version: 66.11
glider: 187
mission: 2
dive: 589
start: 2 12 113 13 3 4
data:
$ID,187
$MISSION,2
$DIVE,589
$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,-1588754.8
$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,47
$R_STBD_OVSHOOT,26
$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
$GPS1,120213,125505,4705.922,-12654.943,42,1.9,47,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-74.4
$GPS2,120213,130231,4705.922,-12654.904,14,1.8,14,18.6
$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,198.0,12717,-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,14,begin dive
$GC,17,-0.47,-136.3,0.0,0.0,0,87,0.00,0.00,-67.60,0.000,2,0.000,0.000,109,2192,2720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.47,-136.3,3.3,-3.0,12,128,11.70,2.40,-15.30,0.000,4,0.216,0.074,3028,3611,3352,0,0,0,0,0,0,24.59,25.39,26.23
$GC,209,-0.47,-136.3,21.0,-14.8,33,215,0.00,2.20,0.00,0.000,6,0.000,0.044,3027,2198,3355,0,0,0,0,0,0,28.83,25.63,28.83
$GC,521,-0.47,-136.3,68.6,-15.2,94,528,0.00,2.17,0.00,0.000,4,0.000,0.050,3027,801,3355,0,0,0,0,0,0,28.83,25.54,28.83
$GC,596,-0.47,-136.3,79.2,-13.1,108,602,0.00,2.17,0.00,0.000,6,0.000,0.050,3018,2201,3355,0,0,0,0,0,0,28.83,25.57,28.83
$GC,907,-0.47,-136.3,117.6,-12.3,169,914,0.00,2.25,0.00,0.000,4,0.000,0.061,3007,3607,3355,0,0,0,0,0,0,28.83,25.46,28.83
$GC,947,-0.47,-136.3,122.5,-12.5,174,958,0.12,2.25,0.00,0.000,6,0.129,0.042,3043,2188,3355,0,0,0,0,0,0,25.57,25.75,28.83
$GC,1260,-0.47,-136.3,151.3,-8.7,195,1261,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2188,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1559,-0.47,-136.3,176.7,-8.6,215,1560,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2188,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1867,-0.47,-136.3,204.0,-8.6,235,1873,0.00,2.20,0.00,0.000,4,0.000,0.050,3043,802,3356,0,0,0,0,0,0,28.83,25.59,28.83
$GC,1916,-0.47,-136.3,207.6,-8.8,237,1920,0.00,2.25,0.00,0.000,6,0.000,0.050,3037,2205,3355,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2217,-0.47,-136.3,235.6,-9.0,252,2223,0.00,2.33,0.00,0.000,4,0.000,0.062,3026,3618,3355,0,0,0,0,0,0,28.83,25.44,28.83
$GC,2277,-0.47,-136.3,241.0,-8.9,255,2283,0.00,2.22,0.00,0.000,6,0.000,0.043,3026,2209,3355,0,0,0,0,0,0,28.83,25.76,28.83
$GC,2598,-0.47,-136.3,269.0,-8.5,271,2603,0.00,2.22,0.00,0.000,4,0.000,0.050,3026,803,3355,0,0,0,0,0,0,28.83,25.58,28.83
$GC,2625,-0.47,-136.3,270.8,-8.6,272,2629,0.00,2.25,0.00,0.000,6,0.000,0.050,3017,2202,3355,0,0,0,0,0,0,28.83,25.57,28.83
$GC,2927,-0.47,-136.3,299.1,-9.3,287,2928,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2202,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3228,-0.47,-136.3,327.4,-9.5,302,3229,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2202,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3527,-0.47,-136.3,355.1,-9.4,317,3533,0.00,2.33,0.00,0.000,4,0.000,0.062,3007,3610,3355,0,0,0,0,0,0,28.83,25.41,28.83
$GC,3567,-0.47,-136.3,359.0,-9.7,319,3573,0.10,2.25,0.00,0.000,6,0.100,0.044,3045,2189,3355,0,0,0,0,0,0,25.51,25.74,28.83
$GC,3889,-0.47,-136.3,382.5,-7.0,335,3890,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2187,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4207,-0.47,-136.3,404.2,-6.6,350,4213,0.00,2.35,0.00,0.000,4,0.000,0.063,3037,3607,3355,0,0,0,0,0,0,28.83,25.39,28.83
$GC,4238,-0.47,-136.3,406.2,-6.7,351,4243,0.00,2.22,0.00,0.000,6,0.000,0.044,3037,2205,3355,0,0,0,0,0,0,28.83,25.72,28.83
