version: 66.11
glider: 187
mission: 2
dive: 181
start: 10 23 112 19 9 41
data:
$ID,187
$MISSION,2
$DIVE,181
$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,-1587854.5
$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,29
$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
$GPS1,231012,190159,4723.010,-12603.589,39,2.0,39,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-77.1
$GPS2,231012,190909,4723.030,-12603.603,11,2.2,30,18.6
$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,208.0,83026,-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,-146.0,0.0,0.0,0,102,0.00,0.00,-83.32,0.000,2,0.000,0.000,113,2194,2926,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.48,-146.0,3.9,-6.5,14,135,11.48,2.22,-8.70,0.000,4,0.225,0.072,3023,3585,3394,0,0,0,0,0,0,25.16,25.53,25.94
$GC,164,-0.48,-146.0,24.9,-28.5,23,171,0.00,2.17,0.00,0.000,6,0.000,0.043,3023,2175,3396,0,0,0,0,0,0,28.83,25.61,28.83
$GC,487,-0.48,-146.0,78.1,-14.5,84,495,0.00,2.20,0.00,0.000,4,0.000,0.050,3022,764,3399,0,0,0,0,0,0,28.83,25.75,28.83
$GC,564,-0.48,-146.0,88.7,-14.4,98,571,0.00,2.20,0.00,0.000,6,0.000,0.049,3013,2178,3400,0,0,0,0,0,0,28.83,25.78,28.83
$GC,884,-0.48,-146.0,127.7,-12.1,151,889,0.00,2.17,0.00,0.000,4,0.000,0.061,3002,3579,3400,0,0,0,0,0,0,28.83,25.84,28.83
$GC,945,-0.48,-146.0,135.2,-12.7,155,951,0.10,2.12,0.00,0.000,6,0.112,0.042,3039,2161,3400,0,0,0,0,0,0,25.76,25.94,28.83
$GC,1263,-0.48,-146.0,166.4,-9.6,176,1268,0.00,2.10,0.00,0.000,4,0.000,0.048,3039,764,3400,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1329,-0.48,-146.0,172.4,-9.7,180,1337,0.00,2.20,0.00,0.000,6,0.000,0.049,3031,2171,3400,0,0,0,0,0,0,28.83,25.95,28.83
$GC,1642,-0.48,-146.0,203.2,-9.7,201,1647,0.00,2.20,0.00,0.000,4,0.000,0.063,3021,3587,3400,0,0,0,0,0,0,28.83,25.93,28.83
$GC,1694,-0.48,-146.0,207.2,-10.1,203,1701,0.00,2.12,0.00,0.000,6,0.000,0.042,3021,2169,3400,0,0,0,0,0,0,28.83,26.05,28.83
$GC,2001,-0.48,-146.0,240.4,-10.2,219,2002,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2167,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2302,-0.48,-146.0,270.6,-10.0,234,2307,0.00,2.22,0.00,0.000,4,0.000,0.063,3011,3587,3399,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2334,-0.48,-146.0,272.6,-10.2,235,2341,0.00,2.12,0.00,0.000,6,0.000,0.044,3011,2172,3399,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2641,-0.48,-146.0,306.6,-10.5,251,2647,0.12,2.10,0.00,0.000,4,0.151,0.050,3051,779,3398,0,0,0,0,0,0,26.05,26.05,28.83
$GC,2674,-0.48,-146.0,308.6,-10.5,252,2682,0.00,2.17,0.00,0.000,6,0.000,0.051,3044,2184,3398,0,0,0,0,0,0,28.83,26.05,28.83
$GC,2981,-0.48,-146.0,334.7,-8.2,268,2987,0.00,2.20,0.00,0.000,4,0.000,0.064,3034,3586,3397,0,0,0,0,0,0,28.83,26.00,28.83
$GC,3034,-0.48,-146.0,338.2,-8.4,270,3041,0.00,2.12,0.00,0.000,6,0.000,0.044,3034,2171,3397,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3341,-0.48,-146.0,364.1,-7.8,286,3342,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2170,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3641,-0.48,-146.0,387.3,-7.9,301,3642,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2170,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3951,-0.48,-146.0,414.5,-9.2,314,3952,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2170,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4251,-0.48,-146.0,442.6,-9.2,324,4257,0.00,2.25,0.00,0.000,4,0.000,0.065,3024,3594,3395,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4299,-0.48,-146.0,445.5,-9.2,325,4304,0.00,2.15,0.00,0