version: 66.11
glider: 187
mission: 2
dive: 110
start: 10 4 112 22 25 44
data:
$ID,187
$MISSION,2
$DIVE,110
$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,-1587756.6
$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,22
$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
$GPS1,041012,221229,4736.207,-12541.405,40,1.4,40,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-76.1
$GPS2,041012,222513,4736.069,-12541.329,11,1.6,11,18.7
$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,215.4,119732,-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,-146.0,0.0,0.0,0,81,0.00,0.00,-62.47,0.000,2,0.000,0.000,110,2170,2730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.48,-146.0,3.1,-5.1,10,119,11.27,2.30,-14.23,0.000,4,0.220,0.071,3028,3595,3391,0,0,0,0,0,0,25.29,25.57,25.95
$GC,335,-0.48,-146.0,50.4,-14.1,55,342,0.00,2.20,0.00,0.000,6,0.000,0.040,3028,2165,3395,0,0,0,0,0,0,28.83,25.80,28.83
$GC,655,-0.48,-146.0,94.8,-11.2,116,664,0.00,2.15,0.00,0.000,4,0.000,0.047,3028,773,3397,0,0,0,0,0,0,28.83,25.91,28.83
$GC,681,-0.48,-146.0,97.7,-11.0,120,689,0.00,2.20,0.00,0.000,6,0.000,0.049,3018,2179,3397,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1003,-0.48,-146.0,138.7,-11.9,162,1008,0.00,2.20,0.00,0.000,4,0.000,0.060,3007,3586,3397,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1056,-0.48,-146.0,143.9,-11.3,165,1064,0.12,2.12,0.00,0.000,6,0.142,0.041,3042,2168,3397,0,0,0,0,0,0,25.91,26.03,28.83
$GC,1365,-0.48,-146.0,174.3,-9.9,186,1367,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2165,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1673,-0.48,-146.0,204.4,-9.9,206,1675,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2166,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1976,-0.48,-146.0,232.8,-9.3,221,1977,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2165,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2273,-0.48,-146.0,260.1,-8.8,236,2279,0.00,2.25,0.00,0.000,4,0.000,0.063,3033,3582,3395,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2316,-0.48,-146.0,263.7,-8.9,238,2320,0.00,2.12,0.00,0.000,6,0.000,0.043,3033,2173,3394,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2629,-0.48,-146.0,292.4,-9.0,254,2630,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2170,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2929,-0.48,-146.0,319.9,-9.5,269,2935,0.00,2.25,0.00,0.000,4,0.000,0.063,3023,3591,3393,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2971,-0.48,-146.0,323.8,-9.7,271,2975,0.00,2.15,0.00,0.000,6,0.000,0.044,3022,2169,3393,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3284,-0.48,-146.0,355.4,-9.9,287,3285,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2165,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3583,-0.48,-146.0,384.8,-9.9,302,3585,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2165,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3893,-0.48,-146.0,415.8,-10.0,315,3895,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2165,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4194,-0.48,-146.0,443.9,-9.1,325,4200,0.00,2.22,0.00,0.000,4,0.000,0.065,3012,3583,3389,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4256,-0.48,-146.0,449.6,-9.3,327,4260,0.00,2.12,0.00,0.000,6,0.000,0.045,3012,2173,3390,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4578,-0.48,-146.0,482.4,-10.2,338,4580,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2169,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4879,-0.48,-146.0,512.7,-10.0,348,4884,0.00,2.25,0.00,0.000,4,0.000,0.065,3001,3593,3388,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4916,-0.48,-146.0,515.7,-9.9,349,4921,0.15,2.15,0.00,0.000,6,0.132,0.046,3045,2171,3388,0,0,0,0,0,0,26.16,26.29,28.83
