version: 66.11
glider: 187
mission: 2
dive: 392
start: 12 17 112 16 7 7
data:
$ID,187
$MISSION,2
$DIVE,392
$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,-1588432.2
$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,38
$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
$GPS1,171212,155600,4716.353,-12627.083,52,1.3,52,18.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-67.9
$GPS2,171212,160636,4716.278,-12627.054,14,1.5,17,18.6
$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,195.4,51385,-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,-136.3,0.0,0.0,0,83,0.00,0.00,-64.07,0.000,2,0.000,0.000,116,2196,2640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.47,-136.3,3.3,-3.4,11,124,11.45,2.22,-16.17,0.000,4,0.214,0.063,3034,801,3352,0,0,0,0,0,0,24.82,25.52,26.14
$GC,204,-0.47,-136.3,25.5,-15.4,32,211,0.00,2.22,0.00,0.000,6,0.000,0.051,3026,2205,3354,0,0,0,0,0,0,28.83,25.51,28.83
$GC,517,-0.47,-136.3,78.1,-12.7,93,524,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2205,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,829,-0.47,-136.3,112.1,-9.9,154,836,0.00,2.20,0.00,0.000,4,0.000,0.050,3026,797,3355,0,0,0,0,0,0,28.83,25.65,28.83
$GC,855,-0.47,-136.3,114.8,-10.7,158,861,0.00,2.20,0.00,0.000,6,0.000,0.051,3016,2210,3355,0,0,0,0,0,0,28.83,25.65,28.83
$GC,1166,-0.47,-136.3,147.6,-11.2,185,1172,0.00,2.22,0.00,0.000,4,0.000,0.062,3006,3611,3355,0,0,0,0,0,0,28.83,25.58,28.83
$GC,1255,-0.47,-136.3,158.2,-11.7,191,1261,0.10,2.15,0.00,0.000,6,0.105,0.044,3042,2196,3355,0,0,0,0,0,0,25.61,25.83,28.83
$GC,1572,-0.47,-136.3,185.1,-8.1,212,1577,0.00,2.15,0.00,0.000,4,0.000,0.050,3042,799,3355,0,0,0,0,0,0,28.83,25.70,28.83
$GC,1603,-0.47,-136.3,187.7,-8.2,214,1607,0.00,2.17,0.00,0.000,6,0.000,0.050,3035,2201,3355,0,0,0,0,0,0,28.83,25.71,28.83
$GC,1925,-0.47,-136.3,216.3,-8.9,232,1926,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2201,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2225,-0.47,-136.3,244.9,-9.6,247,2231,0.00,2.25,0.00,0.000,4,0.000,0.063,3025,3608,3355,0,0,0,0,0,0,28.83,25.59,28.83
$GC,2254,-0.47,-136.3,246.8,-9.5,248,2258,0.00,2.17,0.00,0.000,6,0.000,0.044,3025,2190,3355,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2560,-0.47,-136.3,278.5,-10.1,263,2566,0.00,2.30,0.00,0.000,4,0.000,0.063,3014,3616,3355,0,0,0,0,0,0,28.83,25.58,28.83
$GC,2589,-0.47,-136.3,280.5,-10.0,264,2593,0.00,2.17,0.00,0.000,6,0.000,0.044,3014,2201,3355,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2898,-0.47,-136.3,313.4,-10.3,279,2899,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2198,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3196,-0.47,-136.3,344.5,-10.2,294,3197,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2198,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3495,-0.47,-136.3,374.7,-10.1,309,3501,0.00,2.28,0.00,0.000,4,0.000,0.064,3004,3608,3354,0,0,0,0,0,0,28.83,25.56,28.83
$GC,3536,-0.47,-136.3,378.8,-10.1,311,3542,0.10,2.15,0.00,0.000,6,0.103,0.046,3041,2201,3354,0,0,0,0,0,0,25.63,25.84,28.83
$GC,3845,-0.47,-136.3,402.3,-7.0,326,3847,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2199,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4145,-0.47,-136.3,422.9,-6.9,336,4147,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2199,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4447,-0.47,-136.3,443.0,-6.7,346,4448,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2199,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4745,-0.47,-136.3,462.5,-6.6,356,4751,0.00,2.30,0.00,0.000,4,0.000,0.066,3033,3612,3352,0,0,0,0,0,0,28.83,25.51,28.83
