version: 66.11
glider: 187
mission: 2
dive: 332
start: 11 29 112 23 33 45
data:
$ID,187
$MISSION,2
$DIVE,332
$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,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,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,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,-1588182.2
$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,37
$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,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
$GPS1,291112,231736,4718.665,-12622.778,46,1.2,46,18.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-74.9
$GPS2,291112,233312,4718.575,-12622.643,11,1.4,22,18.6
$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,203.8,58394,-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,16,-0.47,-136.3,0.0,0.0,0,79,0.00,0.00,-60.15,0.000,2,0.000,0.000,108,2187,2765,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.47,-136.3,3.2,-3.4,10,110,11.52,0.00,-12.60,0.000,6,0.218,0.000,3033,2187,3352,0,0,0,0,0,0,24.82,28.83,26.08
$GC,415,-0.47,-136.3,65.3,-13.4,74,422,0.00,2.30,0.00,0.000,4,0.000,0.060,3025,3620,3356,0,0,0,0,0,0,28.83,25.49,28.83
$GC,517,-0.47,-136.3,78.3,-14.0,93,524,0.00,2.20,0.00,0.000,6,0.000,0.041,3024,2188,3357,0,0,0,0,0,0,28.83,25.72,28.83
$GC,833,-0.47,-136.3,115.2,-10.6,154,840,0.00,2.15,0.00,0.000,4,0.000,0.050,3024,789,3358,0,0,0,0,0,0,28.83,25.65,28.83
$GC,878,-0.47,-136.3,120.2,-11.6,162,885,0.00,2.25,0.00,0.000,6,0.000,0.049,3015,2206,3358,0,0,0,0,0,0,28.83,25.68,28.83
$GC,1184,-0.47,-136.3,153.4,-11.1,183,1185,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2205,3358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1484,-0.47,-136.3,186.1,-10.7,203,1485,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2206,3358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1799,-0.47,-136.3,220.2,-10.6,221,1805,0.00,2.20,0.00,0.000,4,0.000,0.061,3005,3603,3358,0,0,0,0,0,0,28.83,25.63,28.83
$GC,1866,-0.47,-136.3,227.0,-11.2,224,1871,0.12,2.15,0.00,0.000,6,0.133,0.043,3040,2196,3358,0,0,0,0,0,0,25.68,25.87,28.83
$GC,2173,-0.47,-136.3,254.3,-8.4,239,2174,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2191,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2474,-0.47,-136.3,278.9,-8.0,254,2479,0.00,2.12,0.00,0.000,4,0.000,0.050,3040,803,3357,0,0,0,0,0,0,28.83,25.74,28.83
$GC,2506,-0.47,-136.3,280.6,-8.0,255,2513,0.00,2.17,0.00,0.000,6,0.000,0.050,3033,2208,3357,0,0,0,0,0,0,28.83,25.74,28.83
$GC,2813,-0.47,-136.3,308.0,-8.5,271,2819,0.00,2.25,0.00,0.000,4,0.000,0.062,3023,3616,3356,0,0,0,0,0,0,28.83,25.62,28.83
$GC,2842,-0.47,-136.3,309.9,-8.7,272,2846,0.00,2.17,0.00,0.000,6,0.000,0.044,3023,2194,3356,0,0,0,0,0,0,28.83,25.88,28.83
$GC,3148,-0.47,-136.3,337.5,-8.5,287,3154,0.00,2.15,0.00,0.000,4,0.000,0.051,3023,800,3356,0,0,0,0,0,0,28.83,25.72,28.83
$GC,3176,-0.47,-136.3,339.3,-8.6,288,3180,0.00,2.17,0.00,0.000,6,0.000,0.051,3014,2202,3356,0,0,0,0,0,0,28.83,25.73,28.83
$GC,3484,-0.47,-136.3,367.7,-9.0,303,3489,0.00,2.22,0.00,0.000,4,0.000,0.063,3003,3606,3354,0,0,0,0,0,0,28.83,25.60,28.83
$GC,3512,-0.47,-136.3,369.6,-9.1,304,3517,0.15,2.15,0.00,0.000,6,0.126,0.044,3046,2202,3354,0,0,0,0,0,0,25.65,25.87,28.83
$GC,3820,-0.47,-136.3,392.2,-7.1,319,3821,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2198,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4119,-0.47,-136.3,413.2,-7.1,331,4120,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2198,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4419,-0.47,-136.3,434.8,-7.4,341,4420,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2198,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4719,-0.47,-136.3,456.5,-7.0,351,4724,0.00,2.17,0.00,0.000,4,0.000,0.053,3047,794,3351,0,0,0,0,0,0,28.83,25.68,28.83
