version: 66.11
glider: 187
mission: 2
dive: 691
start: 3 13 113 22 50 27
data:
$ID,187
$MISSION,2
$DIVE,691
$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,-1588909.2
$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,38
$R_STBD_OVSHOOT,25
$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
$GPS1,130313,224223,4736.849,-12530.518,27,1.1,44,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-75.0
$GPS2,130313,224954,4736.917,-12530.447,14,1.4,25,18.7
$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,234.2,132169,-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,17,-0.47,-136.3,0.0,0.0,0,75,0.00,0.00,-55.78,0.000,2,0.000,0.000,114,2181,2683,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-0.47,-136.3,3.2,-2.9,10,116,11.65,2.25,-16.67,0.000,4,0.214,0.065,3035,800,3353,0,0,0,0,0,0,24.53,25.39,26.24
$GC,191,-0.47,-136.3,20.3,-14.8,30,198,0.00,2.22,0.00,0.000,6,0.000,0.052,3026,2209,3354,0,0,0,0,0,0,28.83,25.33,28.83
$GC,504,-0.47,-136.3,70.3,-16.2,91,510,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2209,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,815,-0.47,-136.3,114.2,-10.1,152,822,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2209,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1131,-0.47,-136.3,148.9,-11.4,180,1139,0.00,2.25,0.00,0.000,4,0.000,0.050,3026,799,3355,0,0,0,0,0,0,28.83,25.39,28.83
$GC,1180,-0.47,-136.3,154.6,-11.8,185,1188,0.00,2.25,0.00,0.000,6,0.000,0.050,3018,2197,3355,0,0,0,0,0,0,28.83,25.39,28.83
$GC,1491,-0.47,-136.3,188.1,-10.2,206,1492,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2197,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1790,-0.47,-136.3,219.2,-10.3,223,1795,0.00,2.35,0.00,0.000,4,0.000,0.062,3008,3616,3355,0,0,0,0,0,0,28.83,25.21,28.83
$GC,1838,-0.47,-136.3,223.7,-10.8,225,1843,0.12,2.28,0.00,0.000,6,0.131,0.043,3044,2192,3355,0,0,0,0,0,0,25.39,25.58,28.83
$GC,2141,-0.47,-136.3,249.6,-8.2,240,2142,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2188,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2440,-0.47,-136.3,272.7,-7.4,255,2441,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2187,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2740,-0.47,-136.3,296.7,-7.8,270,2745,0.00,2.38,0.00,0.000,4,0.000,0.063,3035,3611,3355,0,0,0,0,0,0,28.83,25.17,28.83
$GC,2789,-0.47,-136.3,300.0,-8.0,272,2798,0.00,2.28,0.00,0.000,6,0.000,0.044,3035,2189,3355,0,0,0,0,0,0,28.83,25.56,28.83
$GC,3100,-0.47,-136.3,327.6,-8.8,288,3101,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2189,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3400,-0.47,-136.3,352.1,-7.9,303,3405,0.00,2.35,0.00,0.000,4,0.000,0.063,3025,3607,3355,0,0,0,0,0,0,28.83,25.15,28.83
$GC,3429,-0.47,-136.3,353.7,-7.9,304,3433,0.00,2.25,0.00,0.000,6,0.000,0.044,3025,2205,3355,0,0,0,0,0,0,28.83,25.54,28.83
$GC,3730,-0.47,-136.3,378.0,-7.8,319,3731,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2202,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4040,-0.47,-136.3,404.3,-8.7,334,4041,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2202,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4341,-0.47,-136.3,430.7,-9.0,344,4345,0.00,2.33,0.00,0.000,4,0.000,0.064,3015,3604,3355,0,0,0,0,0,0,28.83,25.13,28.83
$GC,4388,-0.47,-136.3,433.4,-9.0,345,4392,0.00,2.28,0.00,0.000,6,0.000,0.045,3015,2191,3355,0,0,0,0,0,0,28.83,25.51,28.83
