version: 66.11
glider: 187
mission: 2
dive: 23
start: 9 16 112 16 6 31
data:
$ID,187
$MISSION,2
$DIVE,23
$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,-1587643.4
$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,31
$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
$GPS1,160912,155806,4734.473,-12546.540,33,1.3,33,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-79.5
$GPS2,160912,160525,4734.498,-12546.504,14,1.4,14,18.7
$SPEED_LIMITS,0.127,0.220
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.188,-0.115
$KALMAN_X,22505.4,321.6,-856.5,-73010.3,6266.8
$KALMAN_Y,3491.5,737.8,379.8,-31521.6,-4079.6
$MHEAD_RNG_PITCHd_Wd,226.3,112691,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.48,-146.0,0.0,0.0,0,82,0.00,0.00,-63.47,0.000,2,0.000,0.000,122,2182,2985,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.48,-146.0,3.5,-6.5,10,115,11.27,2.30,-7.30,0.000,4,0.228,0.075,3023,3585,3394,0,0,0,0,0,0,25.42,25.63,25.94
$GC,189,-0.48,-146.0,31.9,-13.8,29,197,0.00,2.22,0.00,0.000,6,0.000,0.044,3023,2163,3397,0,0,0,0,0,0,28.83,25.74,28.83
$GC,523,-0.48,-146.0,76.1,-13.1,95,531,0.00,2.30,0.00,0.000,4,0.000,0.063,3012,3585,3400,0,0,0,0,0,0,28.83,25.87,28.83
$GC,590,-0.48,-146.0,84.3,-11.3,107,597,0.00,2.20,0.00,0.000,6,0.000,0.043,3012,2170,3401,0,0,0,0,0,0,28.83,25.94,28.83
$GC,902,-0.48,-146.0,121.8,-12.3,150,904,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2169,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1204,-0.48,-146.0,158.0,-11.9,180,1213,0.00,2.10,0.00,0.000,4,0.000,0.050,3012,780,3401,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1237,-0.48,-146.0,162.1,-12.0,183,1246,0.10,2.12,0.00,0.000,6,0.129,0.050,3037,2178,3401,0,0,0,0,0,0,26.00,26.08,28.83
$GC,1546,-0.48,-146.0,191.8,-9.2,214,1556,0.00,2.17,0.00,0.000,4,0.000,0.063,3028,3578,3400,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1589,-0.48,-146.0,196.1,-10.0,218,1599,0.00,2.15,0.00,0.000,6,0.000,0.044,3028,2164,3400,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1900,-0.48,-146.0,229.3,-10.5,249,1901,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2164,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2202,-0.48,-146.0,260.2,-10.3,279,2211,0.00,2.22,0.00,0.000,4,0.000,0.063,3018,3590,3400,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2257,-0.48,-146.0,266.1,-10.8,284,2264,0.00,2.15,0.00,0.000,6,0.000,0.044,3018,2166,3400,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2564,-0.48,-146.0,300.2,-10.5,315,2574,0.00,2.22,0.00,0.000,4,0.000,0.063,3007,3586,3399,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2600,-0.48,-146.0,303.7,-10.9,318,2608,0.08,2.17,0.00,0.000,6,0.127,0.044,3034,2176,3399,0,0,0,0,0,0,26.17,26.27,28.83
$GC,2908,-0.48,-146.0,329.6,-7.7,349,2909,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2175,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3210,-0.48,-146.0,353.9,-8.5,379,3216,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2175,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3520,-0.48,-146.0,379.8,-8.7,410,3528,0.00,2.17,0.00,0.000,4,0.000,0.065,3026,3581,3396,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3562,-0.48,-146.0,383.7,-8.9,414,3571,0.00,2.10,0.00,0.000,6,0.000,0.046,3026,2181,3396,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3872,-0.48,-146.0,411.9,-9.2,445,3873,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2181,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4174,-0.48,-146.0,440.0,-9.4,475,4180,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2181,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4485,-0.48,-146.0,469.8,-9.1,506,4494,0.00,2.17