version: 66.11
glider: 187
mission: 2
dive: 338
start: 12 1 112 18 10 52
data:
$ID,187
$MISSION,2
$DIVE,338
$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,-1588191.6
$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,2200
$C_ROLL_CLIMB,2325
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$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
$GPS1,011212,175906,4708.699,-12640.097,52,1.1,52,18.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-72.6
$GPS2,011212,181019,4708.738,-12639.933,12,1.8,12,18.6
$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,229.1,30072,-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,16,-0.47,-136.3,0.0,0.0,0,95,0.00,0.00,-75.80,0.000,2,0.000,0.000,106,2190,2950,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.47,-136.3,3.4,-3.8,13,126,11.55,2.17,-8.00,0.000,4,0.218,0.059,3035,792,3352,0,0,0,0,0,0,24.84,25.53,26.08
$GC,251,-0.47,-136.3,39.2,-13.3,41,258,0.00,2.20,0.00,0.000,6,0.000,0.050,3026,2202,3354,0,0,0,0,0,0,28.83,25.53,28.83
$GC,567,-0.47,-136.3,88.8,-14.6,102,573,0.00,2.25,0.00,0.000,4,0.000,0.060,3016,3609,3356,0,0,0,0,0,0,28.83,25.54,28.83
$GC,606,-0.47,-136.3,93.9,-13.6,109,613,0.00,2.17,0.00,0.000,6,0.000,0.041,3015,2191,3356,0,0,0,0,0,0,28.83,25.76,28.83
$GC,919,-0.47,-136.3,133.2,-11.9,156,921,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2187,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1218,-0.47,-136.3,168.0,-11.0,176,1219,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2187,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1519,-0.47,-136.3,201.6,-11.0,196,1524,0.00,2.15,0.00,0.000,4,0.000,0.048,3015,799,3356,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1545,-0.47,-136.3,204.0,-11.1,197,1550,0.12,2.17,0.00,0.000,6,0.138,0.050,3042,2203,3356,0,0,0,0,0,0,25.61,25.75,28.83
$GC,1853,-0.47,-136.3,231.0,-7.8,212,1859,0.00,2.20,0.00,0.000,4,0.000,0.062,3034,3598,3356,0,0,0,0,0,0,28.83,25.65,28.83
$GC,1925,-0.47,-136.3,235.7,-8.0,215,1933,0.00,2.15,0.00,0.000,6,0.000,0.043,3033,2193,3356,0,0,0,0,0,0,28.83,25.90,28.83
$GC,2233,-0.47,-136.3,263.4,-8.9,231,2234,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2192,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2534,-0.47,-136.3,291.7,-9.4,246,2539,0.00,2.25,0.00,0.000,4,0.000,0.063,3023,3603,3355,0,0,0,0,0,0,28.83,25.64,28.83
$GC,2562,-0.47,-136.3,293.5,-9.3,247,2572,0.00,2.15,0.00,0.000,6,0.000,0.044,3023,2195,3355,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2873,-0.47,-136.3,324.0,-9.3,263,2874,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2195,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3172,-0.47,-136.3,350.8,-9.1,278,3174,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2195,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3472,-0.47,-136.3,376.6,-8.4,293,3478,0.00,2.28,0.00,0.000,4,0.000,0.063,3012,3607,3353,0,0,0,0,0,0,28.83,25.61,28.83
$GC,3495,-0.47,-136.3,378.2,-8.3,294,3500,0.12,2.15,0.00,0.000,6,0.129,0.044,3048,2205,3353,0,0,0,0,0,0,25.71,25.89,28.83
$GC,3808,-0.47,-136.3,398.9,-6.5,310,3814,0.00,2.25,0.00,0.000,4,0.000,0.064,3040,3606,3352,0,0,0,0,0,0,28.83,25.60,28.83
$GC,3851,-0.47,-136.3,401.0,-6.6,312,3856,0.00,2.17,0.00,0.000,6,0.000,0.045,3040,2191,3352,0,0,0,0,0,0,28.83,25.87,28.83
$GC,4164,-0.47,-136.3,425.2,-7.7,323,4169,0.00,2.28,0.00,0.000,4,0.000,0.064,3030,3607,3351,0,0,0,0,0,0,28.83,25.59,28.83
