version: 66.11
glider: 187
mission: 2
dive: 177
start: 10 22 112 17 16 34
data:
$ID,187
$MISSION,2
$DIVE,177
$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,-1587849.4
$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,18
$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
$GPS1,221012,170756,4729.191,-12552.610,40,3.5,59,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-74.9
$GPS2,221012,171601,4729.288,-12552.558,16,1.2,16,18.7
$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,200.4,100987,-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,17,-0.48,-146.0,0.0,0.0,0,88,0.00,0.00,-68.60,0.000,2,0.000,0.000,129,2187,2705,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.48,-146.0,3.3,-5.6,11,125,11.35,2.25,-14.40,0.000,4,0.223,0.062,3036,746,3391,0,0,0,0,0,0,25.17,25.56,25.96
$GC,259,-0.48,-146.0,35.7,-14.4,41,265,0.00,2.22,0.00,0.000,6,0.000,0.050,3028,2180,3394,0,0,0,0,0,0,28.83,25.65,28.83
$GC,583,-0.48,-146.0,80.5,-12.6,102,590,0.00,2.22,0.00,0.000,4,0.000,0.060,3017,3591,3396,0,0,0,0,0,0,28.83,25.74,28.83
$GC,705,-0.48,-146.0,95.4,-11.6,125,712,0.00,2.17,0.00,0.000,6,0.000,0.042,3017,2152,3397,0,0,0,0,0,0,28.83,25.88,28.83
$GC,1028,-0.48,-146.0,131.9,-11.1,174,1032,0.00,2.10,0.00,0.000,4,0.000,0.050,3017,774,3397,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1099,-0.48,-146.0,139.0,-11.3,178,1108,0.08,2.20,0.00,0.000,6,0.125,0.049,3034,2178,3397,0,0,0,0,0,0,25.77,25.92,28.83
$GC,1408,-0.48,-146.0,172.1,-10.5,199,1409,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2178,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1716,-0.48,-146.0,204.6,-10.5,219,1722,0.00,2.12,0.00,0.000,4,0.000,0.050,3034,772,3396,0,0,0,0,0,0,28.83,25.99,28.83
$GC,1756,-0.48,-146.0,208.8,-10.4,221,1761,0.00,2.15,0.00,0.000,6,0.000,0.050,3027,2177,3396,0,0,0,0,0,0,28.83,26.00,28.83
$GC,2076,-0.48,-146.0,242.7,-10.6,237,2082,0.00,2.22,0.00,0.000,4,0.000,0.063,3017,3587,3396,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2104,-0.48,-146.0,245.0,-10.6,238,2108,0.00,2.12,0.00,0.000,6,0.000,0.044,3017,2174,3396,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2411,-0.48,-146.0,279.9,-11.1,253,2416,0.00,2.12,0.00,0.000,4,0.000,0.051,3017,771,3395,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2434,-0.48,-146.0,282.2,-11.0,254,2439,0.12,2.15,0.00,0.000,6,0.145,0.050,3043,2175,3395,0,0,0,0,0,0,25.92,26.04,28.83
$GC,2747,-0.48,-146.0,310.5,-8.6,270,2748,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2174,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3049,-0.48,-146.0,336.5,-8.7,285,3054,0.00,2.20,0.00,0.000,4,0.000,0.063,3034,3590,3394,0,0,0,0,0,0,28.83,26.01,28.83
$GC,3081,-0.48,-146.0,338.3,-8.7,286,3088,0.00,2.15,0.00,0.000,6,0.000,0.044,3034,2160,3393,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3387,-0.48,-146.0,367.4,-8.9,302,3388,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2160,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3688,-0.48,-146.0,394.1,-8.7,317,3693,0.00,2.25,0.00,0.000,4,0.000,0.064,3024,3583,3392,0,0,0,0,0,0,28.83,26.03,28.83
