version: 66.11
glider: 187
mission: 2
dive: 42
start: 9 21 112 19 55 48
data:
$ID,187
$MISSION,2
$DIVE,42
$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,-1587671.1
$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,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,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
$GPS1,210912,194823,4707.007,-12642.798,38,1.5,38,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-78.1
$GPS2,210912,195518,4706.994,-12642.749,11,1.5,11,18.6
$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,225.1,25348,-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,18,-0.48,-146.0,0.0,0.0,0,86,0.00,0.00,-65.85,0.000,2,0.000,0.000,113,2162,2844,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.48,-146.0,3.3,-5.5,11,118,11.35,2.35,-10.25,0.000,4,0.227,0.071,3025,3593,3394,0,0,0,0,0,0,25.40,25.62,25.94
$GC,146,-0.48,-146.0,24.8,-33.6,20,153,0.00,2.22,0.00,0.000,6,0.000,0.044,3025,2190,3397,0,0,0,0,0,0,28.83,25.66,28.83
$GC,465,-0.48,-146.0,75.1,-13.2,81,472,0.00,2.20,0.00,0.000,4,0.000,0.049,3025,757,3401,0,0,0,0,0,0,28.83,25.85,28.83
$GC,496,-0.48,-146.0,79.2,-13.4,86,503,0.00,2.22,0.00,0.000,6,0.000,0.049,3015,2171,3401,0,0,0,0,0,0,28.83,25.86,28.83
$GC,814,-0.48,-146.0,120.1,-11.9,147,819,0.00,2.20,0.00,0.000,4,0.000,0.061,3004,3583,3402,0,0,0,0,0,0,28.83,25.96,28.83
$GC,845,-0.48,-146.0,123.4,-11.2,149,850,0.12,2.17,0.00,0.000,6,0.145,0.042,3038,2155,3402,0,0,0,0,0,0,25.91,26.01,28.83
$GC,1156,-0.48,-146.0,152.6,-8.6,169,1161,0.00,2.28,0.00,0.000,4,0.000,0.062,3029,3588,3402,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1199,-0.48,-146.0,156.7,-8.8,172,1205,0.00,2.15,0.00,0.000,6,0.000,0.043,3029,2167,3402,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1515,-0.48,-146.0,184.3,-9.4,193,1520,0.00,2.10,0.00,0.000,4,0.000,0.050,3029,778,3402,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1547,-0.48,-146.0,187.3,-9.7,195,1551,0.00,2.15,0.00,0.000,6,0.000,0.050,3020,2185,3402,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1854,-0.48,-146.0,218.6,-10.1,215,1860,0.00,2.17,0.00,0.000,4,0.000,0.063,3010,3582,3401,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1887,-0.48,-146.0,221.7,-10.1,217,1892,0.12,2.12,0.00,0.000,6,0.139,0.044,3044,2173,3401,0,0,0,0,0,0,26.10,26.20,28.83
$GC,2198,-0.48,-146.0,248.4,-8.4,237,2199,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2171,3401,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2494,-0.48,-146.0,272.8,-8.3,257,2495,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2171,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2794,-0.48,-146.0,296.4,-7.4,277,2800,0.00,2.22,0.00,0.000,4,0.000,0.064,3036,3589,3398,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2854,-0.48,-146.0,301.1,-8.0,281,2860,0.00,2.15,0.00,0.000,6,0.000,0.045,3036,2166,3398,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3170,-0.48,-146.0,325.1,-7.7,302,3171,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2164,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3470,-0.48,-146.0,350.3,-8.4,322,3475,0.00,2.20,0.00,0.000,4,0.000,0.065,3026,3574,3396,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3530,-0.48,-146.0,355.8,-9.2,326,3536,0.00,2.10,0.00,0.000,6,0.000,0.045,3026,2170,3396,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3844,-0.48,-146.0,383.5,-9.0,347,3845,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2167,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4159,-0.48,-146.0,411.2,-8.9,364,4165,0.00,2.22,0.00,0.000,4,0.000,0.065,3016,3585,3395,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4202,-0.48,-146.0,414.0,-8.8,365,4206,0.00,2.15,0.00,0.000,6,0.000,0.047,3016,2173,3394,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4519,-0.48,-146.0,444.1,-9.0,376,4520,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2171,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4820,-0.48,-146.0,471.9,-9.3,386,4826,0.00,2.20,0.00,0.000,4,0.000,0.066,3006,3585,3392,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4868,-0.48,-146.0,474.9,-9.4,387,4872,0.12,2.15,0.00,0.000,6,0.140,0.047,3041,2164,3392,0,0,0,0,0,0,26.28,26.36,28.83
