version: 66.11
glider: 187
mission: 2
dive: 39
start: 9 21 112 0 21 46
data:
$ID,187
$MISSION,2
$DIVE,39
$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,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,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,-1587667.4
$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,32
$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
$GPS1,210912,001024,4712.552,-12633.613,40,1.3,40,18.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-79.1
$GPS2,210912,002114,4712.507,-12633.606,11,2.2,30,18.6
$SPEED_LIMITS,0.127,0.220
$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,205.0,40594,-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,-146.0,0.0,0.0,0,78,0.00,0.00,-59.83,0.000,2,0.000,0.000,114,2178,2865,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.48,-146.0,3.1,-4.9,10,110,11.38,2.28,-9.93,0.000,4,0.228,0.062,3036,757,3392,0,0,0,0,0,0,25.42,25.65,25.95
$GC,123,-0.48,-146.0,19.0,-37.5,16,130,0.00,2.28,0.00,0.000,6,0.000,0.051,3028,2180,3395,0,0,0,0,0,0,28.83,25.66,28.83
$GC,441,-0.48,-146.0,67.7,-14.8,77,448,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2180,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,757,-0.48,-146.0,106.2,-11.5,138,764,0.00,2.25,0.00,0.000,4,0.000,0.062,3017,3587,3400,0,0,0,0,0,0,28.83,25.96,28.83
$GC,792,-0.48,-146.0,110.4,-12.4,144,800,0.00,2.20,0.00,0.000,6,0.000,0.043,3017,2163,3400,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1110,-0.48,-146.0,150.6,-11.8,174,1111,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2162,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1408,-0.48,-146.0,180.6,-10.0,194,1409,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2162,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1708,-0.48,-146.0,213.4,-10.6,214,1709,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2162,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2008,-0.48,-146.0,243.8,-10.0,234,2009,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2162,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2308,-0.48,-146.0,274.6,-10.5,254,2309,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2162,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2608,-0.48,-146.0,304.7,-9.7,274,2610,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2162,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2908,-0.48,-146.0,332.9,-9.2,294,2909,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2162,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3208,-0.48,-146.0,359.7,-8.9,314,3212,0.00,2.25,0.00,0.000,4,0.000,0.065,3007,3583,3395,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3263,-0.48,-146.0,364.1,-8.9,317,3271,0.12,2.12,0.00,0.000,6,0.142,0.046,3041,2173,3395,0,0,0,0,0,0,26.23,26.32,28.83
$GC,3570,-0.48,-146.0,388.0,-7.9,338,3571,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2173,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3870,-0.48,-146.0,412.5,-8.1,353,3876,0.00,2.22,0.00,0.000,4,0.000,0.066,3034,3584,3393,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3913,-0.48,-146.0,415.1,-8.2,354,3917,0.00,2.12,0.00,0.000,6,0.000,0.047,3033,2178,3393,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4225,-0.48,-146.0,442.3,-8.4,365,4226,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2176,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4525,-0.48,-146.0,466.2,-7.9,375,4531,0.00,2.22,0.00,0.000,4,0.000,0.067,3023,3592,3391,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4548,-0.48,-146.0,466.2,-7.9,375,4555,0.00,2.15,0.00,0.000,6,0.000,0.047,3023,2170,3391,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4856,-0.48,-146.0,494.7,-