version: 66.11
glider: 187
mission: 2
dive: 185
start: 10 24 112 21 54 9
data:
$ID,187
$MISSION,2
$DIVE,185
$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,-1587859.6
$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,24
$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
$GPS1,241012,214705,4717.991,-12616.185,33,1.0,33,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-75.9
$GPS2,241012,215337,4717.991,-12616.087,12,1.3,12,18.6
$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,227.2,64704,-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,-146.0,0.0,0.0,0,99,0.00,0.00,-79.68,0.000,2,0.000,0.000,108,2166,2783,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.48,-146.0,3.2,-3.4,13,137,11.48,2.20,-12.52,0.000,4,0.223,0.064,3035,782,3393,0,0,0,0,0,0,25.16,25.57,25.97
$GC,218,-0.48,-146.0,30.7,-17.1,33,225,0.00,2.20,0.00,0.000,6,0.000,0.050,3026,2179,3396,0,0,0,0,0,0,28.83,25.62,28.83
$GC,534,-0.48,-146.0,77.8,-13.5,94,541,0.00,2.25,0.00,0.000,4,0.000,0.061,3016,3591,3398,0,0,0,0,0,0,28.83,25.72,28.83
$GC,554,-0.48,-146.0,80.5,-14.0,97,560,0.00,2.15,0.00,0.000,6,0.000,0.043,3015,2177,3398,0,0,0,0,0,0,28.83,25.83,28.83
$GC,871,-0.48,-146.0,124.0,-12.7,155,872,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2171,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1171,-0.48,-146.0,159.4,-11.8,175,1176,0.00,2.20,0.00,0.000,4,0.000,0.063,3005,3578,3399,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1253,-0.48,-146.0,168.8,-12.5,180,1261,0.10,2.17,0.00,0.000,6,0.112,0.042,3041,2165,3399,0,0,0,0,0,0,25.81,25.99,28.83
$GC,1563,-0.48,-146.0,198.6,-8.7,201,1569,0.00,2.08,0.00,0.000,4,0.000,0.050,3041,782,3399,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1610,-0.48,-146.0,202.2,-8.6,204,1614,0.00,2.15,0.00,0.000,6,0.000,0.050,3034,2181,3399,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1917,-0.48,-146.0,231.3,-9.7,219,1922,0.00,2.20,0.00,0.000,4,0.000,0.063,3023,3584,3399,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1940,-0.48,-146.0,233.2,-9.7,220,1944,0.00,2.12,0.00,0.000,6,0.000,0.044,3023,2173,3399,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2253,-0.48,-146.0,265.8,-10.2,236,2258,0.00,2.10,0.00,0.000,4,0.000,0.050,3023,781,3398,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2285,-0.48,-146.0,267.9,-10.2,237,2292,0.00,2.15,0.00,0.000,6,0.000,0.050,3013,2181,3398,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2592,-0.48,-146.0,301.8,-10.4,253,2594,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2181,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2893,-0.48,-146.0,333.7,-10.7,268,2898,0.00,2.22,0.00,0.000,4,0.000,0.064,3003,3584,3396,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2932,-0.48,-146.0,338.2,-10.8,270,2939,0.12,2.15,0.00,0.000,6,0.137,0.044,3038,2169,3397,0,0,0,0,0,0,25.95,26.11,28.83
$GC,3252,-0.48,-146.0,365.8,-8.3,286,3254,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2164,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3552,-0.48,-146.0,389.8,-7.8,301,3558,0.00,2.25,0.00,0.000,4,0.000,0.064,3030,3583,3396,0,0,0,0,0,0,28.83,26.00,28.83
$GC,3585,-0.48,-146.0,391.5,-8.0,302,3592,0.00,2.12,0.00,0.000,6,0.000,0.045,3029,2171,3396,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3903,-0.48,-146.0,419.9,-8.7,315,3908,0.00,2.10,0.00,0.000,4,0.000,0.052,3030,777,3395,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3935,-0.48,-146.0,422.7,-8.9,316,3939,0.00,2.17,0.00,0.000,6,0.000,0.052,3021,2174,3395,0,0,0,0,0,0,28.83,26.07,28.83
