version: 66.11
glider: 187
mission: 2
dive: 130
start: 10 10 112 7 48 45
data:
$ID,187
$MISSION,2
$DIVE,130
$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,-1587783.6
$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,35
$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
$GPS1,101012,074159,4707.213,-12644.869,38,1.7,38,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-79.0
$GPS2,101012,074813,4707.214,-12644.803,16,1.7,16,18.6
$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,227.5,23387,-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,-146.0,0.0,0.0,0,86,0.00,0.00,-67.18,0.000,2,0.000,0.000,113,2176,2758,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.48,-146.0,3.2,-3.3,11,123,11.40,2.33,-12.77,0.000,4,0.225,0.075,3026,3588,3393,0,0,0,0,0,0,25.28,25.58,25.96
$GC,227,-0.48,-146.0,39.8,-23.0,35,234,0.00,2.20,0.00,0.000,6,0.000,0.043,3025,2159,3396,0,0,0,0,0,0,28.83,25.73,28.83
$GC,548,-0.48,-146.0,86.3,-15.1,96,555,0.00,2.17,0.00,0.000,4,0.000,0.050,3025,774,3399,0,0,0,0,0,0,28.83,25.84,28.83
$GC,619,-0.48,-146.0,96.5,-14.2,109,626,0.00,2.17,0.00,0.000,6,0.000,0.050,3016,2181,3399,0,0,0,0,0,0,28.83,25.86,28.83
$GC,932,-0.48,-146.0,132.7,-11.9,156,937,0.00,2.22,0.00,0.000,4,0.000,0.061,3006,3591,3400,0,0,0,0,0,0,28.83,25.92,28.83
$GC,980,-0.48,-146.0,138.5,-12.6,159,985,0.12,2.15,0.00,0.000,6,0.139,0.042,3040,2174,3400,0,0,0,0,0,0,25.86,26.00,28.83
$GC,1291,-0.48,-146.0,170.4,-9.3,179,1292,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2169,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1589,-0.48,-146.0,198.7,-9.8,199,1594,0.00,2.20,0.00,0.000,4,0.000,0.062,3031,3578,3400,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1636,-0.48,-146.0,202.8,-10.1,202,1640,0.00,2.15,0.00,0.000,6,0.000,0.044,3031,2162,3400,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1942,-0.48,-146.0,232.8,-8.8,217,1948,0.00,2.25,0.00,0.000,4,0.000,0.062,3021,3589,3399,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1965,-0.48,-146.0,234.6,-8.6,218,1969,0.00,2.15,0.00,0.000,6,0.000,0.044,3021,2176,3399,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2278,-0.48,-146.0,264.3,-9.9,234,2283,0.00,2.20,0.00,0.000,4,0.000,0.063,3011,3577,3398,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2317,-0.48,-146.0,268.5,-10.2,236,2323,0.00,2.12,0.00,0.000,6,0.000,0.044,3010,2173,3398,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2638,-0.48,-146.0,302.5,-10.6,252,2640,0.12,0.00,0.00,0.000,6,0.149,0.000,3045,2170,3397,0,0,0,0,0,0,26.13,28.83,28.83
$GC,2938,-0.48,-146.0,327.8,-8.4,267,2939,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2170,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3237,-0.48,-146.0,352.7,-8.0,282,3243,0.00,2.22,0.00,0.000,4,0.000,0.064,3037,3584,3396,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3300,-0.48,-146.0,357.8,-8.3,285,3304,0.00,2.15,0.00,0.000,6,0.000,0.045,3037,2166,3396,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3613,-0.48,-146.0,384.2,-8.4,301,3618,0.00,2.25,0.00,0.000,4,0.000,0.065,3026,3592,3395,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3640,-0.48,-146.0,385.9,-8.3,302,3645,0.00,2.15,0.00,0.000,6,0.000,0.046,3026,2174,3395,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3968,-0.48,-146.0,416.7,-9.1,315,3969,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2171,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4267,-0.48,-146.0,442.6,-8.5,325,4273,0.00,2.22,0.00,0.000,4,0.000,0.066,3016,3582,3394,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4297,-0.48,-146.0,445.2,-8.4,326,4303,0.00,2.15,0.00,0.000,6,0.000,0.047,3016,2173,3394,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4628,-0.48,-146.0,473.8,-8.8,337,4633,0.00,2.22,0.00,0.000,4,0.000,0.066,3007,3580,3393,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4657,-0.48,-146.0,476.7,-9.0,338,4664,0.12,2.15,0.00,0.000,6,0.138,0.047,3042,2170,3393,0,0,0,0,0,0,26.12,26.25,28.83
