version: 66.11
glider: 187
mission: 2
dive: 117
start: 10 6 112 19 37 45
data:
$ID,187
$MISSION,2
$DIVE,117
$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,-1587765.5
$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,33
$R_STBD_OVSHOOT,24
$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
$GPS1,061012,193023,4726.231,-12604.043,42,1.5,42,18.7
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-78.8
$GPS2,061012,193713,4726.240,-12604.015,16,1.4,16,18.7
$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,218.2,85801,-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,-146.0,0.0,0.0,0,79,0.00,0.00,-59.80,0.000,2,0.000,0.000,112,2179,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.48,-146.0,3.0,-3.2,10,117,11.27,2.28,-14.50,0.000,4,0.222,0.073,3023,3591,3391,0,0,0,0,0,0,25.30,25.59,26.00
$GC,280,-0.48,-146.0,40.3,-12.3,45,287,0.00,2.17,0.00,0.000,6,0.000,0.042,3023,2167,3395,0,0,0,0,0,0,28.83,25.77,28.83
$GC,602,-0.48,-146.0,88.9,-16.1,106,609,0.00,2.15,0.00,0.000,4,0.000,0.048,3023,760,3398,0,0,0,0,0,0,28.83,25.88,28.83
$GC,716,-0.48,-146.0,103.9,-11.5,127,723,0.00,2.17,0.00,0.000,6,0.000,0.050,3013,2178,3397,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1029,-0.48,-146.0,142.9,-12.7,164,1035,0.00,2.20,0.00,0.000,4,0.000,0.061,3002,3582,3397,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1093,-0.48,-146.0,150.8,-13.1,168,1098,0.15,2.15,0.00,0.000,6,0.135,0.042,3045,2171,3397,0,0,0,0,0,0,25.90,26.04,28.83
$GC,1402,-0.48,-146.0,180.0,-8.5,188,1403,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2168,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1700,-0.48,-146.0,205.9,-8.7,207,1706,0.00,2.22,0.00,0.000,4,0.000,0.063,3036,3585,3397,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1740,-0.48,-146.0,209.7,-9.0,209,1746,0.00,2.10,0.00,0.000,6,0.000,0.044,3036,2178,3397,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2060,-0.48,-146.0,237.7,-8.4,225,2064,0.00,2.15,0.00,0.000,4,0.000,0.050,3036,777,3396,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2095,-0.48,-146.0,239.7,-8.6,226,2102,0.00,2.15,0.00,0.000,6,0.000,0.051,3027,2176,3396,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2402,-0.48,-146.0,266.5,-8.4,242,2406,0.00,2.22,0.00,0.000,4,0.000,0.063,3017,3594,3395,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2457,-0.48,-146.0,270.0,-8.4,244,2464,0.00,2.15,0.00,0.000,6,0.000,0.044,3017,2163,3395,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2764,-0.48,-146.0,298.0,-8.4,260,2770,0.00,2.10,0.00,0.000,4,0.000,0.049,3017,764,3395,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2787,-0.48,-146.0,299.3,-7.7,261,2791,0.12,2.15,0.00,0.000,6,0.142,0.050,3043,2175,3395,0,0,0,0,0,0,26.08,26.17,28.83
$GC,3100,-0.48,-146.0,321.8,-7.7,277,3105,0.00,2.17,0.00,0.000,4,0.000,0.064,3035,3578,3394,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3120,-0.48,-146.0,323.4,-7.7,278,3123,0.00,2.15,0.00,0.000,6,0.000,0.044,3035,2167,3394,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3441,-0.48,-146.0,348.8,-7.6,294,3447,0.00,2.25,0.00,0.000,4,0.000,0.065,3025,3592,3393,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3545,-0.48,-146.0,357.2,-8.6,299,3549,0.00,2.12,0.00,0.000,6,0.000,0.044,3025,2176,3393,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3857,-0.48,-146.0,384.8,-8.9,315,3858,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2173,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4156,-0.48,-146.0,412.7,-9.6,328,4158,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2173,