version: 66.11
glider: 187
mission: 2
dive: 127
start: 10 9 112 12 33 45
data:
$ID,187
$MISSION,2
$DIVE,127
$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,-1587779.9
$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,44
$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
$GPS1,091012,122706,4711.911,-12635.059,26,1.9,26,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-79.1
$GPS2,091012,123313,4711.910,-12635.012,13,1.9,13,18.6
$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,218.4,38505,-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,-65.60,0.000,2,0.000,0.000,116,2172,2848,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.48,-146.0,3.3,-4.6,11,117,11.35,2.25,-10.38,0.000,4,0.224,0.063,3036,774,3394,0,0,0,0,0,0,25.29,25.61,25.96
$GC,355,-0.48,-146.0,55.6,-12.9,60,362,0.00,2.22,0.00,0.000,6,0.000,0.050,3027,2180,3399,0,0,0,0,0,0,28.83,25.77,28.83
$GC,675,-0.48,-146.0,96.7,-12.4,121,681,0.00,2.15,0.00,0.000,4,0.000,0.049,3027,776,3401,0,0,0,0,0,0,28.83,25.89,28.83
$GC,721,-0.48,-146.0,102.5,-11.8,129,727,0.00,2.17,0.00,0.000,6,0.000,0.050,3018,2189,3401,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1041,-0.48,-146.0,144.0,-12.8,168,1045,0.00,2.20,0.00,0.000,4,0.000,0.062,3007,3582,3401,0,0,0,0,0,0,28.83,25.95,28.83
$GC,1076,-0.48,-146.0,148.0,-12.6,170,1081,0.12,2.12,0.00,0.000,6,0.141,0.043,3042,2175,3401,0,0,0,0,0,0,25.90,26.03,28.83
$GC,1385,-0.48,-146.0,179.1,-9.4,190,1390,0.00,2.12,0.00,0.000,4,0.000,0.050,3042,770,3401,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1416,-0.48,-146.0,181.9,-9.2,192,1420,0.00,2.15,0.00,0.000,6,0.000,0.050,3034,2175,3401,0,0,0,0,0,0,28.83,26.05,28.83
$GC,1739,-0.48,-146.0,210.9,-8.5,211,1743,0.00,2.20,0.00,0.000,4,0.000,0.063,3025,3583,3401,0,0,0,0,0,0,28.83,26.05,28.83
$GC,1764,-0.48,-146.0,212.6,-8.4,212,1768,0.00,2.12,0.00,0.000,6,0.000,0.044,3024,2175,3401,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2076,-0.48,-146.0,241.1,-9.4,228,2077,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2172,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2377,-0.48,-146.0,270.5,-9.7,243,2382,0.00,2.20,0.00,0.000,4,0.000,0.063,3014,3577,3399,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2424,-0.48,-146.0,274.6,-10.0,245,2428,0.00,2.12,0.00,0.000,6,0.000,0.045,3014,2176,3400,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2731,-0.48,-146.0,306.5,-10.4,260,2733,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2174,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3032,-0.48,-146.0,337.7,-10.1,275,3033,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2174,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3331,-0.48,-146.0,367.9,-10.2,290,3335,0.00,2.17,0.00,0.000,4,0.000,0.053,3014,764,3397,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3373,-0.48,-146.0,372.5,-10.7,292,3380,0.12,2.20,0.00,0.000,6,0.144,0.053,3040,2182,3397,0,0,0,0,0,0,26.09,26.20,28.83
$GC,3693,-0.48,-146.0,400.0,-8.4,308,3699,0.00,2.20,0.00,0.000,4,0.000,0.065,3031,3591,3396,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3753,-0.48,-146.0,405.2,-8.5,310,3758,0.00,2.15,0.00,0.000,6,0.000,0.046,3031,2176,3396,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4083,-0.48,-146.0,432.5,-8.1,321,4084,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2174,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4383,-0.48,-146.0,456.2,-7.7,331,4389,0.00,2.20,0.00,0.000,4,0.000,0.066,3021,3578,3394,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4421,-0.48,-146.0,458.6,-7.