version: 66.11
glider: 187
mission: 2
dive: 450
start: 1 1 113 21 34 59
data:
$ID,187
$MISSION,2
$DIVE,450
$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,-1588554.6
$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,41
$R_STBD_OVSHOOT,24
$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
$GPS1,010113,212706,4727.233,-12553.177,38,1.1,38,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-77.5
$GPS2,010113,213425,4727.290,-12553.188,16,1.7,16,18.6
$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,211.0,98364,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.47,-136.3,0.0,0.0,0,70,0.00,0.00,-50.15,0.000,2,0.000,0.000,106,2213,2593,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.47,-136.3,3.1,-2.6,9,111,11.62,2.33,-20.65,0.000,4,0.216,0.063,3036,789,3352,0,0,0,0,0,0,24.72,25.49,26.21
$GC,266,-0.47,-136.3,28.6,-13.1,45,273,0.00,2.22,0.00,0.000,6,0.000,0.052,3028,2203,3354,0,0,0,0,0,0,28.83,25.51,28.83
$GC,578,-0.47,-136.3,74.3,-13.6,106,584,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2203,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,889,-0.47,-136.3,113.8,-11.4,167,895,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2203,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1203,-0.47,-136.3,145.6,-9.1,195,1209,0.00,2.20,0.00,0.000,4,0.000,0.049,3028,786,3357,0,0,0,0,0,0,28.83,25.66,28.83
$GC,1248,-0.47,-136.3,150.0,-9.5,198,1254,0.00,2.22,0.00,0.000,6,0.000,0.050,3018,2210,3356,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1564,-0.47,-136.3,181.2,-10.8,219,1570,0.00,2.25,0.00,0.000,4,0.000,0.063,3007,3611,3356,0,0,0,0,0,0,28.83,25.56,28.83
$GC,1639,-0.47,-136.3,189.3,-10.9,224,1645,0.08,2.15,0.00,0.000,6,0.111,0.044,3037,2199,3356,0,0,0,0,0,0,25.63,25.84,28.83
$GC,1959,-0.47,-136.3,217.4,-8.7,242,1960,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2196,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2260,-0.47,-136.3,243.6,-8.7,257,2261,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2196,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2559,-0.47,-136.3,269.4,-8.4,272,2560,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2196,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2859,-0.47,-136.3,295.0,-8.5,287,2860,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2196,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3158,-0.47,-136.3,318.9,-7.7,302,3164,0.00,2.28,0.00,0.000,4,0.000,0.063,3028,3608,3356,0,0,0,0,0,0,28.83,25.53,28.83
$GC,3187,-0.47,-136.3,320.5,-7.7,303,3191,0.00,2.17,0.00,0.000,6,0.000,0.045,3028,2199,3356,0,0,0,0,0,0,28.83,25.83,28.83
$GC,3495,-0.47,-136.3,345.2,-7.6,318,3497,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2197,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3793,-0.47,-136.3,368.2,-7.5,333,3794,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2197,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4094,-0.47,-136.3,390.9,-7.4,348,4095,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2197,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4395,-0.47,-136.3,413.3,-7.3,360,4400,0.00,2.28,0.00,0.000,4,0.000,0.065,3018,3606,3355,0,0,0,0,0,0,28.83,25.49,28.83
$GC,4423,-0.47,-136.3,415.4,-7.2,361,4429,0.00,2.20,0.00,0.000,6,0.000,0.046,3019,2190,3355,0,0,0,0,0,0,28.83,25.80,28.83