,0.00,0.000,4,0.000,0.066,3016,3582,3395,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4528,-0.48,-146.0,474.1,-9.3,510,4537,0.00,2.10,0.00,0.000,6,0.000,0.047,3016,2181,3395,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4838,-0.48,-146.0,502.6,-8.8,541,4839,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2180,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5140,-0.48,-146.0,528.4,-8.8,571,5149,0.00,2.17,0.00,0.000,4,0.000,0.067,3007,3582,3394,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5203,-0.48,-146.0,534.1,-9.1,577,5213,0.08,2.12,0.00,0.000,6,0.126,0.047,3035,2167,3394,0,0,0,0,0,0,26.29,26.39,28.83
$GC,5512,-0.48,-146.0,557.4,-7.8,608,5516,0.00,2.25,0.00,0.000,4,0.000,0.067,3026,3589,3393,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5538,-0.48,-146.0,559.1,-8.3,610,5545,0.00,2.15,0.00,0.000,6,0.000,0.047,3026,2169,3393,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5844,-0.48,-146.0,585.3,-8.7,641,5846,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2168,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6165,-0.48,-146.0,613.5,-8.6,663,6166,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2168,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6464,-0.48,-146.0,638.7,-8.3,673,6470,0.00,2.22,0.00,0.000,4,0.000,0.067,3016,3586,3391,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6497,-0.48,-146.0,641.3,-8.3,674,6501,0.00,2.15,0.00,0.000,6,0.000,0.048,3016,2173,3391,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6820,-0.48,-146.0,669.5,-8.4,685,6825,0.00,2.22,0.00,0.000,4,0.000,0.067,3007,3588,3391,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6842,-0.48,-146.0,669.5,-8.4,685,6851,0.12,2.15,0.00,0.000,6,0.145,0.048,3042,2169,3391,0,0,0,0,0,0,26.32,26.41,28.83
$GC,7150,-0.48,-146.0,692.1,-6.6,696,7156,0.00,2.20,0.00,0.000,4,0.000,0.067,3033,3582,3390,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7182,-0.48,-146.0,694.1,-6.5,697,7186,0.00,2.15,0.00,0.000,6,0.000,0.048,3034,2167,3391,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7505,-0.48,-146.0,714.6,-6.1,708,7510,0.00,2.20,0.00,0.000,4,0.000,0.067,3023,3581,3390,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7548,-0.48,-146.0,716.6,-6.1,709,7552,0.00,2.12,0.00,0.000,6,0.000,0.048,3023,2177,3390,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7860,-0.48,-146.0,738.4,-6.9,720,7866,0.00,2.20,0.00,0.000,4,0.000,0.068,3013,3582,3389,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7898,-0.48,-146.0,740.9,-7.2,721,7902,0.00,2.15,0.00,0.000,6,0.000,0.049,3013,2166,3389,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8215,-0.48,-146.0,768.3,-8.4,732,8221,0.00,2.25,0.00,0.000,4,0.000,0.068,3003,3584,3389,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8259,-0.48,-146.0,770.9,-8.4,733,8264,0.12,2.15,0.00,0.000,6,0.146,0.048,3037,2166,3389,0,0,0,0,0,0,26.32,26.41,28.83
$GC,8572,-0.48,-146.0,794.2,-7.0,744,8577,0.00,2.25,0.00,0.000,4,0.000,0.069,3029,3589,3388,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8602,-0.48,-146.0,796.5,-7.2,745,8608,0.00,2.15,0.00,0.000,6,0.000,0.049,3029,2175,3388,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8932,-0.48,-146.0,820.9,-7.5,756,8933,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2173,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9232,-0.48,-146.0,842.9,-7.4,766,9237,0.00,2.20,0.00,0.000,4,0.000,0.069,3019,3582,3387,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9275,-0.48,-146.0,845.3,-7.5,767,9279,0.00,2.15,0.00,0.000,6,0.000,0.049,3019,2169,3387,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9587,-0.48,-146.0,871.5,-8.0,778,9588,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2167,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9887,-0.48,-146.0,894.0,-7.3,788,9892,0.00,2.25,0.00,0.000,4,0.000,0.070,3010,3593,3387,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9920,-0.48,-146.0,896.1,-7.2,789,9925,0.12,2.17,0.00,0.000,6,0.142,0.050,3044,2168,3387,0,0,0,0,0,0,26.34,26.43,28.83
