version: 66.11
glider: 187
mission: 2
dive: 317
start: 11 25 112 16 54 40
data:
$ID,187
$MISSION,2
$DIVE,317
$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,-1588161.2
$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,45
$R_STBD_OVSHOOT,27
$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
$GPS1,251112,164706,4742.786,-12528.399,33,1.4,33,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-76.3
$GPS2,251112,165407,4742.738,-12528.460,13,1.5,19,18.7
$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,217.9,140118,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.48,-146.0,0.0,0.0,0,80,0.00,0.00,-60.97,0.000,2,0.000,0.000,109,2191,2672,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.48,-146.0,3.0,-2.4,10,119,11.50,2.38,-17.52,0.000,4,0.220,0.075,3024,3607,3392,0,0,0,0,0,0,24.93,25.46,26.10
$GC,251,-0.48,-146.0,31.5,-15.3,39,257,0.00,2.17,0.00,0.000,6,0.000,0.042,3024,2199,3393,0,0,0,0,0,0,28.83,25.64,28.83
$GC,573,-0.48,-146.0,83.9,-14.6,100,581,0.00,2.33,0.00,0.000,4,0.000,0.063,3013,3623,3395,0,0,0,0,0,0,28.83,25.53,28.83
$GC,671,-0.48,-146.0,96.4,-12.1,117,677,0.00,2.20,0.00,0.000,6,0.000,0.041,3013,2196,3395,0,0,0,0,0,0,28.83,25.78,28.83
$GC,997,-0.48,-146.0,136.0,-11.7,162,998,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2192,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1297,-0.48,-146.0,171.5,-11.6,182,1303,0.00,2.12,0.00,0.000,4,0.000,0.048,3014,807,3395,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1358,-0.48,-146.0,178.7,-11.7,186,1364,0.12,2.15,0.00,0.000,6,0.142,0.050,3039,2200,3395,0,0,0,0,0,0,25.59,25.73,28.83
$GC,1680,-0.48,-146.0,208.2,-9.2,206,1686,0.00,2.22,0.00,0.000,4,0.000,0.062,3031,3611,3395,0,0,0,0,0,0,28.83,25.63,28.83
$GC,1774,-0.48,-146.0,216.1,-9.7,210,1780,0.00,2.15,0.00,0.000,6,0.000,0.042,3031,2194,3395,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2079,-0.48,-146.0,247.9,-10.0,226,2085,0.00,2.28,0.00,0.000,4,0.000,0.062,3020,3613,3395,0,0,0,0,0,0,28.83,25.63,28.83
$GC,2119,-0.48,-146.0,252.0,-9.9,228,2125,0.00,2.12,0.00,0.000,6,0.000,0.043,3020,2207,3395,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2439,-0.48,-146.0,285.0,-10.3,244,2445,0.00,2.17,0.00,0.000,4,0.000,0.049,3020,795,3395,0,0,0,0,0,0,28.83,25.76,28.83
$GC,2472,-0.48,-146.0,287.1,-10.5,245,2479,0.00,2.20,0.00,0.000,6,0.000,0.050,3012,2202,3395,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2780,-0.48,-146.0,318.6,-9.6,261,2785,0.00,2.22,0.00,0.000,4,0.000,0.063,3001,3609,3395,0,0,0,0,0,0,28.83,25.63,28.83
$GC,2827,-0.48,-146.0,322.5,-9.5,263,2832,0.15,2.15,0.00,0.000,6,0.129,0.043,3045,2196,3395,0,0,0,0,0,0,25.67,25.89,28.83
$GC,3135,-0.48,-146.0,345.7,-7.0,278,3136,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2192,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3434,-0.48,-146.0,367.9,-7.5,293,3435,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2192,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3734,-0.48,-146.0,390.3,-7.3,308,3735,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2192,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4055,-0.48,-146.0,413.6,-7.2,321,4056,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2192,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4354,-0.48,-146.0,434.5,-6.7,331,4360,0.00,2.25,0.00,0.000,4,0.000,0.064,3037,3599,3394,0,0,0,0,0,0,28.83,25.60,28.83