$GC,4207,-0.47,-136.3,427.7,-7.8,324,4211,0.00,2.17,0.00,0.000,6,0.000,0.045,3029,2192,3351,0,0,0,0,0,0,28.83,25.87,28.83
$GC,4519,-0.47,-136.3,454.9,-8.3,335,4520,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2189,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4819,-0.47,-136.3,478.3,-7.7,345,4820,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2189,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5119,-0.47,-136.3,501.1,-7.7,355,5124,0.00,2.30,0.00,0.000,4,0.000,0.065,3019,3609,3350,0,0,0,0,0,0,28.83,25.56,28.83
$GC,5167,-0.47,-136.3,503.6,-7.7,356,5171,0.00,2.17,0.00,0.000,6,0.000,0.046,3019,2199,3350,0,0,0,0,0,0,28.83,25.85,28.83
$GC,5474,-0.47,-136.3,530.4,-8.4,366,5479,0.00,2.25,0.00,0.000,4,0.000,0.065,3009,3599,3349,0,0,0,0,0,0,28.83,25.56,28.83
$GC,5506,-0.47,-136.3,533.0,-8.4,367,5511,0.12,2.17,0.00,0.000,6,0.130,0.046,3044,2197,3349,0,0,0,0,0,0,25.67,25.84,28.83
$GC,5829,-0.47,-136.3,555.1,-6.7,378,5835,0.00,2.28,0.00,0.000,4,0.000,0.066,3036,3609,3349,0,0,0,0,0,0,28.83,25.53,28.83
$GC,5860,-0.47,-136.3,557.1,-6.7,379,5865,0.00,2.17,0.00,0.000,6,0.000,0.047,3036,2198,3348,0,0,0,0,0,0,28.83,25.83,28.83
$GC,6189,-0.47,-136.3,579.8,-6.8,390,6195,0.00,2.30,0.00,0.000,4,0.000,0.066,3026,3611,3348,0,0,0,0,0,0,28.83,25.52,28.83
$GC,6219,-0.47,-136.3,581.9,-6.9,391,6225,0.00,2.17,0.00,0.000,6,0.000,0.047,3026,2198,3348,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6549,-0.47,-136.3,606.5,-7.4,402,6555,0.00,2.28,0.00,0.000,4,0.000,0.066,3016,3603,3347,0,0,0,0,0,0,28.83,25.51,28.83
$GC,6579,-0.47,-136.3,608.8,-7.5,403,6584,0.00,2.20,0.00,0.000,6,0.000,0.046,3016,2190,3347,0,0,0,0,0,0,28.83,25.81,28.83
$GC,6910,-0.47,-136.3,635.3,-8.2,414,6911,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2187,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7210,-0.47,-136.3,661.4,-9.0,424,7215,0.00,2.28,0.00,0.000,4,0.000,0.066,3006,3598,3346,0,0,0,0,0,0,28.83,25.50,28.83
$GC,7247,-0.47,-136.3,664.2,-8.9,425,7252,0.12,2.17,0.00,0.000,6,0.130,0.047,3040,2194,3346,0,0,0,0,0,0,25.63,25.80,28.83
$GC,7565,-0.47,-136.3,688.3,-7.2,436,7570,0.00,2.28,0.00,0.000,4,0.000,0.067,3033,3601,3345,0,0,0,0,0,0,28.83,25.48,28.83
$GC,7595,-0.47,-136.3,690.4,-7.1,437,7601,0.00,2.17,0.00,0.000,6,0.000,0.047,3033,2193,3345,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7925,-0.47,-136.3,713.7,-6.9,448,7931,0.00,2.33,0.00,0.000,4,0.000,0.067,3023,3621,3345,0,0,0,0,0,0,28.83,25.47,28.83
$GC,7963,-0.47,-136.3,715.8,-6.9,449,7967,0.00,2.20,0.00,0.000,6,0.000,0.045,3023,2197,3345,0,0,0,0,0,0,28.83,25.80,28.83
$GC,8281,-0.47,-136.3,738.5,-6.8,460,8287,0.00,2.28,0.00,0.000,4,0.000,0.067,3013,3604,3344,0,0,0,0,0,0,28.83,25.45,28.83
$GC,8310,-0.47,-136.3,740.6,-6.8,461,8316,0.00,2.17,0.00,0.000,6,0.000,0.047,3013,2195,3344,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8641,-0.47,-136.3,764.6,-7.2,472,8643,0.10,0.00,0.00,0.000,6,0.155,0.000,3041,2192,3344,0,0,0,0,0,0,26.18,28.83,28.83
$GC,8941,-0.47,-136.3,782.0,-5.8,482,8946,0.00,2.28,0.00,0.000,4,0.000,0.067,3032,3599,3343,0,0,0,0,0,0,28.83,25.44,28.83
$GC,8984,-0.47,-136.3,783.9,-5.9,483,8988,0.00,2.17,0.00,0.000,6,0.000,0.047,3032,2198,3344,0,0,0,0,0,0,28.83,25.77,28.83
$GC,9297,-0.47,-136.3,803.9,-6.2,494,9298,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2197,3343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9596,-0.47,-136.3,822.5,-6.2,504,9602,0.00,2.28,0.00,0.000,4,0.000,0.067,3023,3600,3343,0,0,0,0,0,0,28.83,25.41,28.83
