version: 66.11
glider: 187
mission: 2
dive: 445
start: 12 31 112 8 57 57
data:
$ID,187
$MISSION,2
$DIVE,445
$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,4
$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,-1588548.4
$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,44
$R_STBD_OVSHOOT,25
$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,20
$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
$GPS1,311212,084406,4734.982,-12534.954,40,1.1,40,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-76.0
$GPS2,311212,085725,4735.068,-12534.979,21,1.5,21,18.7
$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,214.4,125499,-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,-136.3,0.0,0.0,0,87,0.00,0.00,-68.30,0.000,2,0.000,0.000,106,2195,2794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.47,-136.3,3.3,-2.2,12,123,11.73,2.20,-12.62,0.000,4,0.220,0.061,3035,793,3353,0,0,0,0,0,0,24.72,25.47,26.13
$GC,273,-0.47,-136.3,34.4,-13.8,46,280,0.00,2.22,0.00,0.000,6,0.000,0.051,3027,2209,3354,0,0,0,0,0,0,28.83,25.52,28.83
$GC,586,-0.47,-136.3,80.6,-12.9,107,592,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2209,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,897,-0.47,-136.3,118.2,-11.5,168,903,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2208,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1218,-0.47,-136.3,148.3,-8.6,191,1223,0.00,2.22,0.00,0.000,4,0.000,0.063,3016,3611,3355,0,0,0,0,0,0,28.83,25.58,28.83
$GC,1246,-0.47,-136.3,151.0,-8.9,193,1252,0.00,2.17,0.00,0.000,6,0.000,0.044,3016,2198,3356,0,0,0,0,0,0,28.83,25.83,28.83
$GC,1561,-0.47,-136.3,182.9,-10.2,214,1567,0.00,2.15,0.00,0.000,4,0.000,0.050,3016,801,3355,0,0,0,0,0,0,28.83,25.70,28.83
$GC,1595,-0.47,-136.3,186.0,-10.2,216,1600,0.12,2.17,0.00,0.000,6,0.139,0.050,3043,2201,3355,0,0,0,0,0,0,25.58,25.71,28.83
$GC,1908,-0.47,-136.3,212.4,-8.4,234,1913,0.00,2.22,0.00,0.000,4,0.000,0.063,3034,3606,3355,0,0,0,0,0,0,28.83,25.59,28.83
$GC,1990,-0.47,-136.3,219.4,-8.8,238,1994,0.00,2.17,0.00,0.000,6,0.000,0.044,3034,2188,3355,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2302,-0.47,-136.3,245.7,-8.0,254,2308,0.00,2.12,0.00,0.000,4,0.000,0.050,3034,804,3355,0,0,0,0,0,0,28.83,25.71,28.83
$GC,2330,-0.47,-136.3,247.2,-7.9,255,2334,0.00,2.17,0.00,0.000,6,0.000,0.050,3026,2203,3355,0,0,0,0,0,0,28.83,25.71,28.83
$GC,2639,-0.47,-136.3,274.3,-8.8,270,2644,0.00,2.22,0.00,0.000,4,0.000,0.063,3016,3610,3355,0,0,0,0,0,0,28.83,25.58,28.83
$GC,2690,-0.47,-136.3,278.1,-9.0,272,2697,0.00,2.17,0.00,0.000,6,0.000,0.043,3016,2189,3355,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2997,-0.47,-136.3,308.3,-9.4,288,2998,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2187,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3299,-0.47,-136.3,336.2,-9.3,303,3304,0.00,2.12,0.00,0.000,4,0.000,0.050,3016,809,3355,0,0,0,0,0,0,28.83,25.70,28.83
$GC,3330,-0.47,-136.3,338.0,-9.1,304,3338,0.12,2.17,0.00,0.000,6,0.138,0.051,3042,2206,3355,0,0,0,0,0,0,25.57,25.70,28.83
$GC,3638,-0.47,-136.3,360.4,-6.8,320,3643,0.00,2.22,0.00,0.000,4,0.000,0.063,3034,3607,3355,0,0,0,0,0,0,28.83,25.56,28.83
$GC,3700,-0.47,-136.3,364.8,-7.1,323,3704,0.00,2.17,0.00,0.000,6,0.000,0.044,3034,2203,3355,0,0,0,0,0,0,28.83,25.85,28.83
$GC,4019,-0.47,-136.3,389.7,-8.2,339,4020,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2201,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4337,-0.47,-136.3,414.9,-7.9,352,4343,0.00,2.28,0.00,0.000,4,0.000,0.064,3024,3611,3354,0,0,0,0,0,0,28.83,25.54,28.83
