version: 66.11
glider: 187
mission: 2
dive: 335
start: 11 30 112 21 1 12
data:
$ID,187
$MISSION,2
$DIVE,335
$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,-1588186
$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,39
$R_STBD_OVSHOOT,26
$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
$GPS1,301112,205336,4713.462,-12631.544,41,0.9,41,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-72.3
$GPS2,301112,210042,4713.523,-12631.532,13,1.7,13,18.6
$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,209.5,43820,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.47,-136.3,0.0,0.0,0,93,0.00,0.00,-72.60,0.000,2,0.000,0.000,116,2202,2773,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.47,-136.3,3.5,-4.8,12,130,11.48,2.25,-12.75,0.000,4,0.219,0.063,3036,800,3354,0,0,0,0,0,0,24.96,25.52,26.10
$GC,190,-0.47,-136.3,23.4,-18.4,28,196,0.00,2.20,0.00,0.000,6,0.000,0.053,3027,2200,3356,0,0,0,0,0,0,28.83,25.53,28.83
$GC,505,-0.47,-136.3,72.5,-13.2,89,513,0.00,2.17,0.00,0.000,4,0.000,0.048,3027,792,3357,0,0,0,0,0,0,28.83,25.63,28.83
$GC,566,-0.47,-136.3,80.1,-11.6,100,574,0.00,2.22,0.00,0.000,6,0.000,0.049,3018,2197,3358,0,0,0,0,0,0,28.83,25.66,28.83
$GC,880,-0.47,-136.3,119.8,-12.5,161,887,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2197,3358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1186,-0.47,-136.3,154.1,-10.9,182,1187,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2197,3358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1486,-0.47,-136.3,185.3,-10.6,202,1491,0.00,2.22,0.00,0.000,4,0.000,0.062,3007,3606,3358,0,0,0,0,0,0,28.83,25.66,28.83
$GC,1515,-0.47,-136.3,188.7,-10.9,204,1521,0.10,2.15,0.00,0.000,6,0.106,0.043,3044,2187,3357,0,0,0,0,0,0,25.66,25.89,28.83
$GC,1830,-0.47,-136.3,215.9,-8.4,222,1835,0.00,2.12,0.00,0.000,4,0.000,0.050,3044,801,3358,0,0,0,0,0,0,28.83,25.76,28.83
$GC,1869,-0.47,-136.3,219.5,-8.6,224,1875,0.00,2.17,0.00,0.000,6,0.000,0.050,3037,2201,3358,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2190,-0.47,-136.3,247.5,-8.8,240,2196,0.00,2.25,0.00,0.000,4,0.000,0.063,3026,3610,3358,0,0,0,0,0,0,28.83,25.65,28.83
$GC,2242,-0.47,-136.3,251.2,-9.1,242,2249,0.00,2.17,0.00,0.000,6,0.000,0.043,3026,2185,3358,0,0,0,0,0,0,28.83,25.90,28.83
$GC,2550,-0.47,-136.3,281.4,-9.5,258,2551,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2184,3358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2852,-0.47,-136.3,309.9,-9.3,273,2853,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2184,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3150,-0.47,-136.3,338.9,-9.6,288,3155,0.00,2.30,0.00,0.000,4,0.000,0.063,3015,3608,3356,0,0,0,0,0,0,28.83,25.64,28.83
$GC,3177,-0.47,-136.3,340.7,-9.5,289,3182,0.00,2.17,0.00,0.000,6,0.000,0.044,3015,2194,3356,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3485,-0.47,-136.3,372.5,-9.8,304,3486,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2188,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3785,-0.47,-136.3,400.4,-9.1,319,3786,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2188,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4084,-0.47,-136.3,426.9,-8.8,329,4090,0.00,2.28,0.00,0.000,4,0.000,0.063,3005,3608,3354,0,0,0,0,0,0,28.83,25.62,28.83
$GC,4108,-0.47,-136.3,426.9,-8.8,329,4117,0.12,2.17,0.00,0.000,6,0.133,0.044,3041,2189,3354,0,0,0,0,0,0,25.70,25.89,28.83
