version: 66.11
glider: 187
mission: 2
dive: 184
start: 10 24 112 15 20 37
data:
$ID,187
$MISSION,2
$DIVE,184
$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,-1587858.2
$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,45
$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
$GPS1,241012,151305,4719.036,-12612.234,38,0.9,38,18.6
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-76.0
$GPS2,241012,152007,4719.054,-12612.254,14,1.3,14,18.6
$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,233.0,69872,-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,-146.0,0.0,0.0,0,93,0.00,0.00,-73.85,0.000,2,0.000,0.000,106,2170,2938,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.48,-146.0,3.9,-5.9,12,124,11.50,0.00,-8.48,0.000,6,0.224,0.000,3031,2167,3394,0,0,0,0,0,0,25.14,28.83,25.94
$GC,440,-0.48,-146.0,68.6,-13.9,76,446,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2167,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,754,-0.48,-146.0,108.4,-11.1,137,761,0.00,2.15,0.00,0.000,4,0.000,0.049,3031,767,3400,0,0,0,0,0,0,28.83,25.84,28.83
$GC,840,-0.48,-146.0,118.3,-12.4,153,846,0.00,2.17,0.00,0.000,6,0.000,0.050,3024,2181,3401,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1159,-0.48,-146.0,154.5,-10.6,176,1165,0.00,2.15,0.00,0.000,4,0.000,0.049,3023,775,3400,0,0,0,0,0,0,28.83,25.92,28.83
$GC,1183,-0.48,-146.0,156.1,-10.5,177,1189,0.00,2.15,0.00,0.000,6,0.000,0.050,3014,2176,3400,0,0,0,0,0,0,28.83,25.92,28.83
$GC,1490,-0.48,-146.0,189.8,-10.4,198,1493,0.00,2.22,0.00,0.000,4,0.000,0.062,3004,3587,3400,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1540,-0.48,-146.0,195.0,-11.0,201,1545,0.12,2.12,0.00,0.000,6,0.136,0.042,3038,2177,3400,0,0,0,0,0,0,25.87,26.03,28.83
$GC,1854,-0.48,-146.0,224.8,-9.4,217,1855,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2171,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2152,-0.48,-146.0,252.4,-9.2,232,2153,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2171,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2453,-0.48,-146.0,279.6,-8.9,247,2458,0.00,2.20,0.00,0.000,4,0.000,0.063,3030,3581,3399,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2480,-0.48,-146.0,281.4,-8.9,248,2484,0.00,2.12,0.00,0.000,6,0.000,0.044,3030,2170,3399,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2788,-0.48,-146.0,310.3,-9.0,263,2789,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2166,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3089,-0.48,-146.0,337.7,-9.3,278,3090,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2166,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3387,-0.48,-146.0,365.5,-9.2,293,3388,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2166,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3687,-0.48,-146.0,392.1,-8.7,308,3688,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2167,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3997,-0.48,-146.0,418.5,-8.5,320,3999,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2166,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4297,-0.48,-146.0,443.6,-8.4,330,4301,0.00,2.28,0.00,0.000,4,0.000,0.065,3020,3590,3396,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4322,-0.48,-146.0,443.6,-8.4,330,4329,0.00,2.15,0.00,0.000,6,0.000,0.046,3020,2166,3395,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4629,-0.48,-146.0,473.2,-9.0,341,4630,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2165,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4929,-0.48,-146.0,499.3,-8.7,351,4935,0.00,2.25,0.00,0.000,4,0.000,0.065,3010,3584,3394,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4959,-0.48,-146.0,502.0,-8.8,352,4966,0.12,2.15,0.00,0.000,6,0.131,0.046,3046,2169,3394,0,0,0,0,0,0,26.03,26.17,28.83
