version: 66.11
glider: 187
mission: 2
dive: 717
start: 3 21 113 19 41 28
data:
$ID,187
$MISSION,2
$DIVE,717
$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,-1588947.5
$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,40
$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
$GPS1,210313,193336,4703.904,-12653.685,52,1.4,52,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-72.8
$GPS2,210313,194055,4703.906,-12653.618,15,1.7,15,18.6
$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,215.5,10830,-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,17,-0.47,-136.3,0.0,0.0,0,87,0.00,0.00,-68.20,0.000,2,0.000,0.000,126,2190,2741,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.47,-136.3,3.2,-2.8,12,123,11.70,2.42,-14.12,0.000,4,0.216,0.080,3023,3608,3352,0,0,0,0,0,0,24.37,25.19,26.22
$GC,194,-0.47,-136.3,21.9,-13.9,30,200,0.00,2.20,0.00,0.000,6,0.000,0.045,3023,2195,3354,0,0,0,0,0,0,28.83,25.45,28.83
$GC,506,-0.47,-136.3,70.0,-16.2,91,514,0.00,2.20,0.00,0.000,4,0.000,0.051,3023,790,3355,0,0,0,0,0,0,28.83,25.29,28.83
$GC,577,-0.47,-136.3,81.0,-14.2,104,584,0.00,2.25,0.00,0.000,6,0.000,0.051,3013,2203,3355,0,0,0,0,0,0,28.83,25.32,28.83
$GC,899,-0.47,-136.3,124.0,-12.2,163,907,0.00,2.30,0.00,0.000,4,0.000,0.063,3003,3601,3356,0,0,0,0,0,0,28.83,25.16,28.83
$GC,958,-0.47,-136.3,131.3,-12.0,169,968,0.15,2.25,0.00,0.000,6,0.124,0.044,3047,2188,3356,0,0,0,0,0,0,25.30,25.52,28.83
$GC,1272,-0.47,-136.3,155.6,-7.3,190,1279,0.00,2.17,0.00,0.000,4,0.000,0.051,3047,798,3356,0,0,0,0,0,0,28.83,25.32,28.83
$GC,1318,-0.47,-136.3,159.1,-7.7,195,1327,0.00,2.28,0.00,0.000,6,0.000,0.050,3041,2202,3356,0,0,0,0,0,0,28.83,25.33,28.83
$GC,1628,-0.47,-136.3,183.1,-7.9,216,1637,0.00,2.33,0.00,0.000,4,0.000,0.063,3030,3612,3355,0,0,0,0,0,0,28.83,25.13,28.83
$GC,1668,-0.47,-136.3,186.6,-8.8,220,1677,0.00,2.25,0.00,0.000,6,0.000,0.044,3030,2194,3356,0,0,0,0,0,0,28.83,25.52,28.83
$GC,1989,-0.47,-136.3,215.1,-9.1,239,1990,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2194,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2288,-0.47,-136.3,240.5,-8.3,254,2289,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2194,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2590,-0.47,-136.3,265.8,-8.4,269,2592,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2194,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2888,-0.47,-136.3,291.6,-8.6,284,2890,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2194,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3188,-0.47,-136.3,316.9,-8.3,299,3194,0.00,2.38,0.00,0.000,4,0.000,0.063,3019,3621,3355,0,0,0,0,0,0,28.83,25.08,28.83
$GC,3217,-0.47,-136.3,318.6,-8.3,300,3221,0.00,2.30,0.00,0.000,6,0.000,0.044,3019,2191,3356,0,0,0,0,0,0,28.83,25.48,28.83
$GC,3518,-0.47,-136.3,346.9,-9.2,315,3519,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2189,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3818,-0.47,-136.3,375.5,-9.5,330,3819,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2189,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4139,-0.47,-136.3,405.7,-9.1,345,4140,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2189,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4438,-0.47,-136.3,432.0,-8.4,355,4444,0.00,2.38,0.00,0.000,4,0.000,0.064,3009,3609,3355,0,0,0,0,0,0,28.83,25.04,28.83
$GC,4476,-0.47,-136.3,434.7,-8.4,356,4481,0.12,2.28,0.00,0.000,6,0.122,0.045,3046,2202,3355,0,0,0,0,0,0,25.28,25.44,28.83