$GC,4415,-0.47,-136.3,451.9,-7.3,340,4416,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2188,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4715,-0.47,-136.3,473.7,-7.1,350,4716,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2188,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5015,-0.47,-136.3,494.7,-7.1,360,5020,0.00,2.25,0.00,0.000,4,0.000,0.064,3033,3602,3353,0,0,0,0,0,0,28.83,25.59,28.83
$GC,5044,-0.47,-136.3,496.8,-7.1,361,5050,0.00,2.17,0.00,0.000,6,0.000,0.045,3033,2194,3352,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5375,-0.47,-136.3,520.4,-7.1,372,5376,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2192,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5676,-0.47,-136.3,540.6,-6.7,382,5677,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2193,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5975,-0.47,-136.3,561.5,-7.2,392,5980,0.00,2.30,0.00,0.000,4,0.000,0.065,3023,3615,3351,0,0,0,0,0,0,28.83,25.55,28.83
$GC,6004,-0.47,-136.3,563.7,-7.2,393,6010,0.00,2.20,0.00,0.000,6,0.000,0.047,3022,2201,3351,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6335,-0.47,-136.3,589.0,-7.5,404,6340,0.00,2.17,0.00,0.000,4,0.000,0.054,3022,797,3351,0,0,0,0,0,0,28.83,25.66,28.83
$GC,6367,-0.47,-136.3,591.3,-7.6,405,6371,0.00,2.20,0.00,0.000,6,0.000,0.054,3014,2199,3350,0,0,0,0,0,0,28.83,25.66,28.83
$GC,6690,-0.47,-136.3,617.7,-8.3,416,6695,0.00,2.28,0.00,0.000,4,0.000,0.066,3004,3610,3350,0,0,0,0,0,0,28.83,25.52,28.83
$GC,6773,-0.47,-136.3,622.9,-8.4,418,6781,0.15,2.17,0.00,0.000,6,0.125,0.046,3048,2195,3350,0,0,0,0,0,0,25.62,25.82,28.83
$GC,7081,-0.47,-136.3,644.5,-6.3,429,7082,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2195,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7381,-0.47,-136.3,662.9,-6.2,439,7382,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2195,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7681,-0.47,-136.3,681.2,-6.0,449,7687,0.00,2.28,0.00,0.000,4,0.000,0.067,3040,3606,3348,0,0,0,0,0,0,28.83,25.48,28.83
$GC,7719,-0.47,-136.3,683.3,-6.2,450,7723,0.00,2.17,0.00,0.000,6,0.000,0.047,3039,2202,3347,0,0,0,0,0,0,28.83,25.80,28.83
$GC,8036,-0.47,-136.3,703.9,-6.3,461,8041,0.00,2.17,0.00,0.000,4,0.000,0.054,3040,793,3347,0,0,0,0,0,0,28.83,25.61,28.83
$GC,8070,-0.47,-136.3,705.8,-6.3,462,8076,0.00,2.20,0.00,0.000,6,0.000,0.054,3031,2199,3347,0,0,0,0,0,0,28.83,25.62,28.83
$GC,8396,-0.47,-136.3,727.8,-6.7,473,8402,0.00,2.28,0.00,0.000,4,0.000,0.067,3020,3606,3347,0,0,0,0,0,0,28.83,25.46,28.83
$GC,8456,-0.47,-136.3,732.3,-7.0,475,8462,0.00,2.20,0.00,0.000,6,0.000,0.047,3020,2192,3347,0,0,0,0,0,0,28.83,25.79,28.83
$GC,8787,-0.47,-136.3,756.3,-7.3,486,8788,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2190,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9086,-0.47,-136.3,779.5,-7.6,496,9091,0.00,2.30,0.00,0.000,4,0.000,0.067,3010,3609,3347,0,0,0,0,0,0,28.83,25.45,28.83
$GC,9134,-0.47,-136.3,781.8,-7.7,497,9139,0.12,2.20,0.00,0.000,6,0.127,0.047,3046,2190,3346,0,0,0,0,0,0,25.61,25.77,28.83
$GC,9442,-0.47,-136.3,802.9,-6.3,507,9443,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2187,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9741,-0.47,-136.3,821.6,-6.0,517,9747,0.00,2.33,0.00,0.000,4,0.000,0.067,3038,3610,3346,0,0,0,0,0,0,28.83,25.42,28.83
$GC,9785,-0.47,-136.3,823.6,-6.1,518,9791,0.00,2.20,0.00,0.000,6,0.000,0.046,3037,2190,3345,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10101,-0.47,-136.3,845.1,-6.4,529,10107,0.00,2.30,0.00,0.000,4,0.000,0.067,3027,3609,3345,0,0,0,0,0,0,28.83,25.41,28.83
