version: 66.11
glider: 187
mission: 2
dive: 32
start: 9 19 112 2 41 24
data:
$ID,187
$MISSION,2
$DIVE,32
$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,450
$T_MISSION,500
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51761
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,1
$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,-1587658.6
$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,2175
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,24
$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
$GPS1,190912,023323,4723.264,-12611.376,37,1.8,37,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-78.1
$GPS2,190912,024019,4723.236,-12611.334,16,1.6,16,18.6
$SPEED_LIMITS,0.127,0.220
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.219,-0.019
$KALMAN_X,28732.4,-548.1,-1048.1,-109050.0,3582.0
$KALMAN_Y,15447.0,411.3,616.3,-64208.2,-1155.6
$MHEAD_RNG_PITCHd_Wd,210.4,75034,-13.4,-7.333,-18.42
$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,-0.48,-146.0,0.0,0.0,0,94,0.00,0.00,-74.68,0.000,2,0.000,0.000,123,2169,2943,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.48,-146.0,3.6,-6.0,12,126,11.35,2.30,-8.35,0.000,4,0.229,0.073,3028,3588,3394,0,0,0,0,0,0,25.41,25.61,25.92
$GC,234,-0.48,-146.0,36.6,-14.3,36,242,0.00,2.22,0.00,0.000,6,0.000,0.044,3027,2180,3397,0,0,0,0,0,0,28.83,25.75,28.83
$GC,562,-0.48,-146.0,82.8,-13.5,97,568,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2176,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,885,-0.48,-146.0,119.5,-9.8,158,893,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2176,3401,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1192,-0.48,-146.0,149.1,-9.7,179,1198,0.00,2.25,0.00,0.000,4,0.000,0.063,3017,3590,3401,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1269,-0.48,-146.0,157.0,-10.6,184,1273,0.00,2.17,0.00,0.000,6,0.000,0.044,3017,2164,3400,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1577,-0.48,-146.0,192.0,-11.1,204,1578,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2161,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1877,-0.48,-146.0,225.2,-11.4,224,1878,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2161,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2177,-0.48,-146.0,259.2,-11.0,244,2183,0.00,2.28,0.00,0.000,4,0.000,0.064,3006,3594,3399,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2210,-0.48,-146.0,262.5,-10.9,246,2214,0.12,2.15,0.00,0.000,6,0.142,0.045,3041,2174,3399,0,0,0,0,0,0,26.14,26.23,28.83
$GC,2519,-0.48,-146.0,287.8,-7.4,266,2520,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2171,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2817,-0.48,-146.0,309.4,-7.2,286,2823,0.00,2.22,0.00,0.000,4,0.000,0.065,3032,3592,3398,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2847,-0.48,-146.0,311.9,-7.6,288,2853,0.00,2.17,0.00,0.000,6,0.000,0.046,3032,2166,3398,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3163,-0.48,-146.0,339.3,-8.9,309,3164,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2164,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3463,-0.48,-146.0,368.7,-9.9,329,3468,0.00,2.22,0.00,0.000,4,0.000,0.065,3022,3590,3396,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3501,-0.48,-146.0,371.8,-10.0,331,3507,0.00,2.15,0.00,0.000,6,0.000,0.047,3022,2175,3396,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3808,-0.48,-146.0,402.8,-9.5,352,3809,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2174,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4108,-0.48,-146.0,429.2,-8.5,372,4114,0.00,2.22,0.00,0.000,4,0.000,0.066,3012,3588,3395,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4138,-0.48,-146.0,431.9,-8.8,374,4142,0.00,2.15,0.00,0.000,6,0.000,0.047,3012,2171,3395,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4456,-0.48,-146.0,461.3,-9.0,395,4461,0.00,2.20,0.00,0.000,4,0.000,0.066,3001,3579,3395,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4478,-0.48,-146.0,462.6,-9.2,396,4486,0.10,2.17,0.00,0.000,6,0.122,0.047,3036,2177,3394,0,0,0,0,0,0,26.25,26.35,28.83
