version: 66.11
glider: 187
mission: 2
dive: 341
start: 12 2 112 15 24 9
data:
$ID,187
$MISSION,2
$DIVE,341
$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,-1588195.4
$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,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
$GPS1,021212,151601,4705.223,-12649.785,45,1.5,45,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-73.1
$GPS2,021212,152338,4705.218,-12649.667,13,1.9,13,18.6
$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,224.2,16240,-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,17,-0.47,-136.3,0.0,0.0,0,88,0.00,0.00,-68.88,0.000,2,0.000,0.000,109,2189,2791,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.47,-136.3,3.4,-5.0,12,126,11.57,2.25,-11.85,0.000,4,0.220,0.061,3038,777,3354,0,0,0,0,0,0,24.92,25.56,26.10
$GC,159,-0.47,-136.3,21.0,-19.9,23,166,0.00,2.22,0.00,0.000,6,0.000,0.049,3030,2200,3356,0,0,0,0,0,0,28.83,25.53,28.83
$GC,474,-0.47,-136.3,73.1,-13.7,84,481,0.00,2.30,0.00,0.000,4,0.000,0.062,3019,3611,3357,0,0,0,0,0,0,28.83,25.53,28.83
$GC,495,-0.47,-136.3,75.8,-13.2,87,502,0.00,2.20,0.00,0.000,6,0.000,0.043,3019,2185,3357,0,0,0,0,0,0,28.83,25.74,28.83
$GC,808,-0.47,-136.3,117.4,-11.8,148,814,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2181,3359,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1118,-0.47,-136.3,152.5,-11.1,171,1124,0.00,2.28,0.00,0.000,4,0.000,0.061,3009,3608,3359,0,0,0,0,0,0,28.83,25.63,28.83
$GC,1202,-0.47,-136.3,161.6,-12.1,176,1209,0.12,2.17,0.00,0.000,6,0.134,0.042,3043,2193,3358,0,0,0,0,0,0,25.67,25.86,28.83
$GC,1511,-0.47,-136.3,191.9,-9.0,197,1512,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2191,3359,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1819,-0.47,-136.3,219.1,-8.4,214,1820,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2191,3358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2119,-0.47,-136.3,244.4,-8.5,229,2124,0.00,2.28,0.00,0.000,4,0.000,0.063,3035,3614,3358,0,0,0,0,0,0,28.83,25.65,28.83
$GC,2152,-0.47,-136.3,246.2,-8.6,230,2160,0.00,2.15,0.00,0.000,6,0.000,0.044,3035,2201,3358,0,0,0,0,0,0,28.83,25.90,28.83
$GC,2459,-0.47,-136.3,274.9,-8.6,246,2460,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2200,3358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2759,-0.47,-136.3,300.9,-8.7,261,2764,0.00,2.25,0.00,0.000,4,0.000,0.064,3025,3609,3357,0,0,0,0,0,0,28.83,25.63,28.83
$GC,2792,-0.47,-136.3,302.7,-8.7,262,2800,0.00,2.17,0.00,0.000,6,0.000,0.044,3025,2190,3357,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3100,-0.47,-136.3,331.7,-8.8,278,3106,0.00,2.10,0.00,0.000,4,0.000,0.050,3025,811,3357,0,0,0,0,0,0,28.83,25.75,28.83
$GC,3127,-0.47,-136.3,333.5,-8.9,279,3131,0.00,2.15,0.00,0.000,6,0.000,0.051,3016,2202,3357,0,0,0,0,0,0,28.83,25.75,28.83
$GC,3434,-0.47,-136.3,362.7,-9.4,294,3440,0.00,2.25,0.00,0.000,4,0.000,0.063,3006,3616,3356,0,0,0,0,0,0,28.83,25.61,28.83
$GC,3502,-0.47,-136.3,368.6,-9.4,297,3507,0.12,2.15,0.00,0.000,6,0.130,0.044,3042,2203,3356,0,0,0,0,0,0,25.71,25.89,28.83
$GC,3810,-0.47,-136.3,391.9,-7.1,312,3811,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2200,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4109,-0.47,-136.3,413.7,-7.3,324,4111,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2200,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4409,-0.47,-136.3,435.7,-7.3,334,4415,0.00,2.28,0.00,0.000,4,0.000,0.065,3034,3616,3354,0,0,0,0,0,0,28.83,25.58,28.83