$GC,10131,-0.47,-136.3,847.3,-6.5,530,10137,0.00,2.17,0.00,0.000,6,0.000,0.048,3027,2206,3345,0,0,0,0,0,0,28.83,25.75,28.83
$GC,10462,-0.47,-136.3,869.6,-6.6,541,10463,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2204,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10761,-0.47,-136.3,889.3,-6.6,551,10767,0.00,2.28,0.00,0.000,4,0.000,0.067,3017,3608,3345,0,0,0,0,0,0,28.83,25.40,28.83
$GC,10804,-0.47,-136.3,891.3,-6.6,552,10808,0.00,2.20,0.00,0.000,6,0.000,0.048,3017,2194,3345,0,0,0,0,0,0,28.83,25.72,28.83
$GC,11117,-0.47,-136.3,913.9,-7.1,563,11118,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2192,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11417,-0.47,-136.3,935.0,-6.9,573,11418,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2193,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11716,-0.47,-136.3,956.2,-7.0,583,11722,0.00,2.33,0.00,0.000,4,0.000,0.067,3007,3614,3344,0,0,0,0,0,0,28.83,25.37,28.83
$GC,11749,-0.47,-136.3,958.6,-7.2,584,11754,0.12,2.22,0.00,0.000,6,0.129,0.049,3043,2201,3344,0,0,0,0,0,0,25.55,25.71,28.83
$GC,12073,-0.47,-136.3,977.9,-5.8,595,12078,0.00,2.30,0.00,0.000,4,0.000,0.068,3034,3611,3344,0,0,0,0,0,0,28.83,25.35,28.83
$GC,12106,-0.47,-136.3,979.5,-5.8,596,12110,0.00,2.20,0.00,0.000,6,0.000,0.049,3034,2203,3344,0,0,0,0,0,0,28.83,25.70,28.83
$STATE,12275,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12276,begin apogee
$GC,12283,-0.22,0.0,991.2,-6.6,602,12409,0.25,0.00,121.00,1.177,6,0.112,0.000,3120,2328,2793,0,0,0,0,0,0,25.75,28.83,23.22
$STATE,12412,end apogee,CONTROL_FINISHED_OK
$STATE,12412,begin climb
$GC,12415,0.47,136.3,995.1,0.0,606,12549,0.65,0.00,130.68,1.139,6,0.076,0.000,3344,2328,2238,0,0,0,0,0,0,24.47,28.83,22.24
$GC,12848,0.47,136.3,965.9,8.2,621,12854,0.00,2.35,0.00,0.000,4,0.000,0.068,3344,3726,2227,0,0,0,0,0,0,28.83,24.88,28.83
$GC,12901,0.47,136.3,963.2,8.5,622,12908,0.00,2.25,0.00,0.000,6,0.000,0.049,3354,2333,2226,0,0,0,0,0,0,28.83,25.13,28.83
$GC,13208,0.47,136.3,933.9,8.7,633,13209,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,2328,2225,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13508,0.47,136.3,907.6,8.9,643,13509,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,2328,2225,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13808,0.47,136.3,880.8,9.1,653,13814,0.00,2.30,0.00,0.000,4,0.000,0.069,3354,3728,2224,0,0,0,0,0,0,28.83,25.51,28.83
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$STATE,24712,end climb,SURFACE_DEPTH_REACHED
$STATE,24712,begin surface coast
$FINISH,0.9,1.010028
$STATE,24750,end surface coast,CONTROL_FINISHED_OK
$STATE,24750,begin surface
$SM_CCo,24830,0.00,0.000,0,0,1440,331.89
$SM_GC,1.82,8.25,0.17,0.00,0.025,0.078,0.000,108,2193,1440,-9.47,1.24,331.89,0,0,0,0,0,0,26.02,25.96,28.83
$IRIDIUM_FIX,4654.38,-12629.37,301112,131337
$TT8_MAMPS,0.026964,0.026964
$HUMID,45.07
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,15.50
$XPDR_PINGS,3
$24V_AH,22.2,46.607
$10V_AH,10.0,38.451
$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,22.000,206.425,421.400,0.000,0.000,28.912,38.125,222.909,0.750,0.000,13.900,3549.217,17706.166,589.966,2959.754,436.529,0.000,2059.749,0.000,2642.192,0.000,0.536,0.000
$DEVICE_MAMPS,218.790,87.975,1176.570,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,933.322,702.696,367.829,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,76901,1357
$CAP_FILE_SIZE,202473,0
$CFSIZE,260165632,230162432
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.075, 80.4,1
$GPS,011212,035720,4711.123,-12634.249,80,2.4,99,18.6