version: 66.11
glider: 187
mission: 2
dive: 108
start: 10 4 112 9 10 52
data:
$ID,187
$MISSION,2
$DIVE,108
$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,-1587754
$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,42
$R_STBD_OVSHOOT,23
$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
$GPS1,041012,090205,4737.687,-12535.389,40,1.1,40,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-77.1
$GPS2,041012,091019,4737.607,-12535.356,13,1.8,13,18.7
$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,229.9,127596,-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,-146.0,0.0,0.0,0,87,0.00,0.00,-67.30,0.000,2,0.000,0.000,121,2165,2955,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.48,-146.0,3.6,-5.5,11,118,11.38,2.28,-8.20,0.000,4,0.226,0.070,3025,3588,3393,0,0,0,0,0,0,25.30,25.59,25.95
$GC,279,-0.48,-146.0,44.0,-14.2,45,286,0.00,2.17,0.00,0.000,6,0.000,0.042,3024,2169,3397,0,0,0,0,0,0,28.83,25.77,28.83
$GC,599,-0.48,-146.0,87.8,-13.1,106,606,0.00,2.28,0.00,0.000,4,0.000,0.061,3014,3587,3399,0,0,0,0,0,0,28.83,25.84,28.83
$GC,641,-0.48,-146.0,93.4,-13.7,113,648,0.00,2.15,0.00,0.000,6,0.000,0.042,3013,2168,3399,0,0,0,0,0,0,28.83,25.92,28.83
$GC,960,-0.48,-146.0,136.8,-13.6,159,965,0.00,2.10,0.00,0.000,4,0.000,0.050,3014,777,3399,0,0,0,0,0,0,28.83,25.98,28.83
$GC,992,-0.48,-146.0,141.0,-13.7,161,997,0.12,2.15,0.00,0.000,6,0.148,0.050,3039,2180,3399,0,0,0,0,0,0,25.89,25.98,28.83
$GC,1302,-0.48,-146.0,172.7,-9.2,181,1307,0.00,2.17,0.00,0.000,4,0.000,0.063,3030,3581,3399,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1363,-0.48,-146.0,178.5,-9.4,185,1367,0.00,2.12,0.00,0.000,6,0.000,0.042,3029,2164,3399,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1675,-0.48,-146.0,208.5,-9.9,204,1677,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2162,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1976,-0.48,-146.0,239.5,-10.3,219,1977,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2162,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2277,-0.48,-146.0,270.6,-10.3,234,2282,0.00,2.20,0.00,0.000,4,0.000,0.063,3019,3579,3398,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2315,-0.48,-146.0,274.9,-10.4,236,2321,0.00,2.12,0.00,0.000,6,0.000,0.044,3019,2169,3398,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2636,-0.48,-146.0,309.1,-10.9,252,2641,0.00,2.12,0.00,0.000,4,0.000,0.050,3019,763,3397,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2668,-0.48,-146.0,311.5,-11.0,253,2676,0.12,2.15,0.00,0.000,6,0.143,0.051,3045,2175,3397,0,0,0,0,0,0,26.09,26.17,28.83
$GC,2975,-0.48,-146.0,340.5,-8.6,269,2981,0.00,2.20,0.00,0.000,4,0.000,0.064,3037,3592,3397,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3038,-0.48,-146.0,345.8,-9.0,272,3043,0.00,2.12,0.00,0.000,6,0.000,0.044,3037,2173,3396,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3351,-0.48,-146.0,374.4,-8.8,288,3356,0.00,2.22,0.00,0.000,4,0.000,0.063,3026,3587,3396,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3384,-0.48,-146.0,376.4,-8.9,289,3391,0.00,2.12,0.00,0.000,6,0.000,0.044,3026,2169,3396,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3691,-0.48,-146.0,406.2,-9.4,304,3692,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2168,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3990,-0.48,-146.0,433.9,-9.0,314,3996,0.00,2.22,0.00,0.000,4,0.000,0.064,3016,3581,3395,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4029,-0.48,-146.0,436.8,-9.2,315,4033,0.00,2.12,0.00,0.000,6,0.000,0.044,3016,2168,3395,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4346,-0.48,-146.0,468.1,-9.6,326,4347,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2166,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4646,-0.48,-146.0,497.9,-10.1,336,4649,0.00,2.12,0.00,0.000,4,0.000,0.053,3015,766,3394,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4670,-0.48,-146.0,497.9,-10.1,336,4678,0.12,2.15,0.00,0.000,6,0.146,0.053,3042,2173,3394,0,0,0,0,0,0,26.15,26.25,28.83