$GC,4988,-0.48,-146.0,502.1,-7.7,349,4993,0.00,2.25,0.00,0.000,4,0.000,0.067,3033,3584,3392,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5018,-0.48,-146.0,504.6,-7.8,350,5024,0.00,2.15,0.00,0.000,6,0.000,0.047,3033,2174,3392,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5348,-0.48,-146.0,532.1,-8.4,361,5353,0.00,2.22,0.00,0.000,4,0.000,0.067,3023,3583,3391,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5380,-0.48,-146.0,534.7,-8.4,362,5384,0.00,2.15,0.00,0.000,6,0.000,0.047,3023,2172,3391,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5703,-0.48,-146.0,562.9,-8.6,373,5704,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2170,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6003,-0.48,-146.0,588.4,-8.4,383,6008,0.00,2.22,0.00,0.000,4,0.000,0.067,3013,3587,3390,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6075,-0.48,-146.0,593.7,-8.5,385,6080,0.00,2.15,0.00,0.000,6,0.000,0.047,3013,2174,3390,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6388,-0.48,-146.0,621.7,-8.6,396,6393,0.00,2.22,0.00,0.000,4,0.000,0.067,3003,3580,3390,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6420,-0.48,-146.0,624.4,-8.7,397,6425,0.12,2.15,0.00,0.000,6,0.138,0.048,3039,2169,3389,0,0,0,0,0,0,26.13,26.27,28.83
$GC,6743,-0.48,-146.0,647.0,-6.7,408,6744,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2167,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7043,-0.48,-146.0,668.0,-7.1,418,7049,0.00,2.22,0.00,0.000,4,0.000,0.068,3030,3580,3388,0,0,0,0,0,0,28.83,26.18,28.83
$GC,7111,-0.48,-146.0,672.7,-7.4,420,7115,0.00,2.15,0.00,0.000,6,0.000,0.048,3030,2170,3388,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7428,-0.48,-146.0,699.3,-8.3,431,7434,0.00,2.22,0.00,0.000,4,0.000,0.068,3020,3581,3387,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7477,-0.48,-146.0,702.0,-8.4,432,7481,0.00,2.15,0.00,0.000,6,0.000,0.049,3020,2173,3387,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7783,-0.48,-146.0,732.0,-9.1,442,7789,0.00,2.25,0.00,0.000,4,0.000,0.068,3010,3594,3387,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7836,-0.48,-146.0,734.8,-9.0,443,7843,0.00,2.20,0.00,0.000,6,0.000,0.048,3010,2165,3387,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8143,-0.48,-146.0,765.6,-9.2,454,8150,0.12,2.25,0.00,0.000,4,0.146,0.067,3043,3584,3386,0,0,0,0,0,0,26.21,26.17,28.83
$GC,8196,-0.48,-146.0,768.2,-9.1,455,8203,0.00,2.15,0.00,0.000,6,0.000,0.049,3043,2174,3386,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8504,-0.48,-146.0,790.4,-6.5,466,8509,0.00,2.22,0.00,0.000,4,0.000,0.069,3033,3586,3385,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8552,-0.48,-146.0,792.3,-6.6,467,8556,0.00,2.15,0.00,0.000,6,0.000,0.049,3033,2175,3386,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8858,-0.48,-146.0,813.3,-6.2,477,8864,0.00,2.22,0.00,0.000,4,0.000,0.069,3023,3584,3385,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8919,-0.48,-146.0,817.3,-6.4,479,8923,0.00,2.17,0.00,0.000,6,0.000,0.050,3023,2174,3385,0,0,0,0,0,0,28.83,26.26,28.83
