version: 66.11
glider: 187
mission: 2
dive: 713
start: 3 20 113 15 27 12
data:
$ID,187
$MISSION,2
$DIVE,713
$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,-1588940.2
$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,46
$R_STBD_OVSHOOT,24
$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
$GPS1,200313,151823,4709.529,-12644.133,37,1.1,54,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-69.5
$GPS2,200313,152639,4709.520,-12644.052,17,2.6,36,18.6
$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,206.2,26769,-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,-136.3,0.0,0.0,0,93,0.00,0.00,-73.50,0.000,2,0.000,0.000,118,2187,2890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.47,-136.3,3.6,-5.0,13,129,11.65,2.40,-9.82,0.000,4,0.213,0.074,3026,3611,3355,0,0,0,0,0,0,24.40,25.28,26.21
$GC,168,-0.47,-136.3,22.1,-20.2,25,175,0.00,2.20,0.00,0.000,6,0.000,0.044,3026,2205,3356,0,0,0,0,0,0,28.83,25.51,28.83
$GC,480,-0.47,-136.3,75.4,-16.1,86,488,0.00,2.33,0.00,0.000,4,0.000,0.063,3016,3618,3357,0,0,0,0,0,0,28.83,25.19,28.83
$GC,532,-0.47,-136.3,83.4,-15.4,95,538,0.00,2.22,0.00,0.000,6,0.000,0.044,3016,2196,3357,0,0,0,0,0,0,28.83,25.51,28.83
$GC,855,-0.47,-136.3,127.7,-12.1,150,863,0.00,2.22,0.00,0.000,4,0.000,0.050,3016,800,3357,0,0,0,0,0,0,28.83,25.35,28.83
$GC,934,-0.47,-136.3,137.1,-11.4,158,944,0.10,2.28,0.00,0.000,6,0.109,0.050,3043,2205,3357,0,0,0,0,0,0,25.19,25.35,28.83
$GC,1247,-0.47,-136.3,164.1,-8.3,179,1248,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2205,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1545,-0.47,-136.3,187.7,-7.4,199,1546,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2205,3358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1844,-0.47,-136.3,210.7,-8.3,217,1850,0.00,2.28,0.00,0.000,4,0.000,0.049,3043,790,3358,0,0,0,0,0,0,28.83,25.34,28.83
$GC,1873,-0.47,-136.3,212.3,-8.3,218,1877,0.00,2.30,0.00,0.000,6,0.000,0.050,3035,2211,3357,0,0,0,0,0,0,28.83,25.33,28.83
$GC,2174,-0.47,-136.3,241.0,-9.2,233,2175,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2210,3358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2474,-0.47,-136.3,267.9,-8.8,248,2479,0.00,2.33,0.00,0.000,4,0.000,0.063,3025,3609,3357,0,0,0,0,0,0,28.83,25.14,28.83
$GC,2523,-0.47,-136.3,271.5,-9.0,250,2533,0.00,2.28,0.00,0.000,6,0.000,0.043,3025,2188,3357,0,0,0,0,0,0,28.83,25.53,28.83
$GC,2834,-0.47,-136.3,300.0,-8.7,266,2839,0.00,2.22,0.00,0.000,4,0.000,0.050,3025,804,3357,0,0,0,0,0,0,28.83,25.30,28.83
$GC,2862,-0.47,-136.3,301.8,-8.6,267,2866,0.00,2.28,0.00,0.000,6,0.000,0.051,3016,2205,3357,0,0,0,0,0,0,28.83,25.30,28.83
$GC,3165,-0.47,-136.3,328.8,-8.8,282,3169,0.00,2.33,0.00,0.000,4,0.000,0.063,3006,3613,3357,0,0,0,0,0,0,28.83,25.12,28.83
$GC,3192,-0.47,-136.3,330.4,-8.6,283,3197,0.12,2.28,0.00,0.000,6,0.127,0.044,3043,2199,3358,0,0,0,0,0,0,25.32,25.51,28.83
$GC,3494,-0.47,-136.3,351.3,-6.3,298,3495,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2195,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3795,-0.47,-136.3,371.0,-6.8,313,3796,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2194,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4094,-0.47,-136.3,393.0,-7.6,328,4099,0.00,2.38,0.00,0.000,4,0.000,0.063,3034,3616,3357,0,0,0,0,0,0,28.83,25.08,28.83
$GC,4122,-0.47,-136.3,394.5,-7.6,329,4126,0.00,2.30,0.00,0.000,6,0.000,0.044,3034,2193,3357,0,0,0,0,0,0,28.83,25.48,28.83
