version: 66.11
glider: 187
mission: 2
dive: 132
start: 10 10 112 20 28 21
data:
$ID,187
$MISSION,2
$DIVE,132
$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,-1587786.2
$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,37
$R_STBD_OVSHOOT,23
$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
$GPS1,101012,202105,4705.046,-12652.126,30,0.9,30,18.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-78.0
$GPS2,101012,202749,4705.051,-12652.077,13,1.5,13,18.6
$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,212.0,13699,-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,-146.0,0.0,0.0,0,97,0.00,0.00,-77.82,0.000,2,0.000,0.000,111,2164,2796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,101,-0.48,-146.0,3.0,-2.5,13,130,11.32,2.35,-11.85,0.000,4,0.223,0.073,3023,3588,3392,0,0,0,0,0,0,25.29,25.60,25.98
$GC,287,-0.48,-146.0,49.2,-16.9,47,295,0.00,2.17,0.00,0.000,6,0.000,0.044,3022,2170,3397,0,0,0,0,0,0,28.83,25.77,28.83
$GC,603,-0.48,-146.0,95.0,-11.3,108,610,0.00,2.17,0.00,0.000,4,0.000,0.050,3023,779,3399,0,0,0,0,0,0,28.83,25.86,28.83
$GC,623,-0.48,-146.0,97.3,-10.6,111,631,0.00,2.17,0.00,0.000,6,0.000,0.050,3014,2179,3399,0,0,0,0,0,0,28.83,25.87,28.83
$GC,941,-0.48,-146.0,135.5,-12.8,157,947,0.00,2.20,0.00,0.000,4,0.000,0.062,3003,3581,3399,0,0,0,0,0,0,28.83,25.92,28.83
$GC,1005,-0.48,-146.0,143.4,-13.1,161,1015,0.12,2.15,0.00,0.000,6,0.140,0.043,3038,2161,3399,0,0,0,0,0,0,25.87,26.01,28.83
$GC,1318,-0.48,-146.0,172.3,-9.0,182,1323,0.00,2.10,0.00,0.000,4,0.000,0.050,3037,774,3399,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1376,-0.48,-146.0,178.2,-9.7,186,1382,0.00,2.15,0.00,0.000,6,0.000,0.050,3031,2181,3399,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1701,-0.48,-146.0,211.3,-10.1,206,1707,0.00,2.22,0.00,0.000,4,0.000,0.062,3020,3591,3399,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1769,-0.48,-146.0,217.4,-10.3,209,1773,0.00,2.15,0.00,0.000,6,0.000,0.044,3019,2171,3399,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2077,-0.48,-146.0,248.8,-9.7,224,2078,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2167,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2376,-0.48,-146.0,276.7,-9.0,239,2377,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2167,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2676,-0.48,-146.0,304.4,-9.4,254,2682,0.00,2.28,0.00,0.000,4,0.000,0.063,3010,3590,3396,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2709,-0.48,-146.0,306.5,-9.6,255,2718,0.12,2.15,0.00,0.000,6,0.135,0.045,3045,2171,3396,0,0,0,0,0,0,26.07,26.19,28.83
$GC,3016,-0.48,-146.0,333.1,-8.3,271,3017,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2170,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3316,-0.48,-146.0,358.4,-8.4,286,3322,0.00,2.20,0.00,0.000,4,0.000,0.065,3037,3576,3395,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3369,-0.48,-146.0,362.0,-8.6,288,3376,0.00,2.12,0.00,0.000,6,0.000,0.046,3037,2176,3395,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3676,-0.48,-146.0,389.8,-8.5,304,3682,0.00,2.20,0.00,0.000,4,0.000,0.065,3027,3580,3394,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3704,-0.48,-146.0,391.5,-8.5,305,3708,0.00,2.15,0.00,0.000,6,0.000,0.047,3026,2167,3394,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4031,-0.48,-146.0,421.7,-9.1,317,4033,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2165,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4331,-0.48,-146.0,448.1,-8.9,327,4337,0.00,2.25,0.00,0.000,4,0.000,0.066,3016,3584,3392,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4379,-0.48,-146.