$GC,9251,-0.48,-146.0,838.4,-6.4,490,9257,0.00,2.20,0.00,0.000,4,0.000,0.069,3012,3576,3384,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9281,-0.48,-146.0,840.3,-6.5,491,9287,0.00,2.12,0.00,0.000,6,0.000,0.050,3013,2179,3385,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9611,-0.48,-146.0,863.3,-7.1,502,9613,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2176,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9911,-0.48,-146.0,885.4,-7.4,512,9916,0.00,2.22,0.00,0.000,4,0.000,0.069,3003,3581,3384,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9954,-0.48,-146.0,887.7,-7.5,513,9959,0.12,2.15,0.00,0.000,6,0.135,0.050,3039,2171,3383,0,0,0,0,0,0,26.13,26.26,28.83
$GC,10267,-0.48,-146.0,908.9,-6.6,524,10273,0.00,2.22,0.00,0.000,4,0.000,0.070,3031,3580,3383,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10320,-0.48,-146.0,910.8,-6.7,525,10327,0.00,2.15,0.00,0.000,6,0.000,0.050,3031,2171,3383,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10627,-0.48,-146.0,934.8,-7.1,536,10633,0.00,2.25,0.00,0.000,4,0.000,0.070,3021,3581,3383,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10665,-0.48,-146.0,937.2,-7.3,537,10670,0.00,2.17,0.00,0.000,6,0.000,0.050,3021,2166,3383,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10983,-0.48,-146.0,963.1,-7.8,548,10988,0.00,2.25,0.00,0.000,4,0.000,0.069,3011,3582,3383,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11030,-0.48,-146.0,965.5,-7.8,549,11035,0.00,2.15,0.00,0.000,6,0.000,0.050,3011,2174,3382,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,11335,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11335,begin apogee
$GC,11343,-0.22,0.0,991.0,-7.6,559,11474,0.32,0.00,125.85,1.196,6,0.116,0.000,3121,2302,2793,0,0,0,0,0,0,26.08,28.83,23.73
$STATE,11477,end apogee,CONTROL_FINISHED_OK
$STATE,11477,begin climb
$GC,11480,0.48,146.0,994.4,0.0,563,11619,0.65,0.00,132.20,1.167,6,0.082,0.000,3342,2302,2198,0,0,0,0,0,0,24.58,28.83,23.20
$GC,11939,0.48,146.0,953.3,10.6,579,11945,0.00,2.30,0.00,0.000,4,0.000,0.069,3342,3700,2187,0,0,0,0,0,0,28.83,25.15,28.83
$GC,11962,0.48,146.0,953.3,10.6,579,11969,0.00,2.25,0.00,0.000,6,0.000,0.051,3353,2302,2187,0,0,0,0,0,0,28.83,25.22,28.83
$GC,12269,0.48,146.0,916.0,11.1,590,12270,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,2299,2186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12569,0.48,146.0,883.6,10.7,600,12570,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,2299,2186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12869,0.48,146.0,851.8,10.6,610,12875,0.00,2.25,0.00,0.000,4,0.000,0.070,3353,3699,2184,0,0,0,0,0,0,28.83,25.79,28.83
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$STATE,22504,end climb,SURFACE_DEPTH_REACHED
$STATE,22505,begin surface coast
$FINISH,1.0,1.003525
$STATE,22546,end surface coast,CONTROL_FINISHED_OK
$STATE,22546,begin surface
$SM_CCo,22625,0.00,0.000,0,0,1063,424.61
$SM_GC,1.81,8.48,0.20,0.00,0.029,0.071,0.000,112,2161,1063,-9.48,0.85,424.61,0,0,0,0,0,0,25.67,25.62,28.83
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$TT8_MAMPS,0.026964,0.026964
$HUMID,43.81
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,16.00
$XPDR_PINGS,0
$24V_AH,23.2,19.193
$10V_AH,10.2,16.265
$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
$DEVICE_SECS,22.150,203.900,486.650,0.000,0.000,28.900,38.652,174.967,0.000,0.000,17.483,3292.922,15845.643,580.018,2886.428,387.007,0.000,2022.477,0.000,2608.917,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,865.163,729.333,504.542,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296888
$DATA_FILE_SIZE,70158,1259
$CAP_FILE_SIZE,191757,0
$CFSIZE,260165632,247066624
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.050, 86.3,1
$GPS,101012,140705,4706.081,-12648.502,37,1.0,37,18.6