$GC,4754,-0.47,-136.3,440.4,-7.4,372,4755,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2189,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5054,-0.47,-136.3,462.9,-7.5,382,5055,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2189,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5354,-0.47,-136.3,485.9,-7.5,392,5355,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2189,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5653,-0.47,-136.3,509.3,-7.8,402,5659,0.00,2.30,0.00,0.000,4,0.000,0.064,3009,3612,3353,0,0,0,0,0,0,28.83,25.47,28.83
$GC,5715,-0.47,-136.3,514.4,-8.1,404,5721,0.08,2.17,0.00,0.000,6,0.109,0.047,3038,2205,3353,0,0,0,0,0,0,25.58,25.78,28.83
$GC,6044,-0.47,-136.3,537.3,-6.9,415,6045,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2203,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6344,-0.47,-136.3,557.9,-6.9,425,6349,0.00,2.25,0.00,0.000,4,0.000,0.066,3031,3600,3352,0,0,0,0,0,0,28.83,25.44,28.83
$GC,6398,-0.47,-136.3,560.0,-6.9,426,6405,0.00,2.17,0.00,0.000,6,0.000,0.047,3031,2196,3353,0,0,0,0,0,0,28.83,25.77,28.83
$GC,6704,-0.47,-136.3,583.4,-6.9,437,6705,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2196,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7004,-0.47,-136.3,604.1,-6.8,447,7005,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2196,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7305,-0.47,-136.3,624.6,-6.7,457,7306,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2196,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7604,-0.47,-136.3,644.5,-6.6,467,7610,0.00,2.28,0.00,0.000,4,0.000,0.067,3021,3604,3351,0,0,0,0,0,0,28.83,25.41,28.83
$GC,7636,-0.47,-136.3,646.7,-6.8,468,7641,0.00,2.20,0.00,0.000,6,0.000,0.047,3021,2203,3351,0,0,0,0,0,0,28.83,25.74,28.83
$GC,7960,-0.47,-136.3,670.1,-6.9,479,7965,0.00,2.20,0.00,0.000,4,0.000,0.054,3021,793,3351,0,0,0,0,0,0,28.83,25.56,28.83
$GC,7989,-0.47,-136.3,672.2,-6.9,480,7995,0.00,2.20,0.00,0.000,6,0.000,0.054,3013,2197,3351,0,0,0,0,0,0,28.83,25.56,28.83
$GC,8320,-0.47,-136.3,697.6,-7.7,491,8326,0.12,2.28,0.00,0.000,4,0.145,0.065,3045,3605,3350,0,0,0,0,0,0,26.03,25.39,28.83
$GC,8368,-0.47,-136.3,699.7,-7.5,492,8372,0.00,2.20,0.00,0.000,6,0.000,0.048,3046,2196,3350,0,0,0,0,0,0,28.83,25.73,28.83
$GC,8675,-0.47,-136.3,718.0,-5.5,502,8680,0.00,2.33,0.00,0.000,4,0.000,0.067,3036,3615,3350,0,0,0,0,0,0,28.83,25.39,28.83
$GC,8719,-0.47,-136.3,719.7,-5.4,503,8724,0.00,2.22,0.00,0.000,6,0.000,0.048,3036,2191,3350,0,0,0,0,0,0,28.83,25.72,28.83
$GC,9035,-0.47,-136.3,738.4,-5.6,514,9036,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2190,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9335,-0.47,-136.3,755.1,-5.5,524,9341,0.00,2.33,0.00,0.000,4,0.000,0.067,3027,3609,3349,0,0,0,0,0,0,28.83,25.37,28.83
$GC,9368,-0.47,-136.3,756.9,-5.6,525,9374,0.00,2.22,0.00,0.000,6,0.000,0.048,3027,2191,3349,0,0,0,0,0,0,28.83,25.71,28.83
$GC,9695,-0.47,-136.3,776.9,-6.2,536,9696,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2190,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9995,-0.47,-136.3,796.3,-6.5,546,10000,0.00,2.30,0.00,0.000,4,0.000,0.067,3017,3608,3349,0,0,0,0,0,0,28.83,25.36,28.83
$GC,10063,-0.47,-136.3,800.6,-6.8,548,10069,0.00,2.20,0.00,0.000,6,0.000,0.047,3018,2196,3348,0,0,0,0,0,0,28.83,25.71,28.83
$GC,10385,-0.47,-136.3,823.0,-6.7,559,10391,0.00,2.33,0.00,0.000,4,0.000,0.067,3009,3608,3348,0,0,0,0,0,0,28.83,25.35,28.83
$GC,10417,-0.47,-136.3,825.3,-6.8,560,10422,0.12,2.20,0.00,0.000,6,0.126,0.047,3046,2202,3348,0,0,0,0,0,0,25.53,25.70,28.83
$GC,10741,-0.47,-136.3,844.5,-5.7,571,10747,0.00,2.28,0.00,0.000,4,0.000,0.067,3038,3602,3348,0,0,0,0,0,0,28.83,25.34,28.83