8.4,386,4857,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2170,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5155,-0.48,-146.0,519.8,-8.4,396,5161,0.00,2.25,0.00,0.000,4,0.000,0.067,3013,3593,3389,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5185,-0.48,-146.0,522.4,-8.5,397,5191,0.00,2.15,0.00,0.000,6,0.000,0.047,3013,2171,3390,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5515,-0.48,-146.0,553.1,-9.5,408,5516,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2169,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5816,-0.48,-146.0,580.5,-9.0,418,5822,0.00,2.20,0.00,0.000,4,0.000,0.067,3003,3579,3388,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5845,-0.48,-146.0,583.3,-9.0,419,5852,0.12,2.15,0.00,0.000,6,0.142,0.048,3038,2164,3388,0,0,0,0,0,0,26.30,26.39,28.83
$GC,6176,-0.48,-146.0,607.3,-6.9,430,6177,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2162,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6475,-0.48,-146.0,627.6,-6.9,440,6481,0.00,2.22,0.00,0.000,4,0.000,0.067,3030,3589,3386,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6544,-0.48,-146.0,632.2,-7.2,442,6548,0.00,2.15,0.00,0.000,6,0.000,0.048,3030,2169,3386,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6861,-0.48,-146.0,658.5,-8.4,453,6862,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2166,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7161,-0.48,-146.0,684.4,-8.7,463,7164,0.00,2.25,0.00,0.000,4,0.000,0.068,3019,3583,3385,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7200,-0.48,-146.0,687.3,-8.7,464,7204,0.00,2.15,0.00,0.000,6,0.000,0.049,3019,2165,3385,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7522,-0.48,-146.0,716.4,-8.6,475,7528,0.00,2.25,0.00,0.000,4,0.000,0.067,3010,3596,3384,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7552,-0.48,-146.0,719.1,-8.6,476,7559,0.12,2.15,0.00,0.000,6,0.138,0.049,3046,2174,3384,0,0,0,0,0,0,26.33,26.41,28.83
$GC,7883,-0.48,-146.0,740.5,-6.0,487,7884,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2172,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8183,-0.48,-146.0,757.2,-5.4,497,8188,0.00,2.20,0.00,0.000,4,0.000,0.069,3037,3580,3384,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8226,-0.48,-146.0,758.7,-5.4,498,8230,0.00,2.12,0.00,0.000,6,0.000,0.049,3038,2178,3384,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8538,-0.48,-146.0,779.3,-6.6,509,8539,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2177,3383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8838,-0.48,-146.0,799.6,-6.7,519,8839,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2177,3383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9138,-0.48,-146.0,819.2,-6.3,529,9144,0.00,2.20,0.00,0.000,4,0.000,0.070,3028,3581,3382,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9181,-0.48,-146.0,821.2,-6.3,530,9185,0.00,2.15,0.00,0.000,6,0.000,0.050,3028,2164,3382,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9494,-0.48,-146.0,842.0,-6.2,541,9499,0.00,2.22,0.00,0.000,4,0.000,0.069,3018,3587,3382,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9526,-0.48,-146.0,843.9,-6.3,542,9530,0.00,2.15,0.00,0.000,6,0.000,0.050,3018,2167,3381,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9849,-0.48,-146.0,865.2,-6.5,553,9854,0.00,2.25,0.00,0.000,4,0.000,0.069,3008,3583,3382,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9881,-0.48,-146.0,867.3,-6.6,554,9886,0.12,2.15,0.00,0.000,6,0.137,0.050,3044,2167,3381,0,0,0,0,0,0,26.34,26.41,28.83
$GC,10204,-0.48,-146.0,885.3,-5.7,565,10210,0.00,2.22,0.00,0.000,4,0.000,0.069,3036,3582,3381,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10234,-0.48,-146.0,887.1,-5.8,566,10240,0.00,2.12,0.00,0.000,6,0.000,0.050,3035,2172,3381,0,0,0,0,0,0,28.83,26.42,28.83