.000,6,0.000,0.046,3024,2169,3395,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4606,-0.48,-146.0,477.0,-9.5,335,4607,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2166,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4906,-0.48,-146.0,504.7,-9.2,345,4912,0.00,2.22,0.00,0.000,4,0.000,0.066,3013,3581,3392,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4939,-0.48,-146.0,507.6,-9.3,346,4943,0.00,2.12,0.00,0.000,6,0.000,0.045,3013,2172,3393,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5262,-0.48,-146.0,539.5,-9.6,357,5263,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2168,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5561,-0.48,-146.0,567.4,-9.3,367,5562,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2169,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5861,-0.48,-146.0,594.1,-8.8,377,5867,0.00,2.22,0.00,0.000,4,0.000,0.067,3004,3581,3391,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5899,-0.48,-146.0,596.9,-8.9,378,5904,0.12,2.12,0.00,0.000,6,0.136,0.046,3039,2173,3391,0,0,0,0,0,0,26.01,26.17,28.83
$GC,6218,-0.48,-146.0,618.9,-6.4,389,6219,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2170,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6517,-0.48,-146.0,638.3,-6.4,399,6523,0.00,2.22,0.00,0.000,4,0.000,0.067,3031,3583,3390,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6561,-0.48,-146.0,640.2,-6.3,400,6565,0.00,2.12,0.00,0.000,6,0.000,0.047,3031,2177,3390,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6873,-0.48,-146.0,661.9,-6.6,411,6879,0.00,2.20,0.00,0.000,4,0.000,0.067,3021,3581,3390,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6896,-0.48,-146.0,661.9,-6.6,411,6903,0.00,2.15,0.00,0.000,6,0.000,0.047,3021,2164,3389,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7204,-0.48,-146.0,685.0,-7.1,422,7205,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2163,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7503,-0.48,-146.0,706.7,-7.2,432,7509,0.00,2.25,0.00,0.000,4,0.000,0.067,3011,3588,3388,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7551,-0.48,-146.0,708.9,-7.2,433,7556,0.10,2.15,0.00,0.000,6,0.142,0.047,3038,2172,3388,0,0,0,0,0,0,26.03,26.15,28.83
$GC,7859,-0.48,-146.0,729.0,-6.0,443,7860,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2168,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8159,-0.48,-146.0,746.9,-5.8,453,8164,0.00,2.28,0.00,0.000,4,0.000,0.068,3030,3587,3388,0,0,0,0,0,0,28.83,25.99,28.83
$GC,8188,-0.48,-146.0,748.8,-5.9,454,8194,0.00,2.15,0.00,0.000,6,0.000,0.047,3030,2176,3387,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8519,-0.48,-146.0,769.3,-5.9,465,8520,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2173,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8818,-0.48,-146.0,788.1,-6.3,475,8824,0.00,2.22,0.00,0.000,4,0.000,0.068,3021,3580,3387,0,0,0,0,0,0,28.83,25.99,28.83
$GC,8856,-0.48,-146.0,790.1,-6.4,476,8860,0.00,2.15,0.00,0.000,6,0.000,0.048,3021,2169,3387,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9178,-0.48,-146.0,813.6,-7.4,487,9184,0.00,2.25,0.00,0.000,4,0.000,0.068,3012,3589,3386,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9221,-0.48,-146.0,816.0,-7.6,488,9225,0.00,2.15,0.00,0.000,6,0.000,0.047,3012,2172,3386,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9533,-0.48,-146.0,843.4,-8.4,499,9539,0.00,2.25,0.00,0.000,4,0.000,0.068,3002,3584,3386,0,0,0,0,0,0,28.83,25.97,28.83
$GC,9566,-0.48,-146.0,846.2,-8.6,500,9571,0.15,2.15,0.00,0.000,6,0.125,0.048,3045,2173,3386,0,0,0,0,0,0,25.97,26.13,28.83