$GC,10243,-0.48,-146.0,914.0,-5.1,800,10249,0.00,2.22,0.00,0.000,4,0.000,0.070,3036,3582,3387,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10296,-0.48,-146.0,915.6,-5.1,801,10304,0.00,2.15,0.00,0.000,6,0.000,0.050,3036,2168,3386,0,0,0,0,0,0,28.83,26.42,28.83
$GC,10604,-0.48,-146.0,933.9,-5.3,812,10609,0.00,2.25,0.00,0.000,4,0.000,0.070,3026,3588,3386,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10641,-0.48,-146.0,935.7,-5.3,813,10645,0.00,2.17,0.00,0.000,6,0.000,0.050,3026,2169,3386,0,0,0,0,0,0,28.83,26.42,28.83
$GC,10964,-0.48,-146.0,956.4,-6.4,824,10965,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2168,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11264,-0.48,-146.0,975.6,-6.5,834,11270,0.00,2.22,0.00,0.000,4,0.000,0.070,3017,3589,3385,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11337,-0.48,-146.0,979.8,-6.8,836,11341,0.00,2.15,0.00,0.000,6,0.000,0.050,3016,2174,3385,0,0,0,0,0,0,28.83,26.43,28.83
$STATE,11466,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11466,begin apogee
$GC,11473,-0.22,0.0,990.2,-7.2,841,11605,0.30,0.00,126.50,1.222,6,0.125,0.000,3119,2306,2794,0,0,0,0,0,0,26.34,28.83,23.56
$STATE,11608,end apogee,CONTROL_FINISHED_OK
$STATE,11608,begin climb
$GC,11611,0.48,146.0,993.3,0.0,845,11749,0.68,0.00,134.25,1.182,6,0.086,0.000,3344,2306,2198,0,0,0,0,0,0,24.49,28.83,23.30
$GC,12039,0.48,146.0,957.8,9.4,860,12044,0.00,2.33,0.00,0.000,4,0.000,0.069,3344,3706,2187,0,0,0,0,0,0,28.83,25.29,28.83
$GC,12069,0.48,146.0,954.8,9.5,861,12075,0.00,2.25,0.00,0.000,6,0.000,0.050,3354,2308,2187,0,0,0,0,0,0,28.83,25.37,28.83
$GC,12399,0.48,146.0,923.1,9.2,872,12405,0.00,2.28,0.00,0.000,4,0.000,0.059,3365,872,2186,0,0,0,0,0,0,28.83,25.64,28.83
$GC,12437,0.48,146.0,920.3,9.1,873,12441,0.00,2.28,0.00,0.000,6,0.000,0.057,3365,2292,2185,0,0,0,0,0,0,28.83,25.67,28.83
$GC,12754,0.48,146.0,888.8,9.8,884,12760,0.00,2.30,0.00,0.000,4,0.000,0.069,3364,3719,2184,0,0,0,0,0,0,28.83,25.81,28.83
$GC,12817,0.48,146.0,882.0,10.4,886,12821,0.00,2.22,0.00,0.000,6,0.000,0.051,3375,2298,2183,0,0,0,0,0,0,28.83,25.86,28.83
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$STATE,22584,end climb,SURFACE_DEPTH_REACHED
$STATE,22584,begin surface coast
$FINISH,0.7,1.012239
$STATE,22654,end surface coast,CONTROL_FINISHED_OK
$STATE,22654,begin surface
$SM_CCo,22735,0.00,0.000,0,0,1488,320.61
$SM_GC,1.86,8.38,2.08,0.00,0.031,0.053,0.000,127,2182,1488,-9.48,-0.74,320.61,0,0,0,0,0,0,25.77,25.72,28.83
$IRIDIUM_FIX,4719.74,-12547.10,160912,090908
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.16
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,16.20
$XPDR_PINGS,1
$24V_AH,23.3,5.683
$10V_AH,10.3,4.724
$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,21.975,202.575,400.650,0.000,0.000,24.769,48.252,225.665,0.250,0.000,17.150,4564.119,13402.078,618.789,4114.612,457.333,33.241,2352.990,0.000,3799.498,0.000,0.536,0.000
$DEVICE_MAMPS,227.970,87.210,1221.705,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1256.240,1498.012,1754.432,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296964
$DATA_FILE_SIZE,103422,1821
$CAP_FILE_SIZE,217800,0
$CFSIZE,260165632,255303680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.133, 26.0,1
$GPS,160912,222635,4734.910,-12549.599,31,1.9,31,18.7