version: 66.11
glider: 187
mission: 2
dive: 378
start: 12 13 112 11 53 16
data:
$ID,187
$MISSION,2
$DIVE,378
$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,3
$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,-1588412.4
$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,45
$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
$GPS1,131212,114300,4739.188,-12533.752,42,1.5,42,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-74.3
$GPS2,131212,115243,4739.184,-12533.761,14,1.5,14,18.7
$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,208.3,130886,-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,-136.3,0.0,0.0,0,110,0.00,0.00,-91.00,0.000,2,0.000,0.000,107,2192,2571,0,0,0,0,0,0,28.83,28.83,28.83
$GC,115,-0.47,-136.3,3.0,-3.7,16,152,11.45,2.40,-20.58,0.000,4,0.214,0.076,3027,3619,3352,0,0,0,0,0,0,24.86,25.44,26.09
$GC,182,-0.47,-136.3,13.0,-15.7,27,188,0.00,2.20,0.00,0.000,6,0.000,0.044,3027,2208,3354,0,0,0,0,0,0,28.83,25.60,28.83
$GC,492,-0.47,-136.3,64.4,-13.3,88,499,0.00,2.20,0.00,0.000,4,0.000,0.051,3028,789,3356,0,0,0,0,0,0,28.83,25.63,28.83
$GC,602,-0.47,-136.3,78.3,-11.7,109,608,0.00,2.20,0.00,0.000,6,0.000,0.050,3017,2205,3356,0,0,0,0,0,0,28.83,25.67,28.83
$GC,913,-0.47,-136.3,115.1,-12.6,170,921,0.00,2.20,0.00,0.000,4,0.000,0.050,3017,783,3357,0,0,0,0,0,0,28.83,25.71,28.83
$GC,982,-0.47,-136.3,123.9,-13.2,179,986,0.12,2.22,0.00,0.000,6,0.137,0.050,3042,2202,3357,0,0,0,0,0,0,25.60,25.73,28.83
$GC,1291,-0.47,-136.3,151.9,-8.0,199,1296,0.00,2.22,0.00,0.000,4,0.000,0.062,3034,3612,3357,0,0,0,0,0,0,28.83,25.65,28.83
$GC,1411,-0.47,-136.3,162.0,-8.4,207,1416,0.00,2.15,0.00,0.000,6,0.000,0.043,3034,2194,3357,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1725,-0.47,-136.3,190.7,-9.2,228,1726,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2189,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2025,-0.47,-136.3,216.3,-8.5,245,2026,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2189,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2326,-0.47,-136.3,242.4,-8.6,260,2327,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2188,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2625,-0.47,-136.3,269.2,-8.6,275,2629,0.00,2.17,0.00,0.000,4,0.000,0.051,3034,785,3356,0,0,0,0,0,0,28.83,25.76,28.83
$GC,2660,-0.47,-136.3,271.3,-8.6,276,2666,0.00,2.22,0.00,0.000,6,0.000,0.051,3025,2205,3356,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2968,-0.47,-136.3,298.7,-8.4,292,2969,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2205,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3267,-0.47,-136.3,324.7,-8.7,307,3273,0.00,2.22,0.00,0.000,4,0.000,0.063,3015,3613,3355,0,0,0,0,0,0,28.83,25.64,28.83
$GC,3315,-0.47,-136.3,328.3,-8.8,309,3320,0.00,2.17,0.00,0.000,6,0.000,0.045,3015,2196,3355,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3622,-0.47,-136.3,356.2,-8.7,324,3623,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2192,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3922,-0.47,-136.3,382.1,-8.9,339,3924,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2192,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4233,-0.47,-136.3,409.5,-8.8,353,4238,0.00,2.28,0.00,0.000,4,0.000,0.064,3005,3607,3353,0,0,0,0,0,0,28.83,25.61,28.83
$GC,4255,-0.47,-136.3,409.5,-8.8,353,4262,0.12,2.17,0.00,0.000,6,0.129,0.045,3041,2195,3353,0,0,0,0,0,0,25.70,25.86,28.83
