version: 66.11
glider: 187
mission: 2
dive: 381
start: 12 14 112 9 8 37
data:
$ID,187
$MISSION,2
$DIVE,381
$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,-1588416.1
$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,26
$R_STBD_OVSHOOT,29
$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
$GPS1,141212,090054,4734.238,-12544.687,80,1.6,80,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-75.4
$GPS2,141212,090806,4734.201,-12544.717,12,1.2,17,18.7
$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,203.0,114252,-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,14,begin dive
$GC,17,-0.47,-136.3,0.0,0.0,0,93,0.00,0.00,-73.40,0.000,2,0.000,0.000,128,2208,2769,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.47,-136.3,3.3,-3.5,13,128,11.55,2.28,-12.55,0.000,4,0.220,0.074,3032,3613,3351,0,0,0,0,0,0,24.89,25.46,26.14
$GC,248,-0.47,-136.3,30.8,-11.8,41,255,0.00,2.22,0.00,0.000,6,0.000,0.044,3032,2186,3354,0,0,0,0,0,0,28.83,25.65,28.83
$GC,560,-0.47,-136.3,78.2,-12.1,102,567,0.00,2.17,0.00,0.000,4,0.000,0.050,3032,792,3355,0,0,0,0,0,0,28.83,25.63,28.83
$GC,637,-0.47,-136.3,86.4,-10.8,116,643,0.00,2.20,0.00,0.000,6,0.000,0.050,3023,2205,3356,0,0,0,0,0,0,28.83,25.66,28.83
$GC,948,-0.47,-136.3,123.9,-11.5,173,954,0.00,2.20,0.00,0.000,4,0.000,0.061,3012,3601,3356,0,0,0,0,0,0,28.83,25.61,28.83
$GC,986,-0.47,-136.3,127.2,-11.3,175,994,0.12,2.17,0.00,0.000,6,0.131,0.043,3047,2183,3356,0,0,0,0,0,0,25.65,25.83,28.83
$GC,1296,-0.47,-136.3,153.6,-8.4,196,1299,0.00,2.15,0.00,0.000,4,0.000,0.050,3047,793,3356,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1366,-0.47,-136.3,159.4,-9.1,200,1372,0.00,2.20,0.00,0.000,6,0.000,0.050,3040,2211,3356,0,0,0,0,0,0,28.83,25.73,28.83
$GC,1672,-0.47,-136.3,187.5,-8.5,221,1678,0.00,2.22,0.00,0.000,4,0.000,0.063,3030,3608,3356,0,0,0,0,0,0,28.83,25.63,28.83
$GC,1726,-0.47,-136.3,191.3,-8.5,224,1733,0.00,2.17,0.00,0.000,6,0.000,0.044,3030,2187,3356,0,0,0,0,0,0,28.83,25.88,28.83
$GC,2042,-0.47,-136.3,219.5,-8.1,242,2048,0.00,2.28,0.00,0.000,4,0.000,0.062,3019,3608,3356,0,0,0,0,0,0,28.83,25.63,28.83
$GC,2070,-0.47,-136.3,221.1,-8.2,243,2074,0.00,2.15,0.00,0.000,6,0.000,0.044,3020,2202,3356,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2379,-0.47,-136.3,248.8,-9.0,258,2381,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2198,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2677,-0.47,-136.3,275.6,-8.6,273,2678,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2198,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2978,-0.47,-136.3,301.4,-8.5,288,2983,0.00,2.15,0.00,0.000,4,0.000,0.051,3019,800,3356,0,0,0,0,0,0,28.83,25.72,28.83
$GC,3041,-0.47,-136.3,306.7,-8.9,291,3046,0.12,2.17,0.00,0.000,6,0.136,0.051,3045,2201,3355,0,0,0,0,0,0,25.63,25.75,28.83
$GC,3354,-0.47,-136.3,327.9,-6.8,307,3360,0.00,2.22,0.00,0.000,4,0.000,0.064,3037,3605,3355,0,0,0,0,0,0,28.83,25.60,28.83
$GC,3398,-0.47,-136.3,330.6,-6.7,309,3402,0.00,2.17,0.00,0.000,6,0.000,0.045,3037,2192,3355,0,0,0,0,0,0,28.83,25.88,28.83
$GC,3710,-0.47,-136.3,354.2,-7.5,325,3711,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2189,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4010,-0.47,-136.3,377.8,-7.7,340,4016,0.00,2.25,0.00,0.000,4,0.000,0.064,3027,3598,3353,0,0,0,0,0,0,28.83,25.59,28.83
$GC,4050,-0.47,-136.3,381.0,-7.8,342,4056,0.00,2.15,0.00,0.000,6,0.000,0.046,3027,2204,3353,0,0,0,0,0,0,28.83,25.86,28.83
