version: 66.11
glider: 187
mission: 2
dive: 333
start: 11 30 112 6 48 58
data:
$ID,187
$MISSION,2
$DIVE,333
$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,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,-1588183.5
$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,44
$R_STBD_OVSHOOT,23
$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
$GPS1,301112,064006,4716.151,-12624.728,34,1.9,34,18.6
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-74.1
$GPS2,301112,064827,4716.293,-12624.677,12,2.3,31,18.6
$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,223.2,53862,-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,-136.3,0.0,0.0,0,79,0.00,0.00,-59.97,0.000,2,0.000,0.000,107,2182,2713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.47,-136.3,3.0,-3.8,10,116,11.43,2.17,-14.30,0.000,4,0.216,0.061,3034,792,3349,0,0,0,0,0,0,24.91,25.51,26.11
$GC,318,-0.47,-136.3,44.8,-12.4,54,326,0.00,2.25,0.00,0.000,6,0.000,0.050,3026,2202,3353,0,0,0,0,0,0,28.83,25.57,28.83
$GC,635,-0.47,-136.3,87.7,-12.4,115,642,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2202,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,950,-0.47,-136.3,123.8,-10.9,172,951,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2201,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1250,-0.47,-136.3,153.0,-9.9,192,1255,0.00,2.15,0.00,0.000,4,0.000,0.049,3026,797,3356,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1281,-0.47,-136.3,156.3,-10.2,194,1286,0.00,2.15,0.00,0.000,6,0.000,0.050,3017,2199,3356,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1596,-0.47,-136.3,190.0,-10.6,215,1601,0.00,2.22,0.00,0.000,4,0.000,0.062,3006,3607,3356,0,0,0,0,0,0,28.83,25.63,28.83
$GC,1655,-0.47,-136.3,196.5,-10.6,219,1661,0.12,2.15,0.00,0.000,6,0.134,0.043,3042,2198,3356,0,0,0,0,0,0,25.68,25.87,28.83
$GC,1980,-0.47,-136.3,225.3,-8.9,236,1984,0.00,2.15,0.00,0.000,4,0.000,0.050,3042,802,3356,0,0,0,0,0,0,28.83,25.74,28.83
$GC,2010,-0.47,-136.3,227.2,-9.0,237,2015,0.00,2.17,0.00,0.000,6,0.000,0.050,3035,2206,3356,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2317,-0.47,-136.3,257.0,-9.5,252,2323,0.00,2.22,0.00,0.000,4,0.000,0.063,3025,3608,3356,0,0,0,0,0,0,28.83,25.63,28.83
$GC,2360,-0.47,-136.3,260.9,-9.5,254,2364,0.00,2.15,0.00,0.000,6,0.000,0.044,3025,2200,3355,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2673,-0.47,-136.3,292.0,-9.4,270,2678,0.00,2.15,0.00,0.000,4,0.000,0.050,3025,799,3355,0,0,0,0,0,0,28.83,25.74,28.83
$GC,2712,-0.47,-136.3,295.9,-9.5,272,2717,0.00,2.20,0.00,0.000,6,0.000,0.051,3016,2209,3355,0,0,0,0,0,0,28.83,25.74,28.83
$GC,3032,-0.47,-136.3,327.1,-9.9,288,3033,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2209,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3332,-0.47,-136.3,357.4,-10.1,303,3338,0.00,2.20,0.00,0.000,4,0.000,0.063,3006,3601,3353,0,0,0,0,0,0,28.83,25.62,28.83
$GC,3380,-0.47,-136.3,361.6,-10.1,305,3385,0.12,2.15,0.00,0.000,6,0.133,0.044,3042,2197,3353,0,0,0,0,0,0,25.70,25.88,28.83
$GC,3687,-0.47,-136.3,386.4,-7.5,320,3689,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2194,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4008,-0.47,-136.3,409.0,-6.9,334,4009,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2194,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4307,-0.47,-136.3,430.3,-7.1,344,4313,0.00,2.28,0.00,0.000,4,0.000,0.064,3034,3607,3352,0,0,0,0,0,0,28.83,25.58,28.83
$GC,4330,-0.47,-136.3,430.3,-7.1,344,4337,0.00,2.17,0.00,0.000,6,0.000,0.045,3034,2191,3352,0,0,0,0,0,0,28.83,25.86,28.83