$GC,4562,-0.47,-136.3,433.5,-7.1,364,4563,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2192,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4862,-0.47,-136.3,455.7,-7.5,374,4868,0.00,2.30,0.00,0.000,4,0.000,0.065,3032,3609,3352,0,0,0,0,0,0,28.83,25.58,28.83
$GC,4885,-0.47,-136.3,455.7,-7.5,374,4892,0.00,2.20,0.00,0.000,6,0.000,0.046,3032,2195,3353,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5192,-0.47,-136.3,481.9,-7.9,385,5193,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2194,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5492,-0.47,-136.3,505.3,-7.7,395,5498,0.00,2.30,0.00,0.000,4,0.000,0.066,3023,3609,3351,0,0,0,0,0,0,28.83,25.56,28.83
$GC,5525,-0.47,-136.3,507.7,-7.9,396,5529,0.00,2.20,0.00,0.000,6,0.000,0.047,3022,2196,3351,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5853,-0.47,-136.3,534.8,-8.2,407,5858,0.00,2.28,0.00,0.000,4,0.000,0.066,3012,3607,3351,0,0,0,0,0,0,28.83,25.54,28.83
$GC,5882,-0.47,-136.3,537.4,-8.4,408,5888,0.00,2.17,0.00,0.000,6,0.000,0.047,3013,2203,3351,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6213,-0.47,-136.3,566.4,-8.8,419,6219,0.00,2.17,0.00,0.000,4,0.000,0.054,3013,804,3351,0,0,0,0,0,0,28.83,25.65,28.83
$GC,6243,-0.47,-136.3,569.3,-9.0,420,6249,0.10,2.17,0.00,0.000,6,0.111,0.054,3041,2198,3350,0,0,0,0,0,0,25.48,25.67,28.83
$GC,6573,-0.47,-136.3,593.7,-7.3,431,6578,0.00,2.25,0.00,0.000,4,0.000,0.067,3032,3600,3350,0,0,0,0,0,0,28.83,25.52,28.83
$GC,6633,-0.47,-136.3,598.4,-7.5,433,6638,0.00,2.15,0.00,0.000,6,0.000,0.047,3032,2208,3349,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6962,-0.47,-136.3,624.0,-7.8,444,6968,0.00,2.28,0.00,0.000,4,0.000,0.066,3023,3608,3349,0,0,0,0,0,0,28.83,25.51,28.83
$GC,6992,-0.47,-136.3,626.4,-7.8,445,6998,0.00,2.20,0.00,0.000,6,0.000,0.047,3023,2194,3348,0,0,0,0,0,0,28.83,25.80,28.83
$GC,7323,-0.47,-136.3,653.0,-7.8,456,7328,0.00,2.15,0.00,0.000,4,0.000,0.054,3023,804,3348,0,0,0,0,0,0,28.83,25.63,28.83
$GC,7355,-0.47,-136.3,655.3,-7.8,457,7359,0.00,2.20,0.00,0.000,6,0.000,0.054,3014,2208,3348,0,0,0,0,0,0,28.83,25.64,28.83
$GC,7678,-0.47,-136.3,680.1,-7.3,468,7682,0.00,2.28,0.00,0.000,4,0.000,0.067,3004,3607,3348,0,0,0,0,0,0,28.83,25.48,28.83
$GC,7740,-0.47,-136.3,684.9,-7.4,470,7746,0.15,2.20,0.00,0.000,6,0.123,0.047,3048,2195,3347,0,0,0,0,0,0,25.60,25.79,28.83
$GC,8070,-0.47,-136.3,704.0,-6.0,481,8071,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2193,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8371,-0.47,-136.3,723.5,-6.7,491,8372,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2194,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8670,-0.47,-136.3,744.2,-6.7,501,8675,0.00,2.28,0.00,0.000,4,0.000,0.067,3040,3601,3346,0,0,0,0,0,0,28.83,25.46,28.83
$GC,8702,-0.47,-136.3,746.1,-6.5,502,8707,0.00,2.17,0.00,0.000,6,0.000,0.048,3040,2202,3346,0,0,0,0,0,0,28.83,25.77,28.83
$GC,9026,-0.47,-136.3,766.8,-6.1,513,9027,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2201,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9325,-0.47,-136.3,784.7,-6.0,523,9331,0.00,2.17,0.00,0.000,4,0.000,0.056,3040,801,3346,0,0,0,0,0,0,28.83,25.57,28.83
$GC,9385,-0.47,-136.3,788.4,-6.0,525,9391,0.00,2.17,0.00,0.000,6,0.000,0.054,3033,2193,3346,0,0,0,0,0,0,28.83,25.60,28.83
$GC,9716,-0.47,-136.3,808.2,-6.2,536,9721,0.00,2.28,0.00,0.000,4,0.000,0.068,3023,3605,3345,0,0,0,0,0,0,28.83,25.42,28.83
$GC,9793,-0.47,-136.3,812.2,-6.4,538,9797,0.00,2.20,0.00,0.000,6,0.000,0.048,3023,2191,3345,0,0,0,0,0,0,28.83,25.75,28.83