0,450.9,-9.1,328,4383,0.00,2.15,0.00,0.000,6,0.000,0.047,3016,2173,3392,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4687,-0.48,-146.0,481.8,-9.3,338,4688,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2171,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4987,-0.48,-146.0,509.3,-9.2,348,4988,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2171,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5286,-0.48,-146.0,537.0,-9.3,358,5287,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2171,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5587,-0.48,-146.0,565.6,-9.5,368,5593,0.00,2.25,0.00,0.000,4,0.000,0.067,3006,3582,3390,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5639,-0.48,-146.0,568.5,-9.6,369,5646,0.12,2.15,0.00,0.000,6,0.137,0.047,3042,2172,3390,0,0,0,0,0,0,26.13,26.27,28.83
$GC,5947,-0.48,-146.0,593.7,-7.1,380,5953,0.00,2.22,0.00,0.000,4,0.000,0.067,3034,3581,3389,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5977,-0.48,-146.0,595.8,-7.1,381,5982,0.00,2.12,0.00,0.000,6,0.000,0.048,3034,2184,3389,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6307,-0.48,-146.0,618.9,-6.6,392,6312,0.00,2.20,0.00,0.000,4,0.000,0.067,3024,3583,3388,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6339,-0.48,-146.0,620.9,-6.6,393,6344,0.00,2.15,0.00,0.000,6,0.000,0.048,3023,2172,3388,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6663,-0.48,-146.0,642.1,-6.4,404,6668,0.00,2.22,0.00,0.000,4,0.000,0.067,3013,3580,3387,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6692,-0.48,-146.0,644.2,-6.6,405,6697,0.00,2.17,0.00,0.000,6,0.000,0.048,3013,2176,3387,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7022,-0.48,-146.0,668.5,-7.6,416,7024,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2174,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7322,-0.48,-146.0,691.3,-7.8,426,7325,0.00,2.25,0.00,0.000,4,0.000,0.068,3003,3581,3386,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7372,-0.48,-146.0,693.9,-7.9,427,7376,0.12,2.15,0.00,0.000,6,0.137,0.048,3039,2170,3386,0,0,0,0,0,0,26.13,26.27,28.83
$GC,7679,-0.48,-146.0,716.6,-6.8,437,7680,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2169,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7979,-0.48,-146.0,737.9,-7.3,447,7985,0.00,2.22,0.00,0.000,4,0.000,0.068,3031,3580,3385,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8032,-0.48,-146.0,740.2,-7.3,448,8039,0.00,2.15,0.00,0.000,6,0.000,0.049,3031,2168,3385,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8339,-0.48,-146.0,765.7,-7.7,459,8344,0.00,2.22,0.00,0.000,4,0.000,0.069,3021,3579,3384,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8387,-0.48,-146.0,768.2,-7.9,460,8391,0.00,2.15,0.00,0.000,6,0.000,0.050,3020,2170,3384,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8694,-0.48,-146.0,793.9,-7.5,470,8699,0.00,2.25,0.00,0.000,4,0.000,0.069,3011,3581,3384,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8732,-0.48,-146.0,796.3,-7.6,471,8736,0.00,2.15,0.00,0.000,6,0.000,0.050,3011,2177,3384,0,0,0,0,0,0,28.83,26.26,28.83
$GC,9054,-0.48,-146.0,821.2,-7.3,482,9056,0.12,0.00,0.00,0.000,6,0.143,0.000,3046,2174,3383,0,0,0,0,0,0,26.23,28.83,28.83
