version: 66.11
glider: 187
mission: 2
dive: 37
start: 9 20 112 11 11 21
data:
$ID,187
$MISSION,2
$DIVE,37
$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,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,-1587664.9
$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,32
$R_STBD_OVSHOOT,26
$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
$GPS1,200912,110205,4715.613,-12626.937,35,1.2,35,18.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-78.7
$GPS2,200912,111049,4715.622,-12626.845,13,1.5,13,18.6
$SPEED_LIMITS,0.127,0.220
$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,206.8,50899,-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,13,begin dive
$GC,17,-0.48,-146.0,0.0,0.0,0,85,0.00,0.00,-65.62,0.000,2,0.000,0.000,113,2164,2924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.48,-146.0,3.6,-7.2,11,116,11.32,2.30,-8.40,0.000,4,0.227,0.071,3025,3596,3393,0,0,0,0,0,0,25.44,25.65,25.97
$GC,246,-0.48,-146.0,42.4,-16.3,40,253,0.00,2.25,0.00,0.000,6,0.000,0.044,3025,2166,3397,0,0,0,0,0,0,28.83,25.79,28.83
$GC,566,-0.48,-146.0,86.3,-13.0,101,573,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2160,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,887,-0.48,-146.0,123.3,-10.2,159,892,0.00,2.10,0.00,0.000,4,0.000,0.050,3025,773,3400,0,0,0,0,0,0,28.83,26.01,28.83
$GC,917,-0.48,-146.0,126.4,-10.4,161,922,0.00,2.12,0.00,0.000,6,0.000,0.050,3015,2171,3400,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1231,-0.48,-146.0,163.2,-11.9,182,1237,0.00,2.17,0.00,0.000,4,0.000,0.063,3005,3578,3400,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1264,-0.48,-146.0,167.0,-12.4,184,1268,0.12,2.12,0.00,0.000,6,0.145,0.044,3038,2168,3400,0,0,0,0,0,0,26.02,26.11,28.83
$GC,1574,-0.48,-146.0,195.0,-8.0,204,1579,0.00,2.10,0.00,0.000,4,0.000,0.051,3039,779,3399,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1603,-0.48,-146.0,197.6,-8.2,206,1608,0.00,2.12,0.00,0.000,6,0.000,0.050,3032,2173,3400,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1918,-0.48,-146.0,225.2,-8.9,227,1923,0.00,2.20,0.00,0.000,4,0.000,0.063,3021,3590,3399,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1985,-0.48,-146.0,230.8,-9.5,231,1992,0.00,2.12,0.00,0.000,6,0.000,0.044,3021,2171,3398,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2294,-0.48,-146.0,261.5,-9.8,252,2299,0.00,2.10,0.00,0.000,4,0.000,0.051,3021,780,3398,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2325,-0.48,-146.0,264.7,-10.0,254,2329,0.00,2.15,0.00,0.000,6,0.000,0.051,3012,2187,3398,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2633,-0.48,-146.0,297.1,-10.5,274,2637,0.00,2.20,0.00,0.000,4,0.000,0.064,3001,3596,3397,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2674,-0.48,-146.0,300.6,-10.8,276,2682,0.15,2.15,0.00,0.000,6,0.138,0.045,3044,2169,3397,0,0,0,0,0,0,26.17,26.27,28.83
$GC,2983,-0.48,-146.0,327.7,-8.4,297,2988,0.00,2.10,0.00,0.000,4,0.000,0.052,3044,780,3396,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3011,-0.48,-146.0,330.5,-8.5,299,3017,0.00,2.12,0.00,0.000,6,0.000,0.052,3037,2175,3396,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3326,-0.48,-146.0,356.9,-8.1,320,3332,0.00,2.20,0.00,0.000,4,0.000,0.065,3025,3607,3395,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3379,-0.48,-146.0,360.9,-8.6,323,3386,0.00,2.17,0.00,0.000,6,0.000,0.046,3025,2163,3395,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3686,-0.48,-146.0,388.4,-8.7,344,3687,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2163,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4001,-0.48,-146.0,417.6,-9.4,359,4002,