version: 66.11
glider: 187
mission: 2
dive: 698
start: 3 16 113 1 53 11
data:
$ID,187
$MISSION,2
$DIVE,698
$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,-1588918.4
$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,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
$GPS1,160313,014459,4728.552,-12559.083,42,0.8,47,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-77.5
$GPS2,160313,015237,4728.553,-12559.067,14,1.4,14,18.7
$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,215.9,93377,-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,-136.3,0.0,0.0,0,80,0.00,0.00,-61.97,0.000,2,0.000,0.000,119,2186,2665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.47,-136.3,3.3,-3.2,11,122,11.68,2.35,-17.40,0.000,4,0.215,0.076,3025,3608,3352,0,0,0,0,0,0,24.46,25.25,26.23
$GC,136,-0.47,-136.3,11.7,-14.6,19,143,0.00,2.20,0.00,0.000,6,0.000,0.044,3025,2200,3353,0,0,0,0,0,0,28.83,25.50,28.83
$GC,448,-0.47,-136.3,60.0,-15.4,80,454,0.00,2.22,0.00,0.000,4,0.000,0.052,3025,790,3354,0,0,0,0,0,0,28.83,25.32,28.83
$GC,529,-0.47,-136.3,71.9,-14.3,95,536,0.00,2.22,0.00,0.000,6,0.000,0.051,3015,2201,3354,0,0,0,0,0,0,28.83,25.35,28.83
$GC,841,-0.47,-136.3,115.9,-12.6,156,848,0.00,2.20,0.00,0.000,4,0.000,0.050,3015,801,3354,0,0,0,0,0,0,28.83,25.37,28.83
$GC,916,-0.47,-136.3,125.1,-11.7,166,926,0.12,2.28,0.00,0.000,6,0.139,0.051,3040,2201,3354,0,0,0,0,0,0,25.22,25.37,28.83
$GC,1228,-0.47,-136.3,151.4,-8.3,187,1235,0.00,2.30,0.00,0.000,4,0.000,0.063,3031,3613,3355,0,0,0,0,0,0,28.83,25.20,28.83
$GC,1276,-0.47,-136.3,155.6,-8.9,192,1285,0.00,2.28,0.00,0.000,6,0.000,0.043,3031,2188,3355,0,0,0,0,0,0,28.83,25.56,28.83
$GC,1586,-0.47,-136.3,186.1,-10.0,213,1587,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2187,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1898,-0.47,-136.3,216.6,-9.9,231,1902,0.00,2.20,0.00,0.000,4,0.000,0.050,3031,784,3355,0,0,0,0,0,0,28.83,25.35,28.83
$GC,1956,-0.47,-136.3,222.7,-10.1,234,1962,0.00,2.30,0.00,0.000,6,0.000,0.050,3022,2203,3355,0,0,0,0,0,0,28.83,25.36,28.83
$GC,2276,-0.47,-136.3,252.5,-8.5,250,2282,0.00,2.35,0.00,0.000,4,0.000,0.063,3011,3613,3355,0,0,0,0,0,0,28.83,25.18,28.83
$GC,2325,-0.47,-136.3,256.1,-8.7,252,2335,0.12,2.28,0.00,0.000,6,0.125,0.043,3048,2189,3354,0,0,0,0,0,0,25.39,25.56,28.83
$GC,2637,-0.47,-136.3,278.0,-7.1,268,2639,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2189,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2936,-0.47,-136.3,300.9,-8.0,283,2942,0.00,2.35,0.00,0.000,4,0.000,0.063,3040,3602,3355,0,0,0,0,0,0,28.83,25.16,28.83
$GC,2985,-0.47,-136.3,304.0,-8.1,285,2989,0.00,2.25,0.00,0.000,6,0.000,0.043,3040,2201,3354,0,0,0,0,0,0,28.83,25.55,28.83
$GC,3286,-0.47,-136.3,329.3,-7.8,300,3287,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2198,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3586,-0.47,-136.3,351.8,-7.3,315,3587,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2199,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3887,-0.47,-136.3,375.2,-8.2,330,3888,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2199,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4186,-0.47,-136.3,399.8,-7.9,345,4187,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2198,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4506,-0.47,-136.3,423.6,-7.3,356,4512,0.00,2.38,0.00,0.000,4,0.000,0.063,3030,3608,3354,0,0,0,0,0,0,28.83,25.10,28.83
