version: 66.11
glider: 187
mission: 2
dive: 187
start: 10 25 112 12 26 19
data:
$ID,187
$MISSION,2
$DIVE,187
$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,-1587983.5
$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,18
$R_STBD_OVSHOOT,11
$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
$GPS1,251012,122133,4715.493,-12621.572,10,2.5,29,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-74.9
$GPS2,251012,122549,4715.516,-12621.543,13,1.7,13,18.6
$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,222.4,56437,-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,-146.0,0.0,0.0,0,117,0.00,0.00,-96.82,0.000,2,0.000,0.000,131,2195,2798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,120,-0.48,-146.0,3.0,-2.5,16,155,11.12,2.28,-12.90,0.000,4,0.218,0.059,3032,746,3392,0,0,0,0,0,0,25.35,25.79,26.20
$GC,365,-0.48,-146.0,50.5,-13.2,60,372,0.00,2.25,0.00,0.000,6,0.000,0.046,3023,2192,3394,0,0,0,0,0,0,28.83,25.86,28.83
$GC,687,-0.48,-146.0,94.7,-13.8,121,694,0.00,2.17,0.00,0.000,4,0.000,0.057,3013,3591,3395,0,0,0,0,0,0,28.83,25.89,28.83
$GC,742,-0.48,-146.0,102.3,-12.7,131,749,0.00,2.17,0.00,0.000,6,0.000,0.039,3013,2150,3396,0,0,0,0,0,0,28.83,26.00,28.83
$GC,1053,-0.48,-146.0,141.2,-11.5,168,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2143,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1353,-0.48,-146.0,175.1,-11.2,188,1358,0.00,2.25,0.00,0.000,4,0.000,0.058,3003,3584,3395,0,0,0,0,0,0,28.83,25.97,28.83
$GC,1402,-0.48,-146.0,180.1,-11.0,191,1406,0.12,2.12,0.00,0.000,6,0.138,0.041,3038,2166,3395,0,0,0,0,0,0,25.91,26.09,28.83
$GC,1720,-0.48,-146.0,209.6,-9.4,210,1725,0.00,2.08,0.00,0.000,4,0.000,0.048,3039,774,3394,0,0,0,0,0,0,28.83,26.05,28.83
$GC,1741,-0.48,-146.0,211.5,-9.4,211,1745,0.00,2.15,0.00,0.000,6,0.000,0.048,3031,2184,3394,0,0,0,0,0,0,28.83,26.05,28.83
$GC,2056,-0.48,-146.0,242.2,-9.6,227,2061,0.00,2.15,0.00,0.000,4,0.000,0.060,3020,3576,3392,0,0,0,0,0,0,28.83,26.02,28.83
$GC,2097,-0.48,-146.0,246.3,-9.7,229,2101,0.00,2.10,0.00,0.000,6,0.000,0.042,3020,2171,3392,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2409,-0.48,-146.0,278.5,-10.4,245,2415,0.00,2.10,0.00,0.000,4,0.000,0.049,3020,768,3391,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2449,-0.48,-146.0,282.9,-10.8,247,2455,0.00,2.12,0.00,0.000,6,0.000,0.049,3011,2173,3391,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2770,-0.48,-146.0,318.9,-11.1,263,2775,0.00,2.17,0.00,0.000,4,0.000,0.061,3001,3579,3389,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2809,-0.48,-146.0,323.7,-11.4,265,2815,0.15,2.10,0.00,0.000,6,0.130,0.043,3045,2175,3390,0,0,0,0,0,0,25.96,26.15,28.83
$GC,3129,-0.48,-146.0,351.1,-8.0,281,3130,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2169,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3429,-0.48,-146.0,374.4,-7.5,296,3435,0.00,2.10,0.00,0.000,4,0.000,0.050,3044,776,3387,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3457,-0.48,-146.0,376.0,-7.5,297,3461,0.00,2.15,0.00,0.000,6,0.000,0.050,3037,2184,3387,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3764,-0.48,-146.0,400.4,-7.8,312,3770,0.00,2.20,0.00,0.000,4,0.000,0.063,3026,3592,3386,0,0,0,0,0,0,28.83,26.03,28.83
