version: 66.11
glider: 187
mission: 2
dive: 375
start: 12 12 112 14 12 38
data:
$ID,187
$MISSION,2
$DIVE,375
$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,-1588408.6
$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,46
$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
$GPS1,121212,140423,4743.919,-12522.825,62,1.4,62,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-76.8
$GPS2,121212,141207,4743.829,-12522.870,16,1.4,16,18.7
$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,203.0,147103,-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,-136.3,0.0,0.0,0,81,0.00,0.00,-62.38,0.000,2,0.000,0.000,113,2189,2804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.47,-136.3,3.2,-3.1,11,117,11.50,2.33,-11.82,0.000,4,0.216,0.077,3030,3617,3353,0,0,0,0,0,0,24.89,25.46,26.15
$GC,186,-0.47,-136.3,24.4,-15.6,29,193,0.00,2.20,0.00,0.000,6,0.000,0.044,3030,2198,3356,0,0,0,0,0,0,28.83,25.61,28.83
$GC,497,-0.47,-136.3,72.1,-11.5,90,504,0.00,2.17,0.00,0.000,4,0.000,0.051,3030,792,3357,0,0,0,0,0,0,28.83,25.60,28.83
$GC,622,-0.47,-136.3,86.5,-10.5,114,629,0.00,2.22,0.00,0.000,6,0.000,0.050,3020,2207,3357,0,0,0,0,0,0,28.83,25.65,28.83
$GC,939,-0.47,-136.3,125.3,-11.9,170,945,0.00,2.20,0.00,0.000,4,0.000,0.050,3020,787,3358,0,0,0,0,0,0,28.83,25.67,28.83
$GC,962,-0.47,-136.3,127.0,-11.6,171,969,0.12,2.20,0.00,0.000,6,0.142,0.050,3045,2202,3358,0,0,0,0,0,0,25.56,25.70,28.83
$GC,1269,-0.47,-136.3,154.6,-8.0,192,1274,0.00,2.25,0.00,0.000,4,0.000,0.063,3037,3616,3358,0,0,0,0,0,0,28.83,25.60,28.83
$GC,1337,-0.47,-136.3,159.5,-8.2,196,1345,0.00,2.17,0.00,0.000,6,0.000,0.044,3037,2189,3358,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1646,-0.47,-136.3,187.5,-8.9,217,1651,0.00,2.12,0.00,0.000,4,0.000,0.051,3037,804,3358,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1682,-0.47,-136.3,190.4,-9.1,219,1689,0.00,2.17,0.00,0.000,6,0.000,0.050,3028,2208,3358,0,0,0,0,0,0,28.83,25.73,28.83
$GC,2000,-0.47,-136.3,220.5,-9.1,237,2005,0.00,2.22,0.00,0.000,4,0.000,0.063,3017,3611,3358,0,0,0,0,0,0,28.83,25.62,28.83
$GC,2039,-0.47,-136.3,224.3,-9.4,239,2045,0.00,2.17,0.00,0.000,6,0.000,0.044,3017,2194,3357,0,0,0,0,0,0,28.83,25.87,28.83
$GC,2359,-0.47,-136.3,256.5,-9.7,255,2363,0.00,2.15,0.00,0.000,4,0.000,0.051,3017,802,3358,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2405,-0.47,-136.3,260.5,-9.9,257,2410,0.12,2.17,0.00,0.000,6,0.138,0.050,3043,2205,3357,0,0,0,0,0,0,25.60,25.74,28.83
$GC,2718,-0.47,-136.3,285.0,-7.7,273,2719,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2205,3358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3018,-0.47,-136.3,308.9,-8.0,288,3022,0.00,2.25,0.00,0.000,4,0.000,0.064,3035,3609,3357,0,0,0,0,0,0,28.83,25.60,28.83
$GC,3063,-0.47,-136.3,312.5,-8.4,290,3067,0.00,2.15,0.00,0.000,6,0.000,0.045,3034,2200,3357,0,0,0,0,0,0,28.83,25.87,28.83
$GC,3375,-0.47,-136.3,340.3,-9.0,306,3376,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2198,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3676,-0.47,-136.3,365.9,-8.3,321,3680,0.00,2.17,0.00,0.000,4,0.000,0.053,3034,799,3357,0,0,0,0,0,0,28.83,25.69,28.83
$GC,3718,-0.47,-136.3,369.7,-8.6,323,3723,0.00,2.22,0.00,0.000,6,0.000,0.053,3026,2210,3357,0,0,0,0,0,0,28.83,25.71,28.83
$GC,4038,-0.47,-136.3,397.4,-8.6,339,4043,0.00,2.25,0.00,0.000,4,0.000,0.064,3016,3611,3356,0,0,0,0,0,0,28.83,25.57,28.83
$GC,4121,-0.47,-136.3,402.9,-9.0,342,4128,0.00,2.17,0.00,0.000,6,0.000,0.046,3016,2195,3355,0,0,0,0,0,0,28.83,25.84,28.83