$GC,4545,-0.47,-136.3,425.8,-7.2,357,4549,0.00,2.28,0.00,0.000,6,0.000,0.045,3030,2197,3354,0,0,0,0,0,0,28.83,25.50,28.83
$GC,4857,-0.47,-136.3,449.4,-7.1,368,4858,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2196,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5157,-0.47,-136.3,469.9,-6.7,378,5158,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2196,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5458,-0.47,-136.3,490.7,-7.0,388,5459,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2196,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5757,-0.47,-136.3,511.9,-7.0,398,5763,0.00,2.35,0.00,0.000,4,0.000,0.065,3020,3602,3352,0,0,0,0,0,0,28.83,25.06,28.83
$GC,5788,-0.47,-136.3,514.0,-7.0,399,5793,0.00,2.25,0.00,0.000,6,0.000,0.046,3021,2199,3352,0,0,0,0,0,0,28.83,25.47,28.83
$GC,6118,-0.47,-136.3,539.4,-7.8,410,6119,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2197,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6417,-0.47,-136.3,562.5,-7.5,420,6423,0.00,2.38,0.00,0.000,4,0.000,0.065,3011,3615,3352,0,0,0,0,0,0,28.83,25.06,28.83
$GC,6477,-0.47,-136.3,567.0,-7.4,422,6483,0.12,2.30,0.00,0.000,6,0.122,0.044,3048,2190,3352,0,0,0,0,0,0,25.32,25.48,28.83
$GC,6808,-0.47,-136.3,585.4,-5.5,433,6813,0.00,2.38,0.00,0.000,4,0.000,0.066,3040,3605,3352,0,0,0,0,0,0,28.83,25.03,28.83
$GC,6837,-0.47,-136.3,587.2,-5.7,434,6843,0.00,2.28,0.00,0.000,6,0.000,0.046,3040,2192,3351,0,0,0,0,0,0,28.83,25.46,28.83
$GC,7167,-0.47,-136.3,608.2,-6.6,445,7168,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2190,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7468,-0.47,-136.3,628.8,-6.8,455,7473,0.00,2.38,0.00,0.000,4,0.000,0.066,3031,3608,3351,0,0,0,0,0,0,28.83,25.02,28.83
$GC,7516,-0.47,-136.3,630.9,-6.8,456,7525,0.00,2.28,0.00,0.000,6,0.000,0.047,3031,2199,3351,0,0,0,0,0,0,28.83,25.44,28.83
$GC,7827,-0.47,-136.3,654.5,-7.3,467,7828,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2199,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8127,-0.47,-136.3,677.1,-7.6,477,8133,0.00,2.38,0.00,0.000,4,0.000,0.066,3021,3606,3350,0,0,0,0,0,0,28.83,25.00,28.83
$GC,8176,-0.47,-136.3,679.4,-7.6,478,8180,0.00,2.28,0.00,0.000,6,0.000,0.047,3021,2201,3350,0,0,0,0,0,0,28.83,25.43,28.83
$GC,8477,-0.47,-136.3,705.0,-7.9,488,8483,0.00,2.38,0.00,0.000,4,0.000,0.067,3012,3606,3350,0,0,0,0,0,0,28.83,24.99,28.83
$GC,8525,-0.47,-136.3,707.5,-8.0,489,8530,0.12,2.28,0.00,0.000,6,0.120,0.047,3048,2199,3350,0,0,0,0,0,0,25.27,25.41,28.83
$GC,8829,-0.47,-136.3,729.0,-6.5,499,8830,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2197,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9127,-0.47,-136.3,748.3,-6.4,509,9133,0.00,2.38,0.00,0.000,4,0.000,0.067,3040,3605,3349,0,0,0,0,0,0,28.83,24.96,28.83
$GC,9165,-0.47,-136.3,750.3,-6.4,510,9169,0.00,2.30,0.00,0.000,6,0.000,0.047,3040,2189,3349,0,0,0,0,0,0,28.83,25.41,28.83
$GC,9479,-0.47,-136.3,771.7,-6.7,521,9480,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2186,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9778,-0.47,-136.3,791.2,-6.3,531,9779,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2186,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10078,-0.47,-136.3,809.3,-5.8,541,10083,0.00,2.40,0.00,0.000,4,0.000,0.067,3030,3610,3347,0,0,0,0,0,0,28.83,24.94,28.83
$GC,10127,-0.47,-136.3,811.1,-5.8,542,10136,0.00,2.30,0.00,0.000,6,0.000,0.047,3030,2196,3347,0,0,0,0,0,0,28.83,25.39,28.83