$GC,3807,-0.48,-146.0,402.9,-7.9,313,3811,0.00,2.12,0.00,0.000,6,0.000,0.044,3026,2174,3386,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4119,-0.48,-146.0,431.0,-8.9,324,4120,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2172,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4419,-0.48,-146.0,457.6,-8.8,334,4420,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2171,3383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4719,-0.48,-146.0,482.7,-8.2,344,4720,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2171,3382,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5019,-0.48,-146.0,507.2,-8.3,354,5021,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2171,3381,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5319,-0.48,-146.0,532.1,-8.3,364,5325,0.00,2.25,0.00,0.000,4,0.000,0.065,3016,3585,3381,0,0,0,0,0,0,28.83,26.02,28.83
$GC,5349,-0.48,-146.0,534.7,-8.3,365,5355,0.00,2.15,0.00,0.000,6,0.000,0.046,3016,2166,3380,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5679,-0.48,-146.0,563.3,-8.7,376,5680,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2164,3380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5979,-0.48,-146.0,589.4,-8.7,386,5980,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2164,3379,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6279,-0.48,-146.0,615.6,-8.6,396,6285,0.00,2.28,0.00,0.000,4,0.000,0.066,3007,3590,3378,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6323,-0.48,-146.0,618.4,-8.7,397,6328,0.12,2.15,0.00,0.000,6,0.132,0.046,3042,2169,3378,0,0,0,0,0,0,26.01,26.15,28.83
$GC,6636,-0.48,-146.0,641.2,-6.8,408,6637,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2165,3377,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6936,-0.48,-146.0,661.5,-6.8,418,6942,0.00,2.25,0.00,0.000,4,0.000,0.066,3034,3581,3377,0,0,0,0,0,0,28.83,26.00,28.83
$GC,6979,-0.48,-146.0,663.7,-7.0,419,6983,0.00,2.15,0.00,0.000,6,0.000,0.047,3034,2166,3377,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7291,-0.48,-146.0,688.6,-7.7,430,7292,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2164,3376,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7591,-0.48,-146.0,711.7,-7.5,440,7597,0.00,2.28,0.00,0.000,4,0.000,0.067,3025,3594,3375,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7645,-0.48,-146.0,713.9,-7.4,441,7651,0.00,2.15,0.00,0.000,6,0.000,0.045,3025,2171,3375,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7952,-0.48,-146.0,738.7,-7.3,452,7957,0.00,2.22,0.00,0.000,4,0.000,0.067,3015,3580,3374,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7975,-0.48,-146.0,738.7,-7.3,452,7981,0.00,2.12,0.00,0.000,6,0.000,0.047,3015,2177,3374,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8283,-0.48,-146.0,763.8,-7.6,463,8284,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2175,3374,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8582,-0.48,-146.0,786.5,-7.4,473,8583,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2175,3373,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8882,-0.48,-146.0,809.1,-7.4,483,8883,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2175,3373,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9181,-0.48,-146.0,831.9,-7.7,493,9182,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2175,3372,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9483,-0.48,-146.0,853.8,-7.2,503,9484,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2175,3372,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9782,-0.48,-146.0,875.5,-7.2,513,9787,0.00,2.25,0.00,0.000,4,0.000,0.067,3006,3581,3372,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9805,-0.48,-146.0,875.5,-7.2,513,9812,0.12,2.17,0.00,0.000,6,0.131,0.047,3042,2172,3371,0,0,0,0,0,0,25.96,26.11,28.83
$GC,10112,-0.48,-146.0,895.8,-6.0,524,10118,0.00,2.28,0.00,0.000,4,0.000,0.068,3034,3591,3372,0,0,0,0,0,0,28.83,25.93,28.83
$GC,10150,-0.48,-146.0,897.6,-6.1,525,10154,0.00,2.17,0.00,0.000,6,0.000,0.048,3034,2176,3371,0,0,0,0,0,0,28.83,26.11,28.83
