version: 66.11
glider: 187
mission: 2
dive: 593
start: 2 13 113 16 9 51
data:
$ID,187
$MISSION,2
$DIVE,593
$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,-1588764.1
$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,36
$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
$GPS1,130213,160135,4659.232,-12659.576,39,1.0,39,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-76.8
$GPS2,130213,160918,4659.229,-12659.477,16,1.3,21,18.6
$SPEED_LIMITS,0.122,0.210
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,10000.000
$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,26.2,167143,-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,-136.3,0.0,0.0,0,70,0.00,0.00,-50.22,0.000,2,0.000,0.000,108,2200,2663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.47,-136.3,3.1,-1.6,9,111,11.65,2.25,-17.52,0.000,4,0.213,0.064,3034,789,3353,0,0,0,0,0,0,24.45,25.44,26.21
$GC,257,-0.47,-136.3,28.4,-13.3,43,264,0.00,2.22,0.00,0.000,6,0.000,0.052,3025,2205,3355,0,0,0,0,0,0,28.83,25.47,28.83
$GC,571,-0.47,-136.3,75.1,-15.1,104,577,0.00,2.20,0.00,0.000,4,0.000,0.050,3025,792,3355,0,0,0,0,0,0,28.83,25.54,28.83
$GC,600,-0.47,-136.3,79.6,-15.4,109,606,0.00,2.22,0.00,0.000,6,0.000,0.051,3015,2201,3355,0,0,0,0,0,0,28.83,25.54,28.83
$GC,916,-0.47,-136.3,121.9,-12.0,169,917,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2200,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1215,-0.47,-136.3,156.8,-11.2,189,1224,0.00,2.33,0.00,0.000,4,0.000,0.061,3005,3621,3356,0,0,0,0,0,0,28.83,25.44,28.83
$GC,1275,-0.47,-136.3,163.3,-10.4,195,1286,0.12,2.28,0.00,0.000,6,0.132,0.043,3042,2182,3357,0,0,0,0,0,0,25.55,25.75,28.83
$GC,1588,-0.47,-136.3,187.5,-7.6,216,1590,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2182,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1890,-0.47,-136.3,212.2,-8.4,234,1896,0.00,2.38,0.00,0.000,4,0.000,0.062,3034,3613,3356,0,0,0,0,0,0,28.83,25.42,28.83
$GC,1919,-0.47,-136.3,213.9,-8.3,235,1923,0.00,2.25,0.00,0.000,6,0.000,0.043,3034,2201,3356,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2220,-0.47,-136.3,242.4,-9.3,250,2226,0.00,2.25,0.00,0.000,4,0.000,0.050,3033,795,3356,0,0,0,0,0,0,28.83,25.56,28.83
$GC,2261,-0.47,-136.3,246.4,-9.5,252,2266,0.00,2.25,0.00,0.000,6,0.000,0.051,3029,2200,3357,0,0,0,0,0,0,28.83,25.56,28.83
$GC,2582,-0.47,-136.3,277.0,-9.1,268,2586,0.00,2.30,0.00,0.000,4,0.000,0.063,3019,3607,3356,0,0,0,0,0,0,28.83,25.41,28.83
$GC,2628,-0.47,-136.3,280.8,-9.2,270,2632,0.00,2.25,0.00,0.000,6,0.000,0.043,3019,2194,3356,0,0,0,0,0,0,28.83,25.73,28.83
$GC,2930,-0.47,-136.3,309.9,-9.2,285,2931,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2192,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3232,-0.47,-136.3,336.5,-8.9,300,3236,0.00,2.35,0.00,0.000,4,0.000,0.063,3008,3614,3357,0,0,0,0,0,0,28.83,25.40,28.83
$GC,3270,-0.47,-136.3,340.1,-8.8,302,3277,0.12,2.28,0.00,0.000,6,0.128,0.044,3045,2189,3357,0,0,0,0,0,0,25.54,25.72,28.83
$GC,3590,-0.47,-136.3,363.8,-7.5,318,3591,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2187,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3892,-0.47,-136.3,385.2,-6.9,333,3896,0.00,2.35,0.00,0.000,4,0.000,0.063,3037,3609,3356,0,0,0,0,0,0,28.83,25.37,28.83
$GC,3930,-0.47,-136.3,388.1,-7.1,335,3936,0.00,2.25,0.00,0.000,6,0.000,0.044,3037,2202,3356,0,0,0,0,0,0,28.83,25.71,28.83