$GC,4402,-0.48,-146.0,436.6,-6.8,332,4407,0.00,2.15,0.00,0.000,6,0.000,0.044,3036,2189,3393,0,0,0,0,0,0,28.83,25.91,28.83
$GC,4710,-0.48,-146.0,460.9,-7.8,342,4711,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2187,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5009,-0.48,-146.0,486.3,-8.5,352,5015,0.00,2.30,0.00,0.000,4,0.000,0.064,3026,3613,3393,0,0,0,0,0,0,28.83,25.58,28.83
$GC,5082,-0.48,-146.0,491.6,-8.6,354,5086,0.00,2.17,0.00,0.000,6,0.000,0.045,3026,2194,3392,0,0,0,0,0,0,28.83,25.88,28.83
$GC,5395,-0.48,-146.0,519.9,-8.5,365,5400,0.00,2.28,0.00,0.000,4,0.000,0.066,3016,3605,3392,0,0,0,0,0,0,28.83,25.56,28.83
$GC,5437,-0.48,-146.0,522.4,-8.4,366,5441,0.00,2.15,0.00,0.000,6,0.000,0.045,3016,2203,3392,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5750,-0.48,-146.0,549.2,-8.0,377,5751,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2201,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6050,-0.48,-146.0,573.0,-8.3,387,6051,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2200,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6350,-0.48,-146.0,597.7,-8.1,397,6355,0.00,2.30,0.00,0.000,4,0.000,0.065,3006,3612,3390,0,0,0,0,0,0,28.83,25.55,28.83
$GC,6392,-0.48,-146.0,600.3,-8.2,398,6397,0.12,2.17,0.00,0.000,6,0.131,0.046,3043,2201,3390,0,0,0,0,0,0,25.67,25.84,28.83
$GC,6707,-0.48,-146.0,621.3,-6.0,409,6708,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2197,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7006,-0.48,-146.0,638.8,-5.9,419,7007,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2197,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7306,-0.48,-146.0,657.5,-6.3,429,7307,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2197,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7606,-0.48,-146.0,677.0,-6.4,439,7612,0.00,2.30,0.00,0.000,4,0.000,0.067,3035,3606,3389,0,0,0,0,0,0,28.83,25.49,28.83
$GC,7668,-0.48,-146.0,680.8,-6.4,441,7672,0.00,2.20,0.00,0.000,6,0.000,0.047,3034,2195,3389,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7991,-0.48,-146.0,703.4,-7.1,452,7992,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2193,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8292,-0.48,-146.0,725.8,-7.6,462,8297,0.00,2.28,0.00,0.000,4,0.000,0.067,3024,3598,3388,0,0,0,0,0,0,28.83,25.48,28.83
$GC,8359,-0.48,-146.0,730.4,-7.7,464,8363,0.00,2.17,0.00,0.000,6,0.000,0.046,3025,2192,3388,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8676,-0.48,-146.0,755.0,-7.7,475,8682,0.00,2.17,0.00,0.000,4,0.000,0.054,3024,802,3388,0,0,0,0,0,0,28.83,25.62,28.83
$GC,8707,-0.48,-146.0,757.5,-7.9,476,8712,0.00,2.17,0.00,0.000,6,0.000,0.054,3017,2196,3388,0,0,0,0,0,0,28.83,25.63,28.83
$GC,9036,-0.48,-146.0,784.1,-8.0,487,9042,0.00,2.17,0.00,0.000,4,0.000,0.052,3017,802,3387,0,0,0,0,0,0,28.83,25.63,28.83
$GC,9069,-0.48,-146.0,786.7,-8.1,488,9074,0.12,2.20,0.00,0.000,6,0.135,0.054,3044,2205,3387,0,0,0,0,0,0,25.51,25.61,28.83
$GC,9393,-0.48,-146.0,809.1,-6.3,499,9399,0.00,2.28,0.00,0.000,4,0.000,0.067,3035,3608,3386,0,0,0,0,0,0,28.83,25.44,28.83
$GC,9455,-0.48,-146.0,813.1,-6.6,501,9459,0.00,2.17,0.00,0.000,6,0.000,0.047,3035,2201,3386,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9778,-0.48,-146.0,832.8,-5.7,512,9783,0.00,2.30,0.00,0.000,4,0.000,0.068,3026,3607,3386,0,0,0,0,0,0,28.83,25.42,28.83
$GC,9808,-0.48,-146.0,834.6,-5.8,513,9813,0.00,2.17,0.00,0.000,6,0.000,0.047,3025,2191,3386,0,0,0,0,0,0,28.83,25.78,28.83
