version: 66.11
glider: 187
mission: 2
dive: 34
start: 9 19 112 15 37 23
data:
$ID,187
$MISSION,2
$DIVE,34
$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,450
$T_MISSION,500
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51761
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,1
$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,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$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,-1587661.1
$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,2175
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,23
$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,22
$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
$GPS1,190912,152905,4720.209,-12617.997,33,1.0,33,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-78.6
$GPS2,190912,153618,4720.169,-12618.025,13,2.0,18,18.6
$SPEED_LIMITS,0.127,0.220
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.192,-0.109
$KALMAN_X,29769.0,1280.7,-1910.2,-119393.2,5804.7
$KALMAN_Y,14457.4,-981.5,1736.4,-68620.2,-4489.6
$MHEAD_RNG_PITCHd_Wd,205.5,64853,-13.4,-7.333,-18.42
$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,-0.48,-146.0,0.0,0.0,0,81,0.00,0.00,-61.90,0.000,2,0.000,0.000,116,2166,2860,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.48,-146.0,3.2,-5.0,10,113,11.32,2.25,-10.12,0.000,4,0.228,0.063,3034,761,3394,0,0,0,0,0,0,25.44,25.67,25.96
$GC,280,-0.48,-146.0,46.2,-14.9,46,288,0.00,2.25,0.00,0.000,6,0.000,0.050,3026,2180,3398,0,0,0,0,0,0,28.83,25.79,28.83
$GC,599,-0.48,-146.0,85.8,-12.8,107,606,0.00,2.22,0.00,0.000,4,0.000,0.061,3016,3585,3400,0,0,0,0,0,0,28.83,25.91,28.83
$GC,655,-0.48,-146.0,92.8,-12.2,117,663,0.00,2.15,0.00,0.000,6,0.000,0.043,3015,2165,3401,0,0,0,0,0,0,28.83,25.97,28.83
$GC,977,-0.48,-146.0,131.3,-12.0,167,983,0.00,2.10,0.00,0.000,4,0.000,0.050,3015,776,3401,0,0,0,0,0,0,28.83,26.03,28.83
$GC,999,-0.48,-146.0,133.1,-12.0,168,1007,0.08,2.20,0.00,0.000,6,0.133,0.050,3034,2178,3401,0,0,0,0,0,0,25.96,26.03,28.83
$GC,1307,-0.48,-146.0,162.6,-9.4,189,1313,0.00,2.17,0.00,0.000,4,0.000,0.063,3025,3578,3401,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1399,-0.48,-146.0,171.9,-10.5,195,1403,0.00,2.12,0.00,0.000,6,0.000,0.044,3025,2173,3401,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1711,-0.48,-146.0,203.5,-10.1,216,1715,0.00,2.15,0.00,0.000,4,0.000,0.051,3025,771,3400,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1759,-0.48,-146.0,208.3,-10.4,219,1764,0.00,2.12,0.00,0.000,6,0.000,0.050,3016,2175,3400,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2073,-0.48,-146.0,240.2,-10.0,240,2079,0.00,2.20,0.00,0.000,4,0.000,0.063,3006,3594,3400,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2112,-0.48,-146.0,243.4,-10.2,242,2120,0.10,2.17,0.00,0.000,6,0.117,0.044,3041,2179,3400,0,0,0,0,0,0,26.13,26.22,28.83
$GC,2421,-0.48,-146.0,271.8,-8.9,263,2423,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2179,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2719,-0.48,-146.0,297.4,-8.5,283,2723,0.00,2.17,0.00,0.000,4,0.000,0.051,3042,766,3398,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2753,-0.48,-146.0,300.2,-8.8,285,2758,0.00,2.12,0.00,0.000,6,0.000,0.051,3034,2171,3398,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3067,-0.48,-146.0,327.7,-8.4,306,3072,0.00,2.17,0.00,0.000,4,0.000,0.065,3024,3579,3397,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3127,-0.48,-146.0,332.8,-8.6,310,3133,0.00,2.10,0.00,0.000,6,0.000,0.046,3024,2174,3397,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3443,-0.48,-146.0,357.7,-7.6,331,3444,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2172,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3743,-0.48,-146.0,382.2,-8.6,351,3748,0.00,2.20,0.00,0.000,4,0.000,0.065,3