9,332,4425,0.00,2.12,0.00,0.000,6,0.000,0.047,3021,2178,3395,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4739,-0.48,-146.0,486.2,-8.6,343,4740,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2176,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5038,-0.48,-146.0,512.2,-8.5,353,5044,0.00,2.22,0.00,0.000,4,0.000,0.066,3011,3586,3393,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5076,-0.48,-146.0,515.0,-8.6,354,5080,0.00,2.15,0.00,0.000,6,0.000,0.048,3011,2170,3393,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5393,-0.48,-146.0,545.2,-9.3,365,5399,0.12,2.22,0.00,0.000,4,0.148,0.065,3043,3585,3392,0,0,0,0,0,0,26.21,26.19,28.83
$GC,5423,-0.48,-146.0,547.8,-9.3,366,5429,0.00,2.17,0.00,0.000,6,0.000,0.047,3043,2164,3392,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5753,-0.48,-146.0,574.1,-8.1,377,5759,0.00,2.28,0.00,0.000,4,0.000,0.067,3032,3595,3392,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5814,-0.48,-146.0,579.2,-8.3,379,5819,0.00,2.15,0.00,0.000,6,0.000,0.047,3032,2167,3392,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6143,-0.48,-146.0,607.1,-8.4,390,6149,0.00,2.25,0.00,0.000,4,0.000,0.066,3022,3594,3391,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6196,-0.48,-146.0,609.5,-8.3,391,6203,0.00,2.15,0.00,0.000,6,0.000,0.048,3022,2174,3390,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6503,-0.48,-146.0,635.9,-7.5,402,6504,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2173,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6803,-0.48,-146.0,658.0,-7.4,412,6807,0.00,2.22,0.00,0.000,4,0.000,0.067,3012,3583,3390,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6844,-0.48,-146.0,660.6,-7.7,413,6850,0.00,2.15,0.00,0.000,6,0.000,0.049,3012,2172,3389,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7165,-0.48,-146.0,689.5,-8.9,424,7171,0.00,2.22,0.00,0.000,4,0.000,0.067,3002,3589,3389,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7213,-0.48,-146.0,692.4,-9.1,425,7218,0.15,2.15,0.00,0.000,6,0.132,0.048,3045,2175,3389,0,0,0,0,0,0,26.13,26.27,28.83
$GC,7521,-0.48,-146.0,716.6,-7.3,435,7526,0.00,2.25,0.00,0.000,4,0.000,0.068,3037,3587,3388,0,0,0,0,0,0,28.83,26.18,28.83
$GC,7559,-0.48,-146.0,718.9,-7.2,436,7563,0.00,2.15,0.00,0.000,6,0.000,0.049,3037,2174,3388,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7876,-0.48,-146.0,742.8,-7.0,447,7881,0.00,2.20,0.00,0.000,4,0.000,0.068,3027,3581,3388,0,0,0,0,0,0,28.83,26.18,28.83
$GC,7908,-0.48,-146.0,745.0,-7.0,448,7912,0.00,2.15,0.00,0.000,6,0.000,0.049,3027,2166,3387,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8232,-0.48,-146.0,767.1,-6.6,459,8237,0.00,2.28,0.00,0.000,4,0.000,0.069,3017,3591,3387,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8274,-0.48,-146.0,769.1,-6.6,460,8278,0.00,2.17,0.00,0.000,6,0.000,0.050,3017,2167,3387,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8587,-0.48,-146.0,791.2,-6.7,471,8593,0.00,2.22,0.00,0.000,4,0.000,0.068,3007,3581,3386,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8648,-0.48,-146.0,795.6,-7.0,473,8654,0.08,2.12,0.00,0.000,6,0.116,0.050,3035,2180,3386,0,0,0,0,0,0,26.13,26.27,28.83