$GC,4798,-0.47,-136.3,464.6,-6.6,357,4806,0.00,2.20,0.00,0.000,6,0.000,0.047,3033,2191,3353,0,0,0,0,0,0,28.83,25.82,28.83
$GC,5106,-0.47,-136.3,488.5,-7.2,368,5112,0.00,2.28,0.00,0.000,4,0.000,0.066,3023,3605,3352,0,0,0,0,0,0,28.83,25.51,28.83
$GC,5135,-0.47,-136.3,490.9,-7.3,369,5141,0.00,2.20,0.00,0.000,6,0.000,0.046,3023,2191,3352,0,0,0,0,0,0,28.83,25.81,28.83
$GC,5465,-0.47,-136.3,516.1,-7.6,380,5471,0.00,2.30,0.00,0.000,4,0.000,0.065,3013,3607,3351,0,0,0,0,0,0,28.83,25.49,28.83
$GC,5504,-0.47,-136.3,518.4,-7.6,381,5508,0.00,2.17,0.00,0.000,6,0.000,0.047,3013,2203,3351,0,0,0,0,0,0,28.83,25.81,28.83
$GC,5821,-0.47,-136.3,544.9,-8.1,392,5822,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2200,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6122,-0.47,-136.3,569.4,-8.4,402,6127,0.00,2.25,0.00,0.000,4,0.000,0.066,3004,3602,3351,0,0,0,0,0,0,28.83,25.48,28.83
$GC,6175,-0.47,-136.3,572.1,-8.6,403,6182,0.15,2.17,0.00,0.000,6,0.121,0.047,3048,2197,3350,0,0,0,0,0,0,25.60,25.79,28.83
$GC,6482,-0.47,-136.3,593.7,-6.1,414,6483,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2197,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6781,-0.47,-136.3,611.5,-5.8,424,6787,0.00,2.33,0.00,0.000,4,0.000,0.067,3040,3613,3350,0,0,0,0,0,0,28.83,25.45,28.83
$GC,6815,-0.47,-136.3,613.4,-5.9,425,6819,0.00,2.22,0.00,0.000,6,0.000,0.047,3040,2192,3349,0,0,0,0,0,0,28.83,25.77,28.83
$GC,7138,-0.47,-136.3,633.3,-6.0,436,7139,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2190,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7438,-0.47,-136.3,651.8,-6.3,446,7443,0.00,2.30,0.00,0.000,4,0.000,0.067,3031,3609,3348,0,0,0,0,0,0,28.83,25.44,28.83
$GC,7491,-0.47,-136.3,653.9,-6.3,447,7498,0.00,2.20,0.00,0.000,6,0.000,0.047,3031,2192,3348,0,0,0,0,0,0,28.83,25.77,28.83
$GC,7798,-0.47,-136.3,676.8,-7.0,458,7803,0.00,2.28,0.00,0.000,4,0.000,0.067,3021,3605,3348,0,0,0,0,0,0,28.83,25.44,28.83
$GC,7831,-0.47,-136.3,678.9,-7.0,459,7835,0.00,2.17,0.00,0.000,6,0.000,0.047,3021,2204,3348,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8154,-0.47,-136.3,702.9,-7.4,470,8155,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2202,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8453,-0.47,-136.3,724.5,-7.1,480,8458,0.00,2.30,0.00,0.000,4,0.000,0.067,3012,3611,3347,0,0,0,0,0,0,28.83,25.41,28.83
$GC,8513,-0.47,-136.3,728.9,-7.4,482,8519,0.08,2.22,0.00,0.000,6,0.103,0.047,3040,2184,3347,0,0,0,0,0,0,25.57,25.75,28.83
$GC,8844,-0.47,-136.3,749.3,-6.1,493,8849,0.00,2.30,0.00,0.000,4,0.000,0.067,3032,3605,3347,0,0,0,0,0,0,28.83,25.43,28.83
$GC,8881,-0.47,-136.3,751.3,-6.1,494,8885,0.00,2.20,0.00,0.000,6,0.000,0.048,3032,2200,3347,0,0,0,0,0,0,28.83,25.75,28.83
$GC,9199,-0.47,-136.3,772.6,-6.6,505,9200,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2197,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9498,-0.47,-136.3,792.0,-6.4,515,9504,0.00,2.28,0.00,0.000,4,0.000,0.068,3023,3601,3346,0,0,0,0,0,0,28.83,25.39,28.83
$GC,9528,-0.47,-136.3,794.0,-6.5,516,9534,0.00,2.17,0.00,0.000,6,0.000,0.047,3023,2203,3346,0,0,0,0,0,0,28.83,25.72,28.83
$GC,9859,-0.47,-136.3,816.4,-6.7,527,9860,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2201,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10158,-0.47,-136.3,835.3,-6.1,537,10164,0.00,2.28,0.00,0.000,4,0.000,0.067,3013,3604,3346,0,0,0,0,0,0,28.83,25.37,28.83