$GC,4371,-0.47,-136.3,417.3,-7.9,353,4375,0.00,2.17,0.00,0.000,6,0.000,0.045,3024,2202,3354,0,0,0,0,0,0,28.83,25.83,28.83
$GC,4694,-0.47,-136.3,444.7,-8.3,364,4699,0.00,2.25,0.00,0.000,4,0.000,0.064,3014,3612,3353,0,0,0,0,0,0,28.83,25.53,28.83
$GC,4731,-0.47,-136.3,447.2,-8.3,365,4735,0.00,2.20,0.00,0.000,6,0.000,0.046,3014,2190,3353,0,0,0,0,0,0,28.83,25.82,28.83
$GC,5049,-0.47,-136.3,475.8,-9.0,376,5055,0.00,2.30,0.00,0.000,4,0.000,0.064,3005,3611,3353,0,0,0,0,0,0,28.83,25.52,28.83
$GC,5071,-0.47,-136.3,475.8,-9.0,376,5079,0.15,2.20,0.00,0.000,6,0.123,0.046,3048,2190,3353,0,0,0,0,0,0,25.60,25.81,28.83
$GC,5379,-0.47,-136.3,499.8,-7.1,387,5380,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2188,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5679,-0.47,-136.3,519.9,-6.7,397,5681,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2188,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5979,-0.47,-136.3,538.8,-6.1,407,5985,0.00,2.30,0.00,0.000,4,0.000,0.066,3040,3607,3352,0,0,0,0,0,0,28.83,25.49,28.83
$GC,6022,-0.47,-136.3,540.8,-6.3,408,6026,0.00,2.20,0.00,0.000,6,0.000,0.047,3040,2190,3352,0,0,0,0,0,0,28.83,25.80,28.83
$GC,6335,-0.47,-136.3,563.7,-7.2,419,6336,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2188,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6635,-0.47,-136.3,584.0,-6.7,429,6640,0.00,2.28,0.00,0.000,4,0.000,0.065,3031,3603,3351,0,0,0,0,0,0,28.83,25.46,28.83
$GC,6665,-0.47,-136.3,586.1,-6.7,430,6670,0.00,2.17,0.00,0.000,6,0.000,0.046,3031,2198,3351,0,0,0,0,0,0,28.83,25.79,28.83
$GC,6995,-0.47,-136.3,609.7,-7.2,441,6996,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2196,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7295,-0.47,-136.3,630.6,-6.9,451,7296,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2197,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7595,-0.47,-136.3,650.9,-6.8,461,7600,0.00,2.28,0.00,0.000,4,0.000,0.066,3021,3605,3351,0,0,0,0,0,0,28.83,25.46,28.83
$GC,7625,-0.47,-136.3,653.0,-7.0,462,7631,0.00,2.17,0.00,0.000,6,0.000,0.047,3021,2204,3350,0,0,0,0,0,0,28.83,25.77,28.83
$GC,7954,-0.47,-136.3,677.5,-7.5,473,7960,0.00,2.30,0.00,0.000,4,0.000,0.066,3011,3618,3349,0,0,0,0,0,0,28.83,25.44,28.83
$GC,7984,-0.47,-136.3,679.7,-7.6,474,7991,0.12,2.22,0.00,0.000,6,0.124,0.046,3048,2189,3349,0,0,0,0,0,0,25.63,25.78,28.83
$GC,8315,-0.47,-136.3,698.7,-5.5,485,8316,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2187,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8615,-0.47,-136.3,713.9,-5.0,495,8616,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2187,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8915,-0.47,-136.3,728.6,-4.9,505,8916,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2187,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9216,-0.47,-136.3,744.5,-5.5,515,9217,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2187,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9515,-0.47,-136.3,763.2,-6.6,525,9516,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2187,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9815,-0.47,-136.3,783.3,-6.9,535,9816,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2187,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10115,-0.47,-136.3,802.7,-6.2,545,10121,0.00,2.30,0.00,0.000,4,0.000,0.067,3041,3609,3347,0,0,0,0,0,0,28.83,25.41,28.83
$GC,10145,-0.47,-136.3,804.7,-6.3,546,10150,0.00,2.20,0.00,0.000,6,0.000,0.047,3041,2197,3347,0,0,0,0,0,0,28.83,25.75,28.83
