version: 66.11
glider: 187
mission: 2
dive: 188
start: 10 25 112 19 2 2
data:
$ID,187
$MISSION,2
$DIVE,188
$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,-1587984.9
$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,47
$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
$GPS1,251012,185429,4714.737,-12625.106,41,1.2,41,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-75.5
$GPS2,251012,190130,4714.743,-12625.064,14,1.3,19,18.6
$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,209.5,51890,-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,-146.0,0.0,0.0,0,97,0.00,0.00,-77.75,0.000,2,0.000,0.000,130,2165,2778,0,0,0,0,0,0,28.83,28.83,28.83
$GC,101,-0.48,-146.0,3.2,-3.3,13,135,11.27,2.22,-12.93,0.000,4,0.220,0.065,3036,778,3393,0,0,0,0,0,0,25.16,25.57,25.98
$GC,184,-0.48,-146.0,23.9,-20.2,27,192,0.00,2.17,0.00,0.000,6,0.000,0.049,3027,2178,3394,0,0,0,0,0,0,28.83,25.60,28.83
$GC,500,-0.48,-146.0,73.3,-15.2,88,508,0.00,2.25,0.00,0.000,4,0.000,0.061,3017,3575,3397,0,0,0,0,0,0,28.83,25.72,28.83
$GC,586,-0.48,-146.0,85.4,-13.5,104,594,0.00,2.17,0.00,0.000,6,0.000,0.042,3017,2180,3398,0,0,0,0,0,0,28.83,25.84,28.83
$GC,903,-0.48,-146.0,127.5,-12.2,158,909,0.00,2.15,0.00,0.000,4,0.000,0.050,3017,771,3398,0,0,0,0,0,0,28.83,25.86,28.83
$GC,972,-0.48,-146.0,134.5,-11.9,162,980,0.08,2.20,0.00,0.000,6,0.126,0.049,3035,2173,3398,0,0,0,0,0,0,25.74,25.89,28.83
$GC,1279,-0.48,-146.0,165.1,-9.7,183,1280,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2173,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1579,-0.48,-146.0,194.8,-10.1,203,1580,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2173,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1878,-0.48,-146.0,223.7,-9.7,219,1884,0.00,2.22,0.00,0.000,4,0.000,0.063,3027,3591,3398,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1906,-0.48,-146.0,225.7,-9.7,220,1910,0.00,2.15,0.00,0.000,6,0.000,0.044,3027,2168,3398,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2213,-0.48,-146.0,256.6,-9.5,235,2219,0.00,2.10,0.00,0.000,4,0.000,0.050,3027,770,3398,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2261,-0.48,-146.0,260.6,-9.6,237,2265,0.00,2.15,0.00,0.000,6,0.000,0.050,3018,2174,3398,0,0,0,0,0,0,28.83,26.02,28.83
$GC,2569,-0.48,-146.0,292.3,-9.9,252,2574,0.00,2.17,0.00,0.000,4,0.000,0.063,3007,3578,3397,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2596,-0.48,-146.0,294.2,-10.0,253,2601,0.12,2.12,0.00,0.000,6,0.134,0.044,3042,2171,3397,0,0,0,0,0,0,25.94,26.09,28.83
$GC,2903,-0.48,-146.0,320.5,-7.9,268,2909,0.00,2.12,0.00,0.000,4,0.000,0.051,3042,760,3397,0,0,0,0,0,0,28.83,26.04,28.83
$GC,2936,-0.48,-146.0,322.0,-7.9,269,2943,0.00,2.17,0.00,0.000,6,0.000,0.051,3035,2178,3397,0,0,0,0,0,0,28.83,26.04,28.83
$GC,3243,-0.48,-146.0,347.3,-7.7,285,3249,0.00,2.22,0.00,0.000,4,0.000,0.063,3024,3588,3396,0,0,0,0,0,0,28.83,25.99,28.83
$GC,3303,-0.48,-146.0,352.3,-8.3,288,3309,0.00,2.15,0.00,0.000,6,0.000,0.044,3025,2166,3395,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3625,-0.48,-146.0,379.8,-8.7,304,3630,0.00,2.10,0.00,0.000,4,0.000,0.052,3025,780,3395,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3651,-0.48,-146.0,381.7,-8.8,305,3656,0.00,2.15,0.00,0.000,6,0.000,0.052,3016,2174,3395,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3958,-0.48,-146.0,411.6,-9.5,318,3964,0.00,2.22,0.00,0.000,4,0.000,0.064,3005,3589,3394,0,0,0,0,0,0,28.83,25.99,28.83
$GC,4021,-0.48,-146.0,417.6,-9.8,320,4026,0.12,2.15,0.00,0.000,6,0.135,0.045,3041,2169,3394,0,0,0,0,0,0,25.97,26.13,28.83