$GC,10211,-0.47,-136.3,837.2,-6.0,538,10218,0.00,2.20,0.00,0.000,6,0.000,0.048,3013,2193,3346,0,0,0,0,0,0,28.83,25.72,28.83
$GC,10519,-0.47,-136.3,858.9,-6.5,549,10520,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2193,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10818,-0.47,-136.3,879.0,-6.6,559,10824,0.00,2.30,0.00,0.000,4,0.000,0.067,3003,3606,3345,0,0,0,0,0,0,28.83,25.35,28.83
$GC,10866,-0.47,-136.3,881.2,-6.7,560,10871,0.15,2.20,0.00,0.000,6,0.119,0.048,3048,2199,3345,0,0,0,0,0,0,25.52,25.70,28.83
$GC,11174,-0.47,-136.3,898.9,-5.4,570,11176,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2196,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11473,-0.47,-136.3,915.8,-5.7,580,11479,0.00,2.33,0.00,0.000,4,0.000,0.069,3040,3611,3344,0,0,0,0,0,0,28.83,25.32,28.83
$GC,11511,-0.47,-136.3,917.6,-5.9,581,11515,0.00,2.22,0.00,0.000,6,0.000,0.049,3040,2201,3345,0,0,0,0,0,0,28.83,25.70,28.83
$GC,11834,-0.47,-136.3,936.8,-5.6,592,11836,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2199,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12134,-0.47,-136.3,953.1,-5.5,602,12140,0.00,2.30,0.00,0.000,4,0.000,0.069,3030,3608,3344,0,0,0,0,0,0,28.83,25.31,28.83
$GC,12167,-0.47,-136.3,954.9,-5.5,603,12173,0.00,2.22,0.00,0.000,6,0.000,0.049,3030,2188,3344,0,0,0,0,0,0,28.83,25.68,28.83
$GC,12494,-0.47,-136.3,974.1,-5.8,614,12495,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2188,3344,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12791,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12791,begin apogee
$GC,12798,-0.22,0.0,991.4,-5.8,624,12925,0.28,0.00,122.32,1.170,6,0.108,0.000,3125,2330,2794,0,0,0,0,0,0,25.70,28.83,23.02
$STATE,12928,end apogee,CONTROL_FINISHED_OK
$STATE,12928,begin climb
$GC,12931,0.47,136.3,994.7,0.0,628,13070,0.62,2.50,132.15,1.129,4,0.072,0.054,3354,929,2238,0,0,0,0,0,0,24.43,23.34,22.06
$GC,13089,0.49,171.1,989.1,5.6,633,13130,0.00,2.42,34.17,1.080,6,0.000,0.055,3354,2325,2096,0,0,0,0,0,0,28.83,23.68,22.11
$GC,13457,0.49,171.1,952.9,9.7,646,13462,0.00,2.33,0.00,0.000,4,0.000,0.069,3354,3733,2086,0,0,0,0,0,0,28.83,25.02,28.83
$GC,13485,0.49,171.1,949.5,9.9,647,13491,0.00,2.28,0.00,0.000,6,0.000,0.050,3364,2331,2086,0,0,0,0,0,0,28.83,25.21,28.83
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$STATE,24801,end climb,SURFACE_DEPTH_REACHED
$STATE,24801,begin surface coast
$FINISH,1.2,1.012477
$STATE,24837,end surface coast,CONTROL_FINISHED_OK
$STATE,24837,begin surface
$SM_CCo,24917,0.00,0.000,0,0,1270,373.84
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$IRIDIUM_FIX,4657.54,-12617.96,171212,151505
$TT8_MAMPS,0.026964,0.026964
$HUMID,45.07
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,19.10
$XPDR_PINGS,3
$24V_AH,22.1,54.410
$10V_AH,9.9,44.730
$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
$DEVICE_SECS,21.900,198.025,468.700,0.000,0.000,54.633,77.677,263.562,0.750,0.000,18.727,3566.187,17949.344,617.908,2956.319,451.022,0.000,2077.453,0.000,2492.526,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,943.456,714.559,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296944
$DATA_FILE_SIZE,73740,1372
$CAP_FILE_SIZE,204927,0
$CFSIZE,260165632,225046528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.071, 30.5,1
$GPS,171212,230429,4714.041,-12629.753,87,1.1,87,18.6