$GC,4978,-0.48,-146.0,524.5,-7.5,347,4982,0.00,2.22,0.00,0.000,4,0.000,0.067,3034,3583,3393,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5108,-0.48,-146.0,534.0,-7.9,351,5112,0.00,2.12,0.00,0.000,6,0.000,0.046,3034,2168,3393,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5425,-0.48,-146.0,560.0,-8.0,362,5431,0.00,2.22,0.00,0.000,4,0.000,0.066,3023,3590,3392,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5523,-0.48,-146.0,567.6,-8.3,365,5527,0.00,2.12,0.00,0.000,6,0.000,0.046,3023,2176,3392,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5840,-0.48,-146.0,595.0,-8.3,376,5841,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2174,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6140,-0.48,-146.0,619.3,-8.0,386,6146,0.00,2.20,0.00,0.000,4,0.000,0.067,3013,3584,3391,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6171,-0.48,-146.0,621.8,-8.2,387,6176,0.00,2.12,0.00,0.000,6,0.000,0.046,3013,2171,3391,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6500,-0.48,-146.0,651.2,-8.6,398,6506,0.00,2.22,0.00,0.000,4,0.000,0.067,3003,3583,3390,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6531,-0.48,-146.0,653.9,-8.7,399,6537,0.10,2.12,0.00,0.000,6,0.114,0.047,3040,2170,3390,0,0,0,0,0,0,26.17,26.31,28.83
$GC,6861,-0.48,-146.0,677.1,-6.8,410,6862,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2166,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7161,-0.48,-146.0,696.9,-6.7,420,7164,0.00,2.25,0.00,0.000,4,0.000,0.067,3031,3583,3390,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7226,-0.48,-146.0,701.3,-7.0,422,7231,0.00,2.12,0.00,0.000,6,0.000,0.047,3031,2173,3389,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7548,-0.48,-146.0,725.2,-7.4,433,7554,0.00,2.25,0.00,0.000,4,0.000,0.067,3021,3595,3388,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7587,-0.48,-146.0,727.5,-7.5,434,7591,0.00,2.15,0.00,0.000,6,0.000,0.045,3021,2167,3388,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7904,-0.48,-146.0,753.9,-8.1,445,7910,0.00,2.25,0.00,0.000,4,0.000,0.067,3011,3583,3388,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7982,-0.48,-146.0,758.9,-8.3,447,7986,0.00,2.12,0.00,0.000,6,0.000,0.047,3011,2174,3388,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8289,-0.48,-146.0,787.0,-8.6,457,8296,0.12,2.25,0.00,0.000,4,0.150,0.067,3043,3601,3387,0,0,0,0,0,0,26.24,26.21,28.83
$GC,8332,-0.48,-146.0,789.1,-8.2,458,8336,0.00,2.15,0.00,0.000,6,0.000,0.047,3043,2176,3387,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8645,-0.48,-146.0,808.6,-5.7,469,8650,0.00,2.22,0.00,0.000,4,0.000,0.068,3033,3588,3387,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8688,-0.48,-146.0,810.4,-5.8,470,8692,0.00,2.15,0.00,0.000,6,0.000,0.047,3033,2167,3387,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9000,-0.48,-146.0,832.6,-7.1,481,9005,0.00,2.22,0.00,0.000,4,0.000,0.068,3023,3580,3387,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9053,-0.48,-146.0,834.8,-7.2,482,9060,0.00,2.12,0.00,0.000,6,0.000,0.047,3024,2170,3387,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9360,-0.48,-146.0,859.6,-7.5,493,9361,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2169,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9660,-0.48,-146.0,883.1,-7.9,503,9666,0.00,2.25,0.00,0.000,4,0.000,0.068,3013,3583,3386,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9708,-0.48,-146.0,885.6,-8.1,504,9712,0.00,2.12,0.00,0.000,6,0.000,0.048,3013,2177,3386,0,0,0,0,0,0,28.83,26.31,28.83