$GC,4637,-0.47,-136.3,455.4,-7.7,355,4639,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2190,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4937,-0.47,-136.3,478.1,-7.5,365,4938,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2190,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5237,-0.47,-136.3,500.4,-7.4,375,5243,0.00,2.30,0.00,0.000,4,0.000,0.066,3023,3612,3350,0,0,0,0,0,0,28.83,25.55,28.83
$GC,5290,-0.47,-136.3,502.7,-7.5,376,5297,0.00,2.20,0.00,0.000,6,0.000,0.046,3023,2201,3350,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5597,-0.47,-136.3,530.0,-8.2,387,5598,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2199,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5897,-0.47,-136.3,553.9,-7.8,397,5903,0.00,2.28,0.00,0.000,4,0.000,0.066,3013,3613,3349,0,0,0,0,0,0,28.83,25.53,28.83
$GC,5921,-0.47,-136.3,553.9,-7.8,397,5928,0.00,2.20,0.00,0.000,6,0.000,0.047,3013,2189,3349,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6227,-0.47,-136.3,581.9,-8.4,408,6228,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2188,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6528,-0.47,-136.3,607.5,-8.4,418,6534,0.00,2.30,0.00,0.000,4,0.000,0.066,3003,3606,3347,0,0,0,0,0,0,28.83,25.51,28.83
$GC,6560,-0.47,-136.3,610.1,-8.3,419,6565,0.15,2.17,0.00,0.000,6,0.125,0.047,3046,2202,3347,0,0,0,0,0,0,25.60,25.81,28.83
$GC,6884,-0.47,-136.3,630.6,-6.3,430,6890,0.00,2.25,0.00,0.000,4,0.000,0.067,3039,3605,3347,0,0,0,0,0,0,28.83,25.48,28.83
$GC,6916,-0.47,-136.3,632.6,-6.4,431,6920,0.00,2.17,0.00,0.000,6,0.000,0.047,3038,2198,3347,0,0,0,0,0,0,28.83,25.80,28.83
$GC,7240,-0.47,-136.3,655.0,-6.8,442,7241,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2197,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7538,-0.47,-136.3,676.2,-7.0,452,7540,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2197,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7839,-0.47,-136.3,696.8,-6.7,462,7844,0.00,2.28,0.00,0.000,4,0.000,0.067,3028,3604,3346,0,0,0,0,0,0,28.83,25.46,28.83
$GC,7887,-0.47,-136.3,698.8,-6.7,463,7891,0.00,2.17,0.00,0.000,6,0.000,0.047,3028,2201,3346,0,0,0,0,0,0,28.83,25.78,28.83
$GC,8194,-0.47,-136.3,721.9,-7.0,473,8198,0.00,2.20,0.00,0.000,4,0.000,0.054,3028,801,3345,0,0,0,0,0,0,28.83,25.58,28.83
$GC,8219,-0.47,-136.3,721.9,-7.0,473,8226,0.00,2.20,0.00,0.000,6,0.000,0.055,3019,2202,3345,0,0,0,0,0,0,28.83,25.59,28.83
$GC,8526,-0.47,-136.3,746.6,-7.5,484,8532,0.00,2.30,0.00,0.000,4,0.000,0.067,3009,3616,3345,0,0,0,0,0,0,28.83,25.44,28.83
$GC,8586,-0.47,-136.3,751.4,-7.6,486,8592,0.08,2.20,0.00,0.000,6,0.109,0.047,3038,2201,3345,0,0,0,0,0,0,25.59,25.77,28.83
$GC,8916,-0.47,-136.3,772.9,-6.5,497,8917,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2198,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9217,-0.47,-136.3,793.2,-6.9,507,9222,0.00,2.28,0.00,0.000,4,0.000,0.067,3031,3607,3344,0,0,0,0,0,0,28.83,25.41,28.83
$GC,9248,-0.47,-136.3,795.3,-6.9,508,9253,0.00,2.20,0.00,0.000,6,0.000,0.048,3031,2192,3344,0,0,0,0,0,0,28.83,25.75,28.83
$GC,9571,-0.47,-136.3,818.8,-7.4,519,9572,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2190,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9871,-0.47,-136.3,840.2,-7.1,529,9877,0.00,2.30,0.00,0.000,4,0.000,0.067,3020,3609,3343,0,0,0,0,0,0,28.83,25.41,28.83
$GC,9954,-0.47,-136.3,844.6,-7.2,531,9961,0.00,2.20,0.00,0.000,6,0.000,0.048,3020,2190,3343,0,0,0,0,0,0,28.83,25.74,28.83
