version: 66.11
glider: 187
mission: 2
dive: 175
start: 10 22 112 4 23 34
data:
$ID,187
$MISSION,2
$DIVE,175
$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,-1587846.9
$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,28
$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
$GPS1,221012,041519,4731.379,-12547.489,40,2.2,59,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-73.3
$GPS2,221012,042301,4731.358,-12547.410,10,1.9,10,18.7
$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,213.9,108531,-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,-146.0,0.0,0.0,0,87,0.00,0.00,-67.32,0.000,2,0.000,0.000,110,2171,2799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.48,-146.0,3.3,-4.8,11,124,11.40,2.28,-11.93,0.000,4,0.222,0.063,3036,757,3394,0,0,0,0,0,0,25.18,25.56,25.96
$GC,205,-0.48,-146.0,30.6,-18.9,31,212,0.00,2.22,0.00,0.000,6,0.000,0.050,3027,2185,3396,0,0,0,0,0,0,28.83,25.62,28.83
$GC,522,-0.48,-146.0,74.4,-13.1,92,530,0.00,2.25,0.00,0.000,4,0.000,0.062,3017,3580,3399,0,0,0,0,0,0,28.83,25.73,28.83
$GC,640,-0.48,-146.0,89.4,-12.9,114,647,0.00,2.17,0.00,0.000,6,0.000,0.041,3017,2151,3400,0,0,0,0,0,0,28.83,25.86,28.83
$GC,957,-0.48,-146.0,126.8,-10.8,168,959,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2145,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1257,-0.48,-146.0,160.7,-11.2,188,1258,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2145,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1557,-0.48,-146.0,194.3,-11.3,208,1563,0.00,2.10,0.00,0.000,4,0.000,0.050,3017,756,3399,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1620,-0.48,-146.0,201.1,-11.3,212,1625,0.12,2.17,0.00,0.000,6,0.143,0.049,3041,2178,3400,0,0,0,0,0,0,25.87,26.00,28.83
$GC,1933,-0.48,-146.0,229.8,-8.7,228,1939,0.00,2.22,0.00,0.000,4,0.000,0.063,3033,3585,3399,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1994,-0.48,-146.0,235.2,-8.9,231,1999,0.00,2.10,0.00,0.000,6,0.000,0.043,3033,2178,3399,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2313,-0.48,-146.0,264.7,-9.0,247,2314,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2173,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2615,-0.48,-146.0,291.8,-8.8,262,2616,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2173,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2913,-0.48,-146.0,317.8,-8.6,277,2914,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2173,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3213,-0.48,-146.0,344.1,-8.8,292,3214,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2173,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3513,-0.48,-146.0,370.1,-8.5,307,3515,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2174,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3814,-0.48,-146.0,394.6,-8.1,322,3815,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2173,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4133,-0.48,-146.0,419.6,-7.7,334,4139,0.00,2.20,0.00,0.000,4,0.000,0.065,3023,3579,3394,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4163,-0.48,-146.0,422.1,-7.9,335,4168,0.00,2.12,0.00,0.000,6,0.000,0.046,3023,2174,3394,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4494,-0.48,-146.0,451.7,-9.3,346,4499,0.00,2.12,0.00,0.000,4,0.000,0.053,3023,770,3393,0,0,0,0,0,0,28.83,26.11,28.83
$GC,4531,-0.48,-146.0,454.6,-9.4,347,4535,0.00,2.15,0.00,0.000,6,0.000,0.053,3014,2173,3393,0,0,0,0,0,0,28.83,26.11,28.83
$GC,4849,-0.48,-146.0,485.9,-9.7,358,4855,0.00,2.22,0.00,0.000,4,0.000,0.066,3003,3589,3392,0,0,0,0,0,0,28.83,26.04,28.83