$GC,10564,-0.48,-146.0,909.0,-6.9,577,10570,0.00,2.20,0.00,0.000,4,0.000,0.070,3026,3581,3381,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10595,-0.48,-146.0,911.2,-6.9,578,10600,0.00,2.10,0.00,0.000,6,0.000,0.050,3026,2182,3381,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10924,-0.48,-146.0,935.6,-7.3,589,10925,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2181,3380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11224,-0.48,-146.0,956.7,-6.8,599,11230,0.00,2.20,0.00,0.000,4,0.000,0.070,3017,3584,3381,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11284,-0.48,-146.0,961.1,-6.9,601,11290,0.00,2.15,0.00,0.000,6,0.000,0.050,3017,2171,3380,0,0,0,0,0,0,28.83,26.41,28.83
$GC,11614,-0.48,-146.0,984.3,-7.0,612,11615,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2170,3380,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11701,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11701,begin apogee
$GC,11708,-0.22,0.0,990.3,-6.7,615,11839,0.30,0.00,125.18,1.207,6,0.119,0.000,3120,2314,2794,0,0,0,0,0,0,26.34,28.83,23.63
$STATE,11842,end apogee,CONTROL_FINISHED_OK
$STATE,11842,begin climb
$GC,11845,0.48,146.0,993.5,0.0,619,11983,0.68,0.00,134.40,1.172,6,0.082,0.000,3348,2314,2198,0,0,0,0,0,0,24.56,28.83,23.34
$GC,12274,0.48,146.0,957.5,9.5,634,12280,0.00,2.28,0.00,0.000,4,0.000,0.069,3348,3703,2187,0,0,0,0,0,0,28.83,25.29,28.83
$GC,12304,0.48,146.0,954.4,9.6,635,12310,0.00,2.25,0.00,0.000,6,0.000,0.050,3358,2308,2186,0,0,0,0,0,0,28.83,25.36,28.83
$GC,12634,0.48,146.0,919.6,10.7,646,12640,0.00,2.25,0.00,0.000,4,0.000,0.070,3359,3695,2185,0,0,0,0,0,0,28.83,25.63,28.83
$GC,12657,0.48,146.0,919.6,10.7,646,12664,0.00,2.20,0.00,0.000,6,0.000,0.051,3369,2301,2184,0,0,0,0,0,0,28.83,25.67,28.83
$GC,12966,0.48,146.0,882.0,11.4,657,12967,0.00,0.00,0.00,0.000,6,0.000,0.000,3369,2297,2184,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13264,0.48,146.0,847.6,11.4,667,13270,0.00,2.28,0.00,0.000,4,0.000,0.069,3369,3707,2183,0,0,0,0,0,0,28.83,25.91,28.83
$GC,13307,0.48,146.0,843.8,11.7,668,13311,0.00,2.20,0.00,0.000,6,0.000,0.051,3379,2301,2183,0,0,0,0,0,0,28.83,25.95,28.83
$GC,13619,0.48,146.0,804.5,12.0,679,13625,0.00,2.28,0.00,0.000,4,0.000,0.069,3379,3703,2183,0,0,0,0,0,0,28.83,25.99,28.83
$GC,13652,0.48,146.0,800.5,12.2,680,13657,0.15,2.20,0.00,0.000,6,0.165,0.051,3352,2298,2182,0,0,0,0,0,0,25.92,26.03,28.83
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$STATE,22607,end climb,SURFACE_DEPTH_REACHED
$STATE,22609,begin surface coast
$FINISH,0.5,1.012472
$STATE,22645,end surface coast,CONTROL_FINISHED_OK
$STATE,22646,begin surface
$SM_CCo,22725,0.00,0.000,0,0,1049,428.05
$SM_GC,1.69,8.52,0.20,0.00,0.030,0.073,0.000,118,2165,1049,-9.48,1.05,428.05,0,0,0,0,0,0,25.59,25.55,28.83
$IRIDIUM_FIX,4722.92,-12631.73,210912,000052
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.50
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,19.60
$XPDR_PINGS,0
$24V_AH,23.3,7.907
$10V_AH,10.3,7.087
$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,22.000,172.725,485.450,0.000,0.000,55.249,75.387,264.493,0.000,0.000,31.850,3462.873,15810.979,587.565,3121.370,382.835,0.000,1984.869,0.000,2651.608,0.000,0.535,0.000
$DEVICE_MAMPS,227.970,84.150,1207.170,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,924.665,1092.075,609.560,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297072
$DATA_FILE_SIZE,76786,1342
$CAP_FILE_SIZE,191058,0
$CFSIZE,260165632,253845504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.049, 61.6,1
$GPS,210912,064153,4710.184,-12636.112,27,1.2,44,18.6