version: 66.11
glider: 187
mission: 2
dive: 374
start: 12 12 112 7 38 59
data:
$ID,187
$MISSION,2
$DIVE,374
$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,-1588407.4
$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,30
$R_STBD_OVSHOOT,28
$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
$GPS1,121212,073154,4745.179,-12519.434,60,1.0,60,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-74.2
$GPS2,121212,073825,4745.236,-12519.394,18,1.5,18,18.7
$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,211.0,152203,-13.3,-7.021,-18.50
$D_GRID,889
$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,-136.3,0.0,0.0,0,69,0.00,0.00,-50.58,0.000,2,0.000,0.000,122,2206,2629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.47,-136.3,3.4,-5.6,9,111,11.40,2.33,-16.73,0.000,4,0.216,0.076,3027,3605,3352,0,0,0,0,0,0,24.86,25.51,26.20
$GC,144,-0.47,-136.3,17.2,-17.3,21,151,0.00,2.20,0.00,0.000,6,0.000,0.044,3026,2190,3355,0,0,0,0,0,0,28.83,25.63,28.83
$GC,456,-0.47,-136.3,65.4,-14.2,82,463,0.00,2.17,0.00,0.000,4,0.000,0.050,3027,787,3356,0,0,0,0,0,0,28.83,25.63,28.83
$GC,526,-0.47,-136.3,74.3,-11.8,95,532,0.00,2.22,0.00,0.000,6,0.000,0.050,3017,2203,3356,0,0,0,0,0,0,28.83,25.65,28.83
$GC,836,-0.47,-136.3,112.2,-12.5,156,844,0.00,2.25,0.00,0.000,4,0.000,0.061,3007,3618,3356,0,0,0,0,0,0,28.83,25.60,28.83
$GC,891,-0.47,-136.3,119.4,-12.5,166,899,0.12,2.20,0.00,0.000,6,0.135,0.043,3041,2180,3357,0,0,0,0,0,0,25.64,25.83,28.83
$GC,1198,-0.47,-136.3,150.2,-9.4,187,1204,0.00,2.10,0.00,0.000,4,0.000,0.049,3042,805,3357,0,0,0,0,0,0,28.83,25.73,28.83
$GC,1257,-0.47,-136.3,155.6,-8.9,191,1263,0.00,2.17,0.00,0.000,6,0.000,0.050,3034,2212,3357,0,0,0,0,0,0,28.83,25.74,28.83
$GC,1572,-0.47,-136.3,182.2,-8.5,212,1578,0.00,2.22,0.00,0.000,4,0.000,0.063,3024,3607,3357,0,0,0,0,0,0,28.83,25.63,28.83
$GC,1656,-0.47,-136.3,188.6,-8.5,217,1663,0.00,2.15,0.00,0.000,6,0.000,0.043,3024,2194,3356,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1963,-0.47,-136.3,216.9,-9.2,235,1968,0.00,2.25,0.00,0.000,4,0.000,0.063,3013,3606,3357,0,0,0,0,0,0,28.83,25.64,28.83
$GC,2025,-0.47,-136.3,222.7,-9.5,238,2029,0.00,2.15,0.00,0.000,6,0.000,0.044,3013,2197,3357,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2338,-0.47,-136.3,255.8,-10.6,254,2343,0.00,2.22,0.00,0.000,4,0.000,0.063,3003,3598,3357,0,0,0,0,0,0,28.83,25.63,28.83
$GC,2377,-0.47,-136.3,259.8,-10.3,256,2384,0.15,2.15,0.00,0.000,6,0.127,0.044,3046,2197,3356,0,0,0,0,0,0,25.67,25.89,28.83
$GC,2697,-0.47,-136.3,285.3,-7.8,272,2703,0.00,2.15,0.00,0.000,4,0.000,0.050,3046,803,3357,0,0,0,0,0,0,28.83,25.74,28.83
$GC,2791,-0.47,-136.3,292.1,-8.5,276,2798,0.00,2.20,0.00,0.000,6,0.000,0.050,3039,2210,3357,0,0,0,0,0,0,28.83,25.75,28.83
$GC,3097,-0.47,-136.3,319.4,-8.5,292,3103,0.00,2.17,0.00,0.000,4,0.000,0.050,3039,803,3357,0,0,0,0,0,0,28.83,25.74,28.83
$GC,3165,-0.47,-136.3,324.6,-8.7,295,3170,0.00,2.17,0.00,0.000,6,0.000,0.051,3030,2204,3357,0,0,0,0,0,0,28.83,25.75,28.83
$GC,3473,-0.47,-136.3,349.7,-7.7,310,3478,0.00,2.15,0.00,0.000,4,0.000,0.050,3030,804,3356,0,0,0,0,0,0,28.83,25.73,28.83
$GC,3560,-0.47,-136.3,356.0,-7.7,314,3564,0.00,2.17,0.00,0.000,6,0.000,0.051,3021,2204,3356,0,0,0,0,0,0,28.83,25.74,28.83
$GC,3869,-0.47,-136.3,381.7,-8.5,329,3874,0.00,2.15,0.00,0.000,4,0.000,0.050,3021,808,3356,0,0,0,0,0,0,28.83,25.73,28.83
$GC,3960,-0.47,-136.3,388.8,-8.8,333,3968,0.12,2.20,0.00,0.000,6,0.137,0.051,3047,2208,3355,0,0,0,0,0,0,25.60,25.72,28.83