$GC,8977,-0.48,-146.0,815.9,-6.2,484,8983,0.00,2.25,0.00,0.000,4,0.000,0.070,3028,3591,3386,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9016,-0.48,-146.0,817.8,-6.3,485,9020,0.00,2.17,0.00,0.000,6,0.000,0.050,3028,2173,3386,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9338,-0.48,-146.0,841.9,-7.5,496,9339,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2170,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9638,-0.48,-146.0,864.6,-7.6,506,9644,0.00,2.25,0.00,0.000,4,0.000,0.069,3017,3591,3385,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9711,-0.48,-146.0,869.4,-7.9,508,9715,0.00,2.15,0.00,0.000,6,0.000,0.050,3017,2175,3385,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10023,-0.48,-146.0,894.7,-7.6,519,10024,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2172,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10323,-0.48,-146.0,918.5,-8.1,529,10329,0.00,2.25,0.00,0.000,4,0.000,0.070,3007,3591,3384,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10396,-0.48,-146.0,923.5,-8.2,531,10401,0.12,2.17,0.00,0.000,6,0.135,0.050,3043,2165,3384,0,0,0,0,0,0,26.14,26.27,28.83
$GC,10709,-0.48,-146.0,946.2,-6.8,542,10715,0.00,2.22,0.00,0.000,4,0.000,0.070,3035,3577,3384,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10753,-0.48,-146.0,948.3,-6.8,543,10757,0.00,2.17,0.00,0.000,6,0.000,0.051,3034,2169,3384,0,0,0,0,0,0,28.83,26.26,28.83
$GC,11070,-0.48,-146.0,972.1,-7.2,554,11075,0.00,2.22,0.00,0.000,4,0.000,0.070,3025,3578,3383,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11113,-0.48,-146.0,974.3,-7.2,555,11117,0.00,2.15,0.00,0.000,6,0.000,0.051,3025,2170,3383,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,11302,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11302,begin apogee
$GC,11310,-0.22,0.0,990.8,-8.0,562,11441,0.28,0.00,125.62,1.201,6,0.112,0.000,3119,2312,2794,0,0,0,0,0,0,26.11,28.83,23.72
$STATE,11444,end apogee,CONTROL_FINISHED_OK
$STATE,11444,begin climb
$GC,11447,0.48,146.0,995.4,0.0,566,11584,0.68,0.00,132.98,1.168,6,0.080,0.000,3348,2312,2198,0,0,0,0,0,0,24.58,28.83,23.22
$GC,11875,0.48,146.0,963.9,9.1,581,11881,0.00,2.33,0.00,0.000,4,0.000,0.070,3347,3704,2187,0,0,0,0,0,0,28.83,25.10,28.83
$GC,11908,0.48,146.0,960.8,9.5,582,11912,0.00,2.28,0.00,0.000,6,0.000,0.051,3358,2304,2187,0,0,0,0,0,0,28.83,25.19,28.83
$GC,12231,0.48,146.0,926.5,10.7,593,12232,0.00,0.00,0.00,0.000,6,0.000,0.000,3358,2299,2185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12530,0.48,146.0,894.4,10.6,603,12536,0.00,2.30,0.00,0.000,4,0.000,0.070,3358,3713,2185,0,0,0,0,0,0,28.83,25.67,28.83
$GC,12561,0.48,146.0,891.0,10.7,604,12566,0.00,2.22,0.00,0.000,6,0.000,0.052,3368,2298,2184,0,0,0,0,0,0,28.83,25.74,28.83
$GC,12890,0.48,146.0,855.2,10.6,615,12892,0.00,0.00,0.00,0.000,6,0.000,0.000,3369,2294,2184,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,22770,end climb,SURFACE_DEPTH_REACHED
$STATE,22770,begin surface coast
$FINISH,0.9,1.023048
$STATE,22816,end surface coast,CONTROL_FINISHED_OK
$STATE,22816,begin surface
$SM_CCo,22895,0.00,0.000,0,0,1490,319.87
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$IRIDIUM_FIX,4657.54,-12638.24,091012,050558
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.34
$INTERNAL_PRESSURE,9.13782
$TCM_TEMP,19.70
$XPDR_PINGS,0
$24V_AH,23.2,18.783
$10V_AH,10.2,15.931
$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,21.900,185.925,402.525,0.000,0.000,28.767,36.565,171.127,0.000,0.000,14.240,3401.705,16064.473,526.207,2876.334,384.134,0.000,1917.543,0.000,2613.386,0.000,0.536,0.000
$DEVICE_MAMPS,224.145,84.915,1201.050,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,890.045,753.470,544.269,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296920
$DATA_FILE_SIZE,73617,1292
$CAP_FILE_SIZE,187973,0
$CFSIZE,260165632,247332864
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.074, 56.4,1
$GPS,091012,185635,4710.682,-12638.276,37,0.8,37,18.6