version: 66.11
glider: 187
mission: 2
dive: 19
start: 9 15 112 14 18 53
data:
$ID,187
$MISSION,2
$DIVE,19
$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,450
$T_MISSION,500
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51761
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,1
$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,1
$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,-1587636.4
$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,2175
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$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,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
$GPS1,150912,140506,4735.409,-12538.361,32,1.7,32,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-77.6
$GPS2,150912,141749,4735.333,-12538.263,37,1.7,37,18.7
$SPEED_LIMITS,0.127,0.220
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.159,-0.152
$KALMAN_X,14524.1,10.2,-641.5,-54684.0,5595.7
$KALMAN_Y,1873.4,163.6,-2383.7,-24985.5,4934.7
$MHEAD_RNG_PITCHd_Wd,259.3,122231,-13.4,-7.333,-18.42
$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,-0.48,-146.0,0.0,0.0,0,84,0.00,0.00,-64.65,0.000,2,0.000,0.000,130,2164,3038,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.48,-146.0,3.8,-7.3,10,112,11.35,2.20,-6.12,0.000,4,0.230,0.057,3031,757,3393,0,0,0,0,0,0,25.40,25.65,25.92
$GC,181,-0.48,-146.0,33.8,-14.5,27,188,0.00,2.25,0.00,0.000,6,0.000,0.050,3023,2176,3397,0,0,0,0,0,0,28.83,25.69,28.83
$GC,519,-0.48,-146.0,74.3,-11.0,94,526,0.00,2.25,0.00,0.000,4,0.000,0.062,3012,3579,3400,0,0,0,0,0,0,28.83,25.84,28.83
$GC,636,-0.48,-146.0,87.8,-11.5,116,645,0.00,2.17,0.00,0.000,6,0.000,0.041,3012,2168,3399,0,0,0,0,0,0,28.83,25.95,28.83
$GC,950,-0.48,-146.0,126.9,-12.0,156,961,0.00,2.12,0.00,0.000,4,0.000,0.049,3012,770,3400,0,0,0,0,0,0,28.83,26.01,28.83
$GC,984,-0.48,-146.0,131.1,-12.4,159,993,0.10,2.12,0.00,0.000,6,0.126,0.050,3038,2171,3400,0,0,0,0,0,0,25.94,26.02,28.83
$GC,1294,-0.48,-146.0,161.8,-10.0,190,1303,0.00,2.20,0.00,0.000,4,0.000,0.063,3029,3585,3400,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1348,-0.48,-146.0,167.3,-10.7,195,1356,0.00,2.10,0.00,0.000,6,0.000,0.042,3029,2176,3400,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1657,-0.48,-146.0,199.4,-9.7,226,1658,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2175,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1959,-0.48,-146.0,228.2,-9.4,256,1969,0.00,2.22,0.00,0.000,4,0.000,0.063,3019,3593,3398,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2005,-0.48,-146.0,232.5,-9.6,260,2014,0.00,2.17,0.00,0.000,6,0.000,0.044,3019,2179,3399,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2312,-0.48,-146.0,261.6,-9.4,291,2313,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2179,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2616,-0.48,-146.0,290.1,-9.3,321,2626,0.00,2.17,0.00,0.000,4,0.000,0.063,3009,3582,3397,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2642,-0.48,-146.0,292.8,-10.0,323,2649,0.12,2.12,0.00,0.000,6,0.143,0.044,3043,2171,3397,0,0,0,0,0,0,26.17,26.27,28.83
$GC,2949,-0.48,-146.0,319.9,-8.7,354,2950,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2169,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3251,-0.48,-146.0,347.7,-9.4,384,3261,0.00,2.20,0.00,0.000,4,0.000,0.065,3035,3584,3395,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3284,-0.48,-146.0,351.1,-9.4,387,3288,0.00,2.12,0.00,0.000,6,0.000,0.045,3035,2178,3395,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3597,-0.48,-146.0,382.6,-10.2,418,3598,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2176,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3898,-0.48,-146.0,411.3,-9.3,448,3908,0.00,2.20,0.00,0.000,4,0.000,0.066,3025,3588,3394,