,176.5,-9.8,215,1488,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2201,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1788,-0.47,-136.3,206.9,-10.2,234,1792,0.00,2.30,0.00,0.000,4,0.000,0.061,3007,3608,3352,0,0,0,0,0,0,28.83,25.39,28.83
$GC,1847,-0.47,-136.3,213.3,-10.7,237,1853,0.12,2.25,0.00,0.000,6,0.129,0.043,3043,2190,3351,0,0,0,0,0,0,25.51,25.69,28.83
$GC,2167,-0.47,-136.3,239.4,-7.7,253,2172,0.00,2.20,0.00,0.000,4,0.000,0.049,3044,801,3352,0,0,0,0,0,0,28.83,25.51,28.83
$GC,2208,-0.47,-136.3,242.8,-8.3,255,2212,0.00,2.22,0.00,0.000,6,0.000,0.050,3037,2198,3351,0,0,0,0,0,0,28.83,25.53,28.83
$GC,2527,-0.47,-136.3,270.6,-8.4,271,2532,0.00,2.30,0.00,0.000,4,0.000,0.063,3026,3608,3351,0,0,0,0,0,0,28.83,25.35,28.83
$GC,2607,-0.47,-136.3,277.5,-8.6,275,2613,0.00,2.22,0.00,0.000,6,0.000,0.043,3026,2193,3352,0,0,0,0,0,0,28.83,25.67,28.83
$GC,2930,-0.47,-136.3,303.7,-7.9,291,2931,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2191,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3227,-0.47,-136.3,327.8,-8.2,306,3233,0.00,2.35,0.00,0.000,4,0.000,0.062,3016,3615,3351,0,0,0,0,0,0,28.83,25.33,28.83
$GC,3255,-0.47,-136.3,329.5,-8.2,307,3259,0.00,2.25,0.00,0.000,6,0.000,0.044,3016,2200,3351,0,0,0,0,0,0,28.83,25.66,28.83
$GC,3558,-0.47,-136.3,358.5,-9.6,322,3562,0.00,2.22,0.00,0.000,4,0.000,0.051,3016,801,3352,0,0,0,0,0,0,28.83,25.47,28.83
$GC,3597,-0.47,-136.3,362.3,-9.6,324,3603,0.12,2.28,0.00,0.000,6,0.132,0.051,3045,2210,3351,0,0,0,0,0,0,25.36,25.47,28.83
$GC,3918,-0.47,-136.3,384.5,-6.6,340,3922,0.00,2.30,0.00,0.000,4,0.000,0.064,3036,3609,3351,0,0,0,0,0,0,28.83,25.31,28.83
$GC,4025,-0.47,-136.3,391.5,-7.2,345,4029,0.00,2.25,0.00,0.000,6,0.000,0.044,3036,2196,3352,0,0,0,0,0,0,28.83,25.65,28.83
$GC,4327,-0.47,-136.3,414.9,-7.9,357,4328,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2195,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4628,-0.47,-136.3,440.5,-8.8,367,4632,0.00,2.35,0.00,0.000,4,0.000,0.064,3026,3610,3351,0,0,0,0,0,0,28.83,25.29,28.83
$GC,4705,-0.47,-136.3,445.9,-8.9,369,4709,0.00,2.25,0.00,0.000,6,0.000,0.045,3026,2201,3351,0,0,0,0,0,0,28.83,25.63,28.83
$GC,5007,-0.47,-136.3,475.0,-9.0,379,5008,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2199,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5307,-0.47,-136.3,500.3,-8.3,389,5308,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2199,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5608,-0.47,-136.3,523.9,-7.7,399,5613,0.00,2.33,0.00,0.000,4,0.000,0.065,3016,3603,3349,0,0,0,0,0,0,28.83,25.25,28.83
$GC,5655,-0.47,-136.3,526.4,-7.8,400,5659,0.00,2.25,0.00,0.000,6,0.000,0.046,3016,2196,3349,0,0,0,0,0,0,28.83,25.60,28.83
$GC,5957,-0.47,-136.3,551.3,-7.8,410,5963,0.00,2.38,0.00,0.000,4,0.000,0.065,3006,3614,3349,0,0,0,0,0,0,28.83,25.24,28.83
$GC,5988,-0.47,-136.3,553.8,-8.0,411,5993,0.10,2.25,0.00,0.000,6,0.095,0.046,3045,2202,3349,0,0,0,0,0,0,25.39,25.60,28.83