$GC,4921,-0.48,-146.0,492.3,-10.1,360,4926,0.12,2.15,0.00,0.000,6,0.136,0.046,3039,2164,3392,0,0,0,0,0,0,26.02,26.18,28.83
$GC,5234,-0.48,-146.0,520.2,-8.5,371,5235,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2160,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5534,-0.48,-146.0,545.4,-8.6,381,5535,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2160,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5834,-0.48,-146.0,569.7,-7.9,391,5840,0.00,2.25,0.00,0.000,4,0.000,0.066,3031,3583,3391,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5872,-0.48,-146.0,572.1,-7.8,392,5876,0.00,2.12,0.00,0.000,6,0.000,0.047,3031,2174,3390,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6189,-0.48,-146.0,598.1,-8.0,403,6190,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2171,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6489,-0.48,-146.0,622.2,-7.9,413,6490,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2171,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6789,-0.48,-146.0,645.8,-7.7,423,6790,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2171,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7089,-0.48,-146.0,668.8,-7.5,433,7095,0.00,2.25,0.00,0.000,4,0.000,0.067,3021,3585,3388,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7132,-0.48,-146.0,671.1,-7.4,434,7136,0.00,2.15,0.00,0.000,6,0.000,0.047,3021,2171,3388,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7449,-0.48,-146.0,697.4,-8.0,445,7450,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2168,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7749,-0.48,-146.0,720.8,-7.7,455,7755,0.00,2.25,0.00,0.000,4,0.000,0.067,3011,3584,3387,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7772,-0.48,-146.0,720.8,-7.7,455,7779,0.00,2.15,0.00,0.000,6,0.000,0.047,3011,2173,3387,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8080,-0.48,-146.0,748.5,-8.6,466,8081,0.12,0.00,0.00,0.000,6,0.143,0.000,3046,2172,3387,0,0,0,0,0,0,26.20,28.83,28.83
$GC,8379,-0.48,-146.0,767.7,-6.1,476,8383,0.00,2.28,0.00,0.000,4,0.000,0.068,3037,3590,3387,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8412,-0.48,-146.0,769.5,-6.0,477,8418,0.00,2.15,0.00,0.000,6,0.000,0.048,3037,2167,3386,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8741,-0.48,-146.0,791.7,-6.9,488,8743,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2164,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9042,-0.48,-146.0,812.9,-7.1,498,9047,0.00,2.22,0.00,0.000,4,0.000,0.068,3028,3579,3386,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9101,-0.48,-146.0,817.6,-7.6,500,9107,0.00,2.15,0.00,0.000,6,0.000,0.048,3028,2161,3386,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9431,-0.48,-146.0,842.3,-7.3,511,9437,0.00,2.25,0.00,0.000,4,0.000,0.068,3018,3582,3385,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9469,-0.48,-146.0,844.5,-7.4,512,9473,0.00,2.15,0.00,0.000,6,0.000,0.048,3018,2166,3385,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9787,-0.48,-146.0,869.5,-7.6,523,9788,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2163,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10086,-0.48,-146.0,893.0,-7.8,533,10090,0.00,2.28,0.00,0.000,4,0.000,0.068,3007,3583,3385,0,0,0,0,0,0,28.83,25.99,28.83
$GC,10118,-0.48,-146.0,895.7,-7.9,534,10125,0.10,2.15,0.00,0.000,6,0.145,0.049,3042,2171,3384,0,0,0,0,0,0,26.01,26.15,28.83