$GC,4790,-0.47,-136.3,456.1,-6.6,367,4795,0.00,2.25,0.00,0.000,4,0.000,0.053,3046,805,3354,0,0,0,0,0,0,28.83,25.21,28.83
$GC,4820,-0.47,-136.3,458.1,-6.7,368,4825,0.00,2.25,0.00,0.000,6,0.000,0.053,3040,2197,3354,0,0,0,0,0,0,28.83,25.22,28.83
$GC,5149,-0.47,-136.3,481.2,-6.9,379,5155,0.00,2.35,0.00,0.000,4,0.000,0.065,3030,3606,3353,0,0,0,0,0,0,28.83,25.01,28.83
$GC,5228,-0.47,-136.3,485.5,-7.1,381,5237,0.00,2.28,0.00,0.000,6,0.000,0.046,3030,2195,3353,0,0,0,0,0,0,28.83,25.44,28.83
$GC,5539,-0.47,-136.3,510.2,-7.6,392,5545,0.00,2.38,0.00,0.000,4,0.000,0.065,3020,3612,3353,0,0,0,0,0,0,28.83,25.01,28.83
$GC,5569,-0.47,-136.3,512.6,-7.6,393,5575,0.00,2.28,0.00,0.000,6,0.000,0.047,3020,2206,3353,0,0,0,0,0,0,28.83,25.43,28.83
$GC,5899,-0.47,-136.3,539.7,-8.3,404,5900,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2203,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6200,-0.47,-136.3,564.1,-7.9,414,6205,0.00,2.28,0.00,0.000,4,0.000,0.053,3020,801,3353,0,0,0,0,0,0,28.83,25.18,28.83
$GC,6237,-0.47,-136.3,566.6,-8.0,415,6242,0.12,2.30,0.00,0.000,6,0.130,0.053,3045,2207,3352,0,0,0,0,0,0,25.09,25.20,28.83
$GC,6550,-0.47,-136.3,585.5,-5.6,426,6556,0.00,2.33,0.00,0.000,4,0.000,0.066,3037,3606,3352,0,0,0,0,0,0,28.83,24.98,28.83
$GC,6589,-0.47,-136.3,587.0,-5.4,427,6595,0.00,2.28,0.00,0.000,6,0.000,0.047,3037,2196,3352,0,0,0,0,0,0,28.83,25.41,28.83
$GC,6910,-0.47,-136.3,606.3,-5.9,438,6916,0.00,2.38,0.00,0.000,4,0.000,0.067,3026,3609,3352,0,0,0,0,0,0,28.83,24.96,28.83
$GC,6970,-0.47,-136.3,609.8,-5.8,440,6976,0.00,2.28,0.00,0.000,6,0.000,0.047,3027,2199,3351,0,0,0,0,0,0,28.83,25.39,28.83
$GC,7301,-0.47,-136.3,629.4,-5.9,451,7302,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2197,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7600,-0.47,-136.3,647.6,-6.2,461,7606,0.00,2.38,0.00,0.000,4,0.000,0.066,3017,3612,3351,0,0,0,0,0,0,28.83,24.94,28.83
$GC,7638,-0.47,-136.3,649.7,-6.5,462,7642,0.00,2.30,0.00,0.000,6,0.000,0.047,3017,2196,3351,0,0,0,0,0,0,28.83,25.37,28.83
$GC,7951,-0.47,-136.3,674.1,-7.9,473,7956,0.00,2.38,0.00,0.000,4,0.000,0.067,3007,3605,3351,0,0,0,0,0,0,28.83,24.93,28.83
$GC,7988,-0.47,-136.3,676.4,-7.9,474,7993,0.12,2.30,0.00,0.000,6,0.125,0.047,3044,2190,3350,0,0,0,0,0,0,25.21,25.37,28.83
$GC,8301,-0.47,-136.3,699.1,-7.0,485,8302,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2188,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8602,-0.47,-136.3,720.7,-7.1,495,8607,0.00,2.38,0.00,0.000,4,0.000,0.067,3037,3602,3350,0,0,0,0,0,0,28.83,24.91,28.83
$GC,8639,-0.47,-136.3,722.9,-7.3,496,8643,0.00,2.30,0.00,0.000,6,0.000,0.047,3037,2189,3350,0,0,0,0,0,0,28.83,25.37,28.83
$GC,8951,-0.47,-136.3,746.6,-7.2,507,8952,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2187,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9252,-0.47,-136.3,767.0,-6.6,517,9257,0.00,2.38,0.00,0.000,4,0.000,0.067,3027,3601,3350,0,0,0,0,0,0,28.83,24.90,28.83
$GC,9291,-0.47,-136.3,769.0,-6.8,518,9297,0.00,2.30,0.00,0.000,6,0.000,0.047,3026,2189,3349,0,0,0,0,0,0,28.83,25.34,28.83
$GC,9612,-0.47,-136.3,790.6,-6.5,529,9613,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2187,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9912,-0.47,-136.3,808.8,-5.6,539,9917,0.00,2.40,0.00,0.000,4,0.000,0.067,3017,3607,3349,0,0,0,0,0,0,28.83,24.89,28.83
$GC,9961,-0.47,-136.3,810.7,-5.6,540,9970,0.00,2.30,0.00,0.000,6,0.000,0.047,3017,2194,3349,0,0,0,0,0,0,28.83,25.33,28.83
