version: 66.11
glider: 187
mission: 2
dive: 38
start: 9 20 112 17 43 7
data:
$ID,187
$MISSION,2
$DIVE,38
$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,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,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,-1587666.1
$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,34
$R_STBD_OVSHOOT,24
$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
$GPS1,200912,173535,4713.901,-12629.864,25,1.5,25,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-79.4
$GPS2,200912,174237,4713.947,-12629.870,14,1.6,14,18.6
$SPEED_LIMITS,0.127,0.220
$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,212.5,45994,-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,-146.0,0.0,0.0,0,91,0.00,0.00,-71.68,0.000,2,0.000,0.000,109,2165,2954,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.48,-146.0,4.2,-9.4,12,123,11.35,2.33,-7.75,0.000,4,0.227,0.071,3023,3592,3394,0,0,0,0,0,0,25.41,25.62,25.93
$GC,217,-0.48,-146.0,38.4,-14.7,33,224,0.00,2.20,0.00,0.000,6,0.000,0.043,3023,2164,3398,0,0,0,0,0,0,28.83,25.73,28.83
$GC,540,-0.48,-146.0,86.3,-12.7,94,548,0.00,2.17,0.00,0.000,4,0.000,0.050,3023,771,3401,0,0,0,0,0,0,28.83,25.89,28.83
$GC,638,-0.48,-146.0,98.2,-11.8,112,646,0.00,2.20,0.00,0.000,6,0.000,0.049,3014,2174,3401,0,0,0,0,0,0,28.83,25.93,28.83
$GC,962,-0.48,-146.0,139.2,-12.0,154,966,0.00,2.22,0.00,0.000,4,0.000,0.061,3003,3585,3402,0,0,0,0,0,0,28.83,25.99,28.83
$GC,1017,-0.48,-146.0,144.7,-11.9,157,1025,0.12,2.15,0.00,0.000,6,0.145,0.042,3037,2160,3401,0,0,0,0,0,0,25.96,26.06,28.83
$GC,1326,-0.48,-146.0,175.0,-10.2,178,1327,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2159,3401,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1624,-0.48,-146.0,204.5,-9.1,198,1626,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2159,3401,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1924,-0.48,-146.0,231.3,-8.8,218,1925,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2159,3401,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2224,-0.48,-146.0,258.2,-9.2,238,2226,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2159,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2524,-0.48,-146.0,285.0,-8.8,258,2525,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2159,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2824,-0.48,-146.0,310.9,-8.3,278,2825,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2159,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3124,-0.48,-146.0,334.7,-7.9,298,3126,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2159,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3424,-0.48,-146.0,358.2,-7.7,318,3425,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2159,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3724,-0.48,-146.0,381.3,-7.9,338,3730,0.00,2.25,0.00,0.000,4,0.000,0.065,3028,3591,3396,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3777,-0.48,-146.0,385.0,-8.2,341,3784,0.00,2.15,0.00,0.000,6,0.000,0.047,3028,2165,3396,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4099,-0.48,-146.0,413.2,-8.6,358,4100,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2165,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4399,-0.48,-146.0,439.0,-8.7,368,4401,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2165,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4699,-0.48,-146.0,464.2,-8.3,378,4705,0.00,2.25,0.00,0.000,4,0.000,0.067,3018,3584,3393,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4730,-0.48,-146.0,466.8,-8.4,379,4736,0.00,2.12,0.00,0.000,6,0.000,0.047,3018,2174,3393,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5059,-0.48,-146.0,496.0,-8.7,390,5061,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2171,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5359,-0.48,-146.0,522.9,-9.1,400,5365,0.00,2.22,0.00,0.000,4,0.000,0.067,3008,3585,3392,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5382,-0.48,-146.0,522.9,-9.1,400,5390,0.12,2.15,0.00,0.000,6,0.140,0.048,3043,2165,3392,0,0,0,0,0,0,26.29,26.38,28.83