$GC,3715,-0.48,-146.0,396.0,-8.7,318,3719,0.00,2.12,0.00,0.000,6,0.000,0.045,3024,2173,3392,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4032,-0.48,-146.0,425.6,-9.1,329,4033,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2169,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4333,-0.48,-146.0,452.5,-9.0,339,4334,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2169,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4633,-0.48,-146.0,479.1,-8.8,349,4638,0.00,2.10,0.00,0.000,4,0.000,0.054,3024,780,3390,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4665,-0.48,-146.0,482.0,-8.9,350,4669,0.00,2.15,0.00,0.000,6,0.000,0.053,3014,2179,3390,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4987,-0.48,-146.0,512.2,-9.4,361,4993,0.00,2.22,0.00,0.000,4,0.000,0.066,3004,3594,3389,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5026,-0.48,-146.0,515.1,-9.4,362,5030,0.12,2.15,0.00,0.000,6,0.135,0.046,3039,2171,3389,0,0,0,0,0,0,26.01,26.16,28.83
$GC,5343,-0.48,-146.0,541.8,-8.1,373,5344,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2167,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5644,-0.48,-146.0,566.5,-8.3,383,5645,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2167,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5944,-0.48,-146.0,590.6,-7.8,393,5945,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2167,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6244,-0.48,-146.0,613.4,-7.6,403,6249,0.00,2.25,0.00,0.000,4,0.000,0.067,3031,3583,3387,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6311,-0.48,-146.0,618.1,-7.7,405,6315,0.00,2.12,0.00,0.000,6,0.000,0.047,3031,2175,3387,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6629,-0.48,-146.0,644.5,-8.3,416,6630,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2173,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6928,-0.48,-146.0,670.8,-8.9,426,6929,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2173,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7228,-0.48,-146.0,698.4,-9.3,436,7229,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2173,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7529,-0.48,-146.0,725.4,-9.0,446,7530,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2173,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7828,-0.48,-146.0,751.7,-8.5,456,7829,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2173,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8128,-0.48,-146.0,775.3,-7.9,466,8129,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2173,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8429,-0.48,-146.0,796.9,-7.1,476,8430,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2173,3383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8729,-0.48,-146.0,817.6,-6.9,486,8730,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2173,3383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9029,-0.48,-146.0,838.2,-6.8,496,9034,0.00,2.28,0.00,0.000,4,0.000,0.068,3021,3591,3382,0,0,0,0,0,0,28.83,25.99,28.83
$GC,9082,-0.48,-146.0,840.5,-6.8,497,9088,0.00,2.15,0.00,0.000,6,0.000,0.049,3021,2175,3382,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9389,-0.48,-146.0,863.3,-6.9,508,9395,0.00,2.12,0.00,0.000,4,0.000,0.056,3021,778,3382,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9412,-0.48,-146.0,863.3,-6.9,508,9419,0.00,2.17,0.00,0.000,6,0.000,0.056,3012,2184,3382,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9719,-0.48,-146.0,888.0,-7.6,519,9724,0.00,2.25,0.00,0.000,4,0.000,0.069,3002,3594,3382,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9742,-0.48,-146.0,888.0,-7.6,519,9749,0.15,2.15,0.00,0.000,6,0.125,0.048,3046,2174,3381,0,0,0,0,0,0,25.98,26.14,28.83