$GC,10438,-0.47,-136.3,830.3,-5.7,553,10439,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2196,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10738,-0.47,-136.3,848.3,-6.1,563,10743,0.00,2.38,0.00,0.000,4,0.000,0.067,3021,3606,3347,0,0,0,0,0,0,28.83,24.92,28.83
$GC,10776,-0.47,-136.3,850.1,-6.0,564,10780,0.00,2.30,0.00,0.000,6,0.000,0.047,3021,2192,3347,0,0,0,0,0,0,28.83,25.37,28.83
$GC,11090,-0.47,-136.3,871.1,-6.7,575,11091,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2190,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11388,-0.47,-136.3,891.8,-7.0,585,11394,0.00,2.40,0.00,0.000,4,0.000,0.067,3012,3613,3347,0,0,0,0,0,0,28.83,24.92,28.83
$GC,11448,-0.47,-136.3,896.2,-7.1,587,11455,0.08,2.28,0.00,0.000,6,0.099,0.047,3042,2207,3347,0,0,0,0,0,0,25.19,25.37,28.83
$GC,11780,-0.47,-136.3,915.9,-5.8,598,11784,0.00,2.33,0.00,0.000,4,0.000,0.067,3034,3608,3347,0,0,0,0,0,0,28.83,24.91,28.83
$GC,11818,-0.47,-136.3,917.6,-5.9,599,11824,0.00,2.30,0.00,0.000,6,0.000,0.048,3034,2195,3347,0,0,0,0,0,0,28.83,25.36,28.83
$GC,12139,-0.47,-136.3,936.6,-5.5,610,12141,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2195,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12438,-0.47,-136.3,951.9,-5.1,620,12444,0.00,2.38,0.00,0.000,4,0.000,0.068,3024,3603,3345,0,0,0,0,0,0,28.83,24.89,28.83
$GC,12508,-0.47,-136.3,955.2,-5.3,622,12514,0.00,2.30,0.00,0.000,6,0.000,0.048,3024,2193,3345,0,0,0,0,0,0,28.83,25.34,28.83
$GC,12829,-0.47,-136.3,972.5,-5.4,633,12831,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2192,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13129,-0.47,-136.3,988.6,-5.4,643,13134,0.00,2.40,0.00,0.000,4,0.000,0.068,3014,3608,3345,0,0,0,0,0,0,28.83,24.87,28.83
$STATE,13155,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13155,begin apogee
$GC,13164,-0.22,0.0,990.4,-5.6,644,13295,0.30,0.00,126.20,1.157,6,0.105,0.000,3118,2319,2795,0,0,0,0,0,0,25.43,28.83,22.40
$STATE,13296,end apogee,CONTROL_FINISHED_OK
$STATE,13296,begin climb
$GC,13300,0.47,136.3,993.3,0.0,648,13442,0.68,2.62,135.45,1.119,4,0.071,0.067,3348,3731,2237,0,0,0,0,0,0,24.39,23.42,21.68
$GC,13469,0.48,157.1,985.8,6.2,654,13497,0.00,2.45,21.00,1.039,6,0.000,0.047,3358,2328,2152,0,0,0,0,0,0,28.83,23.98,21.95
$GC,13811,0.48,157.1,951.5,9.5,666,13816,0.00,2.30,0.00,0.000,4,0.000,0.057,3369,923,2145,0,0,0,0,0,0,28.83,25.33,28.83
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$STATE,25846,end climb,SURFACE_DEPTH_REACHED
$STATE,25846,begin surface coast
$FINISH,1.4,1.008207
$STATE,25888,end surface coast,CONTROL_FINISHED_OK
$STATE,25888,begin surface
$SM_CCo,25967,0.00,0.000,0,0,1453,328.95
$SM_GC,2.49,8.35,0.17,0.00,0.030,0.076,0.000,113,2197,1453,-9.45,1.13,328.95,0,0,0,0,0,0,25.93,26.04,28.83
$IRIDIUM_FIX,4716.56,-12601.17,150313,181856
$TT8_MAMPS,0.027713,0.027713
$HUMID,47.95
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,18.90
$XPDR_PINGS,2
$24V_AH,21.7,98.172
$10V_AH,9.7,74.287
$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,22.400,222.425,436.025,0.000,0.000,28.216,42.688,234.091,0.500,0.000,14.945,3639.727,18975.932,760.611,2555.860,482.393,0.000,2025.012,0.000,2231.924,0.000,0.535,0.000
$DEVICE_MAMPS,214.965,76.500,1157.445,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,967.919,717.025,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296888
$DATA_FILE_SIZE,76848,1405
$CAP_FILE_SIZE,200367,0
$CFSIZE,260165632,198823936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.116, 55.0,1
$GPS,160313,090723,4726.609,-12602.295,29,1.0,46,18.7