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2163,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4301,-0.48,-146.0,446.8,-10.0,369,4307,0.00,2.25,0.00,0.000,4,0.000,0.066,3015,3596,3392,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4332,-0.48,-146.0,450.0,-10.1,370,4337,0.00,2.12,0.00,0.000,6,0.000,0.047,3015,2176,3392,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4661,-0.48,-146.0,486.0,-10.9,381,4667,0.00,2.15,0.00,0.000,4,0.000,0.054,3015,766,3391,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4694,-0.48,-146.0,489.3,-10.8,382,4699,0.12,2.17,0.00,0.000,6,0.150,0.054,3040,2186,3391,0,0,0,0,0,0,26.27,26.34,28.83
$GC,5017,-0.48,-146.0,516.9,-8.0,393,5023,0.00,2.20,0.00,0.000,4,0.000,0.067,3031,3594,3391,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5090,-0.48,-146.0,521.8,-8.0,395,5094,0.00,2.15,0.00,0.000,6,0.000,0.047,3031,2170,3390,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5402,-0.48,-146.0,547.0,-7.5,406,5408,0.00,2.20,0.00,0.000,4,0.000,0.067,3021,3579,3390,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5445,-0.48,-146.0,549.3,-7.5,407,5449,0.00,2.12,0.00,0.000,6,0.000,0.047,3021,2172,3389,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5758,-0.48,-146.0,573.9,-7.5,418,5764,0.00,2.25,0.00,0.000,4,0.000,0.067,3011,3589,3388,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5787,-0.48,-146.0,576.3,-7.5,419,5794,0.12,2.15,0.00,0.000,6,0.139,0.048,3046,2165,3389,0,0,0,0,0,0,26.29,26.38,28.83
$GC,6118,-0.48,-146.0,596.5,-6.2,430,6124,0.00,2.20,0.00,0.000,4,0.000,0.067,3038,3577,3387,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6147,-0.48,-146.0,598.5,-6.3,431,6153,0.00,2.12,0.00,0.000,6,0.000,0.048,3037,2179,3388,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6477,-0.48,-146.0,622.3,-7.4,442,6478,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2176,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6777,-0.48,-146.0,644.7,-7.5,452,6783,0.00,2.20,0.00,0.000,4,0.000,0.068,3028,3586,3387,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6840,-0.48,-146.0,649.5,-7.7,454,6844,0.00,2.15,0.00,0.000,6,0.000,0.049,3028,2168,3386,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7162,-0.48,-146.0,675.2,-7.8,465,7164,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2165,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7462,-0.48,-146.0,697.7,-7.5,475,7468,0.00,2.25,0.00,0.000,4,0.000,0.068,3016,3589,3385,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7506,-0.48,-146.0,700.1,-7.6,476,7510,0.00,2.15,0.00,0.000,6,0.000,0.049,3017,2170,3385,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7818,-0.48,-146.0,726.3,-8.1,487,7819,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2168,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8118,-0.48,-146.0,750.0,-7.8,497,8124,0.00,2.22,0.00,0.000,4,0.000,0.068,3007,3582,3384,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8156,-0.48,-146.0,752.4,-8.0,498,8160,0.12,2.15,0.00,0.000,6,0.139,0.049,3042,2174,3384,0,0,0,0,0,0,26.32,26.41,28.83
$GC,8474,-0.48,-146.0,773.6,-6.4,509,8475,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2172,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8774,-0.48,-146.0,792.6,-6.3,519,8780,0.00,2.20,0.00,0.000,4,0.000,0.069,3035,3578,3383,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8834,-0.48,-146.0,796.5,-6.3,521,8839,0.00,2.12,0.00,0.000,6,0.000,0.050,3035,2173,3383,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9164,-0.48,-146.0,818.3,-6.5,532,9165,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2173,3383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