013,3582,3395,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3773,-0.48,-146.0,384.8,-8.7,353,3778,0.00,2.10,0.00,0.000,6,0.000,0.047,3014,2180,3395,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4087,-0.48,-146.0,416.0,-10.7,374,4088,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2177,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4387,-0.48,-146.0,446.8,-10.3,394,4391,0.00,2.22,0.00,0.000,4,0.000,0.065,3003,3582,3394,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4412,-0.48,-146.0,448.6,-10.2,395,4420,0.12,2.15,0.00,0.000,6,0.145,0.047,3038,2160,3394,0,0,0,0,0,0,26.27,26.35,28.83
$GC,4721,-0.48,-146.0,474.9,-7.7,416,4726,0.00,2.20,0.00,0.000,4,0.000,0.066,3030,3577,3393,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4757,-0.48,-146.0,477.5,-7.9,418,4765,0.00,2.17,0.00,0.000,6,0.000,0.047,3030,2167,3393,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5065,-0.48,-146.0,503.0,-8.0,439,5071,0.00,2.20,0.00,0.000,4,0.000,0.067,3020,3588,3392,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5095,-0.48,-146.0,505.4,-8.0,441,5100,0.00,2.12,0.00,0.000,6,0.000,0.047,3019,2170,3393,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5410,-0.48,-146.0,530.5,-7.9,462,5411,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2168,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5710,-0.48,-146.0,555.3,-8.8,482,5715,0.00,2.25,0.00,0.000,4,0.000,0.067,3010,3593,3391,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5743,-0.48,-146.0,558.1,-9.0,484,5747,0.12,2.15,0.00,0.000,6,0.139,0.047,3045,2170,3391,0,0,0,0,0,0,26.30,26.39,28.83
$GC,6051,-0.48,-146.0,582.7,-7.9,504,6052,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2168,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6365,-0.48,-146.0,607.9,-7.9,522,6371,0.00,2.20,0.00,0.000,4,0.000,0.067,3037,3582,3391,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6443,-0.48,-146.0,612.9,-8.1,524,6447,0.00,2.12,0.00,0.000,6,0.000,0.047,3037,2174,3390,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6750,-0.48,-146.0,639.3,-8.0,534,6753,0.00,2.25,0.00,0.000,4,0.000,0.067,3027,3590,3390,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6784,-0.48,-146.0,641.9,-8.1,535,6788,0.00,2.17,0.00,0.000,6,0.000,0.048,3027,2168,3390,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7112,-0.48,-146.0,667.9,-7.7,546,7113,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2165,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7411,-0.48,-146.0,690.4,-7.5,556,7417,0.00,2.22,0.00,0.000,4,0.000,0.067,3017,3582,3388,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7474,-0.48,-146.0,695.1,-7.7,558,7478,0.00,2.12,0.00,0.000,6,0.000,0.048,3017,2177,3388,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7797,-0.48,-146.0,722.2,-8.5,569,7802,0.00,2.22,0.00,0.000,4,0.000,0.067,3007,3588,3387,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7839,-0.48,-146.0,724.7,-8.5,570,7844,0.12,2.15,0.00,0.000,6,0.139,0.049,3042,2166,3387,0,0,0,0,0,0,26.33,26.41,28.83
$GC,8155,-0.48,-146.0,748.4,-7.2,581,8160,0.00,2.22,0.00,0.000,4,0.000,0.068,3034,3585,3387,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8197,-0.48,-146.0,750.7,-7.2,582,8201,0.00,2.15,0.00,0.000,6,0.000,0.049,3034,2166,3387,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8509,-0.48,-146.0,776.2,-7.8,593,8510,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2163,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8809,-0.48,-146.0,798.1,-7.0,603,8813,0.00,2.25,0.00,0.000,4,0.000,0.069,3025,3592,3387,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8859,-0.48,-146.0,800.3,-7.0,604,8864,0.00,2.15,0.00,0.000,6,0.000,0.049,3025,2170,3386,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9167,-0.48,-146.0,822.6,-6.7,614,9172,0.00,2.20,0.00,