$GC,5234,-0.48,-146.0,541.1,-7.4,360,5240,0.00,2.22,0.00,0.000,4,0.000,0.066,3036,3582,3387,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5265,-0.48,-146.0,543.5,-7.5,361,5270,0.00,2.10,0.00,0.000,6,0.000,0.045,3036,2181,3387,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5594,-0.48,-146.0,569.6,-8.0,372,5595,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2178,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5894,-0.48,-146.0,593.2,-7.9,382,5900,0.00,2.22,0.00,0.000,4,0.000,0.067,3026,3585,3386,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5928,-0.48,-146.0,595.8,-8.1,383,5932,0.00,2.15,0.00,0.000,6,0.000,0.046,3026,2166,3386,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6250,-0.48,-146.0,624.5,-9.0,394,6255,0.00,2.12,0.00,0.000,4,0.000,0.054,3026,772,3385,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6282,-0.48,-146.0,627.4,-9.1,395,6286,0.00,2.15,0.00,0.000,6,0.000,0.054,3017,2177,3385,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6605,-0.48,-146.0,656.8,-8.8,406,6611,0.00,2.17,0.00,0.000,4,0.000,0.067,3007,3580,3384,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6695,-0.48,-146.0,665.2,-9.1,409,6702,0.12,2.15,0.00,0.000,6,0.139,0.046,3042,2170,3384,0,0,0,0,0,0,26.18,26.32,28.83
$GC,7025,-0.48,-146.0,687.2,-6.3,420,7031,0.00,2.22,0.00,0.000,4,0.000,0.067,3034,3584,3383,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7073,-0.48,-146.0,689.1,-6.3,421,7078,0.00,2.12,0.00,0.000,6,0.000,0.047,3034,2177,3383,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7380,-0.48,-146.0,710.5,-6.5,431,7385,0.00,2.20,0.00,0.000,4,0.000,0.067,3024,3584,3382,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7453,-0.48,-146.0,714.6,-6.7,433,7457,0.00,2.15,0.00,0.000,6,0.000,0.047,3023,2164,3382,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7766,-0.48,-146.0,738.2,-7.5,444,7767,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2161,3382,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8066,-0.48,-146.0,761.1,-7.8,454,8071,0.00,2.28,0.00,0.000,4,0.000,0.067,3013,3593,3381,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8109,-0.48,-146.0,763.7,-7.9,455,8113,0.00,2.15,0.00,0.000,6,0.000,0.047,3013,2171,3381,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8421,-0.48,-146.0,791.7,-8.6,466,8422,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2169,3381,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8721,-0.48,-146.0,816.0,-7.8,476,8727,0.00,2.25,0.00,0.000,4,0.000,0.067,3003,3591,3380,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8764,-0.48,-146.0,818.4,-7.8,477,8769,0.12,2.17,0.00,0.000,6,0.140,0.047,3038,2164,3380,0,0,0,0,0,0,26.17,26.31,28.83
$GC,9078,-0.48,-146.0,838.7,-6.0,488,9083,0.00,2.22,0.00,0.000,4,0.000,0.068,3030,3578,3380,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9116,-0.48,-146.0,840.6,-6.0,489,9120,0.00,2.12,0.00,0.000,6,0.000,0.047,3030,2172,3380,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9433,-0.48,-146.0,860.8,-6.3,500,9439,0.00,2.22,0.00,0.000,4,0.000,0.068,3020,3583,3380,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9486,-0.48,-146.0,862.8,-6.4,501,9492,0.00,2.15,0.00,0.000,6,0.000,0.047,3019,2174,3380,0,0,0,0,0,0,28.83,26.30,28.83
$GC,9793,-0.48,-146.0,886.7,-7.2,512,9797,0.00,2.25,0.00,0.000,4,0.000,0.069,3010,3593,3380,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9827,-0.48,-146.0,889.2,-7.4,513,9832,0.12,2.17,0.00,0.000,6,0.133,0.048,3046,2169,3379,0,0,0,0,0,0,26.18,26.30,28.83
