version: 66.11
glider: 187
mission: 2
dive: 122
start: 10 8 112 3 44 13
data:
$ID,187
$MISSION,2
$DIVE,122
$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,-1587771.8
$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,29
$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
$GPS1,081012,033705,4720.389,-12620.589,40,1.1,40,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-78.5
$GPS2,081012,034342,4720.395,-12620.523,13,1.8,13,18.6
$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,201.6,62552,-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,-146.0,0.0,0.0,0,99,0.00,0.00,-79.78,0.000,2,0.000,0.000,108,2172,2907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.48,-146.0,3.6,-6.0,13,131,11.32,2.25,-8.93,0.000,4,0.223,0.068,3026,3587,3393,0,0,0,0,0,0,25.29,25.60,25.98
$GC,257,-0.48,-146.0,40.9,-13.3,41,264,0.00,2.20,0.00,0.000,6,0.000,0.043,3025,2159,3396,0,0,0,0,0,0,28.83,25.75,28.83
$GC,572,-0.48,-146.0,85.0,-11.7,102,577,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2155,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,883,-0.48,-146.0,121.8,-11.5,161,889,0.00,2.28,0.00,0.000,4,0.000,0.062,3015,3588,3399,0,0,0,0,0,0,28.83,25.91,28.83
$GC,915,-0.48,-146.0,125.2,-11.0,163,919,0.00,2.15,0.00,0.000,6,0.000,0.043,3015,2171,3399,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1224,-0.48,-146.0,159.9,-11.7,183,1229,0.00,2.10,0.00,0.000,4,0.000,0.050,3015,777,3399,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1267,-0.48,-146.0,165.2,-11.6,186,1274,0.12,2.15,0.00,0.000,6,0.140,0.050,3040,2182,3399,0,0,0,0,0,0,25.92,26.01,28.83
$GC,1585,-0.48,-146.0,192.9,-8.3,207,1591,0.00,2.17,0.00,0.000,4,0.000,0.063,3032,3581,3399,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1645,-0.48,-146.0,198.4,-8.9,211,1649,0.00,2.15,0.00,0.000,6,0.000,0.044,3032,2169,3399,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1957,-0.48,-146.0,227.8,-9.8,227,1962,0.00,2.12,0.00,0.000,4,0.000,0.051,3032,772,3398,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1990,-0.48,-146.0,229.8,-9.8,228,1996,0.00,2.17,0.00,0.000,6,0.000,0.050,3023,2181,3398,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2297,-0.48,-146.0,263.2,-10.5,244,2302,0.00,2.17,0.00,0.000,4,0.000,0.063,3012,3581,3397,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2359,-0.48,-146.0,269.8,-10.8,247,2363,0.00,2.12,0.00,0.000,6,0.000,0.044,3012,2174,3397,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2672,-0.48,-146.0,303.3,-10.8,263,2673,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2170,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2972,-0.48,-146.0,335.2,-10.4,278,2973,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2170,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3274,-0.48,-146.0,365.0,-9.7,293,3279,0.00,2.20,0.00,0.000,4,0.000,0.064,3002,3580,3395,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3315,-0.48,-146.0,369.1,-9.8,295,3320,0.12,2.12,0.00,0.000,6,0.139,0.046,3038,2168,3395,0,0,0,0,0,0,26.09,26.22,28.83
$GC,3628,-0.48,-146.0,394.8,-8.0,311,3634,0.00,2.22,0.00,0.000,4,0.000,0.065,3030,3581,3394,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3651,-0.48,-146.0,396.5,-8.1,312,3655,0.00,2.12,0.00,0.000,6,0.000,0.047,3029,2178,3394,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3974,-0.48,-146.0,424.8,-8.8,324,3980,0.00,2.20,0.00,0.000,4,0.000,0.066,3019,3584,3393,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4011,-0.48,-146.0,427.7,-8.8,325,4015,0.00,2.15,0.00,0.000,6,0.000,0.047,3019,2176,3393,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4329,-0.48,-146.0,458.3,-9.6,336,4330,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2173,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4628,-0.48,-146.0,487.1,-9.6,346,4634,0.00,2.22,0.00,0.000,4,0.000,0.066,3009,3583,3391,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4671,-0.48,-146.0,490.1,-9.7,347,4676,0.12,2.15,0.00,0.000,6,0.136,0.047,3044,2166,3391,0,0,0,0,0,0,26.13,26.25,28.83