$GC,6317,-0.47,-136.3,576.4,-7.1,422,6318,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2200,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6617,-0.47,-136.3,599.8,-8.0,432,6622,0.00,2.35,0.00,0.000,4,0.000,0.066,3037,3607,3347,0,0,0,0,0,0,28.83,25.22,28.83
$GC,6666,-0.47,-136.3,602.2,-8.1,433,6670,0.00,2.28,0.00,0.000,6,0.000,0.046,3037,2187,3347,0,0,0,0,0,0,28.83,25.59,28.83
$GC,6967,-0.47,-136.3,627.9,-7.8,443,6968,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2185,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7267,-0.47,-136.3,650.4,-7.4,453,7272,0.00,2.38,0.00,0.000,4,0.000,0.065,3027,3614,3347,0,0,0,0,0,0,28.83,25.20,28.83
$GC,7297,-0.47,-136.3,652.6,-7.4,454,7302,0.00,2.28,0.00,0.000,6,0.000,0.044,3027,2188,3347,0,0,0,0,0,0,28.83,25.60,28.83
$GC,7628,-0.47,-136.3,677.6,-7.4,465,7633,0.00,2.35,0.00,0.000,4,0.000,0.066,3017,3604,3346,0,0,0,0,0,0,28.83,25.20,28.83
$GC,7705,-0.47,-136.3,682.2,-7.5,467,7709,0.00,2.25,0.00,0.000,6,0.000,0.047,3017,2199,3346,0,0,0,0,0,0,28.83,25.57,28.83
$GC,8007,-0.47,-136.3,706.4,-7.5,477,8012,0.00,2.25,0.00,0.000,4,0.000,0.054,3017,801,3346,0,0,0,0,0,0,28.83,25.35,28.83
$GC,8046,-0.47,-136.3,708.8,-7.5,478,8052,0.12,2.28,0.00,0.000,6,0.129,0.054,3043,2200,3346,0,0,0,0,0,0,25.27,25.36,28.83
$GC,8367,-0.47,-136.3,728.8,-5.9,489,8372,0.00,2.33,0.00,0.000,4,0.000,0.066,3035,3606,3346,0,0,0,0,0,0,28.83,25.18,28.83
$GC,8427,-0.47,-136.3,732.5,-6.0,491,8432,0.00,2.25,0.00,0.000,6,0.000,0.047,3035,2195,3346,0,0,0,0,0,0,28.83,25.56,28.83
$GC,8758,-0.47,-136.3,753.0,-6.1,502,8762,0.00,2.35,0.00,0.000,4,0.000,0.067,3025,3600,3345,0,0,0,0,0,0,28.83,25.15,28.83
$GC,8797,-0.47,-136.3,755.0,-6.0,503,8802,0.00,2.25,0.00,0.000,6,0.000,0.047,3025,2203,3345,0,0,0,0,0,0,28.83,25.55,28.83
$GC,9117,-0.47,-136.3,776.5,-6.5,514,9122,0.00,2.35,0.00,0.000,4,0.000,0.067,3015,3607,3345,0,0,0,0,0,0,28.83,25.16,28.83
$GC,9148,-0.47,-136.3,778.6,-6.7,515,9152,0.00,2.22,0.00,0.000,6,0.000,0.047,3015,2189,3345,0,0,0,0,0,0,28.83,25.53,28.83
$GC,9477,-0.47,-136.3,802.4,-7.0,526,9478,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2187,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9777,-0.47,-136.3,822.7,-6.8,536,9783,0.00,2.38,0.00,0.000,4,0.000,0.067,3005,3607,3344,0,0,0,0,0,0,28.83,25.14,28.83
$GC,9816,-0.47,-136.3,824.9,-6.8,537,9823,0.12,2.28,0.00,0.000,6,0.122,0.047,3044,2191,3344,0,0,0,0,0,0,25.38,25.53,28.83
$GC,10137,-0.47,-136.3,842.6,-5.1,548,10138,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2190,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10437,-0.47,-136.3,857.9,-5.1,558,10442,0.00,2.38,0.00,0.000,4,0.000,0.067,3035,3608,3344,0,0,0,0,0,0,28.83,25.13,28.83
$GC,10486,-0.47,-136.3,859.5,-5.2,559,10495,0.00,2.28,0.00,0.000,6,0.000,0.048,3035,2199,3344,0,0,0,0,0,0,28.83,25.51,28.83