$GC,4425,-0.47,-136.3,420.7,-8.4,340,4426,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2192,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4724,-0.47,-136.3,444.8,-7.9,350,4730,0.00,2.38,0.00,0.000,4,0.000,0.063,3025,3609,3356,0,0,0,0,0,0,28.83,25.06,28.83
$GC,4772,-0.47,-136.3,447.2,-7.9,351,4776,0.00,2.28,0.00,0.000,6,0.000,0.044,3025,2203,3356,0,0,0,0,0,0,28.83,25.47,28.83
$GC,5074,-0.47,-136.3,473.9,-8.2,361,5075,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2200,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5375,-0.47,-136.3,497.0,-7.4,371,5380,0.00,2.35,0.00,0.000,4,0.000,0.064,3015,3605,3355,0,0,0,0,0,0,28.83,25.05,28.83
$GC,5412,-0.47,-136.3,499.4,-7.4,372,5416,0.00,2.28,0.00,0.000,6,0.000,0.045,3015,2198,3355,0,0,0,0,0,0,28.83,25.46,28.83
$GC,5725,-0.47,-136.3,524.8,-8.0,383,5730,0.00,2.25,0.00,0.000,4,0.000,0.053,3015,807,3354,0,0,0,0,0,0,28.83,25.22,28.83
$GC,5774,-0.47,-136.3,527.4,-8.2,384,5784,0.10,2.25,0.00,0.000,6,0.105,0.053,3042,2190,3354,0,0,0,0,0,0,25.04,25.23,28.83
$GC,6085,-0.47,-136.3,549.6,-6.7,395,6090,0.00,2.38,0.00,0.000,4,0.000,0.065,3034,3611,3354,0,0,0,0,0,0,28.83,25.02,28.83
$GC,6144,-0.47,-136.3,554.0,-7.0,397,6150,0.00,2.28,0.00,0.000,6,0.000,0.046,3034,2203,3354,0,0,0,0,0,0,28.83,25.44,28.83
$GC,6475,-0.47,-136.3,578.7,-7.6,408,6476,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2200,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6774,-0.47,-136.3,600.5,-7.2,418,6780,0.00,2.38,0.00,0.000,4,0.000,0.065,3025,3610,3353,0,0,0,0,0,0,28.83,25.00,28.83
$GC,6822,-0.47,-136.3,602.8,-7.3,419,6826,0.00,2.30,0.00,0.000,6,0.000,0.046,3024,2194,3353,0,0,0,0,0,0,28.83,25.42,28.83
$GC,7125,-0.47,-136.3,626.9,-7.5,429,7130,0.00,2.38,0.00,0.000,4,0.000,0.066,3015,3607,3353,0,0,0,0,0,0,28.83,24.98,28.83
$GC,7154,-0.47,-136.3,629.3,-7.6,430,7159,0.00,2.30,0.00,0.000,6,0.000,0.046,3015,2192,3352,0,0,0,0,0,0,28.83,25.41,28.83
$GC,7484,-0.47,-136.3,655.7,-8.1,441,7485,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2189,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7784,-0.47,-136.3,679.1,-7.8,451,7790,0.00,2.38,0.00,0.000,4,0.000,0.066,3005,3606,3352,0,0,0,0,0,0,28.83,24.97,28.83
$GC,7833,-0.47,-136.3,681.4,-7.8,452,7843,0.12,2.28,0.00,0.000,6,0.126,0.046,3042,2199,3352,0,0,0,0,0,0,25.24,25.41,28.83
$GC,8145,-0.47,-136.3,700.7,-5.5,463,8150,0.00,2.38,0.00,0.000,4,0.000,0.067,3035,3610,3352,0,0,0,0,0,0,28.83,24.96,28.83
$GC,8183,-0.47,-136.3,702.4,-5.5,464,8187,0.00,2.30,0.00,0.000,6,0.000,0.047,3034,2197,3352,0,0,0,0,0,0,28.83,25.39,28.83
$GC,8497,-0.47,-136.3,721.9,-6.3,475,8500,0.00,2.35,0.00,0.000,4,0.000,0.067,3025,3617,3352,0,0,0,0,0,0,28.83,24.94,28.83
$GC,8533,-0.47,-136.3,723.8,-6.4,476,8537,0.00,2.33,0.00,0.000,6,0.000,0.047,3025,2190,3351,0,0,0,0,0,0,28.83,25.38,28.83
$GC,8846,-0.47,-136.3,747.2,-7.4,487,8847,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2189,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9147,-0.47,-136.3,770.4,-7.7,497,9148,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2189,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9446,-0.47,-136.3,793.3,-7.6,507,9451,0.00,2.40,0.00,0.000,4,0.000,0.067,3016,3612,3351,0,0,0,0,0,0,28.83,24.92,28.83
$GC,9543,-0.47,-136.3,800.2,-7.6,510,9548,0.00,2.30,0.00,0.000,6,0.000,0.047,3015,2201,3350,0,0,0,0,0,0,28.83,25.37,28.83
$GC,9857,-0.47,-136.3,823.2,-7.2,521,9861,0.00,2.25,0.00,0.000,4,0.000,0.054,3016,805,3350,0,0,0,0,0,0,28.83,25.12,28.83