$GC,4370,-0.47,-136.3,405.0,-7.3,357,4371,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2202,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4670,-0.47,-136.3,426.1,-7.2,367,4671,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2201,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4971,-0.47,-136.3,450.8,-8.6,377,4972,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2201,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5270,-0.47,-136.3,476.0,-8.1,387,5271,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2201,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5570,-0.47,-136.3,499.8,-7.7,397,5574,0.00,2.22,0.00,0.000,4,0.000,0.054,3027,789,3352,0,0,0,0,0,0,28.83,25.66,28.83
$GC,5610,-0.47,-136.3,502.3,-7.6,398,5614,0.00,2.22,0.00,0.000,6,0.000,0.054,3018,2206,3351,0,0,0,0,0,0,28.83,25.67,28.83
$GC,5928,-0.47,-136.3,527.4,-7.7,409,5933,0.00,2.25,0.00,0.000,4,0.000,0.066,3008,3611,3351,0,0,0,0,0,0,28.83,25.52,28.83
$GC,6019,-0.47,-136.3,534.9,-8.1,412,6024,0.12,2.20,0.00,0.000,6,0.129,0.047,3044,2193,3350,0,0,0,0,0,0,25.65,25.82,28.83
$GC,6343,-0.47,-136.3,558.0,-7.1,423,6344,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2190,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6642,-0.47,-136.3,579.5,-7.0,433,6648,0.00,2.30,0.00,0.000,4,0.000,0.067,3035,3609,3350,0,0,0,0,0,0,28.83,25.50,28.83
$GC,6685,-0.47,-136.3,581.9,-7.2,434,6690,0.00,2.20,0.00,0.000,6,0.000,0.047,3035,2190,3350,0,0,0,0,0,0,28.83,25.81,28.83
$GC,6998,-0.47,-136.3,607.0,-7.7,445,7004,0.00,2.28,0.00,0.000,4,0.000,0.067,3026,3607,3349,0,0,0,0,0,0,28.83,25.49,28.83
$GC,7036,-0.47,-136.3,609.4,-7.8,446,7040,0.00,2.17,0.00,0.000,6,0.000,0.047,3025,2203,3350,0,0,0,0,0,0,28.83,25.80,28.83
$GC,7353,-0.47,-136.3,635.2,-7.6,457,7354,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2201,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7654,-0.47,-136.3,655.5,-6.6,467,7659,0.00,2.30,0.00,0.000,4,0.000,0.067,3016,3608,3348,0,0,0,0,0,0,28.83,25.47,28.83
$GC,7691,-0.47,-136.3,657.7,-6.8,468,7695,0.00,2.20,0.00,0.000,6,0.000,0.047,3016,2193,3348,0,0,0,0,0,0,28.83,25.78,28.83
$GC,8008,-0.47,-136.3,682.7,-7.8,479,8009,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2191,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8309,-0.47,-136.3,704.4,-6.9,489,8315,0.00,2.28,0.00,0.000,4,0.000,0.067,3006,3602,3348,0,0,0,0,0,0,28.83,25.46,28.83
$GC,8387,-0.47,-136.3,708.6,-7.0,491,8392,0.12,2.17,0.00,0.000,6,0.127,0.047,3042,2202,3347,0,0,0,0,0,0,25.61,25.77,28.83
$GC,8694,-0.47,-136.3,726.3,-5.3,501,8695,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2199,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8994,-0.47,-136.3,743.6,-5.9,511,9000,0.00,2.30,0.00,0.000,4,0.000,0.067,3034,3607,3347,0,0,0,0,0,0,28.83,25.43,28.83
$GC,9024,-0.47,-136.3,745.6,-5.9,512,9030,0.00,2.17,0.00,0.000,6,0.000,0.047,3034,2203,3347,0,0,0,0,0,0,28.83,25.77,28.83
$GC,9354,-0.47,-136.3,766.8,-6.5,523,9355,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2201,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9654,-0.47,-136.3,787.0,-7.0,533,9660,0.00,2.28,0.00,0.000,4,0.000,0.067,3025,3604,3346,0,0,0,0,0,0,28.83,25.41,28.83
$GC,9706,-0.47,-136.3,789.2,-7.1,534,9713,0.00,2.20,0.00,0.000,6,0.000,0.048,3025,2193,3346,0,0,0,0,0,0,28.83,25.75,28.83
$GC,10013,-0.47,-136.3,814.6,-7.5,545,10014,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2192,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10314,-0.47,-136.3,835.4,-6.8,555,10315,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2192,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10614,-0.47,-136.3,854.7,-6.3,565,10619,0.00,2.28,0.00,0.000,4,0.000,0.068,3014,3601,3346,0,0,0,0,0,0,28.83,25.39,28.83