$GC,4288,-0.47,-136.3,413.7,-7.3,347,4294,0.00,2.15,0.00,0.000,4,0.000,0.051,3047,807,3355,0,0,0,0,0,0,28.83,25.71,28.83
$GC,4348,-0.47,-136.3,418.0,-7.2,349,4354,0.00,2.17,0.00,0.000,6,0.000,0.052,3039,2209,3355,0,0,0,0,0,0,28.83,25.71,28.83
$GC,4678,-0.47,-136.3,440.5,-6.6,360,4683,0.00,2.22,0.00,0.000,4,0.000,0.064,3030,3606,3354,0,0,0,0,0,0,28.83,25.57,28.83
$GC,4738,-0.47,-136.3,444.8,-6.8,362,4744,0.00,2.17,0.00,0.000,6,0.000,0.046,3030,2198,3354,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5068,-0.47,-136.3,468.2,-7.2,373,5069,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2197,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5367,-0.47,-136.3,490.1,-7.3,383,5373,0.00,2.30,0.00,0.000,4,0.000,0.065,3020,3608,3353,0,0,0,0,0,0,28.83,25.54,28.83
$GC,5411,-0.47,-136.3,492.5,-7.5,384,5415,0.00,2.17,0.00,0.000,6,0.000,0.046,3020,2193,3352,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5723,-0.47,-136.3,518.9,-8.3,395,5724,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2191,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6024,-0.47,-136.3,543.5,-8.2,405,6029,0.00,2.28,0.00,0.000,4,0.000,0.066,3010,3606,3352,0,0,0,0,0,0,28.83,25.53,28.83
$GC,6087,-0.47,-136.3,548.6,-8.4,407,6091,0.12,2.17,0.00,0.000,6,0.126,0.047,3046,2194,3351,0,0,0,0,0,0,25.67,25.82,28.83
$GC,6410,-0.47,-136.3,570.0,-6.4,418,6415,0.00,2.28,0.00,0.000,4,0.000,0.066,3038,3606,3352,0,0,0,0,0,0,28.83,25.51,28.83
$GC,6442,-0.47,-136.3,572.0,-6.4,419,6446,0.00,2.17,0.00,0.000,6,0.000,0.047,3038,2197,3352,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6765,-0.47,-136.3,594.2,-6.8,430,6766,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2194,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7065,-0.47,-136.3,614.4,-6.9,440,7070,0.00,2.28,0.00,0.000,4,0.000,0.067,3029,3602,3351,0,0,0,0,0,0,28.83,25.49,28.83
$GC,7132,-0.47,-136.3,618.8,-7.1,442,7136,0.00,2.17,0.00,0.000,6,0.000,0.047,3029,2195,3351,0,0,0,0,0,0,28.83,25.80,28.83
$GC,7450,-0.47,-136.3,642.9,-7.3,453,7456,0.00,2.28,0.00,0.000,4,0.000,0.067,3019,3603,3351,0,0,0,0,0,0,28.83,25.48,28.83
$GC,7482,-0.47,-136.3,645.3,-7.5,454,7486,0.00,2.17,0.00,0.000,6,0.000,0.047,3019,2201,3350,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7805,-0.47,-136.3,671.9,-8.0,465,7810,0.00,2.25,0.00,0.000,4,0.000,0.067,3009,3602,3350,0,0,0,0,0,0,28.83,25.47,28.83
$GC,7843,-0.47,-136.3,674.4,-8.1,466,7848,0.12,2.17,0.00,0.000,6,0.126,0.047,3045,2196,3350,0,0,0,0,0,0,25.63,25.77,28.83
$GC,8162,-0.47,-136.3,693.9,-5.7,477,8167,0.00,2.33,0.00,0.000,4,0.000,0.067,3037,3622,3349,0,0,0,0,0,0,28.83,25.46,28.83
$GC,8194,-0.47,-136.3,695.6,-5.8,478,8198,0.00,2.22,0.00,0.000,6,0.000,0.048,3037,2195,3350,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8518,-0.47,-136.3,716.8,-6.9,489,8523,0.00,2.28,0.00,0.000,4,0.000,0.067,3027,3600,3349,0,0,0,0,0,0,28.83,25.44,28.83
$GC,8555,-0.47,-136.3,718.8,-6.9,490,8559,0.00,2.17,0.00,0.000,6,0.000,0.047,3027,2196,3349,0,0,0,0,0,0,28.83,25.76,28.83
$GC,8872,-0.47,-136.3,742.2,-7.1,501,8874,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2194,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9172,-0.47,-136.3,762.7,-6.7,511,9177,0.00,2.28,0.00,0.000,4,0.000,0.067,3017,3601,3348,0,0,0,0,0,0,28.83,25.44,28.83
$GC,9210,-0.47,-136.3,764.8,-6.7,512,9214,0.00,2.17,0.00,0.000,6,0.000,0.048,3017,2198,3348,0,0,0,0,0,0,28.83,25.75,28.83