$GC,9354,-0.48,-146.0,836.6,-5.0,492,9360,0.00,2.22,0.00,0.000,4,0.000,0.069,3038,3581,3383,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9414,-0.48,-146.0,839.8,-5.3,494,9419,0.00,2.12,0.00,0.000,6,0.000,0.049,3038,2178,3383,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9744,-0.48,-146.0,859.2,-6.0,505,9749,0.00,2.22,0.00,0.000,4,0.000,0.070,3028,3581,3383,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9806,-0.48,-146.0,863.3,-6.3,507,9810,0.00,2.17,0.00,0.000,6,0.000,0.050,3028,2168,3383,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10134,-0.48,-146.0,886.3,-7.1,518,10140,0.00,2.22,0.00,0.000,4,0.000,0.070,3017,3575,3382,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10194,-0.48,-146.0,890.8,-7.3,520,10198,0.00,2.15,0.00,0.000,6,0.000,0.050,3017,2174,3382,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10526,-0.48,-146.0,916.4,-7.6,531,10532,0.00,2.25,0.00,0.000,4,0.000,0.069,3007,3586,3382,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10586,-0.48,-146.0,921.2,-7.8,533,10593,0.12,2.17,0.00,0.000,6,0.133,0.050,3043,2169,3381,0,0,0,0,0,0,26.13,26.25,28.83
$GC,10917,-0.48,-146.0,941.7,-6.3,544,10922,0.00,2.22,0.00,0.000,4,0.000,0.070,3035,3577,3382,0,0,0,0,0,0,28.83,26.14,28.83
$GC,10960,-0.48,-146.0,943.6,-6.2,545,10964,0.00,2.15,0.00,0.000,6,0.000,0.050,3034,2170,3381,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11273,-0.48,-146.0,965.6,-6.8,556,11278,0.00,2.28,0.00,0.000,4,0.000,0.070,3025,3588,3381,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11320,-0.48,-146.0,967.5,-6.7,557,11324,0.00,2.17,0.00,0.000,6,0.000,0.050,3025,2167,3381,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,11624,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11624,begin apogee
$GC,11632,-0.22,0.0,991.3,-7.1,567,11763,0.28,0.00,125.30,1.200,6,0.111,0.000,3120,2310,2793,0,0,0,0,0,0,26.10,28.83,23.72
$STATE,11766,end apogee,CONTROL_FINISHED_OK
$STATE,11766,begin climb
$GC,11769,0.48,146.0,995.1,0.0,571,11906,0.65,0.00,133.05,1.167,6,0.080,0.000,3342,2310,2198,0,0,0,0,0,0,24.58,28.83,23.18
$GC,12197,0.48,146.0,959.4,10.0,586,12203,0.00,2.30,0.00,0.000,4,0.000,0.069,3342,3694,2187,0,0,0,0,0,0,28.83,25.08,28.83
$GC,12220,0.48,146.0,959.4,10.0,586,12227,0.00,2.25,0.00,0.000,6,0.000,0.050,3353,2303,2186,0,0,0,0,0,0,28.83,25.15,28.83
$GC,12528,0.48,146.0,923.8,10.7,597,12529,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,2298,2185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12827,0.48,146.0,892.8,10.3,607,12833,0.00,2.33,0.00,0.000,4,0.000,0.069,3353,3712,2184,0,0,0,0,0,0,28.83,25.65,28.83
$GC,12875,0.48,146.0,889.5,10.3,608,12879,0.00,2.25,0.00,0.000,6,0.000,0.051,3363,2299,2184,0,0,0,0,0,0,28.83,25.72,28.83
$GC,13182,0.48,146.0,856.3,9.8,618,13183,0.00,0.00,0.00,0.000,6,0.000,0.000,3363,2293,2184,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,23001,end climb,SURFACE_DEPTH_REACHED
$STATE,23001,begin surface coast
$FINISH,1.0,1.000429
$STATE,23046,end surface coast,CONTROL_FINISHED_OK
$STATE,23046,begin surface
$SM_CCo,23126,0.00,0.000,0,0,1237,381.93
$SM_GC,1.93,8.32,0.20,0.00,0.028,0.074,0.000,117,2160,1237,-9.45,0.90,381.93,0,0,0,0,0,0,25.87,25.81,28.83
$IRIDIUM_FIX,4644.93,-12651.56,101012,141403
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.36
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,15.70
$XPDR_PINGS,0
$24V_AH,23.2,19.477
$10V_AH,10.2,16.484
$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,21.950,203.800,444.175,0.000,0.000,26.227,40.180,208.842,0.000,0.000,14.670,3330.966,16299.277,561.672,2939.245,393.377,0.000,2012.437,0.000,2626.954,0.000,0.535,0.000
$DEVICE_MAMPS,222.615,84.915,1199.520,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,871.737,725.962,496.198,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296972
$DATA_FILE_SIZE,73387,1267
$CAP_FILE_SIZE,194077,0
$CFSIZE,260165632,246890496
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.081, 55.6,1
$GPS,111012,025505,4703.407,-12654.982,40,1.0,40,18.6