$GC,10657,-0.47,-136.3,856.7,-6.3,566,10661,0.00,2.20,0.00,0.000,6,0.000,0.049,3014,2193,3345,0,0,0,0,0,0,28.83,25.72,28.83
$GC,10970,-0.47,-136.3,878.8,-6.9,577,10975,0.00,2.30,0.00,0.000,4,0.000,0.068,3005,3607,3345,0,0,0,0,0,0,28.83,25.38,28.83
$GC,11007,-0.47,-136.3,881.0,-7.0,578,11011,0.12,2.20,0.00,0.000,6,0.125,0.049,3041,2195,3345,0,0,0,0,0,0,25.56,25.72,28.83
$GC,11326,-0.47,-136.3,899.5,-5.5,589,11327,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2193,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11625,-0.47,-136.3,915.3,-5.2,599,11626,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2193,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11925,-0.47,-136.3,929.9,-4.7,609,11931,0.00,2.33,0.00,0.000,4,0.000,0.068,3034,3608,3344,0,0,0,0,0,0,28.83,25.36,28.83
$GC,11979,-0.47,-136.3,931.6,-4.9,610,11985,0.00,2.20,0.00,0.000,6,0.000,0.049,3034,2202,3343,0,0,0,0,0,0,28.83,25.70,28.83
$GC,12285,-0.47,-136.3,948.4,-5.2,621,12286,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2201,3343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12585,-0.47,-136.3,965.6,-6.2,631,12586,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2202,3343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12886,-0.47,-136.3,984.4,-6.4,641,12891,0.00,2.33,0.00,0.000,4,0.000,0.069,3025,3608,3343,0,0,0,0,0,0,28.83,25.32,28.83
$GC,12923,-0.47,-136.3,986.2,-6.4,642,12927,0.00,2.22,0.00,0.000,6,0.000,0.050,3025,2201,3343,0,0,0,0,0,0,28.83,25.67,28.83
$STATE,12968,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12968,begin apogee
$GC,12975,-0.22,0.0,990.1,-6.7,644,13101,0.28,0.00,121.20,1.176,6,0.107,0.000,3120,2331,2793,0,0,0,0,0,0,25.70,28.83,23.11
$STATE,13105,end apogee,CONTROL_FINISHED_OK
$STATE,13105,begin climb
$GC,13108,0.47,136.3,994.2,0.0,648,13249,0.65,2.58,130.18,1.136,4,0.073,0.067,3345,3716,2237,0,0,0,0,0,0,24.44,23.34,22.12
$GC,13273,0.48,157.5,986.3,6.2,654,13302,0.00,2.40,20.65,1.058,6,0.000,0.049,3356,2328,2152,0,0,0,0,0,0,28.83,23.81,22.28
$GC,13602,0.48,157.5,953.4,10.2,665,13608,0.00,2.30,0.00,0.000,4,0.000,0.058,3366,921,2144,0,0,0,0,0,0,28.83,25.02,28.83
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$STATE,24721,end climb,SURFACE_DEPTH_REACHED
$STATE,24722,begin surface coast
$FINISH,1.2,1.023465
$STATE,24754,end surface coast,CONTROL_FINISHED_OK
$STATE,24754,begin surface
$SM_CCo,24834,0.00,0.000,0,0,1199,391.25
$SM_GC,2.20,8.35,0.20,0.00,0.028,0.072,0.000,110,2206,1199,-9.47,1.13,391.25,0,0,0,0,0,0,25.89,25.84,28.83
$IRIDIUM_FIX,4722.92,-12537.46,141212,010136
$TT8_MAMPS,0.026964,0.026964
$HUMID,45.82
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,19.10
$XPDR_PINGS,0
$24V_AH,22.1,52.875
$10V_AH,9.9,43.596
$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
$DEVICE_SECS,22.100,201.600,468.125,0.000,0.000,27.893,41.545,219.017,0.000,0.000,18.074,3587.535,17781.719,579.283,2868.664,435.647,0.000,2070.749,0.000,2535.843,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,943.521,714.040,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296940
$DATA_FILE_SIZE,76843,1372
$CAP_FILE_SIZE,204486,0
$CFSIZE,260165632,226045952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.026,115.6,1
$GPS,141212,160336,4731.377,-12548.236,27,1.5,27,18.7