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3944,-0.48,-146.0,415.7,-9.5,452,3952,0.00,2.12,0.00,0.000,6,0.000,0.045,3025,2173,3394,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4251,-0.48,-146.0,446.0,-10.0,483,4252,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2173,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4554,-0.48,-146.0,474.6,-9.6,513,4563,0.00,2.20,0.00,0.000,4,0.000,0.067,3014,3586,3392,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4586,-0.48,-146.0,478.1,-10.1,516,4590,0.00,2.15,0.00,0.000,6,0.000,0.046,3014,2179,3392,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4899,-0.48,-146.0,510.1,-10.4,547,4907,0.00,2.20,0.00,0.000,4,0.000,0.067,3004,3589,3391,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4933,-0.48,-146.0,513.6,-10.5,550,4941,0.12,2.15,0.00,0.000,6,0.145,0.047,3038,2166,3391,0,0,0,0,0,0,26.28,26.37,28.83
$GC,5241,-0.48,-146.0,541.1,-9.6,581,5250,0.00,2.20,0.00,0.000,4,0.000,0.066,3029,3583,3390,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5283,-0.48,-146.0,545.1,-9.5,585,5287,0.00,2.12,0.00,0.000,6,0.000,0.047,3030,2173,3390,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5596,-0.48,-146.0,575.4,-9.7,616,5605,0.00,2.20,0.00,0.000,4,0.000,0.067,3020,3589,3390,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5641,-0.48,-146.0,579.7,-9.9,620,5649,0.00,2.12,0.00,0.000,6,0.000,0.047,3019,2175,3390,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5968,-0.48,-146.0,611.2,-9.3,645,5974,0.00,2.20,0.00,0.000,4,0.000,0.067,3010,3590,3389,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5998,-0.48,-146.0,614.0,-9.3,646,6004,0.12,2.15,0.00,0.000,6,0.142,0.047,3045,2169,3389,0,0,0,0,0,0,26.30,26.39,28.83
$GC,6329,-0.48,-146.0,638.2,-7.0,657,6330,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2167,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6628,-0.48,-146.0,658.3,-6.7,667,6634,0.00,2.25,0.00,0.000,4,0.000,0.067,3036,3594,3388,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6676,-0.48,-146.0,660.4,-6.8,668,6681,0.00,2.15,0.00,0.000,6,0.000,0.047,3036,2166,3387,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6983,-0.48,-146.0,684.0,-7.1,678,6989,0.00,2.20,0.00,0.000,4,0.000,0.067,3026,3582,3387,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7045,-0.48,-146.0,688.5,-7.3,680,7050,0.00,2.10,0.00,0.000,6,0.000,0.047,3026,2183,3387,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7374,-0.48,-146.0,713.1,-7.3,691,7377,0.00,2.22,0.00,0.000,4,0.000,0.067,3017,3591,3387,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7448,-0.48,-146.0,718.2,-7.6,693,7452,0.00,2.15,0.00,0.000,6,0.000,0.047,3017,2164,3386,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7760,-0.48,-146.0,744.0,-7.8,704,7766,0.00,2.22,0.00,0.000,4,0.000,0.067,3007,3584,3386,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7803,-0.48,-146.0,746.5,-7.9,705,7808,0.12,2.15,0.00,0.000,6,0.142,0.048,3042,2165,3385,0,0,0,0,0,0,26.32,26.41,28.83
$GC,8117,-0.48,-146.0,767.5,-6.1,716,8122,0.00,2.25,0.00,0.000,4,0.000,0.068,3034,3585,3385,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8160,-0.48,-146.0,769.6,-6.3,717,8164,0.00,2.15,0.00,0.000,6,0.000,0.048,3034,2165,3384,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8473,-0.48,-146.0,791.8,-6.8,728,8474,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2163,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8773,-0.48,-146.0,812.8,-7.1,738,8778,0.00,2.22,0.00,0.000,4,0.000,0.069,3024,3589,3384,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8821,-0.48,-146.0,815.0,-7.1,739,8825,0.00,2.15,0.00,0.000,6,0.000,0.049,3024,2169,3384,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9128,-0.48,-146.0,840.9,-8.1,749,9133,0.00,2.20,0.00,0.000,4,0.000,0.069,3014,3579,3384,