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4457,-0.48,-146.0,442.7,-10.0,338,4462,0.00,2.20,0.00,0.000,4,0.000,0.065,3015,3581,3391,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4489,-0.48,-146.0,445.8,-10.0,339,4493,0.00,2.12,0.00,0.000,6,0.000,0.046,3015,2174,3391,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4812,-0.48,-146.0,479.7,-10.6,350,4813,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2171,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5112,-0.48,-146.0,511.1,-10.4,360,5113,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2171,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5411,-0.48,-146.0,540.7,-9.6,370,5413,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2171,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5711,-0.48,-146.0,568.5,-9.2,380,5718,0.00,2.22,0.00,0.000,4,0.000,0.067,3004,3581,3389,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5744,-0.48,-146.0,571.2,-9.1,381,5749,0.12,2.12,0.00,0.000,6,0.141,0.047,3039,2176,3389,0,0,0,0,0,0,26.15,26.29,28.83
$GC,6067,-0.48,-146.0,596.0,-7.3,392,6069,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2174,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6367,-0.48,-146.0,617.2,-6.8,402,6372,0.00,2.20,0.00,0.000,4,0.000,0.067,3031,3580,3387,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6405,-0.48,-146.0,619.3,-6.9,403,6409,0.00,2.12,0.00,0.000,6,0.000,0.047,3031,2174,3388,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6722,-0.48,-146.0,644.8,-7.9,414,6728,0.00,2.20,0.00,0.000,4,0.000,0.067,3021,3577,3387,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6765,-0.48,-146.0,647.3,-8.0,415,6769,0.00,2.12,0.00,0.000,6,0.000,0.047,3021,2174,3387,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7077,-0.48,-146.0,673.6,-7.8,426,7081,0.00,2.25,0.00,0.000,4,0.000,0.067,3010,3586,3386,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7109,-0.48,-146.0,676.2,-7.9,427,7116,0.12,2.15,0.00,0.000,6,0.135,0.047,3046,2175,3386,0,0,0,0,0,0,26.17,26.29,28.83
$GC,7439,-0.48,-146.0,697.0,-6.0,438,7445,0.00,2.22,0.00,0.000,4,0.000,0.068,3037,3588,3386,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7470,-0.48,-146.0,699.0,-6.2,439,7475,0.00,2.12,0.00,0.000,6,0.000,0.047,3037,2182,3386,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7799,-0.48,-146.0,718.8,-5.9,450,7801,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2180,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8099,-0.48,-146.0,736.5,-6.1,460,8105,0.00,2.20,0.00,0.000,4,0.000,0.067,3027,3583,3385,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8138,-0.48,-146.0,738.4,-6.2,461,8142,0.00,2.15,0.00,0.000,6,0.000,0.047,3028,2166,3384,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8456,-0.48,-146.0,760.0,-6.5,472,8461,0.00,2.25,0.00,0.000,4,0.000,0.068,3017,3578,3384,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8485,-0.48,-146.0,762.2,-6.7,473,8491,0.00,2.12,0.00,0.000,6,0.000,0.047,3017,2170,3384,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8815,-0.48,-146.0,787.5,-7.8,484,8819,0.00,2.25,0.00,0.000,4,0.000,0.068,3007,3581,3384,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8855,-0.48,-146.0,790.0,-7.9,485,8860,0.12,2.15,0.00,0.000,6,0.135,0.048,3043,2165,3384,0,0,0,0,0,0,26.16,26.29,28.83