$GC,10138,-0.48,-146.0,854.1,-6.0,524,10139,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2190,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10438,-0.48,-146.0,871.8,-5.7,534,10444,0.00,2.33,0.00,0.000,4,0.000,0.068,3016,3607,3386,0,0,0,0,0,0,28.83,25.41,28.83
$GC,10471,-0.48,-146.0,873.7,-5.7,535,10475,0.00,2.20,0.00,0.000,6,0.000,0.047,3016,2192,3386,0,0,0,0,0,0,28.83,25.76,28.83
$GC,10793,-0.48,-146.0,895.5,-6.9,546,10798,0.00,2.30,0.00,0.000,4,0.000,0.068,3008,3606,3385,0,0,0,0,0,0,28.83,25.39,28.83
$GC,10856,-0.48,-146.0,900.0,-7.3,548,10861,0.12,2.20,0.00,0.000,6,0.131,0.047,3043,2190,3385,0,0,0,0,0,0,25.58,25.75,28.83
$GC,11180,-0.48,-146.0,919.1,-5.7,559,11181,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2187,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11480,-0.48,-146.0,936.0,-5.6,569,11486,0.00,2.35,0.00,0.000,4,0.000,0.069,3036,3617,3385,0,0,0,0,0,0,28.83,25.38,28.83
$GC,11528,-0.48,-146.0,937.7,-5.9,570,11532,0.00,2.20,0.00,0.000,6,0.000,0.047,3035,2198,3384,0,0,0,0,0,0,28.83,25.76,28.83
$GC,11835,-0.48,-146.0,957.2,-5.8,580,11836,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2196,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12135,-0.48,-146.0,974.0,-5.6,590,12141,0.00,2.30,0.00,0.000,4,0.000,0.069,3026,3609,3384,0,0,0,0,0,0,28.83,25.37,28.83
$GC,12198,-0.48,-146.0,977.7,-5.8,592,12202,0.00,2.20,0.00,0.000,6,0.000,0.048,3026,2192,3384,0,0,0,0,0,0,28.83,25.73,28.83
$STATE,12397,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12397,begin apogee
$GC,12404,-0.22,0.0,990.8,-6.4,599,12540,0.28,0.00,129.23,1.178,6,0.109,0.000,3121,2333,2794,0,0,0,0,0,0,25.71,28.83,23.22
$STATE,12541,end apogee,CONTROL_FINISHED_OK
$STATE,12541,begin climb
$GC,12544,0.48,146.0,994.0,0.0,603,12687,0.65,0.00,139.52,1.138,6,0.076,0.000,3344,2333,2198,0,0,0,0,0,0,24.40,28.83,22.29
$GC,12965,0.48,146.0,961.5,9.3,618,12971,0.00,2.35,0.00,0.000,4,0.000,0.068,3344,3724,2188,0,0,0,0,0,0,28.83,24.79,28.83
$GC,13004,0.48,146.0,958.4,9.5,619,13010,0.00,2.25,0.00,0.000,6,0.000,0.047,3355,2330,2187,0,0,0,0,0,0,28.83,25.02,28.83
$GC,13325,0.48,146.0,924.2,10.4,630,13331,0.00,2.33,0.00,0.000,4,0.000,0.068,3355,3734,2186,0,0,0,0,0,0,28.83,25.30,28.83
$GC,13358,0.48,146.0,920.6,10.8,631,13363,0.00,2.25,0.00,0.000,6,0.000,0.049,3365,2327,2185,0,0,0,0,0,0,28.83,25.48,28.83
$GC,13681,0.48,146.0,883.0,11.6,642,13682,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,2322,2185,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,24095,end climb,SURFACE_DEPTH_REACHED
$STATE,24095,begin surface coast
$FINISH,1.2,1.012776
$STATE,24139,end surface coast,CONTROL_FINISHED_OK
$STATE,24139,begin surface
$SM_CCo,24219,0.00,0.000,0,0,1094,417.01
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$TT8_MAMPS,0.026964,0.026964
$HUMID,43.89
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,15.70
$XPDR_PINGS,1
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$10V_AH,10.0,36.368
$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
$DEVICE_SECS,22.275,205.750,490.100,0.000,0.000,26.764,38.304,214.806,0.250,0.000,22.171,3502.159,17031.678,608.852,3074.723,413.889,0.000,2101.323,0.000,2752.175,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296800
$DATA_FILE_SIZE,76771,1335
$CAP_FILE_SIZE,201337,0
$CFSIZE,260165632,231751680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.049,113.3,1
$GPS,251112,233936,4740.639,-12532.039,39,1.0,39,18.7