$GC,4787,-0.48,-146.0,486.1,-7.5,417,4789,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2176,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5086,-0.48,-146.0,508.9,-8.0,437,5091,0.00,2.20,0.00,0.000,4,0.000,0.067,3028,3589,3393,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5123,-0.48,-146.0,511.5,-8.1,439,5130,0.00,2.15,0.00,0.000,6,0.000,0.047,3028,2169,3392,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5430,-0.48,-146.0,539.6,-9.1,460,5436,0.00,2.25,0.00,0.000,4,0.000,0.067,3018,3587,3392,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5463,-0.48,-146.0,542.6,-9.4,462,5467,0.00,2.15,0.00,0.000,6,0.000,0.047,3018,2168,3392,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5770,-0.48,-146.0,573.4,-9.7,482,5776,0.00,2.22,0.00,0.000,4,0.000,0.067,3007,3589,3391,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5809,-0.48,-146.0,576.4,-9.8,484,5817,0.08,2.17,0.00,0.000,6,0.124,0.047,3036,2181,3391,0,0,0,0,0,0,26.29,26.38,28.83
$GC,6131,-0.48,-146.0,605.2,-8.4,504,6134,0.00,2.17,0.00,0.000,4,0.000,0.054,3036,770,3391,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6165,-0.48,-146.0,608.0,-8.4,505,6169,0.00,2.17,0.00,0.000,6,0.000,0.054,3029,2183,3391,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6492,-0.48,-146.0,634.5,-7.8,516,6498,0.00,2.20,0.00,0.000,4,0.000,0.067,3019,3593,3391,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6595,-0.48,-146.0,641.7,-7.9,519,6599,0.00,2.17,0.00,0.000,6,0.000,0.047,3019,2167,3390,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6908,-0.48,-146.0,665.6,-7.2,530,6914,0.00,2.22,0.00,0.000,4,0.000,0.067,3009,3589,3390,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6970,-0.48,-146.0,670.2,-7.4,532,6975,0.12,2.15,0.00,0.000,6,0.140,0.047,3044,2170,3390,0,0,0,0,0,0,26.31,26.39,28.83
$GC,7294,-0.48,-146.0,689.2,-5.8,543,7299,0.00,2.20,0.00,0.000,4,0.000,0.067,3036,3578,3389,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7336,-0.48,-146.0,691.1,-6.0,544,7340,0.00,2.12,0.00,0.000,6,0.000,0.048,3036,2176,3389,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7648,-0.48,-146.0,714.3,-7.5,555,7652,0.00,2.25,0.00,0.000,4,0.000,0.068,3026,3590,3389,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7710,-0.48,-146.0,719.3,-7.9,557,7716,0.00,2.15,0.00,0.000,6,0.000,0.048,3026,2170,3389,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8040,-0.48,-146.0,746.6,-8.0,568,8041,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2167,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8340,-0.48,-146.0,769.3,-7.6,578,8346,0.00,2.22,0.00,0.000,4,0.000,0.068,3017,3585,3388,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8383,-0.48,-146.0,771.8,-7.7,579,8387,0.00,2.15,0.00,0.000,6,0.000,0.049,3017,2166,3387,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8695,-0.48,-146.0,797.2,-7.7,590,8701,0.00,2.25,0.00,0.000,4,0.000,0.068,3007,3593,3387,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8743,-0.48,-146.0,799.6,-7.8,591,8748,0.12,2.15,0.00,0.000,6,0.139,0.047,3042,2167,3387,0,0,0,0,0,0,26.33,26.41,28.83