$GC,4428,-0.47,-136.3,432.3,-8.9,353,4434,0.00,2.25,0.00,0.000,4,0.000,0.064,3007,3600,3354,0,0,0,0,0,0,28.83,25.56,28.83
$GC,4466,-0.47,-136.3,434.9,-8.7,354,4471,0.12,2.15,0.00,0.000,6,0.129,0.046,3043,2202,3354,0,0,0,0,0,0,25.67,25.84,28.83
$GC,4785,-0.47,-136.3,458.8,-7.2,365,4786,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2199,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5084,-0.47,-136.3,480.4,-7.3,375,5085,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2199,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5384,-0.47,-136.3,501.9,-7.2,385,5385,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2199,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5685,-0.47,-136.3,522.4,-6.7,395,5690,0.00,2.28,0.00,0.000,4,0.000,0.067,3035,3607,3352,0,0,0,0,0,0,28.83,25.50,28.83
$GC,5737,-0.47,-136.3,524.5,-6.8,396,5744,0.00,2.17,0.00,0.000,6,0.000,0.047,3035,2199,3352,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6044,-0.47,-136.3,548.4,-7.1,407,6045,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2198,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6345,-0.47,-136.3,570.7,-7.3,417,6346,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2198,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6644,-0.47,-136.3,591.8,-6.9,427,6650,0.00,2.30,0.00,0.000,4,0.000,0.067,3025,3620,3351,0,0,0,0,0,0,28.83,25.48,28.83
$GC,6667,-0.47,-136.3,591.8,-6.9,427,6674,0.00,2.20,0.00,0.000,6,0.000,0.047,3025,2201,3351,0,0,0,0,0,0,28.83,25.78,28.83
$GC,6975,-0.47,-136.3,614.8,-6.6,438,6976,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2201,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7274,-0.47,-136.3,633.5,-6.2,448,7275,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2200,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7574,-0.47,-136.3,653.1,-6.7,458,7575,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2200,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7874,-0.47,-136.3,674.3,-7.1,468,7875,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2200,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8175,-0.47,-136.3,695.3,-6.9,478,8176,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2201,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8474,-0.47,-136.3,715.2,-6.5,488,8475,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2201,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8774,-0.47,-136.3,735.6,-6.9,498,8780,0.00,2.33,0.00,0.000,4,0.000,0.068,3015,3614,3350,0,0,0,0,0,0,28.83,25.42,28.83
$GC,8834,-0.47,-136.3,740.0,-7.1,500,8840,0.00,2.20,0.00,0.000,6,0.000,0.049,3015,2195,3349,0,0,0,0,0,0,28.83,25.75,28.83
$GC,9164,-0.47,-136.3,763.4,-7.0,511,9165,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2194,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9465,-0.47,-136.3,784.4,-7.0,521,9466,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2193,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9764,-0.47,-136.3,806.7,-7.7,531,9770,0.00,2.30,0.00,0.000,4,0.000,0.067,3004,3610,3347,0,0,0,0,0,0,28.83,25.39,28.83
$GC,9832,-0.47,-136.3,811.6,-8.0,533,9837,0.12,2.20,0.00,0.000,6,0.128,0.048,3041,2195,3348,0,0,0,0,0,0,25.57,25.72,28.83
$GC,10151,-0.47,-136.3,833.8,-6.9,544,10157,0.00,2.30,0.00,0.000,4,0.000,0.068,3033,3608,3347,0,0,0,0,0,0,28.83,25.39,28.83
$GC,10181,-0.47,-136.3,835.9,-7.1,545,10186,0.00,2.17,0.00,0.000,6,0.000,0.049,3033,2209,3347,0,0,0,0,0,0,28.83,25.73,28.83