$GC,9644,-0.47,-136.3,824.4,-6.2,505,9648,0.00,2.17,0.00,0.000,6,0.000,0.048,3023,2203,3343,0,0,0,0,0,0,28.83,25.75,28.83
$GC,9952,-0.47,-136.3,846.0,-6.5,515,9957,0.00,2.30,0.00,0.000,4,0.000,0.067,3012,3605,3343,0,0,0,0,0,0,28.83,25.40,28.83
$GC,9981,-0.47,-136.3,848.2,-6.7,516,9987,0.00,2.20,0.00,0.000,6,0.000,0.048,3012,2200,3343,0,0,0,0,0,0,28.83,25.73,28.83
$GC,10311,-0.47,-136.3,872.3,-7.4,527,10317,0.12,2.28,0.00,0.000,4,0.142,0.066,3046,3599,3342,0,0,0,0,0,0,26.03,25.39,28.83
$GC,10344,-0.47,-136.3,874.3,-7.2,528,10348,0.00,2.20,0.00,0.000,6,0.000,0.048,3046,2189,3342,0,0,0,0,0,0,28.83,25.73,28.83
$GC,10666,-0.47,-136.3,892.3,-5.4,539,10672,0.00,2.30,0.00,0.000,4,0.000,0.067,3036,3605,3342,0,0,0,0,0,0,28.83,25.39,28.83
$GC,10697,-0.47,-136.3,894.0,-5.5,540,10702,0.00,2.17,0.00,0.000,6,0.000,0.047,3036,2202,3342,0,0,0,0,0,0,28.83,25.73,28.83
$GC,11027,-0.47,-136.3,913.1,-5.8,551,11028,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2201,3342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11326,-0.47,-136.3,930.7,-6.0,561,11332,0.00,2.30,0.00,0.000,4,0.000,0.068,3026,3605,3342,0,0,0,0,0,0,28.83,25.36,28.83
$GC,11364,-0.47,-136.3,932.4,-5.9,562,11368,0.00,2.22,0.00,0.000,6,0.000,0.048,3027,2190,3342,0,0,0,0,0,0,28.83,25.70,28.83
$GC,11682,-0.47,-136.3,953.7,-6.4,573,11683,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2187,3342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11982,-0.47,-136.3,972.9,-6.3,583,11987,0.00,2.30,0.00,0.000,4,0.000,0.067,3017,3606,3341,0,0,0,0,0,0,28.83,25.35,28.83
$GC,12035,-0.47,-136.3,975.0,-6.4,584,12042,0.00,2.20,0.00,0.000,6,0.000,0.048,3016,2194,3341,0,0,0,0,0,0,28.83,25.70,28.83
$STATE,12249,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12249,begin apogee
$GC,12256,-0.22,0.0,991.5,-6.8,592,12382,0.30,0.00,120.47,1.176,6,0.111,0.000,3120,2337,2794,0,0,0,0,0,0,25.62,28.83,23.22
$STATE,12386,end apogee,CONTROL_FINISHED_OK
$STATE,12386,begin climb
$GC,12388,0.47,136.3,994.7,0.0,596,12523,0.65,0.00,131.27,1.137,6,0.076,0.000,3344,2337,2238,0,0,0,0,0,0,24.47,28.83,22.24
$GC,12821,0.47,136.3,963.8,8.3,611,12827,0.00,2.35,0.00,0.000,4,0.000,0.068,3343,3727,2228,0,0,0,0,0,0,28.83,24.89,28.83
$GC,12854,0.47,136.3,961.0,8.6,612,12858,0.00,2.28,0.00,0.000,6,0.000,0.049,3354,2334,2226,0,0,0,0,0,0,28.83,25.08,28.83
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$STATE,25115,end climb,SURFACE_DEPTH_REACHED
$STATE,25115,begin surface coast
$FINISH,1.0,1.013707
$STATE,25164,end surface coast,CONTROL_FINISHED_OK
$STATE,25165,begin surface
$SM_CCo,25244,0.00,0.000,0,0,1265,374.82
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$TT8_MAMPS,0.026964,0.026964
$HUMID,44.68
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,19.70
$XPDR_PINGS,3
$24V_AH,22.2,47.022
$10V_AH,10.0,38.797
$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
$DEVICE_SECS,22.325,215.425,452.425,0.000,0.000,49.692,76.009,333.942,0.750,0.000,14.857,3667.588,17954.746,589.445,3235.634,460.008,0.000,2111.574,0.000,2738.802,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,965.090,733.240,390.972,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296756
$DATA_FILE_SIZE,76927,1403
$CAP_FILE_SIZE,212924,0
$CFSIZE,260165632,229883904
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.056, 79.6,1
$GPS,021212,011301,4707.801,-12643.681,47,1.2,47,18.6