$GC,10449,-0.48,-146.0,916.5,-6.0,545,10450,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2170,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10748,-0.48,-146.0,936.8,-7.0,555,10749,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2170,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11048,-0.48,-146.0,958.3,-7.2,565,11049,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2170,3383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11349,-0.48,-146.0,979.7,-7.0,575,11354,0.00,2.25,0.00,0.000,4,0.000,0.069,3034,3583,3383,0,0,0,0,0,0,28.83,25.97,28.83
$GC,11396,-0.48,-146.0,981.9,-7.1,576,11400,0.00,2.15,0.00,0.000,6,0.000,0.049,3033,2170,3383,0,0,0,0,0,0,28.83,26.15,28.83
$STATE,11490,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11490,begin apogee
$GC,11497,-0.22,0.0,990.1,-7.2,579,11629,0.25,0.00,125.80,1.191,6,0.114,0.000,3120,2312,2794,0,0,0,0,0,0,26.00,28.83,23.68
$STATE,11632,end apogee,CONTROL_FINISHED_OK
$STATE,11632,begin climb
$GC,11635,0.48,146.0,994.2,0.0,583,11776,0.65,2.47,134.07,1.158,4,0.082,0.067,3342,3707,2196,0,0,0,0,0,0,24.57,23.69,22.96
$GC,11805,0.48,165.7,986.0,6.6,589,11831,0.00,2.33,19.00,1.074,6,0.000,0.049,3352,2308,2118,0,0,0,0,0,0,28.83,24.09,23.11
$GC,12149,0.48,165.7,947.7,10.7,601,12151,0.00,0.00,0.00,0.000,6,0.000,0.000,3352,2307,2109,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12449,0.48,165.7,914.9,11.0,611,12455,0.00,2.30,0.00,0.000,4,0.000,0.069,3352,3704,2107,0,0,0,0,0,0,28.83,25.38,28.83
$GC,12503,0.48,165.7,911.5,11.2,612,12509,0.00,2.22,0.00,0.000,6,0.000,0.050,3362,2297,2107,0,0,0,0,0,0,28.83,25.50,28.83
$GC,12809,0.48,165.7,874.0,11.0,623,12815,0.00,2.30,0.00,0.000,4,0.000,0.069,3362,3703,2106,0,0,0,0,0,0,28.83,25.59,28.83
$GC,12847,0.48,165.7,870.3,11.2,624,12851,0.00,2.20,0.00,0.000,6,0.000,0.050,3372,2301,2106,0,0,0,0,0,0,28.83,25.70,28.83
$GC,13165,0.48,165.7,832.5,11.5,635,13166,0.00,0.00,0.00,0.000,6,0.000,0.000,3372,2296,2106,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13464,0.48,165.7,797.9,11.4,645,13470,0.00,2.30,0.00,0.000,4,0.000,0.069,3372,3710,2105,0,0,0,0,0,0,28.83,25.77,28.83
$GC,13502,0.48,165.7,794.2,11.6,646,13506,0.00,2.20,0.00,0.000,6,0.000,0.050,3382,2300,2105,0,0,0,0,0,0,28.83,25.87,28.83
$GC,13820,0.48,165.7,754.7,12.2,657,13825,0.00,2.25,0.00,0.000,4,0.000,0.070,3383,3698,2105,0,0,0,0,0,0,28.83,25.82,28.83
$GC,13909,0.48,165.7,742.2,13.5,660,13916,0.15,2.20,0.00,0.000,6,0.156,0.050,3354,2290,2104,0,0,0,0,0,0,25.72,25.94,28.83
$GC,14240,0.48,165.7,707.9,10.1,671,14241,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,2284,2104,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,22505,end climb,SURFACE_DEPTH_REACHED
$STATE,22506,begin surface coast
$FINISH,1.1,1.024049
$STATE,22541,end surface coast,CONTROL_FINISHED_OK
$STATE,22541,begin surface
$SM_CCo,22620,0.00,0.000,0,0,1460,326.98
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$IRIDIUM_FIX,4716.56,-12549.68,211012,212103
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.52
$INTERNAL_PRESSURE,9.11829
$TCM_TEMP,14.90
$XPDR_PINGS,1
$24V_AH,23.0,25.275
$10V_AH,10.2,21.287
$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,21.825,173.350,406.650,0.000,0.000,26.356,35.230,273.218,0.250,0.000,11.666,3309.167,15982.988,531.776,2849.286,401.524,0.000,1883.114,0.000,2518.372,0.000,0.535,0.000
$DEVICE_MAMPS,221.850,82.620,1191.105,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,869.313,727.210,510.517,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296844
$DATA_FILE_SIZE,70237,1263
$CAP_FILE_SIZE,183089,0
$CFSIZE,260165632,243224576
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.139, 47.5,1
$GPS,221012,104153,4730.133,-12549.766,41,1.2,41,18.7