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9170,-0.48,-146.0,843.4,-8.2,750,9174,0.00,2.12,0.00,0.000,6,0.000,0.049,3014,2176,3384,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9483,-0.48,-146.0,871.6,-8.7,761,9484,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2173,3383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9782,-0.48,-146.0,898.0,-8.7,771,9783,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2173,3383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10083,-0.48,-146.0,922.2,-7.9,781,10088,0.00,2.20,0.00,0.000,4,0.000,0.070,3004,3582,3382,0,0,0,0,0,0,28.83,26.38,28.83
$GC,10135,-0.48,-146.0,924.7,-7.8,782,10143,0.12,2.12,0.00,0.000,6,0.142,0.049,3039,2175,3383,0,0,0,0,0,0,26.34,26.44,28.83
$GC,10443,-0.48,-146.0,946.0,-6.0,793,10448,0.00,2.20,0.00,0.000,4,0.000,0.070,3031,3581,3382,0,0,0,0,0,0,28.83,26.38,28.83
$GC,10486,-0.48,-146.0,947.8,-5.9,794,10490,0.00,2.12,0.00,0.000,6,0.000,0.050,3031,2177,3382,0,0,0,0,0,0,28.83,26.43,28.83
$GC,10799,-0.48,-146.0,967.6,-5.9,805,10804,0.00,2.20,0.00,0.000,4,0.000,0.070,3021,3588,3381,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10846,-0.48,-146.0,969.7,-6.1,806,10850,0.00,2.15,0.00,0.000,6,0.000,0.050,3021,2168,3381,0,0,0,0,0,0,28.83,26.42,28.83
$STATE,11150,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11150,begin apogee
$GC,11157,-0.22,0.0,990.1,-6.2,816,11289,0.30,0.00,126.25,1.226,6,0.122,0.000,3123,2312,2794,0,0,0,0,0,0,26.34,28.83,23.53
$STATE,11292,end apogee,CONTROL_FINISHED_OK
$STATE,11292,begin climb
$GC,11295,0.48,146.0,993.0,0.0,820,11439,0.65,2.40,134.12,1.180,4,0.086,0.055,3353,905,2197,0,0,0,0,0,0,24.48,24.10,23.30
$GC,11454,0.48,146.0,983.2,7.5,826,11459,0.00,2.33,0.00,0.000,6,0.000,0.055,3353,2292,2193,0,0,0,0,0,0,28.83,24.44,28.83
$GC,11777,0.48,146.0,950.4,9.6,837,11783,0.00,2.35,0.00,0.000,4,0.000,0.069,3354,3717,2187,0,0,0,0,0,0,28.83,25.37,28.83
$GC,11890,0.48,146.0,940.0,11.2,840,11897,0.00,2.22,0.00,0.000,6,0.000,0.050,3363,2309,2185,0,0,0,0,0,0,28.83,25.53,28.83
$GC,12197,0.48,146.0,903.6,10.9,851,12198,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,2305,2184,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12497,0.48,146.0,870.0,11.2,861,12498,0.00,0.00,0.00,0.000,6,0.000,0.000,3363,2305,2184,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12797,0.48,146.0,836.8,11.0,871,12798,0.00,0.00,0.00,0.000,6,0.000,0.000,3363,2305,2183,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13097,0.48,146.0,803.9,10.8,881,13103,0.00,2.28,0.00,0.000,4,0.000,0.070,3363,3709,2183,0,0,0,0,0,0,28.83,26.00,28.83
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$STATE,22302,end climb,SURFACE_DEPTH_REACHED
$STATE,22302,begin surface coast
$FINISH,0.5,1.023762
$STATE,22353,end surface coast,CONTROL_FINISHED_OK
$STATE,22353,begin surface
$SM_CCo,22434,0.00,0.000,0,0,1466,326.00
$SM_GC,1.84,8.55,2.50,0.00,0.032,0.045,0.000,125,2164,1466,-9.46,1.02,326.00,0,0,0,0,0,0,25.48,25.44,28.83
$IRIDIUM_FIX,4716.56,-12538.19,150912,141417
$TT8_MAMPS,0.026964,0.026964
$HUMID,41.84
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,16.70
$XPDR_PINGS,1
$24V_AH,23.3,5.139
$10V_AH,10.3,3.994
$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,22.000,193.975,404.100,0.000,0.000,55.223,77.554,388.283,0.250,0.000,38.266,4572.646,13105.837,609.881,4424.094,463.725,33.240,2352.777,0.000,3862.586,0.000,0.536,0.000
$DEVICE_MAMPS,230.265,84.150,1226.295,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1261.226,1508.675,1815.843,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296944
$DATA_FILE_SIZE,103686,1829
$CAP_FILE_SIZE,220307,0
$CFSIZE,260165632,255713280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.160,105.3,1
$GPS,150912,203405,4735.259,-12540.080,40,1.3,40,18.7