$GC,10015,-0.48,-146.0,912.9,-8.6,514,10020,0.00,2.20,0.00,0.000,4,0.000,0.069,3003,3583,3385,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10058,-0.48,-146.0,915.6,-8.7,515,10062,0.12,2.15,0.00,0.000,6,0.139,0.048,3039,2165,3385,0,0,0,0,0,0,26.17,26.30,28.83
$GC,10371,-0.48,-146.0,936.8,-5.9,526,10376,0.00,2.22,0.00,0.000,4,0.000,0.069,3031,3581,3385,0,0,0,0,0,0,28.83,26.21,28.83
$GC,10431,-0.48,-146.0,940.1,-5.7,528,10436,0.00,2.12,0.00,0.000,6,0.000,0.047,3030,2172,3384,0,0,0,0,0,0,28.83,26.31,28.83
$GC,10761,-0.48,-146.0,960.8,-6.5,539,10767,0.00,2.22,0.00,0.000,4,0.000,0.069,3021,3582,3385,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10825,-0.48,-146.0,964.7,-6.4,541,10831,0.00,2.15,0.00,0.000,6,0.000,0.048,3021,2166,3385,0,0,0,0,0,0,28.83,26.30,28.83
$GC,11151,-0.48,-146.0,986.9,-6.5,552,11152,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2164,3384,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11208,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11208,begin apogee
$GC,11215,-0.22,0.0,991.0,-6.7,554,11346,0.30,0.00,125.62,1.197,6,0.118,0.000,3123,2308,2793,0,0,0,0,0,0,26.15,28.83,23.74
$STATE,11350,end apogee,CONTROL_FINISHED_OK
$STATE,11350,begin climb
$GC,11352,0.48,146.0,994.2,0.0,558,11490,0.65,0.00,132.77,1.163,6,0.083,0.000,3344,2308,2198,0,0,0,0,0,0,24.59,28.83,23.32
$GC,11781,0.48,146.0,958.3,9.5,573,11782,0.00,0.00,0.00,0.000,6,0.000,0.000,3344,2308,2187,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12080,0.48,146.0,930.3,9.6,583,12086,0.00,2.30,0.00,0.000,4,0.000,0.069,3344,3708,2186,0,0,0,0,0,0,28.83,25.51,28.83
$GC,12111,0.48,146.0,927.2,9.9,584,12117,0.00,2.20,0.00,0.000,6,0.000,0.050,3353,2311,2186,0,0,0,0,0,0,28.83,25.58,28.83
$GC,12441,0.48,146.0,891.5,10.7,595,12442,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,2305,2185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12740,0.48,146.0,860.1,10.4,605,12747,0.00,2.28,0.00,0.000,4,0.000,0.069,3354,3711,2184,0,0,0,0,0,0,28.83,25.82,28.83
$GC,12773,0.48,146.0,856.4,10.6,606,12777,0.00,2.22,0.00,0.000,6,0.000,0.050,3363,2292,2183,0,0,0,0,0,0,28.83,25.89,28.83
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$STATE,22709,end climb,SURFACE_DEPTH_REACHED
$STATE,22709,begin surface coast
$FINISH,0.9,1.014896
$STATE,22760,end surface coast,CONTROL_FINISHED_OK
$STATE,22760,begin surface
$SM_CCo,22842,0.00,0.000,0,0,1454,328.70
$SM_GC,1.73,8.38,2.47,0.00,0.031,0.044,0.000,111,2177,1454,-9.47,1.16,328.70,0,0,0,0,0,0,25.84,25.76,28.83
$IRIDIUM_FIX,4719.74,-12540.05,041012,020252
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.18
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,16.00
$XPDR_PINGS,0
$24V_AH,23.3,16.195
$10V_AH,10.2,13.768
$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,22.100,202.550,405.625,0.000,0.000,26.042,40.739,297.575,0.000,0.000,14.021,3424.969,15814.240,528.929,3126.149,435.310,0.000,2009.463,0.000,2765.573,0.000,0.535,0.000
$DEVICE_MAMPS,225.675,82.620,1197.225,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,892.119,763.689,548.941,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296972
$DATA_FILE_SIZE,73570,1295
$CAP_FILE_SIZE,197317,0
$CFSIZE,260165632,248967168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.108, 72.5,1
$GPS,041012,153253,4736.836,-12538.065,41,1.6,41,18.7