$GC,10150,-0.48,-146.0,909.0,-5.9,524,10152,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2166,3379,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10451,-0.48,-146.0,927.6,-6.1,534,10457,0.00,2.22,0.00,0.000,4,0.000,0.069,3038,3579,3379,0,0,0,0,0,0,28.83,26.21,28.83
$GC,10510,-0.48,-146.0,931.7,-6.3,536,10516,0.00,2.15,0.00,0.000,6,0.000,0.048,3037,2167,3379,0,0,0,0,0,0,28.83,26.31,28.83
$GC,10840,-0.48,-146.0,953.8,-6.7,547,10846,0.00,2.22,0.00,0.000,4,0.000,0.069,3027,3580,3378,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10879,-0.48,-146.0,956.1,-6.7,548,10883,0.00,2.12,0.00,0.000,6,0.000,0.048,3027,2176,3378,0,0,0,0,0,0,28.83,26.30,28.83
$GC,11196,-0.48,-146.0,980.6,-7.6,559,11199,0.00,2.25,0.00,0.000,4,0.000,0.070,3017,3581,3378,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11258,-0.48,-146.0,985.7,-7.9,561,11263,0.00,2.15,0.00,0.000,6,0.000,0.047,3017,2168,3377,0,0,0,0,0,0,28.83,26.30,28.83
$STATE,11315,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11315,begin apogee
$GC,11322,-0.22,0.0,990.6,-8.3,563,11451,0.30,0.00,124.20,1.198,6,0.118,0.000,3120,2311,2794,0,0,0,0,0,0,26.13,28.83,23.74
$STATE,11453,end apogee,CONTROL_FINISHED_OK
$STATE,11454,begin climb
$GC,11456,0.48,146.0,995.4,0.0,567,11594,0.68,0.00,132.15,1.167,6,0.083,0.000,3347,2311,2197,0,0,0,0,0,0,24.57,28.83,23.32
$GC,11914,0.48,146.0,963.6,8.4,583,11920,0.00,2.30,0.00,0.000,4,0.000,0.068,3347,3700,2186,0,0,0,0,0,0,28.83,25.22,28.83
$GC,11982,0.48,146.0,956.9,10.0,585,11987,0.00,2.22,0.00,0.000,6,0.000,0.049,3357,2305,2186,0,0,0,0,0,0,28.83,25.36,28.83
$GC,12300,0.48,146.0,923.1,10.7,596,12306,0.00,2.28,0.00,0.000,4,0.000,0.069,3357,3700,2184,0,0,0,0,0,0,28.83,25.59,28.83
$GC,12330,0.48,146.0,919.3,11.1,597,12336,0.00,2.20,0.00,0.000,6,0.000,0.050,3368,2303,2184,0,0,0,0,0,0,28.83,25.65,28.83
$GC,12660,0.48,146.0,879.1,12.3,608,12665,0.00,2.22,0.00,0.000,4,0.000,0.057,3378,876,2183,0,0,0,0,0,0,28.83,25.79,28.83
$GC,12683,0.48,146.0,879.1,12.3,608,12691,0.00,2.22,0.00,0.000,6,0.000,0.057,3378,2292,2183,0,0,0,0,0,0,28.83,25.79,28.83
$GC,12990,0.48,146.0,835.9,13.2,619,12995,0.00,2.28,0.00,0.000,4,0.000,0.069,3378,3709,2183,0,0,0,0,0,0,28.83,25.86,28.83
$GC,13112,0.48,146.0,817.9,15.0,623,13117,0.15,2.20,0.00,0.000,6,0.164,0.048,3351,2292,2182,0,0,0,0,0,0,25.79,25.95,28.83
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$STATE,22551,end climb,SURFACE_DEPTH_REACHED
$STATE,22552,begin surface coast
$FINISH,1.0,1.024117
$STATE,22638,end surface coast,CONTROL_FINISHED_OK
$STATE,22638,begin surface
$SM_CCo,22717,0.00,0.000,0,0,1523,311.78
$SM_GC,1.82,8.30,0.17,0.00,0.027,0.074,0.000,109,2169,1523,-9.48,1.05,311.78,0,0,0,0,0,0,25.91,25.88,28.83
$IRIDIUM_FIX,4716.56,-12538.19,041012,222230
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.42
$INTERNAL_PRESSURE,9.12806
$TCM_TEMP,19.60
$XPDR_PINGS,0
$24V_AH,23.3,16.479
$10V_AH,10.2,14.003
$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,21.875,185.725,392.175,0.000,0.000,52.178,82.985,400.773,0.000,0.000,12.764,3403.365,15910.740,495.011,3283.633,377.566,0.000,1930.555,0.000,2677.394,0.000,0.535,0.000
$DEVICE_MAMPS,220.320,82.620,1197.990,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,893.541,755.700,546.801,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296936
$DATA_FILE_SIZE,73444,1298
$CAP_FILE_SIZE,192881,0
$CFSIZE,260165632,248791040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.087, 61.1,1
$GPS,051012,044559,4734.716,-12544.180,60,0.9,60,18.7