$GC,4457,-0.47,-136.3,437.9,-7.3,335,4462,0.00,2.17,0.00,0.000,6,0.000,0.046,3034,2197,3354,0,0,0,0,0,0,28.83,25.86,28.83
$GC,4765,-0.47,-136.3,462.8,-7.6,345,4766,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2194,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5065,-0.47,-136.3,486.1,-7.8,355,5071,0.00,2.25,0.00,0.000,4,0.000,0.065,3024,3606,3353,0,0,0,0,0,0,28.83,25.57,28.83
$GC,5117,-0.47,-136.3,488.6,-7.7,356,5124,0.00,2.15,0.00,0.000,6,0.000,0.046,3023,2198,3353,0,0,0,0,0,0,28.83,25.85,28.83
$GC,5426,-0.47,-136.3,516.0,-8.5,367,5427,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2197,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5724,-0.47,-136.3,540.6,-8.2,377,5731,0.00,2.30,0.00,0.000,4,0.000,0.066,3013,3613,3352,0,0,0,0,0,0,28.83,25.54,28.83
$GC,5773,-0.47,-136.3,543.1,-8.3,378,5777,0.00,2.17,0.00,0.000,6,0.000,0.046,3013,2195,3352,0,0,0,0,0,0,28.83,25.83,28.83
$GC,6080,-0.47,-136.3,570.8,-8.5,388,6085,0.00,2.15,0.00,0.000,4,0.000,0.053,3013,794,3351,0,0,0,0,0,0,28.83,25.66,28.83
$GC,6109,-0.47,-136.3,573.4,-8.5,389,6116,0.15,2.20,0.00,0.000,6,0.129,0.054,3048,2199,3351,0,0,0,0,0,0,25.53,25.66,28.83
$GC,6440,-0.47,-136.3,594.0,-6.0,400,6445,0.00,2.25,0.00,0.000,4,0.000,0.067,3039,3607,3351,0,0,0,0,0,0,28.83,25.51,28.83
$GC,6531,-0.47,-136.3,599.9,-6.4,403,6536,0.00,2.15,0.00,0.000,6,0.000,0.047,3039,2205,3351,0,0,0,0,0,0,28.83,25.83,28.83
$GC,6860,-0.47,-136.3,621.4,-6.5,414,6865,0.00,2.25,0.00,0.000,4,0.000,0.066,3029,3606,3351,0,0,0,0,0,0,28.83,25.50,28.83
$GC,6891,-0.47,-136.3,623.4,-6.5,415,6896,0.00,2.17,0.00,0.000,6,0.000,0.047,3029,2205,3350,0,0,0,0,0,0,28.83,25.81,28.83
$GC,7220,-0.47,-136.3,645.9,-6.9,426,7225,0.00,2.30,0.00,0.000,4,0.000,0.067,3019,3619,3350,0,0,0,0,0,0,28.83,25.48,28.83
$GC,7250,-0.47,-136.3,648.0,-7.0,427,7256,0.00,2.17,0.00,0.000,6,0.000,0.045,3019,2192,3349,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7580,-0.47,-136.3,673.7,-7.9,438,7581,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2190,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7879,-0.47,-136.3,698.4,-8.2,448,7886,0.00,2.30,0.00,0.000,4,0.000,0.067,3010,3613,3348,0,0,0,0,0,0,28.83,25.47,28.83
$GC,7957,-0.47,-136.3,703.8,-8.6,450,7962,0.12,2.20,0.00,0.000,6,0.129,0.047,3045,2191,3348,0,0,0,0,0,0,25.62,25.78,28.83
$GC,8265,-0.47,-136.3,726.3,-6.6,460,8267,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2188,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8565,-0.47,-136.3,745.0,-6.1,470,8570,0.00,2.30,0.00,0.000,4,0.000,0.066,3036,3608,3348,0,0,0,0,0,0,28.83,25.45,28.83
$GC,8618,-0.47,-136.3,746.7,-6.1,471,8625,0.00,2.17,0.00,0.000,6,0.000,0.047,3036,2197,3348,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8925,-0.47,-136.3,767.1,-6.0,482,8931,0.00,2.28,0.00,0.000,4,0.000,0.067,3026,3606,3347,0,0,0,0,0,0,28.83,25.44,28.83
$GC,8963,-0.47,-136.3,769.1,-6.1,483,8967,0.00,2.17,0.00,0.000,6,0.000,0.048,3026,2203,3346,0,0,0,0,0,0,28.83,25.76,28.83
$GC,9286,-0.47,-136.3,791.1,-6.8,494,9287,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2201,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9585,-0.47,-136.3,812.8,-7.4,504,9591,0.00,2.28,0.00,0.000,4,0.000,0.067,3017,3608,3346,0,0,0,0,0,0,28.83,25.41,28.83
$GC,9653,-0.47,-136.3,817.6,-7.7,506,9657,0.00,2.17,0.00,0.000,6,0.000,0.048,3017,2193,3346,0,0,0,0,0,0,28.83,25.75,28.83