$GC,4345,-0.48,-146.0,441.9,-7.0,331,4346,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2163,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4645,-0.48,-146.0,463.3,-7.2,341,4646,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2164,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4945,-0.48,-146.0,486.2,-7.9,351,4951,0.00,2.28,0.00,0.000,4,0.000,0.066,3033,3590,3392,0,0,0,0,0,0,28.83,26.00,28.83
$GC,4975,-0.48,-146.0,488.6,-7.9,352,4981,0.00,2.17,0.00,0.000,6,0.000,0.046,3033,2173,3391,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5304,-0.48,-146.0,516.9,-8.8,363,5305,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2169,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5605,-0.48,-146.0,542.6,-8.4,373,5606,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2169,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5904,-0.48,-146.0,566.4,-7.8,383,5910,0.00,2.28,0.00,0.000,4,0.000,0.067,3023,3591,3391,0,0,0,0,0,0,28.83,25.99,28.83
$GC,5935,-0.48,-146.0,568.8,-7.9,384,5941,0.00,2.17,0.00,0.000,6,0.000,0.047,3023,2165,3390,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6264,-0.48,-146.0,595.8,-8.1,395,6265,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2164,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6565,-0.48,-146.0,619.8,-7.9,405,6570,0.00,2.25,0.00,0.000,4,0.000,0.067,3013,3587,3389,0,0,0,0,0,0,28.83,25.98,28.83
$GC,6602,-0.48,-146.0,622.2,-8.0,406,6606,0.00,2.17,0.00,0.000,6,0.000,0.047,3013,2167,3389,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6919,-0.48,-146.0,650.3,-8.7,417,6920,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2164,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7220,-0.48,-146.0,677.0,-9.1,427,7225,0.00,2.25,0.00,0.000,4,0.000,0.067,3003,3584,3388,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7252,-0.48,-146.0,679.7,-9.0,428,7257,0.12,2.17,0.00,0.000,6,0.133,0.047,3038,2175,3388,0,0,0,0,0,0,25.98,26.13,28.83
$GC,7575,-0.48,-146.0,703.8,-7.2,439,7576,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2169,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7875,-0.48,-146.0,724.6,-6.9,449,7881,0.00,2.22,0.00,0.000,4,0.000,0.067,3031,3581,3387,0,0,0,0,0,0,28.83,25.96,28.83
$GC,7913,-0.48,-146.0,727.0,-7.0,450,7917,0.00,2.15,0.00,0.000,6,0.000,0.048,3031,2169,3387,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8230,-0.48,-146.0,751.4,-7.5,461,8231,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2165,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8530,-0.48,-146.0,774.0,-7.7,471,8536,0.00,2.25,0.00,0.000,4,0.000,0.068,3020,3586,3386,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8590,-0.48,-146.0,778.8,-7.9,473,8596,0.00,2.17,0.00,0.000,6,0.000,0.048,3020,2170,3385,0,0,0,0,0,0,28.83,26.12,28.83
$GC,8921,-0.48,-146.0,807.1,-8.7,484,8922,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2168,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9221,-0.48,-146.0,833.2,-8.7,494,9222,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2168,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9521,-0.48,-146.0,857.7,-8.0,504,9527,0.00,2.28,0.00,0.000,4,0.000,0.068,3011,3585,3384,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9573,-0.48,-146.0,860.3,-8.2,505,9581,0.12,2.15,0.00,0.000,6,0.129,0.048,3047,2174,3384,0,0,0,0,0,0,25.97,26.11,28.83
$GC,9881,-0.48,-146.0,881.9,-6.1,516,9887,0.00,2.25,0.00,0.000,4,0.000,0.069,3039,3585,3384,0,0,0,0,0,0,28.83,25.93,28.83
