version: 66.11
glider: 187
mission: 2
dive: 591
start: 2 13 113 3 30 22
data:
$ID,187
$MISSION,2
$DIVE,591
$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,-1588761.5
$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
$GPS1,130213,032236,4701.351,-12658.896,33,0.9,33,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-74.7
$GPS2,130213,032949,4701.340,-12658.820,15,0.9,15,18.6
$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,219.8,2895,-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,-136.3,0.0,0.0,0,75,0.00,0.00,-55.35,0.000,2,0.000,0.000,129,2188,2568,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-0.47,-136.3,3.2,-3.4,10,123,11.60,2.38,-21.35,0.000,4,0.213,0.075,3028,3605,3352,0,0,0,0,0,0,24.42,25.34,26.25
$GC,182,-0.47,-136.3,17.2,-14.3,28,190,0.00,2.20,0.00,0.000,6,0.000,0.044,3027,2191,3354,0,0,0,0,0,0,28.83,25.58,28.83
$GC,497,-0.47,-136.3,64.7,-16.7,89,503,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2187,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,808,-0.47,-136.3,110.6,-12.0,150,814,0.00,2.17,0.00,0.000,4,0.000,0.050,3027,793,3354,0,0,0,0,0,0,28.83,25.56,28.83
$GC,843,-0.47,-136.3,114.7,-10.8,156,851,0.00,2.20,0.00,0.000,6,0.000,0.050,3018,2203,3354,0,0,0,0,0,0,28.83,25.56,28.83
$GC,1159,-0.47,-136.3,151.5,-10.3,182,1168,0.00,2.33,0.00,0.000,4,0.000,0.062,3007,3625,3354,0,0,0,0,0,0,28.83,25.44,28.83
$GC,1219,-0.47,-136.3,158.1,-11.2,188,1230,0.12,2.28,0.00,0.000,6,0.129,0.042,3043,2188,3355,0,0,0,0,0,0,25.56,25.74,28.83
$GC,1532,-0.47,-136.3,184.2,-8.0,209,1539,0.00,2.17,0.00,0.000,4,0.000,0.050,3043,801,3354,0,0,0,0,0,0,28.83,25.57,28.83
$GC,1589,-0.47,-136.3,189.1,-8.3,215,1598,0.00,2.25,0.00,0.000,6,0.000,0.050,3037,2203,3355,0,0,0,0,0,0,28.83,25.58,28.83
$GC,1915,-0.47,-136.3,215.7,-8.4,234,1920,0.00,2.30,0.00,0.000,4,0.000,0.062,3026,3607,3354,0,0,0,0,0,0,28.83,25.43,28.83
$GC,1962,-0.47,-136.3,219.0,-8.2,236,1966,0.00,2.22,0.00,0.000,6,0.000,0.042,3026,2204,3355,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2264,-0.47,-136.3,245.6,-8.5,251,2270,0.00,2.25,0.00,0.000,4,0.000,0.050,3027,794,3355,0,0,0,0,0,0,28.83,25.56,28.83
$GC,2295,-0.47,-136.3,247.3,-8.5,252,2304,0.00,2.25,0.00,0.000,6,0.000,0.050,3017,2199,3354,0,0,0,0,0,0,28.83,25.56,28.83
$GC,2604,-0.47,-136.3,276.5,-9.1,268,2610,0.00,2.33,0.00,0.000,4,0.000,0.063,3007,3611,3354,0,0,0,0,0,0,28.83,25.41,28.83
$GC,2684,-0.47,-136.3,284.0,-9.4,272,2691,0.12,2.25,0.00,0.000,6,0.129,0.043,3043,2195,3354,0,0,0,0,0,0,25.56,25.72,28.83
$GC,3005,-0.47,-136.3,306.5,-6.6,288,3006,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2192,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3306,-0.47,-136.3,326.2,-6.7,303,3310,0.00,2.33,0.00,0.000,4,0.000,0.063,3035,3606,3354,0,0,0,0,0,0,28.83,25.40,28.83
$GC,3345,-0.47,-136.3,328.9,-6.6,305,3350,0.00,2.22,0.00,0.000,6,0.000,0.044,3035,2204,3354,0,0,0,0,0,0,28.83,25.73,28.83
$GC,3665,-0.47,-136.3,351.3,-7.1,321,3670,0.00,2.22,0.00,0.000,4,0.000,0.051,3035,803,3354,0,0,0,0,0,0,28.83,25.53,28.83
$GC,3712,-0.47,-136.3,354.2,-7.2,323,3716,0.00,2.25,0.00,0.000,6,0.000,0.051,3027,2200,3354,0,0,0,0,0,0,28.83,25.53,28.83
$GC,4014,-0.47,-136.3,377.9,-7.7,338,4020,0.00,2.33,0.00,0.000,4,0.000,0.063,3017,3608,3354,0,0,0,0,0,0,28.83,25.37,28.83
$GC,4075,-0.47,-136.3,382.9,-8.3,341,4080,0.00,2.22,0.00,0.000,6,0.000,0.044,3017,2201,3354,0,0,0,0,0,0,28.83,25.71,28.83