$GC,5690,-0.48,-146.0,549.7,-8.0,411,5695,0.00,2.25,0.00,0.000,4,0.000,0.067,3035,3587,3391,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5722,-0.48,-146.0,552.3,-8.0,412,5726,0.00,2.17,0.00,0.000,6,0.000,0.048,3035,2167,3391,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6050,-0.48,-146.0,580.4,-8.4,423,6051,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2165,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6349,-0.48,-146.0,605.4,-8.3,433,6355,0.00,2.25,0.00,0.000,4,0.000,0.068,3025,3582,3390,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6402,-0.48,-146.0,607.9,-8.3,434,6409,0.00,2.15,0.00,0.000,6,0.000,0.048,3025,2176,3389,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6709,-0.48,-146.0,634.9,-8.0,445,6715,0.00,2.22,0.00,0.000,4,0.000,0.068,3015,3590,3389,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6742,-0.48,-146.0,637.5,-8.1,446,6746,0.00,2.15,0.00,0.000,6,0.000,0.048,3015,2170,3389,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7064,-0.48,-146.0,664.9,-8.4,457,7070,0.00,2.12,0.00,0.000,4,0.000,0.056,3014,776,3389,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7087,-0.48,-146.0,664.9,-8.4,457,7095,0.12,2.15,0.00,0.000,6,0.151,0.054,3040,2180,3388,0,0,0,0,0,0,26.31,26.37,28.83
$GC,7395,-0.48,-146.0,688.2,-7.0,468,7400,0.00,2.17,0.00,0.000,4,0.000,0.068,3032,3577,3388,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7485,-0.48,-146.0,695.1,-7.6,471,7489,0.00,2.15,0.00,0.000,6,0.000,0.049,3032,2165,3387,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7816,-0.48,-146.0,720.8,-7.8,482,7822,0.00,2.28,0.00,0.000,4,0.000,0.068,3022,3592,3387,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7861,-0.48,-146.0,723.4,-8.0,483,7867,0.00,2.15,0.00,0.000,6,0.000,0.049,3022,2174,3386,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8176,-0.48,-146.0,750.1,-7.8,494,8182,0.00,2.22,0.00,0.000,4,0.000,0.068,3012,3584,3386,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8207,-0.48,-146.0,752.7,-7.8,495,8212,0.00,2.15,0.00,0.000,6,0.000,0.049,3012,2169,3386,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8537,-0.48,-146.0,778.4,-7.5,506,8538,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2167,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8837,-0.48,-146.0,800.1,-7.1,516,8842,0.00,2.22,0.00,0.000,4,0.000,0.068,3002,3587,3385,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8905,-0.48,-146.0,804.4,-7.0,518,8910,0.15,2.15,0.00,0.000,6,0.135,0.049,3045,2170,3386,0,0,0,0,0,0,26.32,26.41,28.83
$GC,9223,-0.48,-146.0,822.5,-5.5,529,9229,0.00,2.22,0.00,0.000,4,0.000,0.069,3037,3587,3385,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9283,-0.48,-146.0,826.1,-5.8,531,9288,0.00,2.12,0.00,0.000,6,0.000,0.049,3037,2172,3385,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9613,-0.48,-146.0,847.4,-6.6,542,9618,0.00,2.20,0.00,0.000,4,0.000,0.069,3027,3578,3385,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9656,-0.48,-146.0,849.5,-6.7,543,9660,0.00,2.12,0.00,0.000,6,0.000,0.050,3027,2177,3385,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9969,-0.48,-146.0,873.1,-7.2,554,9974,0.00,2.20,0.00,0.000,4,0.000,0.069,3017,3579,3384,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10012,-0.48,-146.0,875.5,-7.3,555,10016,0.00,2.15,0.00,0.000,6,0.000,0.049,3017,2165,3384,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10324,-0.48,-146.0,901.0,-7.6,566,10325,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2163,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10624,-0.48,-146.0,923.3,-7.4,576,10630,0.00,2.25,0.00,0.000,4,0.000,0.069,3008,3581,3383,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10684,-0.48,-146.0,927.9,-7.5,578,10690,0.12,2.15,0.00,0.000,6,0.139,0.050,3043,2164,3384,0,0,0,0,0,0,26.33,26.41,28.83