$GC,4568,-0.47,-136.3,429.4,-7.0,362,4569,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2203,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4867,-0.47,-136.3,450.7,-7.1,372,4873,0.00,2.35,0.00,0.000,4,0.000,0.064,3027,3612,3354,0,0,0,0,0,0,28.83,25.37,28.83
$GC,4897,-0.47,-136.3,453.0,-7.3,373,4903,0.00,2.28,0.00,0.000,6,0.000,0.045,3027,2191,3354,0,0,0,0,0,0,28.83,25.70,28.83
$GC,5228,-0.47,-136.3,478.0,-7.5,384,5233,0.00,2.35,0.00,0.000,4,0.000,0.064,3017,3604,3353,0,0,0,0,0,0,28.83,25.36,28.83
$GC,5257,-0.47,-136.3,480.3,-7.6,385,5263,0.00,2.25,0.00,0.000,6,0.000,0.045,3017,2204,3353,0,0,0,0,0,0,28.83,25.70,28.83
$GC,5587,-0.47,-136.3,506.6,-7.9,396,5588,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2201,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5888,-0.47,-136.3,530.8,-8.1,406,5893,0.00,2.25,0.00,0.000,4,0.000,0.053,3016,803,3352,0,0,0,0,0,0,28.83,25.49,28.83
$GC,5925,-0.47,-136.3,533.4,-8.2,407,5930,0.00,2.28,0.00,0.000,6,0.000,0.053,3016,2203,3352,0,0,0,0,0,0,28.83,25.48,28.83
$GC,6238,-0.47,-136.3,559.8,-8.1,418,6243,0.00,2.35,0.00,0.000,4,0.000,0.065,3007,3615,3352,0,0,0,0,0,0,28.83,25.33,28.83
$GC,6306,-0.47,-136.3,564.9,-8.4,420,6313,0.12,2.28,0.00,0.000,6,0.126,0.047,3043,2197,3351,0,0,0,0,0,0,25.51,25.67,28.83
$GC,6628,-0.47,-136.3,587.4,-6.6,431,6633,0.00,2.25,0.00,0.000,4,0.000,0.053,3044,799,3351,0,0,0,0,0,0,28.83,25.47,28.83
$GC,6658,-0.47,-136.3,589.4,-6.6,432,6664,0.00,2.25,0.00,0.000,6,0.000,0.053,3038,2196,3351,0,0,0,0,0,0,28.83,25.48,28.83
$GC,6989,-0.47,-136.3,612.4,-7.0,443,6993,0.00,2.30,0.00,0.000,4,0.000,0.067,3027,3611,3350,0,0,0,0,0,0,28.83,25.29,28.83
$GC,7055,-0.47,-136.3,617.0,-7.4,445,7060,0.00,2.28,0.00,0.000,6,0.000,0.046,3028,2198,3351,0,0,0,0,0,0,28.83,25.66,28.83
$GC,7368,-0.47,-136.3,641.9,-7.8,456,7370,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2196,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7669,-0.47,-136.3,665.1,-7.5,466,7674,0.00,2.38,0.00,0.000,4,0.000,0.066,3018,3612,3349,0,0,0,0,0,0,28.83,25.29,28.83
$GC,7737,-0.47,-136.3,669.5,-7.3,468,7742,0.00,2.28,0.00,0.000,6,0.000,0.047,3018,2203,3349,0,0,0,0,0,0,28.83,25.64,28.83
$GC,8050,-0.47,-136.3,691.9,-6.6,479,8056,0.00,2.35,0.00,0.000,4,0.000,0.066,3007,3609,3349,0,0,0,0,0,0,28.83,25.28,28.83
$GC,8088,-0.47,-136.3,694.1,-6.7,480,8093,0.12,2.28,0.00,0.000,6,0.123,0.047,3045,2198,3350,0,0,0,0,0,0,25.48,25.63,28.83
$GC,8403,-0.47,-136.3,712.3,-5.7,491,8407,0.00,2.33,0.00,0.000,4,0.000,0.067,3037,3608,3349,0,0,0,0,0,0,28.83,25.27,28.83
$GC,8439,-0.47,-136.3,714.1,-5.7,492,8444,0.00,2.28,0.00,0.000,6,0.000,0.047,3037,2201,3349,0,0,0,0,0,0,28.83,25.63,28.83
$GC,8753,-0.47,-136.3,735.2,-6.6,503,8754,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2198,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9052,-0.47,-136.3,754.6,-6.4,513,9053,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2198,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9352,-0.47,-136.3,773.8,-6.6,523,9357,0.00,2.35,0.00,0.000,4,0.000,0.067,3027,3605,3348,0,0,0,0,0,0,28.83,25.25,28.83
$GC,9390,-0.47,-136.3,775.9,-6.6,524,9394,0.00,2.28,0.00,0.000,6,0.000,0.047,3027,2198,3348,0,0,0,0,0,0,28.83,25.61,28.83
