version: 66.11
glider: 187
mission: 2
dive: 382
start: 12 14 112 16 12 3
data:
$ID,187
$MISSION,2
$DIVE,382
$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,-1588417.4
$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,29
$R_STBD_OVSHOOT,27
$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
$GPS1,141212,160336,4731.377,-12548.236,27,1.5,27,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-72.3
$GPS2,141212,161132,4731.316,-12548.231,35,1.5,35,18.7
$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,224.7,107614,-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,-136.3,0.0,0.0,0,86,0.00,0.00,-66.22,0.000,2,0.000,0.000,109,2206,2668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.47,-136.3,3.2,-1.9,12,127,11.55,2.33,-15.88,0.000,4,0.219,0.076,3023,3606,3352,0,0,0,0,0,0,24.85,25.46,26.15
$GC,212,-0.47,-136.3,26.1,-17.2,34,219,0.00,2.20,0.00,0.000,6,0.000,0.044,3022,2190,3355,0,0,0,0,0,0,28.83,25.65,28.83
$GC,525,-0.47,-136.3,75.7,-12.7,95,532,0.00,2.17,0.00,0.000,4,0.000,0.050,3022,783,3355,0,0,0,0,0,0,28.83,25.63,28.83
$GC,595,-0.47,-136.3,85.3,-12.7,108,601,0.00,2.20,0.00,0.000,6,0.000,0.050,3013,2200,3356,0,0,0,0,0,0,28.83,25.66,28.83
$GC,912,-0.47,-136.3,125.2,-11.1,164,913,0.12,0.00,0.00,0.000,6,0.151,0.000,3047,2200,3356,0,0,0,0,0,0,25.94,28.83,28.83
$GC,1211,-0.47,-136.3,150.4,-8.7,184,1217,0.00,2.25,0.00,0.000,4,0.000,0.062,3039,3617,3357,0,0,0,0,0,0,28.83,25.62,28.83
$GC,1274,-0.47,-136.3,155.5,-8.6,188,1278,0.00,2.20,0.00,0.000,6,0.000,0.044,3038,2188,3357,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1581,-0.47,-136.3,182.8,-8.6,208,1583,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2185,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1888,-0.47,-136.3,207.2,-8.3,227,1893,0.00,2.28,0.00,0.000,4,0.000,0.063,3029,3610,3356,0,0,0,0,0,0,28.83,25.63,28.83
$GC,1935,-0.47,-136.3,210.9,-8.8,229,1939,0.00,2.17,0.00,0.000,6,0.000,0.044,3028,2194,3356,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2241,-0.47,-136.3,240.8,-9.6,244,2247,0.00,2.17,0.00,0.000,4,0.000,0.050,3028,790,3356,0,0,0,0,0,0,28.83,25.74,28.83
$GC,2265,-0.47,-136.3,242.9,-9.6,245,2269,0.00,2.20,0.00,0.000,6,0.000,0.050,3019,2207,3356,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2577,-0.47,-136.3,270.7,-8.3,261,2583,0.00,2.22,0.00,0.000,4,0.000,0.063,3009,3606,3356,0,0,0,0,0,0,28.83,25.63,28.83
$GC,2625,-0.47,-136.3,274.2,-8.5,263,2629,0.12,2.17,0.00,0.000,6,0.131,0.044,3044,2190,3356,0,0,0,0,0,0,25.70,25.89,28.83
$GC,2932,-0.47,-136.3,296.5,-7.2,278,2933,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2187,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3233,-0.47,-136.3,317.9,-7.0,293,3234,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2186,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3532,-0.47,-136.3,339.1,-7.2,308,3537,0.00,2.30,0.00,0.000,4,0.000,0.063,3036,3609,3355,0,0,0,0,0,0,28.83,25.60,28.83
$GC,3573,-0.47,-136.3,342.2,-7.5,310,3579,0.00,2.15,0.00,0.000,6,0.000,0.045,3036,2209,3355,0,0,0,0,0,0,28.83,25.88,28.83
$GC,3892,-0.47,-136.3,366.7,-7.5,326,3894,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2206,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4193,-0.47,-136.3,389.3,-7.7,341,4194,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2206,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4512,-0.47,-136.3,414.6,-7.9,354,4518,0.00,2.25,0.00,0.000,4,0.000,0.065,3027,3605,3353,0,0,0,0,0,0,28.83,25.58,28.83