$GC,4260,-0.47,-136.3,412.1,-7.1,349,4261,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2201,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4562,-0.47,-136.3,432.8,-6.8,359,4566,0.00,2.33,0.00,0.000,4,0.000,0.064,3027,3607,3356,0,0,0,0,0,0,28.83,25.36,28.83
$GC,4609,-0.47,-136.3,435.0,-6.9,360,4613,0.00,2.28,0.00,0.000,6,0.000,0.044,3027,2189,3355,0,0,0,0,0,0,28.83,25.70,28.83
$GC,4910,-0.47,-136.3,459.2,-7.6,370,4911,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2187,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5211,-0.47,-136.3,481.9,-7.6,380,5212,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2187,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5511,-0.47,-136.3,504.4,-7.4,390,5516,0.00,2.35,0.00,0.000,4,0.000,0.064,3017,3605,3353,0,0,0,0,0,0,28.83,25.34,28.83
$GC,5540,-0.47,-136.3,506.6,-7.4,391,5546,0.00,2.28,0.00,0.000,6,0.000,0.045,3017,2189,3353,0,0,0,0,0,0,28.83,25.68,28.83
$GC,5870,-0.47,-136.3,533.1,-8.0,402,5871,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2187,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6172,-0.47,-136.3,557.3,-8.2,412,6176,0.00,2.35,0.00,0.000,4,0.000,0.065,3007,3604,3353,0,0,0,0,0,0,28.83,25.32,28.83
$GC,6230,-0.47,-136.3,562.4,-8.3,414,6237,0.12,2.28,0.00,0.000,6,0.126,0.045,3044,2189,3353,0,0,0,0,0,0,25.50,25.66,28.83
$GC,6561,-0.47,-136.3,584.7,-6.8,425,6566,0.00,2.38,0.00,0.000,4,0.000,0.065,3036,3611,3353,0,0,0,0,0,0,28.83,25.30,28.83
$GC,6592,-0.47,-136.3,586.7,-6.8,426,6596,0.00,2.25,0.00,0.000,6,0.000,0.046,3036,2205,3352,0,0,0,0,0,0,28.83,25.66,28.83
$GC,6920,-0.47,-136.3,611.5,-7.6,437,6921,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2202,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7220,-0.47,-136.3,633.1,-7.1,447,7226,0.00,2.38,0.00,0.000,4,0.000,0.066,3026,3614,3352,0,0,0,0,0,0,28.83,25.28,28.83
$GC,7260,-0.47,-136.3,635.2,-7.0,448,7266,0.00,2.30,0.00,0.000,6,0.000,0.047,3026,2191,3352,0,0,0,0,0,0,28.83,25.63,28.83
$GC,7582,-0.47,-136.3,658.4,-6.8,459,7586,0.00,2.22,0.00,0.000,4,0.000,0.054,3026,803,3352,0,0,0,0,0,0,28.83,25.44,28.83
$GC,7629,-0.47,-136.3,660.5,-6.8,460,7633,0.00,2.28,0.00,0.000,6,0.000,0.054,3018,2202,3352,0,0,0,0,0,0,28.83,25.44,28.83
$GC,7931,-0.47,-136.3,682.6,-6.8,470,7936,0.00,2.33,0.00,0.000,4,0.000,0.066,3007,3609,3351,0,0,0,0,0,0,28.83,25.27,28.83
$GC,8010,-0.47,-136.3,687.0,-7.0,472,8019,0.12,2.25,0.00,0.000,6,0.125,0.046,3045,2199,3351,0,0,0,0,0,0,25.47,25.63,28.83
$GC,8321,-0.47,-136.3,706.4,-5.8,483,8322,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2198,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8621,-0.47,-136.3,724.4,-6.1,493,8626,0.00,2.35,0.00,0.000,4,0.000,0.067,3038,3605,3351,0,0,0,0,0,0,28.83,25.25,28.83
$GC,8682,-0.47,-136.3,728.3,-6.4,495,8686,0.00,2.25,0.00,0.000,6,0.000,0.047,3037,2197,3351,0,0,0,0,0,0,28.83,25.62,28.83
$GC,9011,-0.47,-136.3,750.8,-6.9,506,9012,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2195,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9311,-0.47,-136.3,772.0,-7.1,516,9316,0.00,2.35,0.00,0.000,4,0.000,0.067,3028,3605,3350,0,0,0,0,0,0,28.83,25.22,28.83
$GC,9341,-0.47,-136.3,774.1,-7.1,517,9346,0.00,2.25,0.00,0.000,6,0.000,0.047,3028,2192,3350,0,0,0,0,0,0,28.83,25.60,28.83
$GC,9671,-0.47,-136.3,799.4,-7.7,528,9672,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2190,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9970,-0.47,-136.3,821.4,-7.4,538,9976,0.00,2.40,0.00,0.000,4,0.000,0.067,3018,3615,3349,0,0,0,0,0,0,28.83,25.22,28.83