$GC,10510,-0.47,-136.3,859.6,-7.1,556,10511,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2208,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10811,-0.47,-136.3,880.3,-6.9,566,10816,0.00,2.28,0.00,0.000,4,0.000,0.069,3023,3607,3347,0,0,0,0,0,0,28.83,25.37,28.83
$GC,10858,-0.47,-136.3,882.5,-7.0,567,10862,0.00,2.20,0.00,0.000,6,0.000,0.050,3023,2195,3347,0,0,0,0,0,0,28.83,25.70,28.83
$GC,11166,-0.47,-136.3,905.1,-6.8,577,11171,0.00,2.33,0.00,0.000,4,0.000,0.068,3013,3611,3346,0,0,0,0,0,0,28.83,25.35,28.83
$GC,11219,-0.47,-136.3,907.5,-7.0,578,11226,0.00,2.20,0.00,0.000,6,0.000,0.050,3013,2199,3346,0,0,0,0,0,0,28.83,25.69,28.83
$GC,11525,-0.47,-136.3,931.8,-7.2,589,11526,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2198,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11825,-0.47,-136.3,952.9,-7.0,599,11831,0.00,2.33,0.00,0.000,4,0.000,0.069,3004,3612,3346,0,0,0,0,0,0,28.83,25.33,28.83
$GC,11869,-0.47,-136.3,955.0,-6.9,600,11876,0.15,2.22,0.00,0.000,6,0.119,0.050,3049,2189,3346,0,0,0,0,0,0,25.50,25.66,28.83
$GC,12185,-0.47,-136.3,973.2,-5.2,611,12186,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2188,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12486,-0.47,-136.3,988.8,-5.1,621,12487,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2188,3345,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12512,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12513,begin apogee
$GC,12520,-0.22,0.0,990.2,-5.0,622,12646,0.20,0.00,121.93,1.173,6,0.112,0.000,3122,2331,2793,0,0,0,0,0,0,25.87,28.83,23.13
$STATE,12649,end apogee,CONTROL_FINISHED_OK
$STATE,12649,begin climb
$GC,12652,0.47,136.3,993.9,0.0,626,12795,0.65,2.58,130.45,1.132,4,0.073,0.067,3347,3720,2237,0,0,0,0,0,0,24.46,23.35,22.15
$GC,12818,0.48,149.3,985.6,6.5,632,12837,0.00,2.38,13.40,1.008,6,0.000,0.049,3357,2329,2185,0,0,0,0,0,0,28.83,23.82,22.35
$GC,13145,0.48,149.3,954.5,9.5,643,13151,0.00,2.28,0.00,0.000,4,0.000,0.058,3367,924,2176,0,0,0,0,0,0,28.83,25.06,28.83
$GC,13177,0.48,149.3,951.6,9.5,644,13181,0.00,2.28,0.00,0.000,6,0.000,0.057,3368,2321,2176,0,0,0,0,0,0,28.83,25.13,28.83
$GC,13500,0.48,149.3,919.8,10.0,655,13505,0.00,2.35,0.00,0.000,4,0.000,0.069,3368,3753,2174,0,0,0,0,0,0,28.83,25.40,28.83
$GC,13563,0.48,149.3,913.2,10.4,657,13567,0.00,2.28,0.00,0.000,6,0.000,0.051,3379,2321,2174,0,0,0,0,0,0,28.83,25.58,28.83
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$STATE,24731,end climb,SURFACE_DEPTH_REACHED
$STATE,24731,begin surface coast
$FINISH,1.2,1.003217
$STATE,24768,end surface coast,CONTROL_FINISHED_OK
$STATE,24768,begin surface
$SM_CCo,24848,0.00,0.000,0,0,1160,400.82
$SM_GC,2.40,8.32,0.20,0.00,0.029,0.074,0.000,111,2191,1160,-9.48,1.13,400.82,0,0,0,0,0,0,25.94,25.91,28.83
$IRIDIUM_FIX,4729.30,-12527.05,121212,070754
$TT8_MAMPS,0.026964,0.026964
$HUMID,45.27
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,18.90
$XPDR_PINGS,2
$24V_AH,22.2,52.014
$10V_AH,10.0,42.976
$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
$DEVICE_SECS,22.200,202.375,473.475,0.000,0.000,26.594,48.531,245.913,0.500,0.000,17.269,3570.481,17799.953,583.377,2917.788,428.919,0.000,2078.942,0.000,2546.409,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,941.211,712.179,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296760
$DATA_FILE_SIZE,76781,1370
$CAP_FILE_SIZE,203519,0
$CFSIZE,260165632,226590720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.100, 36.6,1
$GPS,121212,210824,4741.873,-12525.589,60,1.5,60,18.7