$GC,4752,-0.47,-136.3,458.7,-7.0,352,4756,0.00,2.20,0.00,0.000,6,0.000,0.053,3040,2203,3352,0,0,0,0,0,0,28.83,25.69,28.83
$GC,5074,-0.47,-136.3,482.7,-7.4,363,5080,0.00,2.28,0.00,0.000,4,0.000,0.064,3030,3616,3351,0,0,0,0,0,0,28.83,25.55,28.83
$GC,5127,-0.47,-136.3,484.9,-7.4,364,5135,0.00,2.20,0.00,0.000,6,0.000,0.045,3029,2187,3351,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5435,-0.47,-136.3,510.0,-7.4,375,5436,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2187,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5735,-0.47,-136.3,532.2,-7.4,385,5738,0.00,2.17,0.00,0.000,4,0.000,0.053,3030,798,3350,0,0,0,0,0,0,28.83,25.66,28.83
$GC,5766,-0.47,-136.3,534.7,-7.5,386,5772,0.00,2.20,0.00,0.000,6,0.000,0.053,3021,2200,3350,0,0,0,0,0,0,28.83,25.67,28.83
$GC,6098,-0.47,-136.3,560.9,-8.2,397,6099,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2200,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6397,-0.47,-136.3,586.1,-8.4,407,6403,0.00,2.28,0.00,0.000,4,0.000,0.066,3011,3613,3348,0,0,0,0,0,0,28.83,25.51,28.83
$GC,6440,-0.47,-136.3,588.8,-8.5,408,6444,0.12,2.20,0.00,0.000,6,0.129,0.047,3046,2197,3348,0,0,0,0,0,0,25.65,25.81,28.83
$GC,6753,-0.47,-136.3,611.1,-6.5,419,6754,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2195,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7053,-0.47,-136.3,630.3,-6.2,429,7054,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2195,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7353,-0.47,-136.3,650.0,-6.7,439,7358,0.00,2.28,0.00,0.000,4,0.000,0.067,3039,3604,3346,0,0,0,0,0,0,28.83,25.47,28.83
$GC,7396,-0.47,-136.3,652.2,-6.9,440,7401,0.00,2.17,0.00,0.000,6,0.000,0.047,3038,2198,3347,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7709,-0.47,-136.3,676.3,-7.4,451,7710,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2197,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8009,-0.47,-136.3,699.2,-7.6,461,8015,0.00,2.28,0.00,0.000,4,0.000,0.067,3028,3606,3346,0,0,0,0,0,0,28.83,25.45,28.83
$GC,8048,-0.47,-136.3,701.4,-7.7,462,8052,0.00,2.17,0.00,0.000,6,0.000,0.047,3028,2203,3346,0,0,0,0,0,0,28.83,25.78,28.83
$GC,8365,-0.47,-136.3,725.9,-7.2,473,8371,0.00,2.30,0.00,0.000,4,0.000,0.067,3018,3608,3346,0,0,0,0,0,0,28.83,25.44,28.83
$GC,8403,-0.47,-136.3,728.2,-7.3,474,8407,0.00,2.20,0.00,0.000,6,0.000,0.047,3018,2196,3345,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8726,-0.47,-136.3,752.6,-7.2,485,8727,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2194,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9025,-0.47,-136.3,773.5,-7.1,495,9031,0.00,2.30,0.00,0.000,4,0.000,0.067,3008,3609,3345,0,0,0,0,0,0,28.83,25.42,28.83
$GC,9058,-0.47,-136.3,775.6,-6.9,496,9063,0.12,2.20,0.00,0.000,6,0.131,0.047,3043,2190,3345,0,0,0,0,0,0,25.58,25.75,28.83
$GC,9382,-0.47,-136.3,793.4,-5.1,507,9383,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2188,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9682,-0.47,-136.3,808.5,-5.0,517,9683,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2188,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9981,-0.47,-136.3,824.1,-5.4,527,9987,0.00,2.30,0.00,0.000,4,0.000,0.067,3035,3609,3344,0,0,0,0,0,0,28.83,25.40,28.83
$GC,10015,-0.47,-136.3,825.7,-5.5,528,10019,0.00,2.20,0.00,0.000,6,0.000,0.047,3035,2190,3344,0,0,0,0,0,0,28.83,25.75,28.83