$GC,10797,-0.47,-136.3,878.2,-5.7,570,10798,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2199,3343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11097,-0.47,-136.3,895.3,-5.8,580,11103,0.00,2.35,0.00,0.000,4,0.000,0.067,3026,3603,3344,0,0,0,0,0,0,28.83,25.10,28.83
$GC,11146,-0.47,-136.3,896.9,-5.8,581,11155,0.00,2.28,0.00,0.000,6,0.000,0.048,3026,2192,3342,0,0,0,0,0,0,28.83,25.50,28.83
$GC,11457,-0.47,-136.3,917.5,-6.2,592,11462,0.00,2.35,0.00,0.000,4,0.000,0.067,3016,3600,3343,0,0,0,0,0,0,28.83,25.10,28.83
$GC,11495,-0.47,-136.3,919.5,-6.4,593,11499,0.00,2.28,0.00,0.000,6,0.000,0.047,3016,2191,3343,0,0,0,0,0,0,28.83,25.49,28.83
$GC,11808,-0.47,-136.3,941.6,-7.3,604,11809,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2189,3343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12108,-0.47,-136.3,962.5,-6.9,614,12109,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2189,3342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12407,-0.47,-136.3,983.6,-7.1,624,12413,0.00,2.38,0.00,0.000,4,0.000,0.067,3008,3604,3342,0,0,0,0,0,0,28.83,25.08,28.83
$GC,12477,-0.47,-136.3,988.0,-7.1,626,12484,0.12,2.28,0.00,0.000,6,0.119,0.047,3046,2196,3342,0,0,0,0,0,0,25.35,25.48,28.83
$STATE,12495,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12495,begin apogee
$GC,12503,-0.22,0.0,990.0,-7.2,627,12634,0.20,0.00,125.65,1.160,6,0.109,0.000,3119,2335,2794,0,0,0,0,0,0,25.77,28.83,22.44
$STATE,12635,end apogee,CONTROL_FINISHED_OK
$STATE,12635,begin climb
$GC,12638,0.47,136.3,994.2,0.0,631,12780,0.68,2.58,134.62,1.121,4,0.069,0.067,3350,3727,2237,0,0,0,0,0,0,24.42,23.42,21.76
$GC,12821,0.48,152.7,986.7,6.4,638,12849,0.00,2.35,17.00,1.031,6,0.000,0.049,3360,2332,2169,0,0,0,0,0,0,28.83,24.13,22.15
$GC,13148,0.48,152.7,957.0,9.2,649,13154,0.00,2.33,0.00,0.000,4,0.000,0.057,3370,921,2162,0,0,0,0,0,0,28.83,25.37,28.83
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$STATE,25150,end climb,SURFACE_DEPTH_REACHED
$STATE,25151,begin surface coast
$FINISH,1.4,1.025277
$STATE,25182,end surface coast,CONTROL_FINISHED_OK
$STATE,25182,begin surface
$SM_CCo,25264,0.00,0.000,0,0,1505,316.19
$SM_GC,2.23,8.30,2.47,0.00,0.024,0.046,0.000,105,2199,1505,-9.48,0.99,316.19,0,0,0,0,0,0,26.01,25.60,28.83
$IRIDIUM_FIX,4657.54,-12610.97,270213,080808
$TT8_MAMPS,0.027713,0.027713
$HUMID,47.75
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,19.10
$XPDR_PINGS,5
$24V_AH,21.8,89.985
$10V_AH,9.8,68.836
$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,22.125,234.800,435.075,0.000,0.000,54.069,82.258,484.082,1.250,0.000,13.298,3603.427,18323.789,780.230,2902.169,525.412,0.000,2066.386,0.000,2250.496,0.000,0.536,0.000
$DEVICE_MAMPS,207.315,83.385,1159.740,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,954.154,719.172,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296848
$DATA_FILE_SIZE,76955,1386
$CAP_FILE_SIZE,208472,0
$CFSIZE,260165632,203747328
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.079, 77.5,1
$GPS,270213,151923,4715.936,-12617.351,33,1.1,50,18.6