9464,-0.48,-146.0,838.0,-6.6,542,9469,0.00,2.20,0.00,0.000,4,0.000,0.070,3025,3579,3383,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9512,-0.48,-146.0,840.1,-6.6,543,9516,0.00,2.12,0.00,0.000,6,0.000,0.050,3025,2179,3383,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9819,-0.48,-146.0,863.1,-7.0,553,9820,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2177,3382,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10118,-0.48,-146.0,885.6,-7.6,563,10122,0.00,2.25,0.00,0.000,4,0.000,0.070,3015,3592,3382,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10150,-0.48,-146.0,888.3,-7.7,564,10156,0.00,2.15,0.00,0.000,6,0.000,0.050,3014,2172,3382,0,0,0,0,0,0,28.83,26.42,28.83
$GC,10480,-0.48,-146.0,915.4,-8.2,575,10486,0.00,2.20,0.00,0.000,4,0.000,0.070,3004,3579,3382,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10510,-0.48,-146.0,918.0,-8.3,576,10516,0.12,2.15,0.00,0.000,6,0.140,0.050,3040,2168,3382,0,0,0,0,0,0,26.33,26.41,28.83
$GC,10840,-0.48,-146.0,940.1,-6.4,587,10846,0.00,2.22,0.00,0.000,4,0.000,0.070,3032,3582,3381,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10889,-0.48,-146.0,942.1,-6.4,588,10893,0.00,2.15,0.00,0.000,6,0.000,0.050,3032,2166,3381,0,0,0,0,0,0,28.83,26.42,28.83
$GC,11196,-0.48,-146.0,963.8,-6.6,598,11201,0.00,2.28,0.00,0.000,4,0.000,0.070,3022,3591,3381,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11228,-0.48,-146.0,965.7,-6.6,599,11232,0.00,2.15,0.00,0.000,6,0.000,0.050,3022,2173,3381,0,0,0,0,0,0,28.83,26.41,28.83
$GC,11556,-0.48,-146.0,989.6,-7.2,610,11562,0.00,2.20,0.00,0.000,4,0.000,0.070,3012,3577,3381,0,0,0,0,0,0,28.83,26.36,28.83
$STATE,11583,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11583,begin apogee
$GC,11591,-0.22,0.0,991.8,-7.3,611,11722,0.32,0.00,125.57,1.208,6,0.116,0.000,3124,2298,2794,0,0,0,0,0,0,26.33,28.83,23.61
$STATE,11725,end apogee,CONTROL_FINISHED_OK
$STATE,11725,begin climb
$GC,11728,0.48,146.0,995.9,0.0,615,11866,0.65,0.00,134.70,1.172,6,0.081,0.000,3346,2298,2198,0,0,0,0,0,0,24.53,28.83,23.33
$GC,12156,0.48,146.0,961.5,9.6,630,12161,0.00,2.33,0.00,0.000,4,0.000,0.070,3346,3706,2187,0,0,0,0,0,0,28.83,25.28,28.83
$GC,12199,0.48,146.0,958.3,9.7,631,12203,0.00,2.22,0.00,0.000,6,0.000,0.050,3356,2311,2186,0,0,0,0,0,0,28.83,25.37,28.83
$GC,12511,0.48,146.0,924.4,10.4,642,12512,0.00,0.00,0.00,0.000,6,0.000,0.000,3356,2305,2185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12811,0.48,146.0,892.7,10.7,652,12817,0.00,2.28,0.00,0.000,4,0.000,0.070,3356,3708,2184,0,0,0,0,0,0,28.83,25.78,28.83
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$STATE,22870,end climb,SURFACE_DEPTH_REACHED
$STATE,22870,begin surface coast
$FINISH,0.6,1.000536
$STATE,22911,end surface coast,CONTROL_FINISHED_OK
$STATE,22911,begin surface
$SM_CCo,22991,0.00,0.000,0,0,1213,387.57
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$TT8_MAMPS,0.026964,0.026964
$HUMID,43.10
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,19.80
$XPDR_PINGS,1
$24V_AH,23.3,7.627
$10V_AH,10.2,6.844
$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,22.125,197.825,452.675,0.000,0.000,61.092,50.573,216.479,0.250,0.000,14.790,3554.555,15873.285,572.043,3119.513,386.607,0.000,2038.451,0.000,2759.188,0.000,0.536,0.000
$DEVICE_MAMPS,227.205,71.145,1207.935,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,942.124,1107.115,630.604,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297080
$DATA_FILE_SIZE,76756,1368
$CAP_FILE_SIZE,196431,0
$CFSIZE,260165632,254017536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.059, 37.7,1
$GPS,200912,173535,4713.901,-12629.864,25,1.5,25,18.6