$GC,10771,-0.47,-136.3,846.3,-5.8,572,10776,0.00,2.17,0.00,0.000,6,0.000,0.048,3039,2204,3348,0,0,0,0,0,0,28.83,25.70,28.83
$GC,11101,-0.47,-136.3,864.8,-5.3,583,11102,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2202,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11401,-0.47,-136.3,880.0,-5.1,593,11406,0.00,2.28,0.00,0.000,4,0.000,0.067,3030,3604,3347,0,0,0,0,0,0,28.83,25.33,28.83
$GC,11439,-0.47,-136.3,881.6,-5.2,594,11443,0.00,2.20,0.00,0.000,6,0.000,0.049,3030,2195,3347,0,0,0,0,0,0,28.83,25.67,28.83
$GC,11757,-0.47,-136.3,899.4,-5.4,605,11762,0.00,2.30,0.00,0.000,4,0.000,0.067,3021,3607,3347,0,0,0,0,0,0,28.83,25.32,28.83
$GC,11794,-0.47,-136.3,901.1,-5.4,606,11798,0.00,2.20,0.00,0.000,6,0.000,0.048,3021,2199,3347,0,0,0,0,0,0,28.83,25.67,28.83
$GC,12112,-0.47,-136.3,920.8,-6.0,617,12113,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2197,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12412,-0.47,-136.3,939.1,-6.1,627,12418,0.00,2.33,0.00,0.000,4,0.000,0.068,3011,3615,3347,0,0,0,0,0,0,28.83,25.30,28.83
$GC,12472,-0.47,-136.3,943.0,-6.1,629,12477,0.00,2.20,0.00,0.000,6,0.000,0.049,3012,2203,3347,0,0,0,0,0,0,28.83,25.67,28.83
$GC,12802,-0.47,-136.3,963.9,-6.3,640,12808,0.12,2.30,0.00,0.000,4,0.139,0.067,3046,3608,3347,0,0,0,0,0,0,26.03,25.29,28.83
$GC,12840,-0.47,-136.3,965.5,-6.2,641,12846,0.00,2.22,0.00,0.000,6,0.000,0.049,3046,2188,3346,0,0,0,0,0,0,28.83,25.65,28.83
$GC,13162,-0.47,-136.3,982.0,-5.1,652,13163,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2187,3346,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13338,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13339,begin apogee
$GC,13346,-0.22,0.0,991.3,-5.3,658,13477,0.22,0.00,125.07,1.168,6,0.108,0.000,3125,2331,2793,0,0,0,0,0,0,25.82,28.83,22.74
$STATE,13480,end apogee,CONTROL_FINISHED_OK
$STATE,13480,begin climb
$GC,13483,0.47,136.3,995.5,0.0,662,13626,0.62,2.55,132.55,1.132,4,0.072,0.067,3343,3724,2237,0,0,0,0,0,0,24.37,23.30,21.87
$GC,13653,0.49,176.3,989.1,5.4,668,13698,0.00,2.40,39.25,1.089,6,0.000,0.048,3354,2324,2075,0,0,0,0,0,0,28.83,23.82,21.93
$GC,14003,0.49,176.3,957.0,9.6,679,14008,0.00,2.25,0.00,0.000,4,0.000,0.057,3364,924,2065,0,0,0,0,0,0,28.83,25.11,28.83
$GC,14040,0.49,176.3,953.8,9.6,680,14044,0.00,2.28,0.00,0.000,6,0.000,0.057,3365,2327,2064,0,0,0,0,0,0,28.83,25.20,28.83
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$STATE,25246,end climb,SURFACE_DEPTH_REACHED
$STATE,25246,begin surface coast
$FINISH,1.6,1.021715
$STATE,25327,end surface coast,CONTROL_FINISHED_OK
$STATE,25327,begin surface
$SM_CCo,25407,0.00,0.000,0,0,1294,367.95
$SM_GC,2.50,8.25,0.17,0.00,0.026,0.080,0.000,133,2197,1294,-9.45,1.36,367.95,0,0,0,0,0,0,25.89,26.00,28.83
$IRIDIUM_FIX,4713.38,-12541.51,010113,141454
$TT8_MAMPS,0.026964,0.026964
$HUMID,46.14
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,18.90
$XPDR_PINGS,0
$24V_AH,21.9,62.496
$10V_AH,9.8,50.239
$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
$DEVICE_SECS,21.950,202.925,468.600,0.000,0.000,27.001,35.403,228.866,0.000,0.000,17.163,3597.730,18320.521,558.952,2905.751,452.755,0.000,2077.872,0.000,2562.523,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,932.848,684.198,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73619,1353
$CAP_FILE_SIZE,208752,0
$CFSIZE,260165632,220217344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.114, 40.1,1
$GPS,020113,043936,4725.473,-12556.667,32,1.6,32,18.6