$GC,10467,-0.48,-146.0,917.7,-6.0,536,10468,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2174,3371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10768,-0.48,-146.0,935.7,-6.1,546,10773,0.00,2.22,0.00,0.000,4,0.000,0.069,3026,3576,3371,0,0,0,0,0,0,28.83,25.92,28.83
$GC,10827,-0.48,-146.0,939.6,-6.2,548,10833,0.00,2.17,0.00,0.000,6,0.000,0.049,3026,2168,3370,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11158,-0.48,-146.0,961.1,-6.6,559,11164,0.00,2.25,0.00,0.000,4,0.000,0.068,3017,3581,3370,0,0,0,0,0,0,28.83,25.91,28.83
$GC,11187,-0.48,-146.0,963.2,-6.7,560,11193,0.00,2.17,0.00,0.000,6,0.000,0.048,3017,2164,3370,0,0,0,0,0,0,28.83,26.09,28.83
$GC,11518,-0.48,-146.0,986.2,-6.9,571,11523,0.00,2.25,0.00,0.000,4,0.000,0.068,3007,3579,3370,0,0,0,0,0,0,28.83,25.91,28.83
$GC,11556,-0.48,-146.0,988.6,-7.1,572,11561,0.12,2.15,0.00,0.000,6,0.132,0.048,3043,2169,3369,0,0,0,0,0,0,25.94,26.09,28.83
$STATE,11571,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11571,begin apogee
$GC,11578,-0.22,0.0,990.5,-7.2,573,11706,0.22,0.00,123.57,1.187,6,0.112,0.000,3124,2312,2794,0,0,0,0,0,0,26.01,28.83,23.68
$STATE,11709,end apogee,CONTROL_FINISHED_OK
$STATE,11709,begin climb
$GC,11712,0.48,146.0,993.8,0.0,577,11855,0.65,2.55,134.73,1.151,4,0.080,0.067,3346,3707,2198,0,0,0,0,0,0,24.58,23.74,23.00
$GC,11871,0.48,158.3,985.1,6.9,583,11891,0.00,2.35,12.60,1.009,6,0.000,0.048,3357,2310,2147,0,0,0,0,0,0,28.83,24.03,23.15
$GC,12199,0.48,158.3,952.0,9.9,594,12200,0.00,0.00,0.00,0.000,6,0.000,0.000,3357,2310,2139,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12499,0.48,158.3,921.6,10.3,604,12504,0.00,2.30,0.00,0.000,4,0.000,0.068,3357,3706,2137,0,0,0,0,0,0,28.83,25.39,28.83
$GC,12542,0.48,158.3,918.0,10.7,605,12546,0.00,2.22,0.00,0.000,6,0.000,0.050,3367,2305,2137,0,0,0,0,0,0,28.83,25.52,28.83
$GC,12854,0.48,158.3,880.7,11.5,616,12855,0.00,0.00,0.00,0.000,6,0.000,0.000,3367,2298,2136,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13154,0.48,158.3,846.6,11.3,626,13159,0.00,2.28,0.00,0.000,4,0.000,0.068,3367,3703,2136,0,0,0,0,0,0,28.83,25.70,28.83
$GC,13197,0.48,158.3,842.9,11.3,627,13201,0.00,2.20,0.00,0.000,6,0.000,0.049,3377,2294,2136,0,0,0,0,0,0,28.83,25.81,28.83
$GC,13509,0.48,158.3,803.8,11.8,638,13515,0.00,2.28,0.00,0.000,4,0.000,0.068,3378,3699,2135,0,0,0,0,0,0,28.83,25.77,28.83
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$STATE,23093,end climb,SURFACE_DEPTH_REACHED
$STATE,23094,begin surface coast
$FINISH,1.2,1.000808
$STATE,23132,end surface coast,CONTROL_FINISHED_OK
$STATE,23132,begin surface
$SM_CCo,23212,0.00,0.000,0,0,981,444.73
$SM_GC,1.97,8.50,0.20,0.00,0.033,0.073,0.000,136,2167,981,-9.46,1.24,444.73,0,0,0,0,0,0,25.62,25.58,28.83
$IRIDIUM_FIX,4700.70,-12435.09,251012,121230
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.99
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,19.20
$XPDR_PINGS,1
$24V_AH,23.0,27.087
$10V_AH,10.2,22.686
$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,21.800,186.200,505.175,0.000,0.000,0.000,0.000,0.000,0.250,0.000,13.959,3344.735,16382.456,635.349,2584.601,343.209,0.000,2030.274,0.000,2552.661,0.000,0.538,0.000
$DEVICE_MAMPS,218.025,83.385,1186.515,0.000,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,890.508,739.771,531.760,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296764
$DATA_FILE_SIZE,73762,1296
$CAP_FILE_SIZE,220964,0
$CFSIZE,260165632,242143232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.082, 30.2,1
$GPS,251012,185429,4714.737,-12625.106,41,1.2,41,18.6