$GC,9890,-0.48,-146.0,867.5,-6.3,511,9895,0.00,2.28,0.00,0.000,4,0.000,0.069,3038,3584,3385,0,0,0,0,0,0,28.83,25.96,28.83
$GC,9922,-0.48,-146.0,869.6,-6.3,512,9926,0.00,2.17,0.00,0.000,6,0.000,0.048,3037,2169,3385,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10250,-0.48,-146.0,891.1,-6.5,523,10255,0.00,2.25,0.00,0.000,4,0.000,0.068,3028,3586,3385,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10280,-0.48,-146.0,893.3,-6.6,524,10285,0.00,2.15,0.00,0.000,6,0.000,0.048,3028,2174,3384,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10610,-0.48,-146.0,916.8,-7.2,535,10616,0.00,2.22,0.00,0.000,4,0.000,0.069,3018,3578,3385,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10673,-0.48,-146.0,921.5,-7.4,537,10677,0.00,2.15,0.00,0.000,6,0.000,0.047,3018,2163,3384,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10995,-0.48,-146.0,946.2,-7.7,548,11001,0.00,2.28,0.00,0.000,4,0.000,0.068,3008,3586,3384,0,0,0,0,0,0,28.83,25.95,28.83
$GC,11026,-0.48,-146.0,948.4,-7.6,549,11032,0.08,2.15,0.00,0.000,6,0.112,0.049,3037,2173,3384,0,0,0,0,0,0,25.95,26.12,28.83
$GC,11356,-0.48,-146.0,969.2,-6.1,560,11357,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2171,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11656,-0.48,-146.0,988.1,-6.4,570,11661,0.00,2.25,0.00,0.000,4,0.000,0.070,3029,3587,3383,0,0,0,0,0,0,28.83,25.94,28.83
$STATE,11683,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11683,begin apogee
$GC,11692,-0.22,0.0,990.1,-6.5,571,11822,0.28,0.00,125.80,1.193,6,0.108,0.000,3125,2299,2794,0,0,0,0,0,0,25.97,28.83,23.65
$STATE,11825,end apogee,CONTROL_FINISHED_OK
$STATE,11825,begin climb
$GC,11828,0.48,146.0,993.5,0.0,575,11969,0.65,2.42,134.23,1.156,4,0.080,0.054,3357,899,2197,0,0,0,0,0,0,24.53,23.64,22.90
$GC,11985,0.48,156.2,984.6,6.9,581,12001,0.00,2.38,10.35,0.978,6,0.000,0.055,3357,2290,2156,0,0,0,0,0,0,28.83,23.91,23.07
$GC,12315,0.48,156.2,951.7,10.2,592,12320,0.00,2.35,0.00,0.000,4,0.000,0.068,3357,3706,2148,0,0,0,0,0,0,28.83,24.98,28.83
$GC,12398,0.48,156.2,944.7,10.9,594,12405,0.00,2.22,0.00,0.000,6,0.000,0.047,3367,2310,2148,0,0,0,0,0,0,28.83,25.19,28.83
$GC,12705,0.48,156.2,907.6,11.2,605,12707,0.00,0.00,0.00,0.000,6,0.000,0.000,3367,2304,2147,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13005,0.48,156.2,873.7,11.4,615,13011,0.00,2.28,0.00,0.000,4,0.000,0.069,3367,3709,2146,0,0,0,0,0,0,28.83,25.59,28.83
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$STATE,23245,end climb,SURFACE_DEPTH_REACHED
$STATE,23246,begin surface coast
$FINISH,1.0,1.015913
$STATE,23282,end surface coast,CONTROL_FINISHED_OK
$STATE,23282,begin surface
$SM_CCo,23361,0.00,0.000,0,0,990,442.52
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$TT8_MAMPS,0.026964,0.026964
$HUMID,43.38
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,19.90
$XPDR_PINGS,0
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$10V_AH,10.2,21.965
$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
$DEVICE_SECS,22.225,203.400,501.325,0.000,0.000,27.970,36.555,211.469,0.000,0.000,32.369,3387.363,16398.029,618.146,2983.640,394.827,0.000,2078.917,0.000,2652.189,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,896.388,753.447,537.856,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296772
$DATA_FILE_SIZE,73576,1306
$CAP_FILE_SIZE,196028,0
$CFSIZE,260165632,242692096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.050, 57.2,1
$GPS,241012,014023,4721.080,-12606.450,25,1.1,43,18.6