$GC,4690,-0.47,-136.3,462.4,-8.9,355,4691,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2189,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4991,-0.47,-136.3,488.6,-8.8,365,4996,0.00,2.38,0.00,0.000,4,0.000,0.065,3006,3611,3354,0,0,0,0,0,0,28.83,25.10,28.83
$GC,5020,-0.47,-136.3,491.3,-8.9,366,5026,0.12,2.28,0.00,0.000,6,0.126,0.045,3043,2201,3354,0,0,0,0,0,0,25.33,25.50,28.83
$GC,5350,-0.47,-136.3,513.1,-6.3,377,5355,0.00,2.35,0.00,0.000,4,0.000,0.065,3035,3602,3354,0,0,0,0,0,0,28.83,25.09,28.83
$GC,5388,-0.47,-136.3,514.9,-6.1,378,5392,0.00,2.28,0.00,0.000,6,0.000,0.046,3035,2192,3353,0,0,0,0,0,0,28.83,25.49,28.83
$GC,5702,-0.47,-136.3,534.7,-5.9,389,5706,0.00,2.33,0.00,0.000,4,0.000,0.066,3025,3612,3353,0,0,0,0,0,0,28.83,25.08,28.83
$GC,5739,-0.47,-136.3,536.5,-5.9,390,5743,0.00,2.30,0.00,0.000,6,0.000,0.046,3025,2191,3353,0,0,0,0,0,0,28.83,25.48,28.83
$GC,6052,-0.47,-136.3,554.2,-5.3,401,6056,0.00,2.35,0.00,0.000,4,0.000,0.066,3015,3608,3353,0,0,0,0,0,0,28.83,25.06,28.83
$GC,6081,-0.47,-136.3,555.8,-5.3,402,6087,0.00,2.25,0.00,0.000,6,0.000,0.046,3015,2205,3352,0,0,0,0,0,0,28.83,25.48,28.83
$GC,6411,-0.47,-136.3,577.9,-7.3,413,6412,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2202,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6711,-0.47,-136.3,603.2,-8.8,423,6716,0.00,2.35,0.00,0.000,4,0.000,0.064,3005,3605,3352,0,0,0,0,0,0,28.83,25.06,28.83
$GC,6742,-0.47,-136.3,605.9,-9.0,424,6747,0.10,2.28,0.00,0.000,6,0.099,0.046,3044,2190,3352,0,0,0,0,0,0,25.25,25.46,28.83
$GC,7071,-0.47,-136.3,631.8,-8.0,435,7077,0.00,2.38,0.00,0.000,4,0.000,0.066,3036,3602,3352,0,0,0,0,0,0,28.83,25.04,28.83
$GC,7119,-0.47,-136.3,634.0,-7.9,436,7123,0.00,2.28,0.00,0.000,6,0.000,0.047,3035,2200,3352,0,0,0,0,0,0,28.83,25.46,28.83
$GC,7422,-0.47,-136.3,658.8,-7.6,446,7423,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2198,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7721,-0.47,-136.3,680.4,-7.0,456,7722,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2198,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8021,-0.47,-136.3,699.9,-6.1,466,8027,0.00,2.38,0.00,0.000,4,0.000,0.067,3025,3607,3351,0,0,0,0,0,0,28.83,25.02,28.83
$GC,8090,-0.47,-136.3,703.9,-6.3,468,8096,0.00,2.30,0.00,0.000,6,0.000,0.047,3026,2191,3351,0,0,0,0,0,0,28.83,25.44,28.83
$GC,8411,-0.47,-136.3,724.8,-6.5,479,8412,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2189,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8711,-0.47,-136.3,745.6,-6.9,489,8716,0.00,2.40,0.00,0.000,4,0.000,0.067,3016,3611,3350,0,0,0,0,0,0,28.83,25.01,28.83
$GC,8759,-0.47,-136.3,747.8,-7.0,490,8763,0.00,2.30,0.00,0.000,6,0.000,0.047,3016,2202,3350,0,0,0,0,0,0,28.83,25.43,28.83
$GC,9061,-0.47,-136.3,772.3,-7.8,500,9062,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2200,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9361,-0.47,-136.3,795.7,-7.7,510,9366,0.00,2.38,0.00,0.000,4,0.000,0.067,3007,3606,3349,0,0,0,0,0,0,28.83,24.98,28.83
$GC,9409,-0.47,-136.3,798.1,-7.9,511,9414,0.12,2.30,0.00,0.000,6,0.122,0.047,3043,2195,3349,0,0,0,0,0,0,25.27,25.41,28.83
$GC,9712,-0.47,-136.3,816.9,-5.3,521,9716,0.00,2.35,0.00,0.000,4,0.000,0.067,3035,3615,3349,0,0,0,0,0,0,28.83,24.97,28.83
$GC,9759,-0.47,-136.3,818.4,-5.2,522,9763,0.00,2.30,0.00,0.000,6,0.000,0.045,3035,2196,3349,0,0,0,0,0,0,28.83,25.44,28.83
$GC,10061,-0.47,-136.3,833.5,-4.5,532,10062,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2195,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10362,-0.47,-136.3,847.1,-4.6,542,10367,0.00,2.38,0.00,0.000,4,0.000,0.067,3026,3605,3349,0,0,0,0,0,0,28.83,24.96,28.83