$GC,10009,-0.47,-136.3,823.7,-7.3,539,10013,0.00,2.28,0.00,0.000,6,0.000,0.047,3018,2200,3349,0,0,0,0,0,0,28.83,25.59,28.83
$GC,10321,-0.47,-136.3,847.2,-7.3,550,10327,0.00,2.38,0.00,0.000,4,0.000,0.067,3008,3614,3348,0,0,0,0,0,0,28.83,25.21,28.83
$GC,10359,-0.47,-136.3,849.4,-7.2,551,10364,0.12,2.28,0.00,0.000,6,0.124,0.048,3045,2199,3348,0,0,0,0,0,0,25.43,25.58,28.83
$GC,10674,-0.47,-136.3,867.9,-5.6,562,10678,0.00,2.35,0.00,0.000,4,0.000,0.068,3037,3601,3348,0,0,0,0,0,0,28.83,25.19,28.83
$GC,10703,-0.47,-136.3,869.8,-5.8,563,10708,0.00,2.22,0.00,0.000,6,0.000,0.047,3038,2207,3348,0,0,0,0,0,0,28.83,25.58,28.83
$GC,11033,-0.47,-136.3,889.5,-5.8,574,11034,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2207,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11334,-0.47,-136.3,906.1,-5.6,584,11338,0.00,2.30,0.00,0.000,4,0.000,0.067,3028,3607,3347,0,0,0,0,0,0,28.83,25.18,28.83
$GC,11371,-0.47,-136.3,907.8,-5.5,585,11375,0.00,2.28,0.00,0.000,6,0.000,0.048,3028,2194,3347,0,0,0,0,0,0,28.83,25.57,28.83
$GC,11684,-0.47,-136.3,925.9,-5.7,596,11685,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2193,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11984,-0.47,-136.3,943.2,-5.8,606,11989,0.00,2.38,0.00,0.000,4,0.000,0.067,3018,3610,3347,0,0,0,0,0,0,28.83,25.18,28.83
$GC,12014,-0.47,-136.3,945.1,-5.9,607,12019,0.00,2.28,0.00,0.000,6,0.000,0.049,3018,2193,3347,0,0,0,0,0,0,28.83,25.56,28.83
$GC,12343,-0.47,-136.3,966.8,-6.8,618,12344,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2192,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12643,-0.47,-136.3,988.0,-7.1,628,12649,0.00,2.38,0.00,0.000,4,0.000,0.067,3008,3610,3347,0,0,0,0,0,0,28.83,25.15,28.83
$STATE,12672,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12672,begin apogee
$GC,12681,-0.22,0.0,990.5,-7.3,629,12812,0.32,0.00,126.75,1.158,6,0.103,0.000,3120,2323,2794,0,0,0,0,0,0,25.52,28.83,22.42
$STATE,12813,end apogee,CONTROL_FINISHED_OK
$STATE,12813,begin climb
$GC,12816,0.47,136.3,995.7,0.0,633,12955,0.68,0.00,135.45,1.125,6,0.070,0.000,3349,2324,2238,0,0,0,0,0,0,24.37,28.83,21.71
$GC,13234,0.47,136.3,973.1,7.2,647,13235,0.00,0.00,0.00,0.000,6,0.000,0.000,3349,2323,2228,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13533,0.47,136.3,950.6,7.5,657,13539,0.00,2.40,0.00,0.000,4,0.000,0.068,3349,3753,2225,0,0,0,0,0,0,28.83,25.43,28.83
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$STATE,25599,end climb,SURFACE_DEPTH_REACHED
$STATE,25599,begin surface coast
$FINISH,1.5,1.007490
$STATE,25634,end surface coast,CONTROL_FINISHED_OK
$STATE,25635,begin surface
$SM_CCo,25715,0.00,0.000,0,0,1051,427.80
$SM_GC,2.50,8.32,0.20,0.00,0.026,0.071,0.000,120,2203,1051,-9.45,1.07,427.80,0,0,0,0,0,0,25.97,26.01,28.83
$IRIDIUM_FIX,4644.93,-12658.51,130213,101022
$TT8_MAMPS,0.026964,0.026964
$HUMID,46.92
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,19.10
$XPDR_PINGS,4
$24V_AH,21.7,82.895
$10V_AH,9.8,64.345
$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
$DEVICE_SECS,22.000,192.825,519.825,0.000,0.000,33.197,45.052,233.752,1.000,0.000,22.683,3526.201,18914.287,770.419,2504.391,458.520,0.000,1990.889,0.000,2168.699,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,947.378,700.612,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73618,1376
$CAP_FILE_SIZE,190050,0
$CFSIZE,260165632,207740928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.047,253.3,1
$GPS,130213,231936,4702.091,-12655.871,32,1.0,32,18.6