$GC,9911,-0.48,-146.0,883.8,-6.2,517,9916,0.00,2.17,0.00,0.000,6,0.000,0.049,3039,2168,3384,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10241,-0.48,-146.0,904.1,-5.9,528,10242,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2166,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10541,-0.48,-146.0,920.6,-5.3,538,10546,0.00,2.25,0.00,0.000,4,0.000,0.069,3029,3581,3384,0,0,0,0,0,0,28.83,25.92,28.83
$GC,10579,-0.48,-146.0,922.5,-5.5,539,10583,0.00,2.15,0.00,0.000,6,0.000,0.048,3029,2173,3384,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10897,-0.48,-146.0,940.8,-5.5,550,10898,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2170,3383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11196,-0.48,-146.0,957.1,-5.4,560,11202,0.00,2.25,0.00,0.000,4,0.000,0.069,3020,3584,3383,0,0,0,0,0,0,28.83,25.90,28.83
$GC,11239,-0.48,-146.0,958.9,-5.5,561,11243,0.00,2.17,0.00,0.000,6,0.000,0.049,3019,2165,3383,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11552,-0.48,-146.0,978.8,-6.4,572,11558,0.00,2.25,0.00,0.000,4,0.000,0.069,3010,3578,3383,0,0,0,0,0,0,28.83,25.91,28.83
$GC,11584,-0.48,-146.0,980.8,-6.5,573,11589,0.12,2.15,0.00,0.000,6,0.128,0.049,3046,2173,3383,0,0,0,0,0,0,25.94,26.08,28.83
$STATE,11755,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11755,begin apogee
$GC,11762,-0.22,0.0,990.4,-5.3,579,11893,0.20,0.00,125.65,1.189,6,0.119,0.000,3119,2315,2794,0,0,0,0,0,0,26.02,28.83,23.64
$STATE,11896,end apogee,CONTROL_FINISHED_OK
$STATE,11897,begin climb
$GC,11899,0.48,146.0,993.3,0.0,583,12044,0.68,2.50,134.02,1.153,4,0.082,0.066,3348,3705,2196,0,0,0,0,0,0,24.56,23.60,22.87
$GC,12059,0.48,148.1,983.8,7.3,589,12064,0.00,2.38,0.00,0.000,6,0.000,0.048,3359,2309,2194,0,0,0,0,0,0,28.83,23.92,28.83
$GC,12382,0.48,148.1,950.0,10.2,600,12387,0.00,2.38,0.00,0.000,4,0.000,0.068,3359,3709,2186,0,0,0,0,0,0,28.83,24.99,28.83
$GC,12414,0.48,148.1,946.6,10.4,601,12418,0.00,2.28,0.00,0.000,6,0.000,0.048,3369,2298,2186,0,0,0,0,0,0,28.83,25.13,28.83
$GC,12737,0.48,148.1,910.6,11.0,612,12738,0.00,0.00,0.00,0.000,6,0.000,0.000,3369,2293,2185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13037,0.48,148.1,877.4,11.2,622,13043,0.00,2.30,0.00,0.000,4,0.000,0.069,3369,3700,2184,0,0,0,0,0,0,28.83,25.56,28.83
$GC,13085,0.48,148.1,873.5,11.5,623,13090,0.12,2.22,0.00,0.000,6,0.169,0.050,3350,2301,2184,0,0,0,0,0,0,25.48,25.67,28.83
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$STATE,23202,end climb,SURFACE_DEPTH_REACHED
$STATE,23202,begin surface coast
$FINISH,1.2,1.009862
$STATE,23246,end surface coast,CONTROL_FINISHED_OK
$STATE,23246,begin surface
$SM_CCo,23326,0.00,0.000,0,0,1367,350.04
$SM_GC,1.99,8.35,0.15,0.00,0.027,0.082,0.000,106,2173,1367,-9.48,1.33,350.04,0,0,0,0,0,0,25.86,25.82,28.83
$IRIDIUM_FIX,4657.54,-12617.96,251012,121222
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.56
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,16.00
$XPDR_PINGS,1
$24V_AH,22.9,27.221
$10V_AH,10.2,22.799
$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,21.850,195.750,427.950,0.000,0.000,25.605,46.215,206.359,0.250,0.000,20.023,3380.391,16470.912,545.872,2940.036,399.570,0.000,1983.808,0.000,2622.116,0.000,0.535,0.000
$DEVICE_MAMPS,220.320,83.385,1188.810,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,888.626,741.478,519.162,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296752
$DATA_FILE_SIZE,73584,1291
$CAP_FILE_SIZE,193740,0
$CFSIZE,260165632,242081792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.075, 62.5,1
$GPS,261012,013205,4712.787,-12627.758,39,1.1,39,18.6