$GC,10272,-0.47,-136.3,831.4,-6.4,551,10273,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2194,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10572,-0.47,-136.3,850.4,-6.4,561,10577,0.00,2.38,0.00,0.000,4,0.000,0.067,3008,3605,3348,0,0,0,0,0,0,28.83,24.87,28.83
$GC,10633,-0.47,-136.3,854.4,-6.4,563,10638,0.08,2.28,0.00,0.000,6,0.103,0.048,3038,2200,3348,0,0,0,0,0,0,25.13,25.32,28.83
$GC,10962,-0.47,-136.3,871.3,-5.0,574,10963,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2198,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11262,-0.47,-136.3,887.6,-5.5,584,11263,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2199,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11563,-0.47,-136.3,904.2,-5.5,594,11564,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2198,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11862,-0.47,-136.3,920.8,-5.6,604,11867,0.00,2.38,0.00,0.000,4,0.000,0.068,3031,3605,3347,0,0,0,0,0,0,28.83,24.83,28.83
$GC,11900,-0.47,-136.3,922.6,-5.7,605,11904,0.00,2.30,0.00,0.000,6,0.000,0.049,3031,2201,3347,0,0,0,0,0,0,28.83,25.29,28.83
$GC,12214,-0.47,-136.3,943.4,-6.8,616,12218,0.00,2.35,0.00,0.000,4,0.000,0.068,3021,3615,3347,0,0,0,0,0,0,28.83,24.82,28.83
$GC,12240,-0.47,-136.3,944.9,-7.0,617,12244,0.00,2.33,0.00,0.000,6,0.000,0.047,3021,2190,3347,0,0,0,0,0,0,28.83,25.32,28.83
$GC,12553,-0.47,-136.3,968.3,-7.3,628,12558,0.00,2.40,0.00,0.000,4,0.000,0.067,3012,3605,3347,0,0,0,0,0,0,28.83,24.82,28.83
$GC,12591,-0.47,-136.3,970.7,-7.4,629,12598,0.12,2.30,0.00,0.000,6,0.120,0.048,3048,2199,3346,0,0,0,0,0,0,25.14,25.28,28.83
$STATE,12910,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12910,begin apogee
$GC,12917,-0.22,0.0,990.6,-5.8,640,13049,0.20,0.00,126.78,1.159,6,0.110,0.000,3122,2338,2793,0,0,0,0,0,0,25.68,28.83,22.40
$STATE,13050,end apogee,CONTROL_FINISHED_OK
$STATE,13050,begin climb
$GC,13054,0.47,136.3,995.2,0.0,644,13196,0.68,2.58,134.75,1.120,4,0.070,0.067,3352,3725,2237,0,0,0,0,0,0,24.38,23.41,21.65
$GC,13225,0.49,178.4,989.6,5.3,650,13271,0.00,2.42,41.58,1.079,6,0.000,0.048,3362,2329,2066,0,0,0,0,0,0,28.83,24.01,21.82
$GC,13585,0.49,178.4,951.1,10.7,663,13590,0.00,2.33,0.00,0.000,4,0.000,0.058,3373,918,2056,0,0,0,0,0,0,28.83,25.32,28.83
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$STATE,24873,end climb,SURFACE_DEPTH_REACHED
$STATE,24873,begin surface coast
$FINISH,3.4,1.025178
$STATE,24880,end surface coast,CONTROL_FINISHED_OK
$STATE,24880,begin surface
$SM_CCo,24962,0.00,0.000,0,0,1457,327.97
$SM_GC,2.42,8.25,2.47,0.00,0.024,0.045,0.000,128,2199,1457,-9.47,1.36,327.97,0,0,0,0,0,0,25.82,25.49,28.83
$IRIDIUM_FIX,4651.23,-12648.40,210313,121243
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.11
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,18.70
$XPDR_PINGS,0
$24V_AH,21.6,100.900
$10V_AH,9.7,76.149
$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,22.325,223.450,428.925,0.000,0.000,24.764,36.027,225.013,0.000,0.000,16.244,3526.014,18171.727,739.810,2482.740,471.648,0.000,1980.658,0.000,2174.473,0.000,0.535,0.000
$DEVICE_MAMPS,215.730,82.620,1158.975,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,935.205,696.695,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296876
$DATA_FILE_SIZE,76952,1359
$CAP_FILE_SIZE,192732,0
$CFSIZE,260165632,197169152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.036, 79.3,1
$GPS,220313,023854,4702.017,-12655.930,45,1.4,45,18.6