$GC,9528,-0.47,-136.3,788.9,-7.4,523,9533,0.00,2.28,0.00,0.000,4,0.000,0.067,3007,3607,3347,0,0,0,0,0,0,28.83,25.41,28.83
$GC,9557,-0.47,-136.3,791.1,-7.3,524,9563,0.12,2.20,0.00,0.000,6,0.125,0.048,3043,2195,3347,0,0,0,0,0,0,25.59,25.74,28.83
$GC,9887,-0.47,-136.3,810.8,-5.7,535,9893,0.00,2.30,0.00,0.000,4,0.000,0.067,3035,3614,3347,0,0,0,0,0,0,28.83,25.41,28.83
$GC,9921,-0.47,-136.3,812.6,-5.7,536,9925,0.00,2.20,0.00,0.000,6,0.000,0.048,3035,2202,3347,0,0,0,0,0,0,28.83,25.73,28.83
$GC,10243,-0.47,-136.3,830.7,-5.2,547,10245,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2200,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10544,-0.47,-136.3,846.3,-5.5,557,10549,0.00,2.25,0.00,0.000,4,0.000,0.069,3026,3595,3347,0,0,0,0,0,0,28.83,25.38,28.83
$GC,10582,-0.47,-136.3,847.8,-5.5,558,10586,0.00,2.17,0.00,0.000,6,0.000,0.047,3026,2192,3346,0,0,0,0,0,0,28.83,25.75,28.83
$GC,10900,-0.47,-136.3,868.4,-6.4,569,10901,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2189,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11200,-0.47,-136.3,887.2,-6.2,579,11205,0.00,2.30,0.00,0.000,4,0.000,0.068,3016,3606,3346,0,0,0,0,0,0,28.83,25.37,28.83
$STATE,11226,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11227,begin apogee
$GC,11236,-0.22,0.0,889.1,-6.2,580,11361,0.30,0.00,120.32,1.107,6,0.106,0.000,3121,2325,2794,0,0,0,0,0,0,25.65,28.83,23.27
$STATE,11364,end apogee,CONTROL_FINISHED_OK
$STATE,11364,begin climb
$GC,11366,0.47,136.3,892.4,0.0,584,11500,0.65,0.00,129.12,1.070,6,0.076,0.000,3345,2324,2238,0,0,0,0,0,0,24.55,28.83,22.34
$GC,11800,0.47,136.3,861.1,8.3,599,11801,0.00,0.00,0.00,0.000,6,0.000,0.000,3345,2324,2227,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12099,0.47,136.3,835.6,8.5,609,12100,0.00,0.00,0.00,0.000,6,0.000,0.000,3345,2323,2225,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12399,0.47,136.3,810.8,8.3,619,12400,0.00,0.00,0.00,0.000,6,0.000,0.000,3345,2324,2224,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12700,0.47,136.3,787.0,8.0,629,12701,0.00,0.00,0.00,0.000,6,0.000,0.000,3345,2325,2223,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12999,0.47,136.3,762.2,8.1,639,13005,0.00,2.30,0.00,0.000,4,0.000,0.069,3345,3733,2223,0,0,0,0,0,0,28.83,25.57,28.83
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$STATE,22897,end climb,SURFACE_DEPTH_REACHED
$STATE,22897,begin surface coast
$FINISH,1.3,1.012281
$STATE,22944,end surface coast,CONTROL_FINISHED_OK
$STATE,22944,begin surface
$SM_CCo,23024,0.00,0.000,0,0,1440,332.14
$SM_GC,2.10,8.35,0.20,0.00,0.029,0.077,0.000,113,2190,1440,-9.47,1.13,332.14,0,0,0,0,0,0,25.95,25.90,28.83
$IRIDIUM_FIX,4729.30,-12519.98,121212,020204
$TT8_MAMPS,0.026964,0.026964
$HUMID,45.35
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,19.00
$XPDR_PINGS,2
$24V_AH,22.3,51.873
$10V_AH,10.0,42.874
$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,21.925,186.675,415.800,0.000,0.000,29.028,39.176,189.106,0.500,0.000,21.469,3502.256,16123.596,552.880,2827.053,407.387,0.000,1987.335,0.000,2522.318,0.000,0.535,0.000
$DEVICE_MAMPS,215.730,77.265,1106.955,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,921.163,719.847,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296772
$DATA_FILE_SIZE,73357,1340
$CAP_FILE_SIZE,192791,0
$CFSIZE,260165632,226689024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.070,  6.1,1
$GPS,121212,140423,4743.919,-12522.825,62,1.4,62,18.7