$GC,9704,-0.47,-136.3,797.1,-6.6,535,9705,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2195,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10003,-0.47,-136.3,816.1,-6.2,545,10004,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2196,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10303,-0.47,-136.3,833.3,-5.7,555,10309,0.00,2.35,0.00,0.000,4,0.000,0.067,3017,3604,3347,0,0,0,0,0,0,28.83,25.22,28.83
$GC,10342,-0.47,-136.3,835.2,-5.8,556,10347,0.00,2.28,0.00,0.000,6,0.000,0.047,3017,2200,3347,0,0,0,0,0,0,28.83,25.60,28.83
$GC,10663,-0.47,-136.3,855.5,-5.9,567,10664,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2198,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10963,-0.47,-136.3,873.4,-5.9,577,10964,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2198,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11264,-0.47,-136.3,891.9,-6.3,587,11268,0.00,2.33,0.00,0.000,4,0.000,0.067,3007,3618,3346,0,0,0,0,0,0,28.83,25.20,28.83
$GC,11311,-0.47,-136.3,893.9,-6.4,588,11316,0.12,2.30,0.00,0.000,6,0.122,0.046,3045,2192,3346,0,0,0,0,0,0,25.46,25.60,28.83
$GC,11613,-0.47,-136.3,911.3,-5.3,598,11614,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2190,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11914,-0.47,-136.3,928.2,-5.7,608,11918,0.00,2.35,0.00,0.000,4,0.000,0.067,3038,3597,3345,0,0,0,0,0,0,28.83,25.19,28.83
$GC,11961,-0.47,-136.3,929.7,-5.6,609,11965,0.00,2.28,0.00,0.000,6,0.000,0.048,3037,2197,3345,0,0,0,0,0,0,28.83,25.58,28.83
$GC,12263,-0.47,-136.3,948.0,-5.8,619,12268,0.00,2.25,0.00,0.000,4,0.000,0.054,3038,803,3345,0,0,0,0,0,0,28.83,25.35,28.83
$GC,12302,-0.47,-136.3,949.9,-6.0,620,12307,0.00,2.30,0.00,0.000,6,0.000,0.055,3033,2210,3345,0,0,0,0,0,0,28.83,25.36,28.83
$GC,12623,-0.47,-136.3,968.6,-5.6,631,12629,0.00,2.33,0.00,0.000,4,0.000,0.067,3023,3606,3345,0,0,0,0,0,0,28.83,25.18,28.83
$GC,12683,-0.47,-136.3,972.1,-5.6,633,12689,0.00,2.25,0.00,0.000,6,0.000,0.048,3023,2208,3345,0,0,0,0,0,0,28.83,25.57,28.83
$STATE,12980,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12980,begin apogee
$GC,12988,-0.22,0.0,990.4,-6.1,643,13119,0.28,0.00,126.35,1.164,6,0.104,0.000,3120,2334,2793,0,0,0,0,0,0,25.63,28.83,22.48
$STATE,13120,end apogee,CONTROL_FINISHED_OK
$STATE,13120,begin climb
$GC,13123,0.47,136.3,993.7,0.0,647,13264,0.68,2.60,134.07,1.129,4,0.070,0.067,3349,3730,2237,0,0,0,0,0,0,24.37,23.37,21.73
$GC,13293,0.49,170.8,987.5,5.6,653,13334,0.00,2.45,34.22,1.081,6,0.000,0.048,3359,2327,2096,0,0,0,0,0,0,28.83,23.93,21.89
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$STATE,25282,end climb,SURFACE_DEPTH_REACHED
$STATE,25282,begin surface coast
$FINISH,1.4,1.025042
$STATE,25317,end surface coast,CONTROL_FINISHED_OK
$STATE,25317,begin surface
$SM_CCo,25398,0.00,0.000,0,0,952,451.84
$SM_GC,2.39,8.32,0.20,0.00,0.026,0.071,0.000,112,2195,952,-9.47,1.05,451.84,0,0,0,0,0,0,25.88,25.96,28.83
$IRIDIUM_FIX,4648.08,-12649.03,120213,050550
$TT8_MAMPS,0.026964,0.026964
$HUMID,46.85
$INTERNAL_PRESSURE,9.0304
$TCM_TEMP,19.10
$XPDR_PINGS,3
$24V_AH,21.7,82.363
$10V_AH,9.7,63.977
$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
$DEVICE_SECS,22.100,198.725,534.450,0.000,0.000,26.446,42.982,225.250,0.750,0.000,17.275,3544.215,18531.730,784.758,2503.878,466.141,0.000,2039.835,0.000,2195.594,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,948.005,707.671,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73431,1378
$CAP_FILE_SIZE,193339,0
$CFSIZE,260165632,208068608
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.097, 58.1,1
$GPS,120213,200736,4703.289,-12656.980,36,1.1,36,18.6