$GC,10421,-0.47,-136.3,850.0,-4.8,544,10427,0.00,2.28,0.00,0.000,6,0.000,0.047,3026,2201,3349,0,0,0,0,0,0,28.83,25.41,28.83
$GC,10751,-0.47,-136.3,867.1,-5.1,555,10756,0.00,2.38,0.00,0.000,4,0.000,0.067,3016,3606,3349,0,0,0,0,0,0,28.83,24.96,28.83
$GC,10782,-0.47,-136.3,868.7,-5.2,556,10787,0.00,2.25,0.00,0.000,6,0.000,0.048,3017,2189,3349,0,0,0,0,0,0,28.83,25.39,28.83
$GC,11111,-0.47,-136.3,887.9,-5.8,567,11116,0.00,2.40,0.00,0.000,4,0.000,0.067,3012,3611,3348,0,0,0,0,0,0,28.83,24.94,28.83
$GC,11159,-0.47,-136.3,889.9,-5.9,568,11164,0.12,2.30,0.00,0.000,6,0.119,0.047,3048,2198,3348,0,0,0,0,0,0,25.25,25.38,28.83
$GC,11462,-0.47,-136.3,905.7,-4.9,578,11466,0.00,2.38,0.00,0.000,4,0.000,0.067,3041,3601,3348,0,0,0,0,0,0,28.83,24.94,28.83
$GC,11491,-0.47,-136.3,907.2,-5.0,579,11497,0.00,2.28,0.00,0.000,6,0.000,0.048,3041,2200,3348,0,0,0,0,0,0,28.83,25.38,28.83
$GC,11821,-0.47,-136.3,925.9,-5.5,590,11822,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2198,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12122,-0.47,-136.3,944.1,-6.5,600,12127,0.00,2.38,0.00,0.000,4,0.000,0.068,3031,3605,3347,0,0,0,0,0,0,28.83,24.91,28.83
$GC,12181,-0.47,-136.3,948.5,-6.9,602,12187,0.00,2.28,0.00,0.000,6,0.000,0.048,3031,2198,3347,0,0,0,0,0,0,28.83,25.38,28.83
$GC,12511,-0.47,-136.3,971.5,-7.1,613,12512,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2198,3347,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12778,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12778,begin apogee
$GC,12786,-0.22,0.0,990.2,-6.9,622,12917,0.25,0.00,126.57,1.157,6,0.108,0.000,3120,2339,2793,0,0,0,0,0,0,25.57,28.83,22.44
$STATE,12918,end apogee,CONTROL_FINISHED_OK
$STATE,12918,begin climb
$GC,12921,0.47,136.3,994.9,0.0,626,13060,0.68,0.00,135.40,1.123,6,0.071,0.000,3348,2339,2238,0,0,0,0,0,0,24.39,28.83,21.70
$GC,13352,0.47,136.3,970.3,7.3,641,13353,0.00,0.00,0.00,0.000,6,0.000,0.000,3348,2338,2228,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13651,0.47,136.3,946.4,8.6,651,13657,0.00,2.35,0.00,0.000,4,0.000,0.068,3348,3731,2226,0,0,0,0,0,0,28.83,25.33,28.83
$GC,13681,0.47,136.3,943.3,8.9,652,13687,0.00,2.30,0.00,0.000,6,0.000,0.050,3359,2323,2225,0,0,0,0,0,0,28.83,25.56,28.83
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$STATE,25784,end climb,SURFACE_DEPTH_REACHED
$STATE,25784,begin surface coast
$FINISH,1.4,1.022988
$STATE,25826,end surface coast,CONTROL_FINISHED_OK
$STATE,25827,begin surface
$SM_CCo,25906,0.00,0.000,0,0,1219,386.35
$SM_GC,2.18,8.30,0.20,0.00,0.024,0.075,0.000,141,2200,1219,-9.45,1.27,386.35,0,0,0,0,0,0,25.82,25.99,28.83
$IRIDIUM_FIX,4722.92,-12530.40,130313,151548
$TT8_MAMPS,0.027713,0.027713
$HUMID,47.71
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,18.90
$XPDR_PINGS,7
$24V_AH,21.7,97.130
$10V_AH,9.7,73.609
$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,22.000,204.075,491.400,0.000,0.000,27.957,35.425,221.982,1.750,0.000,26.749,3592.332,18999.969,762.640,2522.887,469.123,0.000,2002.241,0.000,2203.958,0.000,0.536,0.000
$DEVICE_MAMPS,214.200,82.620,1156.680,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,953.099,701.173,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296916
$DATA_FILE_SIZE,76771,1383
$CAP_FILE_SIZE,196836,0
$CFSIZE,260165632,199446528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.078, 96.5,1
$GPS,140313,060353,4735.987,-12534.944,61,0.9,61,18.7