$GC,10337,-0.47,-136.3,845.0,-5.9,539,10339,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2188,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10638,-0.47,-136.3,863.2,-6.1,549,10643,0.00,2.30,0.00,0.000,4,0.000,0.067,3025,3609,3344,0,0,0,0,0,0,28.83,25.39,28.83
$GC,10668,-0.47,-136.3,865.1,-6.1,550,10673,0.00,2.17,0.00,0.000,6,0.000,0.047,3025,2201,3343,0,0,0,0,0,0,28.83,25.73,28.83
$GC,10998,-0.47,-136.3,887.3,-6.7,561,11002,0.00,2.22,0.00,0.000,4,0.000,0.055,3025,792,3343,0,0,0,0,0,0,28.83,25.51,28.83
$GC,11030,-0.47,-136.3,889.6,-6.7,562,11036,0.00,2.20,0.00,0.000,6,0.000,0.056,3017,2195,3343,0,0,0,0,0,0,28.83,25.52,28.83
$GC,11361,-0.47,-136.3,911.9,-6.8,573,11366,0.00,2.28,0.00,0.000,4,0.000,0.068,3007,3605,3343,0,0,0,0,0,0,28.83,25.35,28.83
$GC,11433,-0.47,-136.3,916.1,-6.9,575,11438,0.12,2.20,0.00,0.000,6,0.129,0.047,3043,2190,3342,0,0,0,0,0,0,25.54,25.70,28.83
$GC,11747,-0.47,-136.3,933.5,-5.2,586,11748,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2188,3342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12046,-0.47,-136.3,949.3,-5.2,596,12052,0.00,2.33,0.00,0.000,4,0.000,0.067,3034,3608,3342,0,0,0,0,0,0,28.83,25.34,28.83
$GC,12084,-0.47,-136.3,950.9,-5.2,597,12089,0.00,2.22,0.00,0.000,6,0.000,0.048,3034,2190,3342,0,0,0,0,0,0,28.83,25.70,28.83
$GC,12403,-0.47,-136.3,969.1,-5.4,608,12404,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2188,3342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12702,-0.47,-136.3,985.7,-5.4,618,12703,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2188,3342,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12789,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12789,begin apogee
$GC,12796,-0.22,0.0,990.7,-5.5,621,12923,0.25,0.00,120.47,1.180,6,0.112,0.000,3121,2332,2794,0,0,0,0,0,0,25.74,28.83,23.22
$STATE,12927,end apogee,CONTROL_FINISHED_OK
$STATE,12927,begin climb
$GC,12929,0.47,136.3,993.2,0.0,625,13064,0.65,0.00,130.93,1.140,6,0.076,0.000,3345,2332,2238,0,0,0,0,0,0,24.49,28.83,22.24
$GC,13362,0.47,136.3,958.8,9.5,640,13363,0.00,0.00,0.00,0.000,6,0.000,0.000,3345,2332,2227,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13662,0.47,136.3,931.1,9.3,650,13668,0.00,2.28,0.00,0.000,4,0.000,0.069,3345,3722,2225,0,0,0,0,0,0,28.83,25.30,28.83
$GC,13730,0.47,136.3,924.6,10.1,652,13734,0.00,2.22,0.00,0.000,6,0.000,0.050,3355,2326,2225,0,0,0,0,0,0,28.83,25.49,28.83
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$STATE,25393,end climb,SURFACE_DEPTH_REACHED
$STATE,25393,begin surface coast
$FINISH,0.9,1.024273
$STATE,25429,end surface coast,CONTROL_FINISHED_OK
$STATE,25430,begin surface
$SM_CCo,25509,0.00,0.000,0,0,1414,338.51
$SM_GC,1.90,8.38,0.22,0.00,0.030,0.070,0.000,108,2182,1414,-9.47,0.85,338.51,0,0,0,0,0,0,25.96,25.89,28.83
$IRIDIUM_FIX,4707.04,-12443.12,291112,232333
$TT8_MAMPS,0.026964,0.026964
$HUMID,45.66
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,19.40
$XPDR_PINGS,2
$24V_AH,22.2,46.200
$10V_AH,10.0,38.109
$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,22.100,192.475,425.575,0.000,0.000,90.836,104.723,427.597,0.500,0.000,24.823,3675.802,18338.330,560.033,3404.907,453.575,0.000,2040.382,0.000,2713.480,0.000,0.536,0.000
$DEVICE_MAMPS,218.025,82.620,1179.630,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,969.896,736.441,390.984,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296772
$DATA_FILE_SIZE,76878,1409
$CAP_FILE_SIZE,208164,0
$CFSIZE,260165632,230424576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.083, 71.0,1
$GPS,301112,064006,4716.151,-12624.728,34,1.9,34,18.6