$GC,4384,-0.47,-136.3,409.5,-8.7,355,4386,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2200,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4685,-0.47,-136.3,434.7,-8.2,365,4686,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2199,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4985,-0.47,-136.3,459.1,-7.9,375,4990,0.00,2.33,0.00,0.000,4,0.000,0.064,3007,3606,3353,0,0,0,0,0,0,28.83,25.35,28.83
$GC,5032,-0.47,-136.3,461.6,-8.0,376,5037,0.12,2.28,0.00,0.000,6,0.127,0.045,3044,2187,3352,0,0,0,0,0,0,25.52,25.69,28.83
$GC,5334,-0.47,-136.3,483.0,-6.6,386,5336,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2184,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5635,-0.47,-136.3,502.8,-6.5,396,5640,0.00,2.38,0.00,0.000,4,0.000,0.064,3036,3609,3352,0,0,0,0,0,0,28.83,25.34,28.83
$GC,5694,-0.47,-136.3,507.2,-7.0,398,5700,0.00,2.25,0.00,0.000,6,0.000,0.046,3035,2197,3351,0,0,0,0,0,0,28.83,25.68,28.83
$GC,6024,-0.47,-136.3,531.7,-7.4,409,6026,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2196,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6325,-0.47,-136.3,553.1,-7.1,419,6330,0.00,2.35,0.00,0.000,4,0.000,0.065,3025,3607,3351,0,0,0,0,0,0,28.83,25.32,28.83
$GC,6356,-0.47,-136.3,555.1,-7.0,420,6360,0.00,2.22,0.00,0.000,6,0.000,0.046,3025,2189,3351,0,0,0,0,0,0,28.83,25.66,28.83
$GC,6684,-0.47,-136.3,578.4,-6.7,431,6690,0.00,2.38,0.00,0.000,4,0.000,0.065,3015,3611,3351,0,0,0,0,0,0,28.83,25.30,28.83
$GC,6722,-0.47,-136.3,580.5,-6.8,432,6727,0.00,2.30,0.00,0.000,6,0.000,0.046,3015,2189,3351,0,0,0,0,0,0,28.83,25.65,28.83
$GC,7035,-0.47,-136.3,604.4,-7.7,443,7037,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2187,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7335,-0.47,-136.3,629.0,-8.4,453,7341,0.00,2.38,0.00,0.000,4,0.000,0.065,3005,3611,3350,0,0,0,0,0,0,28.83,25.28,28.83
$GC,7372,-0.47,-136.3,631.5,-8.4,454,7377,0.12,2.28,0.00,0.000,6,0.125,0.047,3043,2200,3350,0,0,0,0,0,0,25.48,25.64,28.83
$GC,7687,-0.47,-136.3,653.6,-6.9,465,7688,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2198,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7986,-0.47,-136.3,674.1,-7.0,475,7987,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2198,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8286,-0.47,-136.3,693.9,-6.5,485,8291,0.00,2.35,0.00,0.000,4,0.000,0.067,3035,3605,3349,0,0,0,0,0,0,28.83,25.26,28.83
$GC,8346,-0.47,-136.3,697.8,-6.4,487,8351,0.00,2.25,0.00,0.000,6,0.000,0.047,3035,2202,3349,0,0,0,0,0,0,28.83,25.63,28.83
$GC,8676,-0.47,-136.3,717.5,-5.7,498,8677,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2201,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8976,-0.47,-136.3,734.5,-5.6,508,8977,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2201,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9277,-0.47,-136.3,751.2,-5.6,518,9281,0.00,2.35,0.00,0.000,4,0.000,0.067,3025,3605,3347,0,0,0,0,0,0,28.83,25.24,28.83
$GC,9324,-0.47,-136.3,753.2,-5.8,519,9328,0.00,2.28,0.00,0.000,6,0.000,0.047,3025,2199,3347,0,0,0,0,0,0,28.83,25.60,28.83
$GC,9626,-0.47,-136.3,775.0,-6.9,529,9627,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2197,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9926,-0.47,-136.3,797.1,-7.4,539,9931,0.00,2.35,0.00,0.000,4,0.000,0.067,3015,3604,3346,0,0,0,0,0,0,28.83,25.22,28.83
$GC,9993,-0.47,-136.3,801.6,-7.3,541,9998,0.00,2.28,0.00,0.000,6,0.000,0.047,3015,2195,3346,0,0,0,0,0,0,28.83,25.60,28.83