$GC,4257,-0.48,-146.0,453.6,-9.4,327,4263,0.00,2.22,0.00,0.000,4,0.000,0.065,3010,3591,3394,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4296,-0.48,-146.0,456.6,-9.5,328,4300,0.00,2.15,0.00,0.000,6,0.000,0.045,3010,2165,3394,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4613,-0.48,-146.0,487.8,-9.2,339,4619,0.12,2.12,0.00,0.000,4,0.147,0.051,3051,779,3394,0,0,0,0,0,0,26.09,26.06,28.83
$GC,4643,-0.48,-146.0,490.3,-9.0,340,4649,0.00,2.12,0.00,0.000,6,0.000,0.052,3045,2170,3393,0,0,0,0,0,0,28.83,26.07,28.83
$GC,4974,-0.48,-146.0,513.5,-7.0,351,4979,0.00,2.20,0.00,0.000,4,0.000,0.066,3034,3581,3393,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5051,-0.48,-146.0,517.8,-7.2,353,5055,0.00,2.12,0.00,0.000,6,0.000,0.044,3034,2167,3393,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5358,-0.48,-146.0,541.3,-7.1,363,5364,0.00,2.22,0.00,0.000,4,0.000,0.066,3024,3580,3392,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5388,-0.48,-146.0,543.6,-7.2,364,5394,0.00,2.10,0.00,0.000,6,0.000,0.046,3024,2182,3392,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5718,-0.48,-146.0,569.2,-7.8,375,5719,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2180,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6018,-0.48,-146.0,593.8,-8.5,385,6023,0.00,2.12,0.00,0.000,4,0.000,0.053,3024,777,3391,0,0,0,0,0,0,28.83,26.07,28.83
$GC,6047,-0.48,-146.0,596.6,-8.5,386,6053,0.00,2.17,0.00,0.000,6,0.000,0.054,3015,2181,3391,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6378,-0.48,-146.0,627.4,-9.4,397,6383,0.00,2.22,0.00,0.000,4,0.000,0.067,3004,3591,3390,0,0,0,0,0,0,28.83,25.99,28.83
$GC,6451,-0.48,-146.0,633.3,-9.7,399,6456,0.12,2.15,0.00,0.000,6,0.135,0.047,3040,2173,3390,0,0,0,0,0,0,25.99,26.14,28.83
$GC,6764,-0.48,-146.0,659.3,-7.7,410,6765,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2168,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7064,-0.48,-146.0,681.6,-7.4,420,7070,0.00,2.28,0.00,0.000,4,0.000,0.067,3032,3592,3389,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7126,-0.48,-146.0,686.1,-7.6,422,7130,0.00,2.15,0.00,0.000,6,0.000,0.047,3032,2173,3389,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7449,-0.48,-146.0,711.0,-7.5,433,7450,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2171,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7749,-0.48,-146.0,733.1,-7.4,443,7754,0.00,2.25,0.00,0.000,4,0.000,0.067,3021,3586,3388,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7787,-0.48,-146.0,735.4,-7.4,444,7791,0.00,2.15,0.00,0.000,6,0.000,0.047,3021,2170,3388,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8104,-0.48,-146.0,760.2,-7.8,455,8105,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2166,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8404,-0.48,-146.0,783.9,-7.9,465,8410,0.00,2.25,0.00,0.000,4,0.000,0.068,3011,3583,3387,0,0,0,0,0,0,28.83,25.97,28.83
$GC,8434,-0.48,-146.0,786.4,-8.0,466,8440,0.00,2.15,0.00,0.000,6,0.000,0.047,3011,2173,3387,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8764,-0.48,-146.0,813.9,-8.3,477,8765,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2171,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9064,-0.48,-146.0,838.1,-8.0,487,9065,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2171,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9364,-0.48,-146.0,861.6,-7.8,497,9365,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2171,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9664,-0.48,-146.0,885.7,-7.9,507,9670,0.00,2.22,0.00,0.000,4,0.000,0.068,3001,3577,3386,0,0,0,0,0,0,28.83,25.96,28.83