$GC,4544,-0.47,-136.3,417.1,-8.0,355,4548,0.00,2.20,0.00,0.000,6,0.000,0.046,3026,2189,3353,0,0,0,0,0,0,28.83,25.85,28.83
$GC,4867,-0.47,-136.3,445.2,-8.8,366,4868,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2187,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5167,-0.47,-136.3,469.8,-7.8,376,5172,0.00,2.30,0.00,0.000,4,0.000,0.065,3017,3609,3352,0,0,0,0,0,0,28.83,25.55,28.83
$GC,5250,-0.47,-136.3,474.7,-8.0,378,5258,0.00,2.17,0.00,0.000,6,0.000,0.046,3017,2196,3352,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5557,-0.47,-136.3,501.7,-8.2,389,5563,0.00,2.17,0.00,0.000,4,0.000,0.053,3017,804,3352,0,0,0,0,0,0,28.83,25.66,28.83
$GC,5575,-0.47,-136.3,501.7,-8.2,389,5580,0.12,2.20,0.00,0.000,6,0.137,0.054,3042,2198,3352,0,0,0,0,0,0,25.56,25.67,28.83
$GC,5883,-0.47,-136.3,524.8,-7.2,399,5889,0.00,2.25,0.00,0.000,4,0.000,0.066,3034,3606,3351,0,0,0,0,0,0,28.83,25.52,28.83
$GC,5942,-0.47,-136.3,529.2,-7.2,401,5947,0.00,2.17,0.00,0.000,6,0.000,0.046,3034,2206,3351,0,0,0,0,0,0,28.83,25.83,28.83
$GC,6272,-0.47,-136.3,553.9,-7.5,412,6273,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2204,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6572,-0.47,-136.3,577.7,-8.0,422,6573,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2204,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6872,-0.47,-136.3,601.1,-7.5,432,6877,0.00,2.30,0.00,0.000,4,0.000,0.066,3024,3618,3350,0,0,0,0,0,0,28.83,25.50,28.83
$GC,6915,-0.47,-136.3,603.5,-7.4,433,6919,0.00,2.20,0.00,0.000,6,0.000,0.045,3024,2195,3350,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7228,-0.47,-136.3,628.7,-7.7,444,7229,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2194,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7527,-0.47,-136.3,651.1,-7.7,454,7533,0.00,2.30,0.00,0.000,4,0.000,0.067,3014,3607,3350,0,0,0,0,0,0,28.83,25.48,28.83
$GC,7565,-0.47,-136.3,653.5,-7.8,455,7569,0.00,2.20,0.00,0.000,6,0.000,0.047,3014,2193,3350,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7883,-0.47,-136.3,680.9,-8.5,466,7884,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2190,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8182,-0.47,-136.3,705.9,-8.2,476,8188,0.00,2.30,0.00,0.000,4,0.000,0.066,3004,3607,3349,0,0,0,0,0,0,28.83,25.46,28.83
$GC,8215,-0.47,-136.3,708.5,-8.3,477,8220,0.15,2.20,0.00,0.000,6,0.120,0.047,3049,2192,3349,0,0,0,0,0,0,25.59,25.77,28.83
$GC,8539,-0.47,-136.3,727.2,-5.4,488,8540,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2189,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8838,-0.47,-136.3,743.1,-5.5,498,8844,0.00,2.30,0.00,0.000,4,0.000,0.067,3041,3607,3348,0,0,0,0,0,0,28.83,25.44,28.83
$GC,8871,-0.47,-136.3,744.9,-5.7,499,8875,0.00,2.20,0.00,0.000,6,0.000,0.047,3040,2194,3347,0,0,0,0,0,0,28.83,25.77,28.83
$GC,9194,-0.47,-136.3,765.0,-6.1,510,9200,0.00,2.33,0.00,0.000,4,0.000,0.067,3031,3612,3347,0,0,0,0,0,0,28.83,25.42,28.83
$GC,9224,-0.47,-136.3,766.8,-6.1,511,9230,0.00,2.20,0.00,0.000,6,0.000,0.048,3030,2195,3347,0,0,0,0,0,0,28.83,25.76,28.83
$GC,9554,-0.47,-136.3,786.1,-5.6,522,9556,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2193,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9854,-0.47,-136.3,803.4,-5.8,532,9860,0.00,2.30,0.00,0.000,4,0.000,0.067,3021,3607,3346,0,0,0,0,0,0,28.83,25.41,28.83
$GC,9916,-0.47,-136.3,807.2,-6.1,534,9920,0.00,2.20,0.00,0.000,6,0.000,0.047,3021,2196,3346,0,0,0,0,0,0,28.83,25.75,28.83