$GC,10306,-0.47,-136.3,826.0,-7.4,552,10307,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2194,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10607,-0.47,-136.3,847.1,-6.7,562,10611,0.00,2.35,0.00,0.000,4,0.000,0.067,3005,3605,3346,0,0,0,0,0,0,28.83,25.21,28.83
$GC,10644,-0.47,-136.3,849.4,-6.8,563,10649,0.12,2.28,0.00,0.000,6,0.124,0.047,3042,2195,3346,0,0,0,0,0,0,25.43,25.58,28.83
$GC,10958,-0.47,-136.3,866.2,-5.3,574,10959,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2193,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11259,-0.47,-136.3,881.3,-5.0,584,11260,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2193,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11558,-0.47,-136.3,896.9,-5.1,594,11563,0.00,2.35,0.00,0.000,4,0.000,0.067,3034,3602,3345,0,0,0,0,0,0,28.83,25.19,28.83
$GC,11588,-0.47,-136.3,898.5,-5.2,595,11593,0.00,2.25,0.00,0.000,6,0.000,0.048,3034,2205,3345,0,0,0,0,0,0,28.83,25.57,28.83
$GC,11919,-0.47,-136.3,917.5,-5.8,606,11920,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2203,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12218,-0.47,-136.3,934.4,-5.5,616,12223,0.00,2.35,0.00,0.000,4,0.000,0.067,3025,3604,3345,0,0,0,0,0,0,28.83,25.18,28.83
$GC,12256,-0.47,-136.3,936.3,-5.7,617,12260,0.00,2.30,0.00,0.000,6,0.000,0.048,3025,2189,3344,0,0,0,0,0,0,28.83,25.56,28.83
$GC,12569,-0.47,-136.3,955.0,-5.9,628,12570,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2186,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12868,-0.47,-136.3,972.1,-5.7,638,12874,0.00,2.38,0.00,0.000,4,0.000,0.067,3015,3605,3344,0,0,0,0,0,0,28.83,25.16,28.83
$GC,12916,-0.47,-136.3,974.1,-5.9,639,12920,0.00,2.30,0.00,0.000,6,0.000,0.047,3015,2186,3344,0,0,0,0,0,0,28.83,25.55,28.83
$STATE,13155,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13155,begin apogee
$GC,13163,-0.22,0.0,990.5,-6.3,647,13295,0.30,0.00,126.53,1.160,6,0.104,0.000,3119,2329,2793,0,0,0,0,0,0,25.58,28.83,22.41
$STATE,13295,end apogee,CONTROL_FINISHED_OK
$STATE,13296,begin climb
$GC,13298,0.47,136.3,994.0,0.0,651,13440,0.68,2.60,134.48,1.125,4,0.070,0.067,3348,3725,2237,0,0,0,0,0,0,24.37,23.36,21.70
$GC,13459,0.49,184.5,988.3,5.1,657,13512,0.00,2.45,47.35,1.088,6,0.000,0.048,3358,2326,2043,0,0,0,0,0,0,28.83,23.84,21.71
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$STATE,25341,end climb,SURFACE_DEPTH_REACHED
$STATE,25342,begin surface coast
$FINISH,1.6,1.001608
$STATE,25386,end surface coast,CONTROL_FINISHED_OK
$STATE,25386,begin surface
$SM_CCo,25465,0.00,0.000,0,0,1217,386.84
$SM_GC,2.41,8.35,0.17,0.00,0.028,0.075,0.000,123,2192,1217,-9.45,1.05,386.84,0,0,0,0,0,0,25.97,26.03,28.83
$IRIDIUM_FIX,4648.08,-12700.41,120213,202052
$TT8_MAMPS,0.026964,0.026964
$HUMID,47.20
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,19.10
$XPDR_PINGS,1
$24V_AH,21.7,82.654
$10V_AH,9.8,64.169
$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,22.250,225.950,483.700,0.000,0.000,24.944,37.112,221.856,0.250,0.000,18.461,3597.082,18496.295,788.420,2523.634,481.785,0.000,2061.231,0.000,2222.744,0.000,0.536,0.000
$DEVICE_MAMPS,213.435,81.855,1159.740,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,959.205,715.360,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,76854,1395
$CAP_FILE_SIZE,199628,0
$CFSIZE,260165632,207884288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.123, 41.9,1
$GPS,130213,103606,4700.401,-12702.208,40,1.2,40,18.6