$GC,9886,-0.47,-136.3,825.2,-7.0,522,9892,0.10,2.28,0.00,0.000,6,0.103,0.054,3043,2200,3350,0,0,0,0,0,0,24.94,25.11,28.83
$GC,10216,-0.47,-136.3,842.5,-5.1,533,10222,0.00,2.38,0.00,0.000,4,0.000,0.067,3035,3616,3350,0,0,0,0,0,0,28.83,24.89,28.83
$GC,10277,-0.47,-136.3,845.9,-5.3,535,10282,0.00,2.28,0.00,0.000,6,0.000,0.046,3035,2199,3350,0,0,0,0,0,0,28.83,25.39,28.83
$GC,10606,-0.47,-136.3,864.1,-5.6,546,10607,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2197,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10906,-0.47,-136.3,882.0,-6.1,556,10911,0.00,2.38,0.00,0.000,4,0.000,0.067,3025,3607,3349,0,0,0,0,0,0,28.83,24.87,28.83
$GC,10967,-0.47,-136.3,886.1,-6.5,558,10971,0.00,2.28,0.00,0.000,6,0.000,0.048,3026,2199,3349,0,0,0,0,0,0,28.83,25.34,28.83
$GC,11296,-0.47,-136.3,909.0,-7.1,569,11301,0.00,2.30,0.00,0.000,4,0.000,0.054,3025,790,3348,0,0,0,0,0,0,28.83,25.08,28.83
$GC,11333,-0.47,-136.3,911.3,-7.3,570,11338,0.00,2.33,0.00,0.000,6,0.000,0.055,3017,2201,3349,0,0,0,0,0,0,28.83,25.07,28.83
$GC,11647,-0.47,-136.3,935.6,-7.6,581,11651,0.00,2.35,0.00,0.000,4,0.000,0.067,3007,3605,3348,0,0,0,0,0,0,28.83,24.85,28.83
$GC,11754,-0.47,-136.3,942.8,-8.0,584,11759,0.12,2.30,0.00,0.000,6,0.122,0.047,3044,2190,3348,0,0,0,0,0,0,25.18,25.33,28.83
$GC,12056,-0.47,-136.3,964.1,-6.5,594,12057,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2188,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12357,-0.47,-136.3,983.2,-6.2,604,12362,0.00,2.40,0.00,0.000,4,0.000,0.068,3039,3608,3348,0,0,0,0,0,0,28.83,24.83,28.83
$GC,12394,-0.47,-136.3,985.1,-6.2,605,12398,0.00,2.30,0.00,0.000,6,0.000,0.048,3039,2200,3347,0,0,0,0,0,0,28.83,25.30,28.83
$STATE,12463,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12464,begin apogee
$GC,12471,-0.22,0.0,990.3,-6.5,608,12603,0.25,0.00,126.93,1.155,6,0.107,0.000,3127,2339,2793,0,0,0,0,0,0,25.56,28.83,22.44
$STATE,12604,end apogee,CONTROL_FINISHED_OK
$STATE,12604,begin climb
$GC,12608,0.47,136.3,994.8,0.0,612,12750,0.65,2.58,134.43,1.119,4,0.068,0.067,3350,3728,2237,0,0,0,0,0,0,24.43,23.45,21.73
$GC,12791,0.48,154.8,987.4,6.3,619,12818,0.00,2.38,18.52,1.034,6,0.000,0.049,3360,2324,2163,0,0,0,0,0,0,28.83,24.19,22.18
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$STATE,24323,end climb,SURFACE_DEPTH_REACHED
$STATE,24323,begin surface coast
$FINISH,1.3,1.025048
$STATE,24359,end surface coast,CONTROL_FINISHED_OK
$STATE,24359,begin surface
$SM_CCo,24439,0.00,0.000,0,0,1253,377.76
$SM_GC,2.24,8.38,0.15,0.00,0.031,0.081,0.000,107,2206,1253,-9.47,1.33,377.76,0,0,0,0,0,0,25.85,26.05,28.83
$IRIDIUM_FIX,4654.38,-12638.89,200313,080825
$TT8_MAMPS,0.026964,0.026964
$HUMID,48.03
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,19.10
$XPDR_PINGS,1
$24V_AH,21.7,100.329
$10V_AH,9.7,75.767
$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,22.225,213.750,473.400,0.000,0.000,26.466,42.495,251.047,0.250,0.000,38.085,3354.740,17886.600,768.373,2450.185,464.516,0.000,1968.442,0.000,2089.353,0.000,0.535,0.000
$DEVICE_MAMPS,212.670,83.385,1155.150,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,887.883,647.796,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296908
$DATA_FILE_SIZE,70185,1290
$CAP_FILE_SIZE,188654,0
$CFSIZE,260165632,197521408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.147, 49.2,1
$GPS,200313,221553,4707.839,-12646.017,28,1.3,43,18.6