$GC,9173,-0.48,-146.0,811.2,-6.3,496,9178,0.00,2.22,0.00,0.000,4,0.000,0.068,3034,3580,3383,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9206,-0.48,-146.0,813.0,-6.2,497,9210,0.00,2.15,0.00,0.000,6,0.000,0.048,3034,2166,3383,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9528,-0.48,-146.0,833.9,-6.2,508,9534,0.00,2.22,0.00,0.000,4,0.000,0.068,3025,3579,3383,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9576,-0.48,-146.0,836.0,-6.3,509,9580,0.00,2.15,0.00,0.000,6,0.000,0.048,3024,2166,3383,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9883,-0.48,-146.0,858.5,-6.8,519,9889,0.00,2.22,0.00,0.000,4,0.000,0.069,3014,3574,3382,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9926,-0.48,-146.0,860.7,-6.9,520,9930,0.00,2.15,0.00,0.000,6,0.000,0.048,3014,2167,3382,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10244,-0.48,-146.0,884.7,-7.2,531,10245,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2164,3382,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10543,-0.48,-146.0,907.1,-7.5,541,10549,0.00,2.22,0.00,0.000,4,0.000,0.068,3004,3574,3382,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10611,-0.48,-146.0,911.6,-7.5,543,10616,0.12,2.15,0.00,0.000,6,0.138,0.049,3040,2165,3381,0,0,0,0,0,0,26.15,26.29,28.83
$GC,10929,-0.48,-146.0,930.4,-5.5,554,10935,0.00,2.25,0.00,0.000,4,0.000,0.069,3031,3584,3381,0,0,0,0,0,0,28.83,26.18,28.83
$GC,10977,-0.48,-146.0,932.2,-5.6,555,10982,0.00,2.15,0.00,0.000,6,0.000,0.049,3031,2173,3381,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11284,-0.48,-146.0,952.6,-6.3,565,11290,0.00,2.22,0.00,0.000,4,0.000,0.070,3021,3580,3381,0,0,0,0,0,0,28.83,26.18,28.83
$GC,11314,-0.48,-146.0,954.6,-6.3,566,11320,0.00,2.12,0.00,0.000,6,0.000,0.049,3021,2179,3381,0,0,0,0,0,0,28.83,26.28,28.83
$GC,11644,-0.48,-146.0,976.3,-6.5,577,11650,0.00,2.22,0.00,0.000,4,0.000,0.070,3011,3583,3381,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11674,-0.48,-146.0,978.3,-6.5,578,11680,0.00,2.17,0.00,0.000,6,0.000,0.049,3011,2167,3381,0,0,0,0,0,0,28.83,26.27,28.83
$STATE,11851,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11851,begin apogee
$GC,11858,-0.22,0.0,991.1,-7.0,584,11988,0.32,0.00,124.75,1.197,6,0.117,0.000,3120,2308,2794,0,0,0,0,0,0,26.09,28.83,23.75
$STATE,11990,end apogee,CONTROL_FINISHED_OK
$STATE,11991,begin climb
$GC,11993,0.48,146.0,994.3,0.0,588,12130,0.65,0.00,133.38,1.164,6,0.083,0.000,3341,2308,2198,0,0,0,0,0,0,24.57,28.83,23.28
$GC,12422,0.48,146.0,961.2,9.0,603,12428,0.00,2.30,0.00,0.000,4,0.000,0.070,3341,3700,2187,0,0,0,0,0,0,28.83,25.15,28.83
$GC,12453,0.48,146.0,958.0,9.1,604,12458,0.00,2.25,0.00,0.000,6,0.000,0.050,3351,2301,2187,0,0,0,0,0,0,28.83,25.23,28.83
$GC,12776,0.48,146.0,926.2,9.9,615,12777,0.00,0.00,0.00,0.000,6,0.000,0.000,3351,2298,2185,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,23103,end climb,SURFACE_DEPTH_REACHED
$STATE,23103,begin surface coast
$FINISH,1.0,1.005638
$STATE,23145,end surface coast,CONTROL_FINISHED_OK
$STATE,23146,begin surface
$SM_CCo,23225,0.00,0.000,0,0,1157,401.56
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$TT8_MAMPS,0.026964,0.026964
$HUMID,43.73
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,20.00
$XPDR_PINGS,1
$24V_AH,23.3,17.441
$10V_AH,10.2,14.796
$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
$DEVICE_SECS,22.075,202.925,469.125,0.000,0.000,26.688,35.577,214.228,0.250,0.000,17.224,3375.155,16364.977,576.113,2914.958,395.228,0.000,1998.879,0.000,2600.949,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,880.505,734.532,508.630,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296944
$DATA_FILE_SIZE,73576,1280
$CAP_FILE_SIZE,195071,0
$CFSIZE,260165632,248184832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.029, 62.2,1
$GPS,071012,020605,4724.852,-12607.539,37,0.9,37,18.7