$GC,9717,-0.48,-146.0,888.3,-8.0,508,9724,0.15,2.15,0.00,0.000,6,0.125,0.048,3046,2163,3386,0,0,0,0,0,0,25.96,26.13,28.83
$GC,10024,-0.48,-146.0,909.1,-6.0,519,10030,0.00,2.25,0.00,0.000,4,0.000,0.069,3038,3584,3385,0,0,0,0,0,0,28.83,25.95,28.83
$GC,10055,-0.48,-146.0,911.0,-6.1,520,10060,0.00,2.12,0.00,0.000,6,0.000,0.048,3038,2182,3385,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10385,-0.48,-146.0,932.0,-6.3,531,10386,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2179,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10685,-0.48,-146.0,950.6,-6.1,541,10690,0.00,2.22,0.00,0.000,4,0.000,0.069,3028,3580,3385,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10727,-0.48,-146.0,952.5,-6.2,542,10731,0.00,2.15,0.00,0.000,6,0.000,0.048,3028,2168,3385,0,0,0,0,0,0,28.83,26.12,28.83
$GC,11040,-0.48,-146.0,973.2,-6.1,553,11045,0.00,2.25,0.00,0.000,4,0.000,0.069,3018,3583,3384,0,0,0,0,0,0,28.83,25.94,28.83
$GC,11078,-0.48,-146.0,975.6,-6.3,554,11082,0.00,2.15,0.00,0.000,6,0.000,0.048,3018,2173,3384,0,0,0,0,0,0,28.83,26.11,28.83
$STATE,11303,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11303,begin apogee
$GC,11310,-0.22,0.0,991.0,-6.6,562,11442,0.30,0.00,126.57,1.187,6,0.113,0.000,3121,2316,2793,0,0,0,0,0,0,25.91,28.83,23.65
$STATE,11445,end apogee,CONTROL_FINISHED_OK
$STATE,11445,begin climb
$GC,11448,0.48,146.0,993.6,0.0,566,11586,0.65,0.00,134.88,1.155,6,0.081,0.000,3342,2316,2198,0,0,0,0,0,0,24.55,28.83,22.87
$GC,11875,0.48,146.0,960.5,8.7,581,11881,0.00,2.35,0.00,0.000,4,0.000,0.069,3342,3709,2188,0,0,0,0,0,0,28.83,24.89,28.83
$GC,11918,0.48,146.0,957.4,8.9,582,11923,0.00,2.25,0.00,0.000,6,0.000,0.048,3353,2310,2187,0,0,0,0,0,0,28.83,25.06,28.83
$GC,12231,0.48,146.0,927.6,9.2,593,12232,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,2304,2186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12531,0.48,146.0,902.0,8.4,603,12537,0.00,2.30,0.00,0.000,4,0.000,0.068,3353,3712,2185,0,0,0,0,0,0,28.83,25.56,28.83
$GC,12563,0.48,146.0,899.1,8.6,604,12567,0.00,2.22,0.00,0.000,6,0.000,0.048,3363,2298,2184,0,0,0,0,0,0,28.83,25.66,28.83
$GC,12886,0.48,146.0,868.6,9.3,615,12891,0.00,2.28,0.00,0.000,4,0.000,0.069,3364,3700,2184,0,0,0,0,0,0,28.83,25.67,28.83
$GC,12918,0.48,146.0,865.5,9.5,616,12922,0.00,2.22,0.00,0.000,6,0.000,0.050,3374,2297,2184,0,0,0,0,0,0,28.83,25.78,28.83
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$STATE,23088,end climb,SURFACE_DEPTH_REACHED
$STATE,23088,begin surface coast
$FINISH,1.1,1.012844
$STATE,23148,end surface coast,CONTROL_FINISHED_OK
$STATE,23148,begin surface
$SM_CCo,23227,0.00,0.000,0,0,1459,327.48
$SM_GC,2.18,8.30,0.17,0.00,0.028,0.075,0.000,109,2168,1459,-9.46,1.22,327.48,0,0,0,0,0,0,25.95,25.91,28.83
$IRIDIUM_FIX,4644.93,-12622.53,241012,151510
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.44
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,14.60
$XPDR_PINGS,0
$24V_AH,22.9,26.698
$10V_AH,10.2,22.427
$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,21.900,180.975,410.125,0.000,0.000,24.840,36.028,202.196,0.000,0.000,13.222,3422.629,16322.318,551.770,2935.712,379.896,0.000,1953.030,0.000,2636.640,0.000,0.536,0.000
$DEVICE_MAMPS,223.380,82.620,1187.280,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,901.512,752.340,533.873,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73370,1309
$CAP_FILE_SIZE,188789,0
$CFSIZE,260165632,242343936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.074, 31.5,1
$GPS,251012,042236,4717.010,-12619.436,42,1.4,42,18.6