$GC,10261,-0.47,-136.3,868.8,-7.2,542,10267,0.00,2.30,0.00,0.000,4,0.000,0.067,3011,3610,3343,0,0,0,0,0,0,28.83,25.39,28.83
$GC,10304,-0.47,-136.3,871.0,-7.2,543,10309,0.12,2.20,0.00,0.000,6,0.125,0.047,3046,2204,3343,0,0,0,0,0,0,25.58,25.73,28.83
$GC,10618,-0.47,-136.3,889.1,-5.3,554,10619,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2202,3343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10918,-0.47,-136.3,904.6,-5.3,564,10923,0.00,2.28,0.00,0.000,4,0.000,0.067,3038,3604,3342,0,0,0,0,0,0,28.83,25.37,28.83
$GC,10956,-0.47,-136.3,906.3,-5.4,565,10960,0.00,2.20,0.00,0.000,6,0.000,0.048,3038,2190,3343,0,0,0,0,0,0,28.83,25.72,28.83
$GC,11274,-0.47,-136.3,924.3,-5.5,576,11275,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2188,3342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11575,-0.47,-136.3,940.6,-5.3,586,11580,0.00,2.30,0.00,0.000,4,0.000,0.067,3028,3606,3342,0,0,0,0,0,0,28.83,25.36,28.83
$GC,11617,-0.47,-136.3,942.4,-5.6,587,11621,0.00,2.22,0.00,0.000,6,0.000,0.048,3028,2192,3342,0,0,0,0,0,0,28.83,25.70,28.83
$GC,11930,-0.47,-136.3,961.3,-5.6,598,11935,0.00,2.30,0.00,0.000,4,0.000,0.068,3018,3603,3341,0,0,0,0,0,0,28.83,25.34,28.83
$GC,11963,-0.47,-136.3,963.4,-5.8,599,11967,0.00,2.20,0.00,0.000,6,0.000,0.048,3018,2191,3341,0,0,0,0,0,0,28.83,25.70,28.83
$GC,12286,-0.47,-136.3,983.4,-6.2,610,12287,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2190,3341,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12402,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12403,begin apogee
$GC,12410,-0.22,0.0,990.8,-6.1,614,12536,0.30,0.00,120.82,1.175,6,0.111,0.000,3120,2333,2794,0,0,0,0,0,0,25.60,28.83,23.22
$STATE,12540,end apogee,CONTROL_FINISHED_OK
$STATE,12540,begin climb
$GC,12543,0.47,136.3,994.0,0.0,618,12677,0.65,0.00,131.05,1.136,6,0.077,0.000,3343,2333,2238,0,0,0,0,0,0,24.48,28.83,22.25
$GC,12975,0.47,136.3,961.4,8.7,633,12976,0.00,0.00,0.00,0.000,6,0.000,0.000,3343,2334,2227,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13275,0.47,136.3,936.0,8.4,643,13277,0.00,0.00,0.00,0.000,6,0.000,0.000,3343,2334,2226,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13575,0.47,136.3,910.8,8.4,653,13576,0.00,0.00,0.00,0.000,6,0.000,0.000,3343,2334,2225,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13875,0.47,136.3,885.9,8.2,663,13876,0.00,0.00,0.00,0.000,6,0.000,0.000,3343,2333,2224,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,24990,end climb,SURFACE_DEPTH_REACHED
$STATE,24990,begin surface coast
$FINISH,1.0,1.023720
$STATE,25033,end surface coast,CONTROL_FINISHED_OK
$STATE,25033,begin surface
$SM_CCo,25113,0.00,0.000,0,0,1475,323.31
$SM_GC,1.73,8.27,0.17,0.00,0.025,0.078,0.000,104,2191,1475,-9.48,1.22,323.31,0,0,0,0,0,0,26.01,25.97,28.83
$IRIDIUM_FIX,4703.87,-12637.59,291112,232347
$TT8_MAMPS,0.026964,0.026964
$HUMID,45.78
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,19.10
$XPDR_PINGS,0
$24V_AH,22.2,46.333
$10V_AH,10.0,38.223
$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,21.725,179.025,412.775,0.000,0.000,27.682,38.101,279.901,0.000,0.000,33.075,3602.246,18007.492,548.476,2994.522,447.992,0.000,1969.861,0.000,2615.456,0.000,0.535,0.000
$DEVICE_MAMPS,215.730,82.620,1175.040,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,952.701,727.996,376.221,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296780
$DATA_FILE_SIZE,76807,1383
$CAP_FILE_SIZE,196264,0
$CFSIZE,260165632,230346752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.066, 46.8,1
$GPS,301112,134836,4714.912,-12628.527,27,1.7,27,18.6