$GC,9971,-0.47,-136.3,844.7,-8.3,517,9976,0.00,2.28,0.00,0.000,4,0.000,0.067,3007,3610,3346,0,0,0,0,0,0,28.83,25.40,28.83
$GC,10008,-0.47,-136.3,847.3,-8.5,518,10013,0.12,2.17,0.00,0.000,6,0.128,0.048,3042,2194,3346,0,0,0,0,0,0,25.58,25.73,28.83
$GC,10326,-0.47,-136.3,869.1,-6.5,529,10332,0.00,2.30,0.00,0.000,4,0.000,0.067,3034,3609,3345,0,0,0,0,0,0,28.83,25.39,28.83
$GC,10370,-0.47,-136.3,871.1,-6.5,530,10376,0.00,2.17,0.00,0.000,6,0.000,0.048,3034,2194,3345,0,0,0,0,0,0,28.83,25.72,28.83
$GC,10686,-0.47,-136.3,892.2,-6.2,541,10692,0.00,2.28,0.00,0.000,4,0.000,0.068,3025,3606,3345,0,0,0,0,0,0,28.83,25.38,28.83
$GC,10724,-0.47,-136.3,894.1,-6.2,542,10728,0.00,2.17,0.00,0.000,6,0.000,0.048,3024,2203,3345,0,0,0,0,0,0,28.83,25.72,28.83
$GC,11047,-0.47,-136.3,915.8,-6.6,553,11052,0.00,2.28,0.00,0.000,4,0.000,0.068,3014,3612,3345,0,0,0,0,0,0,28.83,25.37,28.83
$GC,11079,-0.47,-136.3,918.0,-6.7,554,11084,0.00,2.17,0.00,0.000,6,0.000,0.049,3014,2200,3345,0,0,0,0,0,0,28.83,25.70,28.83
$GC,11402,-0.47,-136.3,942.0,-7.5,565,11403,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2198,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11702,-0.47,-136.3,964.1,-7.2,575,11708,0.00,2.28,0.00,0.000,4,0.000,0.068,3004,3606,3345,0,0,0,0,0,0,28.83,25.35,28.83
$GC,11755,-0.47,-136.3,966.5,-7.3,576,11762,0.15,2.17,0.00,0.000,6,0.120,0.049,3048,2193,3345,0,0,0,0,0,0,25.51,25.70,28.83
$GC,12063,-0.47,-136.3,986.1,-5.8,587,12069,0.00,2.30,0.00,0.000,4,0.000,0.069,3040,3607,3345,0,0,0,0,0,0,28.83,25.34,28.83
$GC,12100,-0.47,-136.3,987.7,-5.7,588,12104,0.00,2.20,0.00,0.000,6,0.000,0.049,3040,2192,3344,0,0,0,0,0,0,28.83,25.70,28.83
$STATE,12149,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12149,begin apogee
$GC,12156,-0.22,0.0,991.5,-6.1,590,12283,0.22,0.00,121.25,1.174,6,0.111,0.000,3120,2334,2793,0,0,0,0,0,0,25.81,28.83,23.21
$STATE,12287,end apogee,CONTROL_FINISHED_OK
$STATE,12287,begin climb
$GC,12290,0.47,136.3,995.1,0.0,594,12431,0.65,2.55,129.68,1.136,4,0.075,0.067,3345,3722,2237,0,0,0,0,0,0,24.47,23.35,22.23
$GC,12448,0.49,181.3,990.0,5.2,599,12497,0.00,2.38,43.28,1.096,6,0.000,0.048,3355,2325,2054,0,0,0,0,0,0,28.83,23.75,22.24
$GC,12812,0.49,181.3,954.8,9.3,612,12818,0.00,2.25,0.00,0.000,4,0.000,0.058,3365,929,2045,0,0,0,0,0,0,28.83,24.97,28.83
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$STATE,23446,end climb,SURFACE_DEPTH_REACHED
$STATE,23446,begin surface coast
$FINISH,1.2,1.024578
$STATE,23483,end surface coast,CONTROL_FINISHED_OK
$STATE,23484,begin surface
$SM_CCo,23563,0.00,0.000,0,0,1391,344.16
$SM_GC,1.99,8.25,0.17,0.00,0.024,0.081,0.000,107,2192,1391,-9.46,1.16,344.16,0,0,0,0,0,0,25.95,25.88,28.83
$IRIDIUM_FIX,4648.08,-12650.93,021212,080813
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.95
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,19.10
$XPDR_PINGS,1
$24V_AH,22.2,47.424
$10V_AH,10.0,39.133
$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,22.325,227.725,428.525,0.000,0.000,28.024,36.766,248.343,0.250,0.000,14.514,3425.444,16563.143,565.413,3014.562,438.625,0.000,2079.812,0.000,2660.853,0.000,0.536,0.000
$DEVICE_MAMPS,220.320,82.620,1174.275,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,892.709,678.822,359.438,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296780
$DATA_FILE_SIZE,73474,1299
$CAP_FILE_SIZE,204519,0
$CFSIZE,260165632,229629952
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.123, 52.6,1
$GPS,021212,215807,4704.511,-12653.015,36,1.7,37,18.6