$GC,10049,-0.48,-146.0,907.8,-5.7,530,10050,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2174,3382,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10349,-0.48,-146.0,925.1,-5.8,540,10354,0.00,2.28,0.00,0.000,4,0.000,0.070,3038,3594,3381,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10382,-0.48,-146.0,926.8,-6.0,541,10386,0.00,2.17,0.00,0.000,6,0.000,0.049,3038,2174,3381,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10704,-0.48,-146.0,947.8,-6.5,552,10710,0.00,2.25,0.00,0.000,4,0.000,0.069,3028,3589,3381,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10747,-0.48,-146.0,949.9,-6.7,553,10752,0.00,2.15,0.00,0.000,6,0.000,0.049,3028,2178,3381,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11060,-0.48,-146.0,972.9,-7.0,564,11066,0.00,2.22,0.00,0.000,4,0.000,0.070,3018,3580,3381,0,0,0,0,0,0,28.83,25.96,28.83
$GC,11098,-0.48,-146.0,975.1,-7.1,565,11102,0.00,2.15,0.00,0.000,6,0.000,0.049,3018,2169,3381,0,0,0,0,0,0,28.83,26.13,28.83
$STATE,11292,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11292,begin apogee
$GC,11299,-0.22,0.0,990.0,-7.2,572,11431,0.30,0.00,125.38,1.188,6,0.115,0.000,3120,2311,2793,0,0,0,0,0,0,25.93,28.83,23.67
$STATE,11434,end apogee,CONTROL_FINISHED_OK
$STATE,11434,begin climb
$GC,11437,0.48,146.0,992.8,0.0,576,11580,0.65,2.50,133.15,1.154,4,0.083,0.067,3342,3700,2197,0,0,0,0,0,0,24.56,23.68,22.95
$GC,11601,0.48,146.0,982.7,7.7,582,11605,0.00,2.35,0.00,0.000,6,0.000,0.049,3352,2308,2194,0,0,0,0,0,0,28.83,24.03,28.83
$GC,11919,0.48,146.0,949.7,9.9,593,11924,0.00,2.33,0.00,0.000,4,0.000,0.069,3352,3700,2187,0,0,0,0,0,0,28.83,25.03,28.83
$GC,11952,0.48,146.0,946.4,10.0,594,11956,0.00,2.28,0.00,0.000,6,0.000,0.050,3363,2289,2186,0,0,0,0,0,0,28.83,25.15,28.83
$GC,12274,0.48,146.0,912.5,10.2,605,12279,0.00,2.33,0.00,0.000,4,0.000,0.069,3363,3700,2185,0,0,0,0,0,0,28.83,25.42,28.83
$GC,12327,0.48,146.0,909.1,10.5,606,12335,0.00,2.25,0.00,0.000,6,0.000,0.050,3373,2292,2184,0,0,0,0,0,0,28.83,25.55,28.83
$GC,12634,0.48,146.0,873.7,10.7,617,12639,0.00,2.28,0.00,0.000,4,0.000,0.069,3373,3693,2184,0,0,0,0,0,0,28.83,25.62,28.83
$GC,12657,0.48,146.0,873.7,10.7,617,12664,0.12,2.20,0.00,0.000,6,0.166,0.050,3354,2292,2184,0,0,0,0,0,0,25.53,25.72,28.83
$GC,12964,0.48,146.0,842.3,9.3,628,12969,0.00,2.30,0.00,0.000,4,0.000,0.069,3353,3701,2183,0,0,0,0,0,0,28.83,25.71,28.83
$GC,13012,0.48,146.0,839.4,9.4,629,13016,0.00,2.20,0.00,0.000,6,0.000,0.050,3361,2292,2183,0,0,0,0,0,0,28.83,25.82,28.83
$GC,13319,0.48,146.0,805.9,10.2,639,13325,0.00,2.28,0.00,0.000,4,0.000,0.070,3361,3698,2183,0,0,0,0,0,0,28.83,25.78,28.83
$GC,13357,0.48,146.0,802.4,10.5,640,13361,0.00,2.20,0.00,0.000,6,0.000,0.050,3372,2293,2183,0,0,0,0,0,0,28.83,25.88,28.83
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$STATE,22833,end climb,SURFACE_DEPTH_REACHED
$STATE,22833,begin surface coast
$FINISH,0.9,1.013567
$STATE,22870,end surface coast,CONTROL_FINISHED_OK
$STATE,22873,begin surface
$SM_CCo,22952,0.00,0.000,0,0,1164,399.84
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$IRIDIUM_FIX,4710.21,-12552.98,221012,101050
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.56
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,19.00
$XPDR_PINGS,2
$24V_AH,23.0,25.565
$10V_AH,10.2,21.512
$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,21.725,177.525,463.250,0.000,0.000,28.266,42.424,280.626,0.500,0.000,17.346,3290.367,16298.460,562.342,2868.995,409.216,0.000,1939.352,0.000,2516.149,0.000,0.536,0.000
$DEVICE_MAMPS,222.615,91.800,1188.045,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,873.188,735.085,502.126,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296800
$DATA_FILE_SIZE,70208,1270
$CAP_FILE_SIZE,185823,0
$CFSIZE,260165632,243044352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.121, 12.9,1
$GPS,221012,234023,4727.669,-12554.970,39,1.6,39,18.7