version: 66.11
glider: 187
mission: 2
dive: 124
start: 10 8 112 16 55 15
data:
$ID,187
$MISSION,2
$DIVE,124
$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,-1587774.2
$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,32
$R_STBD_OVSHOOT,26
$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
$GPS1,081012,164823,4717.017,-12626.128,37,1.9,37,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-79.0
$GPS2,081012,165443,4717.054,-12626.124,16,1.8,16,18.6
$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,209.3,53182,-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,-146.0,0.0,0.0,0,85,0.00,0.00,-65.70,0.000,2,0.000,0.000,114,2167,2793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.48,-146.0,3.2,-4.6,11,116,11.27,0.00,-11.77,0.000,6,0.222,0.000,3034,2167,3393,0,0,0,0,0,0,25.31,28.83,25.96
$GC,424,-0.48,-146.0,64.9,-12.5,75,430,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2167,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,736,-0.48,-146.0,104.9,-12.1,136,743,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2167,3401,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1051,-0.48,-146.0,136.3,-9.9,176,1056,0.00,2.12,0.00,0.000,4,0.000,0.050,3034,766,3401,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1097,-0.48,-146.0,140.7,-9.8,179,1102,0.00,2.15,0.00,0.000,6,0.000,0.050,3027,2175,3400,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1411,-0.48,-146.0,172.8,-11.0,200,1417,0.00,2.22,0.00,0.000,4,0.000,0.063,3017,3593,3400,0,0,0,0,0,0,28.83,26.02,28.83
$GC,1487,-0.48,-146.0,181.3,-11.3,205,1492,0.00,2.15,0.00,0.000,6,0.000,0.044,3016,2160,3401,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1806,-0.48,-146.0,215.7,-10.9,224,1807,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2158,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2107,-0.48,-146.0,247.1,-10.4,239,2113,0.00,2.22,0.00,0.000,4,0.000,0.062,3006,3583,3399,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2135,-0.48,-146.0,249.2,-10.5,240,2145,0.12,2.15,0.00,0.000,6,0.138,0.044,3041,2159,3399,0,0,0,0,0,0,26.05,26.17,28.83
$GC,2446,-0.48,-146.0,278.6,-8.9,256,2447,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2159,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2746,-0.48,-146.0,304.4,-8.6,271,2752,0.00,2.25,0.00,0.000,4,0.000,0.063,3033,3584,3397,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2779,-0.48,-146.0,306.3,-8.7,272,2785,0.00,2.15,0.00,0.000,6,0.000,0.045,3033,2164,3397,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3088,-0.48,-146.0,334.4,-8.6,288,3093,0.00,2.22,0.00,0.000,4,0.000,0.064,3023,3586,3397,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3116,-0.48,-146.0,336.1,-8.7,289,3125,0.00,2.15,0.00,0.000,6,0.000,0.045,3022,2167,3397,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3426,-0.48,-146.0,365.7,-9.3,305,3427,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2166,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3726,-0.48,-146.0,394.2,-9.7,320,3732,0.00,2.25,0.00,0.000,4,0.000,0.065,3012,3587,3395,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3789,-0.48,-146.0,400.4,-10.2,323,3793,0.00,2.15,0.00,0.000,6,0.000,0.046,3012,2170,3395,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4112,-0.48,-146.0,434.9,-10.5,334,4113,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2167,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4411,-0.48,-146.0,465.3,-10.1,344,4417,0.00,2.25,0.00,0.000,4,0.000,0.066,3002,3595,3393,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4441,-0.48,-146.0,468.4,-10.1,345,4448,0.15,2.17,0.00,0.000,6,0.131,0.047,3045,2169,3393,0,0,0,0,0,0,26.13,26.27,28.83