$GC,11014,-0.48,-146.0,946.8,-5.6,589,11020,0.00,2.22,0.00,0.000,4,0.000,0.070,3035,3585,3384,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11052,-0.48,-146.0,948.6,-5.6,590,11056,0.00,2.15,0.00,0.000,6,0.000,0.050,3035,2171,3384,0,0,0,0,0,0,28.83,26.41,28.83
$GC,11370,-0.48,-146.0,967.3,-5.7,601,11375,0.00,2.22,0.00,0.000,4,0.000,0.070,3025,3584,3383,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11407,-0.48,-146.0,969.1,-5.8,602,11412,0.00,2.15,0.00,0.000,6,0.000,0.050,3024,2170,3383,0,0,0,0,0,0,28.83,26.41,28.83
$GC,11725,-0.48,-146.0,988.5,-5.9,613,11731,0.00,2.25,0.00,0.000,4,0.000,0.070,3016,3585,3382,0,0,0,0,0,0,28.83,26.36,28.83
$STATE,11752,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11752,begin apogee
$GC,11761,-0.22,0.0,990.3,-6.0,614,11891,0.30,0.00,125.97,1.205,6,0.116,0.000,3120,2294,2794,0,0,0,0,0,0,26.34,28.83,23.62
$STATE,11894,end apogee,CONTROL_FINISHED_OK
$STATE,11894,begin climb
$GC,11897,0.48,146.0,993.2,0.0,618,12034,0.65,0.00,134.12,1.172,6,0.082,0.000,3341,2293,2198,0,0,0,0,0,0,24.52,28.83,23.33
$GC,12325,0.48,146.0,954.8,10.4,633,12330,0.00,2.35,0.00,0.000,4,0.000,0.070,3341,3708,2187,0,0,0,0,0,0,28.83,25.28,28.83
$GC,12354,0.48,146.0,951.5,10.5,634,12361,0.00,2.25,0.00,0.000,6,0.000,0.051,3353,2310,2186,0,0,0,0,0,0,28.83,25.35,28.83
$GC,12685,0.48,146.0,915.8,10.4,645,12691,0.00,2.25,0.00,0.000,4,0.000,0.059,3363,892,2185,0,0,0,0,0,0,28.83,25.64,28.83
$GC,12707,0.48,146.0,915.8,10.4,645,12714,0.00,2.25,0.00,0.000,6,0.000,0.058,3363,2305,2185,0,0,0,0,0,0,28.83,25.65,28.83
$GC,13015,0.48,146.0,880.5,10.7,656,13021,0.00,2.28,0.00,0.000,4,0.000,0.070,3363,3720,2184,0,0,0,0,0,0,28.83,25.79,28.83
$GC,13077,0.48,146.0,873.3,11.3,658,13081,0.00,2.25,0.00,0.000,6,0.000,0.051,3373,2290,2183,0,0,0,0,0,0,28.83,25.85,28.83
$GC,13399,0.48,146.0,836.3,11.4,669,13405,0.00,2.30,0.00,0.000,4,0.000,0.069,3374,3711,2183,0,0,0,0,0,0,28.83,25.92,28.83
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$STATE,23033,end climb,SURFACE_DEPTH_REACHED
$STATE,23033,begin surface coast
$FINISH,0.6,1.007259
$STATE,23080,end surface coast,CONTROL_FINISHED_OK
$STATE,23080,begin surface
$SM_CCo,23159,0.00,0.000,0,0,1455,328.46
$SM_GC,1.85,8.38,0.20,0.00,0.031,0.072,0.000,114,2177,1455,-9.46,1.13,328.46,0,0,0,0,0,0,25.81,25.77,28.83
$IRIDIUM_FIX,4657.54,-12622.39,200912,111144
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.50
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,19.30
$XPDR_PINGS,0
$24V_AH,23.3,7.758
$10V_AH,10.2,6.966
$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,21.925,181.350,406.825,0.000,0.000,27.706,39.191,223.719,0.000,0.000,15.718,3568.365,15996.433,559.745,3053.439,391.863,0.000,1988.325,0.000,2744.261,0.000,0.535,0.000
$DEVICE_MAMPS,227.205,71.910,1204.875,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,952.673,1128.520,638.854,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297124
$DATA_FILE_SIZE,76879,1382
$CAP_FILE_SIZE,191733,0
$CFSIZE,260165632,253931520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.063, 11.1,1
$GPS,210912,001024,4712.552,-12633.613,40,1.3,40,18.6