$GC,9051,-0.48,-146.0,820.3,-6.0,601,9057,0.00,2.25,0.00,0.000,4,0.000,0.069,3034,3587,3387,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9084,-0.48,-146.0,822.1,-6.0,602,9088,0.00,2.15,0.00,0.000,6,0.000,0.049,3034,2174,3387,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9411,-0.48,-146.0,842.7,-6.2,613,9417,0.00,2.20,0.00,0.000,4,0.000,0.069,3025,3582,3387,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9454,-0.48,-146.0,844.9,-6.4,614,9458,0.00,2.15,0.00,0.000,6,0.000,0.049,3025,2177,3386,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9771,-0.48,-146.0,866.8,-6.5,625,9777,0.00,2.20,0.00,0.000,4,0.000,0.069,3015,3583,3385,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9804,-0.48,-146.0,868.9,-6.6,626,9808,0.00,2.15,0.00,0.000,6,0.000,0.050,3015,2167,3385,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10127,-0.48,-146.0,891.3,-6.6,637,10132,0.00,2.22,0.00,0.000,4,0.000,0.069,3005,3585,3385,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10159,-0.48,-146.0,893.5,-6.7,638,10164,0.12,2.15,0.00,0.000,6,0.140,0.050,3040,2167,3385,0,0,0,0,0,0,26.33,26.41,28.83
$GC,10483,-0.48,-146.0,911.0,-5.2,649,10488,0.00,2.25,0.00,0.000,4,0.000,0.070,3033,3583,3385,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10530,-0.48,-146.0,912.6,-5.2,650,10534,0.00,2.15,0.00,0.000,6,0.000,0.050,3033,2167,3384,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10837,-0.48,-146.0,931.5,-5.8,660,10843,0.00,2.22,0.00,0.000,4,0.000,0.070,3023,3582,3385,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10876,-0.48,-146.0,933.5,-6.1,661,10880,0.00,2.17,0.00,0.000,6,0.000,0.050,3023,2167,3385,0,0,0,0,0,0,28.83,26.41,28.83
$GC,11193,-0.48,-146.0,955.7,-6.8,672,11198,0.00,2.22,0.00,0.000,4,0.000,0.070,3013,3586,3384,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11253,-0.48,-146.0,960.1,-7.1,674,11259,0.00,2.15,0.00,0.000,6,0.000,0.050,3013,2170,3384,0,0,0,0,0,0,28.83,26.41,28.83
$GC,11583,-0.48,-146.0,984.7,-7.3,685,11589,0.00,2.22,0.00,0.000,4,0.000,0.070,3003,3584,3384,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11631,-0.48,-146.0,986.9,-7.3,686,11636,0.12,2.15,0.00,0.000,6,0.141,0.050,3039,2172,3383,0,0,0,0,0,0,26.33,26.41,28.83
$STATE,11665,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11665,begin apogee
$GC,11672,-0.22,0.0,990.9,-7.3,687,11804,0.22,0.00,126.28,1.209,6,0.118,0.000,3120,2316,2794,0,0,0,0,0,0,26.34,28.83,23.60
$STATE,11807,end apogee,CONTROL_FINISHED_OK
$STATE,11807,begin climb
$GC,11810,0.48,146.0,994.1,0.0,691,11951,0.68,2.45,134.20,1.174,4,0.082,0.067,3348,3707,2197,0,0,0,0,0,0,24.52,24.10,23.33
$GC,11974,0.48,146.0,983.8,7.8,697,11979,0.00,2.35,0.00,0.000,6,0.000,0.050,3358,2310,2193,0,0,0,0,0,0,28.83,24.51,28.83
$GC,12292,0.48,146.0,947.1,11.3,708,12297,0.00,2.33,0.00,0.000,4,0.000,0.069,3358,3706,2187,0,0,0,0,0,0,28.83,25.36,28.83
$GC,12324,0.48,146.0,943.3,11.5,709,12328,0.00,2.28,0.00,0.000,6,0.000,0.050,3369,2297,2186,0,0,0,0,0,0,28.83,25.43,28.83
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$STATE,22342,end climb,SURFACE_DEPTH_REACHED
$STATE,22342,begin surface coast
$FINISH,0.7,1.011281
$STATE,22381,end surface coast,CONTROL_FINISHED_OK
$STATE,22381,begin surface
$SM_CCo,22460,0.00,0.000,0,0,1006,438.60
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$IRIDIUM_FIX,4703.87,-12619.16,180912,202029
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.18
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,15.00
$XPDR_PINGS,0
$24V_AH,23.3,6.941
$10V_AH,10.2,6.178
$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,22.125,208.300,496.425,0.000,0.000,24.869,42.444,212.834,0.000,0.000,17.511,3773.571,14576.614,594.141,3508.028,412.422,33.243,2169.704,0.000,3206.551,0.000,0.535,0.000
$DEVICE_MAMPS,228.735,83.385,1209.465,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1010.936,1204.287,1210.190,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297188
$DATA_FILE_SIZE,83429,1467
$CAP_FILE_SIZE,205637,0
$CFSIZE,260165632,254451712
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.069, 44.2,1
$GPS,190912,085705,4721.687,-12614.483,43,1.2,43,18.6