$GC,4772,-0.48,-146.0,493.4,-7.3,356,4773,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2166,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5072,-0.48,-146.0,515.2,-7.2,366,5077,0.00,2.22,0.00,0.000,4,0.000,0.067,3037,3583,3392,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5115,-0.48,-146.0,517.5,-7.3,367,5119,0.00,2.15,0.00,0.000,6,0.000,0.047,3038,2169,3392,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5427,-0.48,-146.0,542.5,-7.6,378,5428,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2166,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5727,-0.48,-146.0,565.8,-7.5,388,5730,0.00,2.25,0.00,0.000,4,0.000,0.067,3027,3583,3391,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5781,-0.48,-146.0,568.2,-7.5,389,5788,0.00,2.15,0.00,0.000,6,0.000,0.048,3027,2167,3390,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6089,-0.48,-146.0,592.9,-7.3,400,6095,0.00,2.22,0.00,0.000,4,0.000,0.067,3017,3582,3389,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6126,-0.48,-146.0,595.4,-7.5,401,6130,0.00,2.17,0.00,0.000,6,0.000,0.048,3017,2167,3389,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6448,-0.48,-146.0,622.5,-8.4,412,6454,0.00,2.25,0.00,0.000,4,0.000,0.067,3007,3592,3389,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6486,-0.48,-146.0,625.2,-8.5,413,6491,0.12,2.17,0.00,0.000,6,0.136,0.048,3042,2165,3389,0,0,0,0,0,0,26.15,26.28,28.83
$GC,6805,-0.48,-146.0,647.8,-6.8,424,6810,0.00,2.22,0.00,0.000,4,0.000,0.067,3034,3580,3388,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6847,-0.48,-146.0,649.9,-6.8,425,6851,0.00,2.15,0.00,0.000,6,0.000,0.049,3034,2167,3388,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7160,-0.48,-146.0,672.4,-6.8,436,7166,0.00,2.25,0.00,0.000,4,0.000,0.067,3024,3587,3388,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7193,-0.48,-146.0,674.5,-6.7,437,7196,0.00,2.17,0.00,0.000,6,0.000,0.049,3024,2165,3388,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7520,-0.48,-146.0,697.4,-6.9,448,7525,0.00,2.22,0.00,0.000,4,0.000,0.068,3013,3582,3387,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7543,-0.48,-146.0,697.4,-6.9,448,7550,0.00,2.15,0.00,0.000,6,0.000,0.049,3013,2170,3387,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7850,-0.48,-146.0,722.9,-7.9,459,7851,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2169,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8150,-0.48,-146.0,745.5,-7.6,469,8153,0.00,2.15,0.00,0.000,4,0.000,0.056,3014,771,3386,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8182,-0.48,-146.0,748.0,-7.7,470,8188,0.12,2.17,0.00,0.000,6,0.149,0.055,3040,2182,3386,0,0,0,0,0,0,26.13,26.24,28.83
$GC,8512,-0.48,-146.0,772.2,-7.4,481,8518,0.00,2.20,0.00,0.000,4,0.000,0.068,3032,3587,3386,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8605,-0.48,-146.0,779.2,-7.6,484,8609,0.00,2.15,0.00,0.000,6,0.000,0.050,3032,2174,3385,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8928,-0.48,-146.0,803.9,-7.4,495,8929,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2172,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9228,-0.48,-146.0,824.2,-6.5,505,9231,0.00,2.25,0.00,0.000,4,0.000,0.069,3023,3583,3385,0,0,0,0,0,0,28.83,26.18,28.83
$GC,9338,-0.48,-146.0,830.3,-6.6,508,9342,0.00,2.15,0.00,0.000,6,0.000,0.049,3023,2171,3385,0,0,0,0,0,0,28.83,26.28,28.83
$GC,9645,-0.48,-146.0,850.3,-5.9,518,9651,0.00,2.12,0.00,0.000,4,0.000,0.057,3023,772,3385,0,0,0,0,0,0,28.83,26.23,28.83