$GC,4984,-0.48,-146.0,516.4,-7.8,358,4990,0.00,2.22,0.00,0.000,4,0.000,0.067,3036,3581,3391,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5014,-0.48,-146.0,518.8,-7.9,359,5020,0.00,2.15,0.00,0.000,6,0.000,0.047,3036,2174,3391,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5344,-0.48,-146.0,546.7,-8.6,370,5345,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2171,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5644,-0.48,-146.0,572.9,-8.6,380,5648,0.00,2.22,0.00,0.000,4,0.000,0.067,3026,3581,3389,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5685,-0.48,-146.0,575.6,-8.7,381,5688,0.00,2.15,0.00,0.000,6,0.000,0.048,3026,2167,3388,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6007,-0.48,-146.0,604.7,-8.5,392,6008,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2166,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6306,-0.48,-146.0,628.8,-7.7,402,6307,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2166,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6607,-0.48,-146.0,650.5,-7.0,412,6613,0.00,2.22,0.00,0.000,4,0.000,0.067,3016,3586,3387,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6690,-0.48,-146.0,655.0,-7.2,414,6696,0.00,2.15,0.00,0.000,6,0.000,0.048,3016,2165,3387,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6996,-0.48,-146.0,679.2,-7.5,425,6997,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2164,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7297,-0.48,-146.0,703.4,-8.4,435,7302,0.00,2.25,0.00,0.000,4,0.000,0.068,3006,3583,3386,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7340,-0.48,-146.0,706.2,-8.6,436,7345,0.12,2.15,0.00,0.000,6,0.135,0.049,3042,2167,3385,0,0,0,0,0,0,26.15,26.27,28.83
$GC,7653,-0.48,-146.0,730.8,-7.5,447,7654,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2165,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7953,-0.48,-146.0,752.0,-6.9,457,7959,0.00,2.22,0.00,0.000,4,0.000,0.069,3034,3581,3384,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8031,-0.48,-146.0,756.2,-7.0,459,8035,0.00,2.15,0.00,0.000,6,0.000,0.049,3034,2167,3384,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8338,-0.48,-146.0,777.6,-6.3,469,8344,0.00,2.25,0.00,0.000,4,0.000,0.069,3024,3584,3384,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8376,-0.48,-146.0,779.6,-6.3,470,8380,0.00,2.17,0.00,0.000,6,0.000,0.050,3024,2167,3384,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8698,-0.48,-146.0,801.6,-6.8,481,8703,0.00,2.22,0.00,0.000,4,0.000,0.069,3014,3580,3383,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8751,-0.48,-146.0,803.7,-6.9,482,8758,0.00,2.15,0.00,0.000,6,0.000,0.050,3014,2164,3383,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9058,-0.48,-146.0,828.8,-7.7,493,9063,0.00,2.25,0.00,0.000,4,0.000,0.068,3004,3586,3383,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9106,-0.48,-146.0,831.2,-7.8,494,9110,0.12,2.15,0.00,0.000,6,0.137,0.049,3040,2170,3383,0,0,0,0,0,0,26.13,26.27,28.83