$GC,5290,-0.48,-146.0,525.4,-7.0,363,5291,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2165,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5589,-0.48,-146.0,546.0,-6.9,373,5595,0.00,2.22,0.00,0.000,4,0.000,0.067,3038,3582,3393,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5627,-0.48,-146.0,548.2,-6.9,374,5631,0.00,2.15,0.00,0.000,6,0.000,0.047,3038,2168,3393,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5949,-0.48,-146.0,572.8,-7.4,385,5950,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2165,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6250,-0.48,-146.0,593.7,-6.9,395,6255,0.00,2.22,0.00,0.000,4,0.000,0.067,3028,3577,3392,0,0,0,0,0,0,28.83,26.02,28.83
$GC,6282,-0.48,-146.0,595.7,-6.9,396,6286,0.00,2.12,0.00,0.000,6,0.000,0.045,3028,2169,3391,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6605,-0.48,-146.0,620.7,-8.1,407,6606,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2167,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6905,-0.48,-146.0,645.0,-8.2,417,6910,0.00,2.25,0.00,0.000,4,0.000,0.067,3018,3585,3391,0,0,0,0,0,0,28.83,26.02,28.83
$GC,6934,-0.48,-146.0,647.6,-8.3,418,6940,0.00,2.15,0.00,0.000,6,0.000,0.046,3018,2168,3391,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7265,-0.48,-146.0,675.8,-8.4,429,7266,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2165,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7565,-0.48,-146.0,700.3,-8.2,439,7570,0.00,2.22,0.00,0.000,4,0.000,0.067,3008,3583,3390,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7587,-0.48,-146.0,700.3,-8.2,439,7594,0.12,2.15,0.00,0.000,6,0.132,0.047,3045,2174,3390,0,0,0,0,0,0,26.01,26.16,28.83
$GC,7895,-0.48,-146.0,721.3,-6.0,450,7896,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2173,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8194,-0.48,-146.0,740.6,-6.7,460,8196,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2173,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8495,-0.48,-146.0,761.2,-6.9,470,8496,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2173,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8794,-0.48,-146.0,781.3,-6.5,480,8800,0.00,2.28,0.00,0.000,4,0.000,0.067,3037,3591,3388,0,0,0,0,0,0,28.83,26.00,28.83
$GC,8858,-0.48,-146.0,785.4,-6.7,482,8862,0.00,2.15,0.00,0.000,6,0.000,0.047,3037,2177,3388,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9180,-0.48,-146.0,807.8,-6.8,493,9182,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2175,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9481,-0.48,-146.0,827.8,-6.7,503,9486,0.00,2.22,0.00,0.000,4,0.000,0.069,3027,3580,3387,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9513,-0.48,-146.0,829.9,-6.6,504,9517,0.00,2.15,0.00,0.000,6,0.000,0.048,3027,2168,3387,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9836,-0.48,-146.0,853.5,-7.2,515,9837,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2165,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10136,-0.48,-146.0,875.2,-7.2,525,10141,0.00,2.25,0.00,0.000,4,0.000,0.068,3017,3585,3387,0,0,0,0,0,0,28.83,25.97,28.83