$GC,5174,-0.48,-146.0,500.6,-7.7,397,5180,0.00,2.22,0.00,0.000,4,0.000,0.067,3033,3581,3392,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5222,-0.48,-146.0,503.0,-7.7,398,5226,0.00,2.12,0.00,0.000,6,0.000,0.047,3033,2176,3392,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5529,-0.48,-146.0,529.4,-8.0,408,5530,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2173,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5830,-0.48,-146.0,552.7,-7.7,418,5835,0.00,2.22,0.00,0.000,4,0.000,0.067,3023,3585,3391,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5889,-0.48,-146.0,557.6,-7.9,420,5895,0.00,2.12,0.00,0.000,6,0.000,0.048,3023,2177,3391,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6219,-0.48,-146.0,585.6,-8.5,431,6225,0.00,2.20,0.00,0.000,4,0.000,0.067,3013,3581,3390,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6252,-0.48,-146.0,588.3,-8.7,432,6256,0.00,2.15,0.00,0.000,6,0.000,0.048,3013,2164,3390,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6575,-0.48,-146.0,618.3,-9.1,443,6580,0.00,2.25,0.00,0.000,4,0.000,0.067,3003,3601,3389,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6604,-0.48,-146.0,621.0,-9.0,444,6611,0.12,2.17,0.00,0.000,6,0.142,0.048,3038,2164,3389,0,0,0,0,0,0,26.30,26.39,28.83
$GC,6935,-0.48,-146.0,644.6,-6.8,455,6940,0.00,2.22,0.00,0.000,4,0.000,0.068,3030,3585,3388,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6978,-0.48,-146.0,646.8,-6.8,456,6982,0.00,2.15,0.00,0.000,6,0.000,0.049,3030,2166,3388,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7290,-0.48,-146.0,671.0,-7.6,467,7295,0.00,2.25,0.00,0.000,4,0.000,0.068,3020,3583,3387,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7322,-0.48,-146.0,673.3,-7.6,468,7326,0.00,2.15,0.00,0.000,6,0.000,0.049,3020,2173,3387,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7650,-0.48,-146.0,699.6,-7.9,479,7655,0.00,2.22,0.00,0.000,4,0.000,0.068,3010,3583,3387,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7680,-0.48,-146.0,702.0,-7.9,480,7686,0.12,2.15,0.00,0.000,6,0.137,0.049,3046,2164,3387,0,0,0,0,0,0,26.32,26.39,28.83
$GC,8010,-0.48,-146.0,722.9,-6.2,491,8015,0.00,2.22,0.00,0.000,4,0.000,0.069,3037,3585,3387,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8053,-0.48,-146.0,724.9,-6.2,492,8057,0.00,2.15,0.00,0.000,6,0.000,0.050,3037,2176,3386,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8365,-0.48,-146.0,746.4,-6.6,503,8371,0.00,2.22,0.00,0.000,4,0.000,0.069,3027,3582,3386,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8403,-0.48,-146.0,748.5,-6.7,504,8408,0.00,2.12,0.00,0.000,6,0.000,0.050,3027,2176,3385,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8721,-0.48,-146.0,771.7,-7.0,515,8726,0.00,2.22,0.00,0.000,4,0.000,0.069,3018,3583,3385,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8744,-0.48,-146.0,771.7,-7.0,515,8751,0.00,2.15,0.00,0.000,6,0.000,0.050,3017,2165,3385,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9051,-0.48,-146.0,797.5,-7.8,526,9052,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2165,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9350,-0.48,-146.0,821.2,-7.9,536,9356,0.00,2.25,0.00,0.000,4,0.000,0.069,3007,3586,3384,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9411,-0.48,-146.0,826.2,-8.2,538,9417,0.08,2.12,0.00,0.000,6,0.120,0.050,3037,2170,3384,0,0,0,0,0,0,26.32,26.41,28.83