$GC,10100,-0.47,-136.3,835.0,-7.3,548,10106,0.00,2.30,0.00,0.000,4,0.000,0.067,3013,3607,3345,0,0,0,0,0,0,28.83,25.41,28.83
$GC,10143,-0.47,-136.3,837.3,-7.3,549,10147,0.00,2.20,0.00,0.000,6,0.000,0.048,3013,2196,3345,0,0,0,0,0,0,28.83,25.75,28.83
$GC,10455,-0.47,-136.3,862.4,-7.7,560,10461,0.00,2.30,0.00,0.000,4,0.000,0.067,3005,3607,3345,0,0,0,0,0,0,28.83,25.40,28.83
$GC,10485,-0.47,-136.3,864.7,-7.7,561,10491,0.15,2.20,0.00,0.000,6,0.119,0.047,3049,2196,3344,0,0,0,0,0,0,25.56,25.74,28.83
$GC,10816,-0.47,-136.3,883.0,-5.2,572,10817,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2194,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11115,-0.47,-136.3,899.5,-5.4,582,11121,0.00,2.30,0.00,0.000,4,0.000,0.068,3041,3607,3345,0,0,0,0,0,0,28.83,25.38,28.83
$GC,11139,-0.47,-136.3,899.5,-5.4,582,11146,0.00,2.20,0.00,0.000,6,0.000,0.049,3041,2194,3345,0,0,0,0,0,0,28.83,25.72,28.83
$GC,11445,-0.47,-136.3,917.3,-5.0,593,11446,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2194,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11746,-0.47,-136.3,932.4,-5.0,603,11751,0.00,2.30,0.00,0.000,4,0.000,0.068,3031,3607,3344,0,0,0,0,0,0,28.83,25.36,28.83
$GC,11779,-0.47,-136.3,934.1,-5.1,604,11783,0.00,2.20,0.00,0.000,6,0.000,0.049,3031,2199,3344,0,0,0,0,0,0,28.83,25.70,28.83
$GC,12102,-0.47,-136.3,953.4,-5.8,615,12107,0.00,2.30,0.00,0.000,4,0.000,0.068,3022,3608,3344,0,0,0,0,0,0,28.83,25.35,28.83
$GC,12134,-0.47,-136.3,955.3,-6.0,616,12138,0.00,2.20,0.00,0.000,6,0.000,0.050,3022,2201,3344,0,0,0,0,0,0,28.83,25.69,28.83
$GC,12458,-0.47,-136.3,974.6,-5.9,627,12459,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2199,3343,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12754,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12754,begin apogee
$GC,12761,-0.22,0.0,991.7,-5.8,637,12884,0.30,0.00,118.82,1.174,6,0.109,0.000,3125,2330,2795,0,0,0,0,0,0,25.65,28.83,23.13
$STATE,12888,end apogee,CONTROL_FINISHED_OK
$STATE,12888,begin climb
$GC,12891,0.47,136.3,994.3,0.0,641,13031,0.62,2.50,130.52,1.137,4,0.073,0.056,3354,928,2237,0,0,0,0,0,0,24.46,23.36,22.13
$GC,13063,0.47,141.5,985.4,6.8,647,13078,0.00,2.40,5.68,0.822,6,0.000,0.055,3354,2318,2217,0,0,0,0,0,0,28.83,23.82,22.33
$GC,13380,0.47,141.5,951.5,10.0,658,13386,0.00,2.35,0.00,0.000,4,0.000,0.069,3354,3735,2211,0,0,0,0,0,0,28.83,25.03,28.83
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$STATE,25274,end climb,SURFACE_DEPTH_REACHED
$STATE,25274,begin surface coast
$FINISH,1.4,1.024798
$STATE,25322,end surface coast,CONTROL_FINISHED_OK
$STATE,25322,begin surface
$SM_CCo,25401,0.00,0.000,0,0,1501,316.93
$SM_GC,1.93,8.30,0.17,0.00,0.031,0.080,0.000,114,2193,1501,-9.46,1.16,316.93,0,0,0,0,0,0,26.04,26.04,28.83
$IRIDIUM_FIX,4722.92,-12525.95,131212,040408
$TT8_MAMPS,0.026964,0.026964
$HUMID,45.74
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,19.00
$XPDR_PINGS,2
$24V_AH,22.1,52.447
$10V_AH,9.9,43.293
$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,22.150,229.325,406.200,0.000,0.000,27.348,37.672,372.486,0.500,0.000,15.033,3693.146,18090.170,574.980,3151.865,461.941,0.000,2148.131,0.000,2671.665,0.000,0.535,0.000
$DEVICE_MAMPS,214.200,87.210,1174.275,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,966.561,730.090,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296948
$DATA_FILE_SIZE,76775,1405
$CAP_FILE_SIZE,216789,0
$CFSIZE,260165632,226304000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.104, 28.6,1
$GPS,131212,185754,4737.747,-12537.252,39,1.3,39,18.7