$GC,10188,-0.48,-146.0,877.6,-7.4,526,10196,0.00,2.15,0.00,0.000,6,0.000,0.048,3017,2170,3387,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10495,-0.48,-146.0,902.7,-7.4,537,10496,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2169,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10796,-0.48,-146.0,925.4,-7.5,547,10802,0.00,2.28,0.00,0.000,4,0.000,0.068,3007,3584,3386,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10828,-0.48,-146.0,927.8,-7.5,548,10833,0.12,2.17,0.00,0.000,6,0.130,0.048,3044,2170,3386,0,0,0,0,0,0,25.98,26.13,28.83
$GC,11152,-0.48,-146.0,946.8,-5.7,559,11153,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2167,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11452,-0.48,-146.0,964.0,-5.7,569,11458,0.00,2.25,0.00,0.000,4,0.000,0.068,3036,3584,3386,0,0,0,0,0,0,28.83,25.94,28.83
$GC,11505,-0.48,-146.0,965.9,-5.9,570,11512,0.00,2.17,0.00,0.000,6,0.000,0.047,3035,2168,3386,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11812,-0.48,-146.0,986.3,-6.2,581,11817,0.00,2.25,0.00,0.000,4,0.000,0.069,3026,3584,3386,0,0,0,0,0,0,28.83,25.94,28.83
$GC,11835,-0.48,-146.0,986.3,-6.2,581,11842,0.00,2.15,0.00,0.000,6,0.000,0.049,3026,2175,3385,0,0,0,0,0,0,28.83,26.11,28.83
$STATE,11869,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11869,begin apogee
$GC,11876,-0.22,0.0,990.2,-6.4,583,12008,0.28,0.00,126.47,1.190,6,0.111,0.000,3121,2305,2793,0,0,0,0,0,0,25.95,28.83,23.63
$STATE,12011,end apogee,CONTROL_FINISHED_OK
$STATE,12011,begin climb
$GC,12014,0.48,146.0,993.6,0.0,587,12157,0.65,2.50,133.65,1.157,4,0.082,0.066,3343,3701,2198,0,0,0,0,0,0,24.54,23.60,22.86
$GC,12173,0.48,156.3,984.8,6.9,593,12189,0.00,2.38,10.55,0.991,6,0.000,0.048,3353,2298,2157,0,0,0,0,0,0,28.83,23.92,23.04
$GC,12497,0.48,156.3,952.2,9.8,604,12503,0.00,2.33,0.00,0.000,4,0.000,0.067,3354,3692,2149,0,0,0,0,0,0,28.83,24.95,28.83
$GC,12527,0.48,156.3,948.8,9.9,605,12533,0.00,2.25,0.00,0.000,6,0.000,0.048,3364,2302,2148,0,0,0,0,0,0,28.83,25.08,28.83
$GC,12857,0.48,156.3,914.8,10.2,616,12863,0.00,2.33,0.00,0.000,4,0.000,0.069,3364,3699,2147,0,0,0,0,0,0,28.83,25.38,28.83
$GC,12887,0.48,156.3,911.5,10.4,617,12893,0.00,2.25,0.00,0.000,6,0.000,0.050,3375,2284,2147,0,0,0,0,0,0,28.83,25.50,28.83
$GC,13217,0.48,156.3,875.1,10.9,628,13223,0.00,2.33,0.00,0.000,4,0.000,0.069,3374,3702,2146,0,0,0,0,0,0,28.83,25.58,28.83
$GC,13250,0.48,156.3,871.4,11.2,629,13255,0.15,2.22,0.00,0.000,6,0.158,0.050,3347,2288,2146,0,0,0,0,0,0,25.48,25.69,28.83
$GC,13573,0.48,156.3,840.3,9.3,640,13579,0.00,2.28,0.00,0.000,4,0.000,0.068,3347,3695,2145,0,0,0,0,0,0,28.83,25.70,28.83
$GC,13606,0.48,156.3,837.2,9.5,641,13610,0.00,2.17,0.00,0.000,6,0.000,0.048,3354,2298,2145,0,0,0,0,0,0,28.83,25.81,28.83
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$STATE,22998,end climb,SURFACE_DEPTH_REACHED
$STATE,22999,begin surface coast
$FINISH,1.1,1.012259
$STATE,23037,end surface coast,CONTROL_FINISHED_OK
$STATE,23037,begin surface
$SM_CCo,23117,0.00,0.000,0,0,959,450.13
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$TT8_MAMPS,0.026964,0.026964
$HUMID,43.66
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,14.60
$XPDR_PINGS,1
$24V_AH,22.9,26.568
$10V_AH,10.2,22.314
$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
$DEVICE_SECS,21.925,169.050,506.475,0.000,0.000,28.835,38.123,220.884,0.250,0.000,15.287,3312.505,16403.842,588.953,2843.000,377.510,0.000,1980.974,0.000,2530.051,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,880.215,735.986,502.116,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73632,1281
$CAP_FILE_SIZE,185504,0
$CFSIZE,260165632,242434048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.067, 81.7,1
$GPS,241012,214705,4717.991,-12616.185,33,1.0,33,18.6