$GC,9414,-0.48,-146.0,852.8,-6.5,504,9419,0.00,2.25,0.00,0.000,4,0.000,0.069,3032,3581,3382,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9445,-0.48,-146.0,855.0,-6.6,505,9449,0.00,2.15,0.00,0.000,6,0.000,0.050,3031,2168,3383,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9773,-0.48,-146.0,878.7,-7.1,516,9779,0.00,2.22,0.00,0.000,4,0.000,0.069,3021,3580,3382,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9833,-0.48,-146.0,883.3,-7.4,518,9837,0.00,2.17,0.00,0.000,6,0.000,0.050,3021,2170,3382,0,0,0,0,0,0,28.83,26.26,28.83
$GC,10165,-0.48,-146.0,908.5,-7.5,529,10171,0.00,2.25,0.00,0.000,4,0.000,0.069,3011,3588,3382,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10208,-0.48,-146.0,911.0,-7.6,530,10211,0.00,2.17,0.00,0.000,6,0.000,0.050,3012,2164,3382,0,0,0,0,0,0,28.83,26.26,28.83
$GC,10525,-0.48,-146.0,936.5,-7.6,541,10530,0.00,2.22,0.00,0.000,4,0.000,0.069,3001,3580,3381,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10563,-0.48,-146.0,938.9,-7.7,542,10567,0.15,2.15,0.00,0.000,6,0.128,0.050,3045,2167,3381,0,0,0,0,0,0,26.12,26.25,28.83
$GC,10881,-0.48,-146.0,956.8,-5.1,553,10886,0.00,2.22,0.00,0.000,4,0.000,0.070,3037,3580,3381,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10919,-0.48,-146.0,958.3,-5.0,554,10923,0.00,2.15,0.00,0.000,6,0.000,0.050,3037,2168,3381,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11236,-0.48,-146.0,975.9,-5.4,565,11240,0.00,2.28,0.00,0.000,4,0.000,0.070,3027,3588,3381,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11292,-0.48,-146.0,977.7,-5.4,566,11298,0.00,2.15,0.00,0.000,6,0.000,0.050,3027,2173,3380,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,11475,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11475,begin apogee
$GC,11482,-0.22,0.0,990.3,-6.0,573,11612,0.28,0.00,125.12,1.196,6,0.112,0.000,3123,2302,2794,0,0,0,0,0,0,26.11,28.83,23.74
$STATE,11615,end apogee,CONTROL_FINISHED_OK
$STATE,11615,begin climb
$GC,11618,0.48,146.0,993.0,0.0,577,11755,0.65,0.00,133.68,1.164,6,0.081,0.000,3345,2302,2198,0,0,0,0,0,0,24.56,28.83,23.25
$GC,12043,0.48,146.0,957.6,9.5,592,12049,0.00,2.30,0.00,0.000,4,0.000,0.068,3344,3696,2187,0,0,0,0,0,0,28.83,25.12,28.83
$GC,12076,0.48,146.0,954.5,9.7,593,12080,0.00,2.25,0.00,0.000,6,0.000,0.050,3355,2302,2187,0,0,0,0,0,0,28.83,25.21,28.83
$GC,12399,0.48,146.0,922.3,9.7,604,12400,0.00,0.00,0.00,0.000,6,0.000,0.000,3355,2298,2185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12698,0.48,146.0,894.2,9.4,614,12704,0.00,2.30,0.00,0.000,4,0.000,0.069,3355,3707,2184,0,0,0,0,0,0,28.83,25.68,28.83
$GC,12728,0.48,146.0,890.9,9.7,615,12734,0.00,2.22,0.00,0.000,6,0.000,0.051,3365,2297,2184,0,0,0,0,0,0,28.83,25.75,28.83
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$STATE,23027,end climb,SURFACE_DEPTH_REACHED
$STATE,23028,begin surface coast
$FINISH,0.8,1.022821
$STATE,23077,end surface coast,CONTROL_FINISHED_OK
$STATE,23077,begin surface
$SM_CCo,23157,0.00,0.000,0,0,1484,321.34
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$TT8_MAMPS,0.026964,0.026964
$HUMID,43.73
$INTERNAL_PRESSURE,9.12806
$TCM_TEMP,16.20
$XPDR_PINGS,1
$24V_AH,23.3,18.118
$10V_AH,10.2,15.359
$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
$DEVICE_SECS,21.900,180.600,402.500,0.000,0.000,24.950,52.315,189.693,0.250,0.000,13.895,3494.824,16123.854,543.141,3009.681,374.275,0.000,1969.852,0.000,2706.488,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296928
$DATA_FILE_SIZE,73468,1327
$CAP_FILE_SIZE,190267,0
$CFSIZE,260165632,247762944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.066, 55.5,1
$GPS,081012,101129,4718.194,-12622.986,41,1.4,41,18.6