$GC,10239,-0.47,-136.3,827.8,-6.1,545,10241,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2195,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10539,-0.47,-136.3,848.1,-7.3,555,10544,0.00,2.28,0.00,0.000,4,0.000,0.067,3011,3601,3345,0,0,0,0,0,0,28.83,25.40,28.83
$GC,10571,-0.47,-136.3,850.5,-7.4,556,10576,0.12,2.17,0.00,0.000,6,0.123,0.048,3047,2203,3345,0,0,0,0,0,0,25.58,25.72,28.83
$GC,10895,-0.47,-136.3,873.6,-7.1,567,10896,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2201,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11194,-0.47,-136.3,895.4,-7.3,577,11200,0.00,2.33,0.00,0.000,4,0.000,0.069,3040,3616,3345,0,0,0,0,0,0,28.83,25.37,28.83
$GC,11224,-0.47,-136.3,897.7,-7.4,578,11230,0.00,2.22,0.00,0.000,6,0.000,0.049,3040,2199,3345,0,0,0,0,0,0,28.83,25.72,28.83
$GC,11554,-0.47,-136.3,922.0,-7.1,589,11556,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2198,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11855,-0.47,-136.3,941.2,-5.9,599,11860,0.00,2.30,0.00,0.000,4,0.000,0.069,3030,3609,3344,0,0,0,0,0,0,28.83,25.35,28.83
$GC,11897,-0.47,-136.3,943.1,-5.9,600,11901,0.00,2.22,0.00,0.000,6,0.000,0.050,3030,2199,3344,0,0,0,0,0,0,28.83,25.70,28.83
$GC,12215,-0.47,-136.3,961.6,-5.4,611,12217,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2196,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12514,-0.47,-136.3,978.2,-5.8,621,12520,0.00,2.30,0.00,0.000,4,0.000,0.069,3021,3606,3344,0,0,0,0,0,0,28.83,25.33,28.83
$GC,12562,-0.47,-136.3,980.0,-6.0,622,12567,0.00,2.20,0.00,0.000,6,0.000,0.050,3021,2202,3344,0,0,0,0,0,0,28.83,25.68,28.83
$STATE,12717,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12717,begin apogee
$GC,12724,-0.22,0.0,990.4,-5.7,627,12851,0.30,0.00,121.45,1.174,6,0.107,0.000,3124,2329,2793,0,0,0,0,0,0,25.65,28.83,23.11
$STATE,12853,end apogee,CONTROL_FINISHED_OK
$STATE,12854,begin climb
$GC,12856,0.47,136.3,993.0,0.0,631,12999,0.62,2.62,130.23,1.132,4,0.072,0.067,3343,3733,2237,0,0,0,0,0,0,24.44,23.34,22.13
$GC,13022,0.47,136.3,983.4,7.0,637,13028,0.00,2.42,0.00,0.000,6,0.000,0.048,3354,2326,2234,0,0,0,0,0,0,28.83,23.82,28.83
$GC,13352,0.47,136.3,954.6,8.5,648,13354,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,2325,2227,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13652,0.47,136.3,928.6,9.0,658,13653,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,2325,2226,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,25101,end climb,SURFACE_DEPTH_REACHED
$STATE,25101,begin surface coast
$FINISH,1.3,1.022388
$STATE,25138,end surface coast,CONTROL_FINISHED_OK
$STATE,25138,begin surface
$SM_CCo,25219,0.00,0.000,0,0,1210,388.56
$SM_GC,2.39,8.38,2.10,0.00,0.031,0.055,0.000,125,2205,1210,-9.46,-0.74,388.56,0,0,0,0,0,0,25.83,25.56,28.83
$IRIDIUM_FIX,4716.56,-12545.23,141212,090906
$TT8_MAMPS,0.026964,0.026964
$HUMID,45.27
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,19.10
$XPDR_PINGS,2
$24V_AH,22.1,53.015
$10V_AH,10.0,43.698
$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,22.300,211.025,467.600,0.000,0.000,24.799,52.050,235.652,0.500,0.000,36.383,3615.503,18090.777,589.178,2943.596,443.280,0.000,2100.776,0.000,2567.818,0.000,0.536,0.000
$DEVICE_MAMPS,218.790,87.975,1174.275,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,950.464,719.115,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296924
$DATA_FILE_SIZE,76850,1382
$CAP_FILE_SIZE,207537,0
$CFSIZE,260165632,225951744
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.075, 82.2,1
$GPS,141212,231336,4729.932,-12551.965,36,1.8,36,18.7