$GC,10475,-0.47,-136.3,825.1,-6.0,557,10480,0.00,2.17,0.00,0.000,4,0.000,0.054,3040,803,3347,0,0,0,0,0,0,28.83,25.53,28.83
$GC,10499,-0.47,-136.3,825.1,-6.0,557,10505,0.00,2.20,0.00,0.000,6,0.000,0.054,3033,2199,3347,0,0,0,0,0,0,28.83,25.53,28.83
$GC,10805,-0.47,-136.3,845.3,-6.1,568,10810,0.00,2.28,0.00,0.000,4,0.000,0.067,3023,3610,3347,0,0,0,0,0,0,28.83,25.37,28.83
$GC,10853,-0.47,-136.3,847.1,-5.9,569,10857,0.00,2.20,0.00,0.000,6,0.000,0.048,3022,2200,3347,0,0,0,0,0,0,28.83,25.72,28.83
$GC,11161,-0.47,-136.3,868.3,-6.8,579,11162,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2198,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11460,-0.47,-136.3,888.9,-6.9,589,11465,0.00,2.30,0.00,0.000,4,0.000,0.067,3013,3609,3346,0,0,0,0,0,0,28.83,25.37,28.83
$GC,11508,-0.47,-136.3,891.1,-6.8,590,11512,0.00,2.20,0.00,0.000,6,0.000,0.048,3013,2202,3346,0,0,0,0,0,0,28.83,25.70,28.83
$GC,11815,-0.47,-136.3,914.9,-7.1,600,11816,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2200,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12114,-0.47,-136.3,936.7,-7.2,610,12115,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2200,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12415,-0.47,-136.3,957.3,-6.6,620,12420,0.00,2.30,0.00,0.000,4,0.000,0.068,3004,3609,3345,0,0,0,0,0,0,28.83,25.34,28.83
$GC,12448,-0.47,-136.3,959.1,-6.5,621,12455,0.15,2.22,0.00,0.000,6,0.119,0.048,3048,2195,3345,0,0,0,0,0,0,25.50,25.69,28.83
$GC,12775,-0.47,-136.3,974.3,-4.2,632,12776,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2195,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13075,-0.47,-136.3,986.3,-4.2,642,13076,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2195,3345,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13192,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13192,begin apogee
$GC,13199,-0.22,0.0,991.2,-4.2,646,13327,0.20,0.00,124.10,1.169,6,0.110,0.000,3122,2338,2794,0,0,0,0,0,0,25.88,28.83,22.82
$STATE,13330,end apogee,CONTROL_FINISHED_OK
$STATE,13330,begin climb
$GC,13333,0.47,136.3,994.3,0.0,650,13470,0.65,0.00,133.82,1.131,6,0.073,0.000,3346,2338,2238,0,0,0,0,0,0,24.38,28.83,21.93
$GC,13760,0.47,136.3,964.0,9.0,665,13766,0.00,2.33,0.00,0.000,4,0.000,0.056,3357,917,2227,0,0,0,0,0,0,28.83,25.08,28.83
$GC,13782,0.47,136.3,964.0,9.0,665,13789,0.00,2.28,0.00,0.000,6,0.000,0.057,3356,2318,2227,0,0,0,0,0,0,28.83,25.14,28.83
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$STATE,26124,end climb,SURFACE_DEPTH_REACHED
$STATE,26124,begin surface coast
$FINISH,1.4,1.022324
$STATE,26166,end surface coast,CONTROL_FINISHED_OK
$STATE,26166,begin surface
$SM_CCo,26246,0.00,0.000,0,0,1172,397.88
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$IRIDIUM_FIX,4722.92,-12530.40,311212,010147
$TT8_MAMPS,0.026964,0.026964
$HUMID,45.51
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,19.20
$XPDR_PINGS,3
$24V_AH,21.9,61.760
$10V_AH,9.8,49.715
$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,22.275,197.300,489.000,0.000,0.000,25.237,35.874,582.581,0.750,0.000,22.127,3729.374,18945.992,626.246,3186.231,546.216,0.000,2120.770,0.000,2577.028,0.000,0.535,0.000
$DEVICE_MAMPS,219.555,84.150,1168.920,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,987.845,744.762,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296908
$DATA_FILE_SIZE,76927,1436
$CAP_FILE_SIZE,217093,0
$CFSIZE,260165632,220663808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.065, 30.4,1
$GPS,311212,161635,4733.389,-12538.923,33,0.9,33,18.7