$GC,9741,-0.48,-146.0,848.2,-6.5,549,9746,0.00,2.20,0.00,0.000,4,0.000,0.070,3028,3578,3384,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9784,-0.48,-146.0,850.2,-6.6,550,9788,0.00,2.12,0.00,0.000,6,0.000,0.050,3028,2175,3384,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10096,-0.48,-146.0,871.6,-6.5,561,10097,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2173,3383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10396,-0.48,-146.0,890.7,-6.4,571,10402,0.00,2.20,0.00,0.000,4,0.000,0.070,3019,3576,3383,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10474,-0.48,-146.0,894.9,-6.6,573,10478,0.00,2.12,0.00,0.000,6,0.000,0.050,3019,2177,3383,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10781,-0.48,-146.0,918.1,-7.3,583,10782,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2174,3383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11081,-0.48,-146.0,940.6,-7.8,593,11087,0.00,2.22,0.00,0.000,4,0.000,0.070,3009,3585,3382,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11124,-0.48,-146.0,943.0,-7.8,594,11128,0.12,2.17,0.00,0.000,6,0.137,0.050,3044,2166,3383,0,0,0,0,0,0,26.33,26.41,28.83
$GC,11437,-0.48,-146.0,964.0,-6.2,605,11442,0.00,2.22,0.00,0.000,4,0.000,0.070,3036,3581,3382,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11469,-0.48,-146.0,966.0,-6.3,606,11473,0.00,2.15,0.00,0.000,6,0.000,0.051,3036,2167,3381,0,0,0,0,0,0,28.83,26.41,28.83
$GC,11792,-0.48,-146.0,986.5,-6.0,617,11797,0.00,2.25,0.00,0.000,4,0.000,0.070,3026,3582,3382,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11824,-0.48,-146.0,988.5,-6.1,618,11829,0.00,2.15,0.00,0.000,6,0.000,0.050,3026,2167,3381,0,0,0,0,0,0,28.83,26.41,28.83
$STATE,11844,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11844,begin apogee
$GC,11851,-0.22,0.0,990.1,-6.2,619,11983,0.28,0.00,125.85,1.205,6,0.116,0.000,3122,2310,2794,0,0,0,0,0,0,26.33,28.83,23.63
$STATE,11986,end apogee,CONTROL_FINISHED_OK
$STATE,11986,begin climb
$GC,11988,0.48,146.0,993.2,0.0,623,12132,0.65,2.42,133.82,1.169,4,0.083,0.067,3343,3702,2196,0,0,0,0,0,0,24.56,24.10,23.34
$GC,12148,0.48,146.0,982.9,7.8,629,12152,0.00,2.33,0.00,0.000,6,0.000,0.050,3353,2305,2193,0,0,0,0,0,0,28.83,24.45,28.83
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$STATE,22776,end climb,SURFACE_DEPTH_REACHED
$STATE,22776,begin surface coast
$FINISH,0.7,1.000192
$STATE,22818,end surface coast,CONTROL_FINISHED_OK
$STATE,22818,begin surface
$SM_CCo,22897,0.00,0.000,0,0,1313,363.29
$SM_GC,1.36,8.52,0.17,0.00,0.032,0.078,0.000,123,2163,1313,-9.46,0.93,363.29,0,0,0,0,0,0,25.64,25.60,28.83
$IRIDIUM_FIX,4651.23,-12646.50,210912,131300
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.73
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,19.70
$XPDR_PINGS,1
$24V_AH,23.3,8.313
$10V_AH,10.2,7.449
$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,22.275,220.975,431.775,0.000,0.000,27.105,44.129,216.551,0.250,0.000,12.031,3543.234,15685.110,542.096,3137.287,393.360,0.000,2065.632,0.000,2819.348,0.000,0.536,0.000
$DEVICE_MAMPS,227.205,84.150,1204.875,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,928.782,1098.747,605.353,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297096
$DATA_FILE_SIZE,77005,1348
$CAP_FILE_SIZE,204504,0
$CFSIZE,260165632,253575168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.079, 39.4,1
$GPS,220912,021835,4706.205,-12646.413,32,1.3,32,18.6