0.000,4,0.000,0.068,3014,3581,3386,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9220,-0.48,-146.0,824.6,-6.7,615,9226,0.00,2.12,0.00,0.000,6,0.000,0.049,3014,2173,3386,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9527,-0.48,-146.0,847.7,-6.8,626,9528,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2173,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9826,-0.48,-146.0,867.7,-6.6,636,9827,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2173,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10127,-0.48,-146.0,888.1,-6.9,646,10133,0.00,2.20,0.00,0.000,4,0.000,0.069,3004,3581,3384,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10179,-0.48,-146.0,890.6,-7.1,647,10187,0.12,2.12,0.00,0.000,6,0.140,0.050,3040,2174,3385,0,0,0,0,0,0,26.34,26.43,28.83
$GC,10487,-0.48,-146.0,911.3,-6.5,658,10492,0.00,2.20,0.00,0.000,4,0.000,0.070,3032,3580,3384,0,0,0,0,0,0,28.83,26.38,28.83
$GC,10517,-0.48,-146.0,913.4,-6.6,659,10522,0.00,2.10,0.00,0.000,6,0.000,0.050,3031,2180,3384,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10846,-0.48,-146.0,937.8,-7.4,670,10852,0.00,2.20,0.00,0.000,4,0.000,0.069,3022,3585,3384,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10884,-0.48,-146.0,940.0,-7.4,671,10888,0.00,2.15,0.00,0.000,6,0.000,0.050,3022,2166,3384,0,0,0,0,0,0,28.83,26.42,28.83
$GC,11202,-0.48,-146.0,965.0,-7.6,682,11207,0.00,2.22,0.00,0.000,4,0.000,0.070,3012,3582,3384,0,0,0,0,0,0,28.83,26.37,28.83
$GC,11239,-0.48,-146.0,967.2,-7.5,683,11243,0.00,2.12,0.00,0.000,6,0.000,0.050,3012,2177,3383,0,0,0,0,0,0,28.83,26.42,28.83
$STATE,11554,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11554,begin apogee
$GC,11561,-0.22,0.0,991.6,-7.2,694,11693,0.32,0.00,126.30,1.211,6,0.120,0.000,3122,2309,2794,0,0,0,0,0,0,26.34,28.83,23.61
$STATE,11696,end apogee,CONTROL_FINISHED_OK
$STATE,11696,begin climb
$GC,11698,0.48,146.0,994.4,0.0,698,11841,0.65,2.42,132.95,1.174,4,0.084,0.057,3354,894,2197,0,0,0,0,0,0,24.53,24.12,23.33
$GC,11854,0.48,146.0,984.0,7.9,704,11860,0.00,2.35,0.00,0.000,6,0.000,0.056,3354,2295,2193,0,0,0,0,0,0,28.83,24.41,28.83
$GC,12184,0.48,146.0,946.3,11.4,715,12190,0.00,2.33,0.00,0.000,4,0.000,0.069,3354,3710,2187,0,0,0,0,0,0,28.83,25.37,28.83
$GC,12258,0.48,146.0,938.5,12.1,717,12262,0.00,2.22,0.00,0.000,6,0.000,0.051,3364,2308,2186,0,0,0,0,0,0,28.83,25.48,28.83
$GC,12570,0.48,146.0,898.9,11.9,728,12576,0.00,2.30,0.00,0.000,4,0.000,0.070,3365,3715,2185,0,0,0,0,0,0,28.83,25.68,28.83
$GC,12603,0.48,146.0,895.2,12.1,729,12607,0.00,2.22,0.00,0.000,6,0.000,0.052,3375,2300,2184,0,0,0,0,0,0,28.83,25.73,28.83
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$STATE,22524,end climb,SURFACE_DEPTH_REACHED
$STATE,22525,begin surface coast
$FINISH,0.6,1.000269
$STATE,22572,end surface coast,CONTROL_FINISHED_OK
$STATE,22572,begin surface
$SM_CCo,22652,0.00,0.000,0,0,1338,357.16
$SM_GC,1.31,8.48,0.20,0.00,0.029,0.072,0.000,116,2176,1338,-9.47,1.24,357.16,0,0,0,0,0,0,25.75,25.72,28.83
$IRIDIUM_FIX,4707.04,-12614.03,190912,080806
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.67
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,19.60
$XPDR_PINGS,0
$24V_AH,23.3,7.213
$10V_AH,10.3,6.480
$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,21.975,194.350,435.900,0.000,0.000,27.669,45.594,221.369,0.000,0.000,19.411,3899.503,14655.610,533.080,3560.563,424.404,33.239,2090.398,0.000,3258.484,0.000,0.536,0.000
$DEVICE_MAMPS,227.970,88.740,1210.995,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1048.121,1241.971,1277.229,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297176
$DATA_FILE_SIZE,86743,1518
$CAP_FILE_SIZE,202596,0
$CFSIZE,260165632,254263296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.087, 27.4,1
$GPS,190912,215605,4718.728,-12620.688,32,1.4,32,18.6