$GC,9663,-0.48,-146.0,850.3,-5.9,518,9667,0.00,2.15,0.00,0.000,6,0.000,0.055,3014,2175,3384,0,0,0,0,0,0,28.83,26.24,28.83
$GC,9970,-0.48,-146.0,869.2,-5.6,528,9976,0.00,2.20,0.00,0.000,4,0.000,0.068,3004,3581,3384,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10053,-0.48,-146.0,873.0,-6.0,530,10061,0.12,2.15,0.00,0.000,6,0.135,0.050,3041,2168,3384,0,0,0,0,0,0,26.15,26.27,28.83
$GC,10360,-0.48,-146.0,890.2,-5.2,541,10364,0.00,2.15,0.00,0.000,4,0.000,0.057,3041,777,3384,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10375,-0.48,-146.0,890.2,-5.2,541,10379,0.00,2.15,0.00,0.000,6,0.000,0.056,3041,2175,3384,0,0,0,0,0,0,28.83,26.23,28.83
$GC,10688,-0.48,-146.0,907.3,-5.2,552,10692,0.00,2.25,0.00,0.000,4,0.000,0.070,3030,3591,3383,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10798,-0.48,-146.0,912.4,-5.5,555,10802,0.00,2.15,0.00,0.000,6,0.000,0.050,3030,2177,3383,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11105,-0.48,-146.0,929.8,-5.2,565,11111,0.00,2.12,0.00,0.000,4,0.000,0.057,3030,780,3383,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11137,-0.48,-146.0,931.5,-5.2,566,11141,0.00,2.15,0.00,0.000,6,0.000,0.056,3022,2178,3383,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11460,-0.48,-146.0,948.7,-5.2,577,11466,0.00,2.20,0.00,0.000,4,0.000,0.069,3011,3581,3383,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11590,-0.48,-146.0,955.6,-5.8,581,11595,0.00,2.15,0.00,0.000,6,0.000,0.050,3012,2170,3382,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11910,-0.48,-146.0,976.7,-6.6,592,11916,0.00,2.25,0.00,0.000,4,0.000,0.070,3002,3585,3382,0,0,0,0,0,0,28.83,26.16,28.83
$GC,11948,-0.48,-146.0,978.8,-6.7,593,11953,0.15,2.15,0.00,0.000,6,0.130,0.050,3046,2174,3382,0,0,0,0,0,0,26.12,26.27,28.83
$STATE,12143,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12143,begin apogee
$GC,12150,-0.22,0.0,990.2,-5.4,600,12281,0.22,0.00,125.38,1.200,6,0.112,0.000,3127,2303,2794,0,0,0,0,0,0,26.17,28.83,23.73
$STATE,12285,end apogee,CONTROL_FINISHED_OK
$STATE,12285,begin climb
$GC,12287,0.48,146.0,993.8,0.0,604,12430,0.62,2.47,132.55,1.170,4,0.078,0.057,3353,902,2196,0,0,0,0,0,0,24.59,23.94,23.23
$GC,12450,0.49,167.2,985.6,6.5,610,12478,0.00,2.35,20.10,1.086,6,0.000,0.056,3353,2297,2111,0,0,0,0,0,0,28.83,24.24,23.31
$GC,12778,0.49,167.2,954.5,9.3,621,12784,0.00,2.40,0.00,0.000,4,0.000,0.069,3353,3720,2102,0,0,0,0,0,0,28.83,25.11,28.83
$GC,12841,0.49,167.2,947.8,10.2,623,12846,0.00,2.28,0.00,0.000,6,0.000,0.051,3364,2309,2101,0,0,0,0,0,0,28.83,25.25,28.83
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$STATE,23201,end climb,SURFACE_DEPTH_REACHED
$STATE,23201,begin surface coast
$FINISH,0.9,1.023918
$STATE,23245,end surface coast,CONTROL_FINISHED_OK
$STATE,23245,begin surface
$SM_CCo,23325,0.00,0.000,0,0,1348,354.70
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$TT8_MAMPS,0.026964,0.026964
$HUMID,43.66
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,16.00
$XPDR_PINGS,1
$24V_AH,23.2,18.389
$10V_AH,10.2,15.592
$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
$DEVICE_SECS,21.875,190.675,433.275,0.000,0.000,25.054,37.227,184.161,0.250,0.000,17.382,3454.328,16304.082,524.074,3013.955,398.610,0.000,1997.311,0.000,2734.777,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,905.677,767.794,537.964,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73437,1315
$CAP_FILE_SIZE,195383,0
$CFSIZE,260165632,247586816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.042, 29.1,1
$GPS,081012,232505,4715.396,-12628.960,27,1.2,27,18.6