version: 66.11
glider: 187
mission: 2
dive: 189
start: 10 26 112 1 38 57
data:
$ID,187
$MISSION,2
$DIVE,189
$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,-1587986.2
$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,44
$R_STBD_OVSHOOT,25
$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
$GPS1,261012,013205,4712.787,-12627.758,39,1.1,39,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-76.5
$GPS2,261012,013825,4712.825,-12627.722,13,1.6,13,18.6
$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,222.1,47183,-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,14,begin dive
$GC,17,-0.48,-146.0,0.0,0.0,0,79,0.00,0.00,-59.47,0.000,2,0.000,0.000,105,2176,2714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.48,-146.0,3.0,-2.3,10,117,11.45,2.17,-14.93,0.000,4,0.223,0.061,3033,775,3392,0,0,0,0,0,0,25.17,25.59,26.01
$GC,174,-0.48,-146.0,23.5,-18.8,25,180,0.00,2.20,0.00,0.000,6,0.000,0.049,3025,2177,3394,0,0,0,0,0,0,28.83,25.63,28.83
$GC,496,-0.48,-146.0,74.7,-13.7,86,503,0.00,2.20,0.00,0.000,4,0.000,0.050,3025,781,3397,0,0,0,0,0,0,28.83,25.76,28.83
$GC,542,-0.48,-146.0,81.3,-14.4,94,549,0.00,2.17,0.00,0.000,6,0.000,0.049,3015,2176,3397,0,0,0,0,0,0,28.83,25.78,28.83
$GC,866,-0.48,-146.0,123.7,-12.1,152,872,0.00,2.20,0.00,0.000,4,0.000,0.060,3004,3583,3397,0,0,0,0,0,0,28.83,25.81,28.83
$GC,900,-0.48,-146.0,127.5,-11.9,154,905,0.12,2.12,0.00,0.000,6,0.138,0.042,3038,2178,3397,0,0,0,0,0,0,25.76,25.92,28.83
$GC,1210,-0.48,-146.0,156.5,-9.0,174,1211,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2172,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1507,-0.48,-146.0,184.4,-9.4,194,1508,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2172,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1812,-0.48,-146.0,214.2,-10.0,212,1818,0.00,2.12,0.00,0.000,4,0.000,0.050,3039,774,3397,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1845,-0.48,-146.0,216.3,-10.1,213,1852,0.00,2.15,0.00,0.000,6,0.000,0.050,3031,2174,3397,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2152,-0.48,-146.0,249.1,-10.3,229,2154,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2174,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2452,-0.48,-146.0,279.4,-10.1,244,2458,0.00,2.22,0.00,0.000,4,0.000,0.063,3021,3584,3397,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2520,-0.48,-146.0,285.8,-10.5,247,2524,0.00,2.15,0.00,0.000,6,0.000,0.044,3021,2161,3397,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2827,-0.48,-146.0,319.8,-10.9,262,2828,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2158,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3127,-0.48,-146.0,352.1,-10.7,277,3129,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2158,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3427,-0.48,-146.0,382.6,-9.8,292,3428,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2158,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3747,-0.48,-146.0,413.5,-9.7,306,3748,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2158,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4047,-0.48,-146.0,442.0,-9.6,316,4048,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2158,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4347,-0.48,-146.0,470.0,-9.2,326,4348,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2158,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4647,-0.48,-146.0,495.8,-8.3,336,4650,0.00,2.15,0.00,0.000,4,0.000,0.052,3021,771,3392,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4672,-0.48,-146.0,495.8,-8.3,336,4679,0.00,2.17,0.00,0.000,6,0.000,0.053,3012,2183,3392,0,0,0,0,0,0,28.83,26.07,28.83
$GC,4978,-0.48,-146.0,522.7,-7.9,347,4984,0.00,2.25,0.00,0.000,4,0.000,0.066,3001,3592,3392,0,0,0,0,0,0,28.83,25.99,28.83
$GC,5016,-0.48,-146.0,525.2,-7.8,348,5021,0.15,2.17,0.00,0.000,6,0.127,0.046,3045,2175,3391,0,0,0,0,0,0,25.96,26.14,28.83
$GC,5335,-0.48,-146.0,543.3,-5.4,359,5340,0.00,2.22,0.00,0.000,4,0.000,0.066,3037,3580,3391,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5365,-0.48,-146.0,545.1,-5.5,360,5370,0.00,2.15,0.00,0.000,6,0.000,0.046,3037,2170,3391,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5695,-0.48,-146.0,565.3,-6.3,371,5696,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2167,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5995,-0.48,-146.0,585.8,-7.0,381,6001,0.00,2.22,0.00,0.000,4,0.000,0.067,3027,3578,3390,0,0,0,0,0,0,28.83,25.98,28.83
$GC,6038,-0.48,-146.0,588.0,-7.1,382,6042,0.00,2.15,0.00,0.000,6,0.000,0.047,3027,2164,3390,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6350,-0.48,-146.0,613.3,-7.8,393,6351,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2161,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6650,-0.48,-146.0,636.7,-7.8,403,6655,0.00,2.25,0.00,0.000,4,0.000,0.067,3017,3580,3389,0,0,0,0,0,0,28.83,25.97,28.83
$GC,6688,-0.48,-146.0,639.2,-7.9,404,6692,0.00,2.15,0.00,0.000,6,0.000,0.047,3017,2167,3389,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7005,-0.48,-146.0,666.3,-8.3,415,7010,0.00,2.15,0.00,0.000,4,0.000,0.054,3017,765,3388,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7043,-0.48,-146.0,668.8,-8.2,416,7048,0.12,2.17,0.00,0.000,6,0.143,0.054,3043,2173,3388,0,0,0,0,0,0,25.92,26.03,28.83
$GC,7361,-0.48,-146.0,690.0,-6.2,427,7367,0.00,2.22,0.00,0.000,4,0.000,0.068,3034,3581,3387,0,0,0,0,0,0,28.83,25.95,28.83
$GC,7425,-0.48,-146.0,694.0,-6.3,429,7429,0.00,2.15,0.00,0.000,6,0.000,0.047,3034,2167,3387,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7747,-0.48,-146.0,714.8,-6.2,440,7748,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2165,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8047,-0.48,-146.0,734.4,-6.7,450,8053,0.00,2.25,0.00,0.000,4,0.000,0.067,3025,3582,3386,0,0,0,0,0,0,28.83,25.95,28.83
$GC,8108,-0.48,-146.0,738.8,-6.9,452,8113,0.00,2.12,0.00,0.000,6,0.000,0.047,3025,2183,3386,0,0,0,0,0,0,28.83,26.12,28.83
$GC,8437,-0.48,-146.0,764.1,-7.9,463,8438,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2181,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8738,-0.48,-146.0,788.6,-8.2,473,8739,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2181,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9037,-0.48,-146.0,813.6,-8.2,483,9038,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2181,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9337,-0.48,-146.0,837.3,-7.8,493,9338,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2181,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9637,-0.48,-146.0,859.2,-7.1,503,9643,0.00,2.28,0.00,0.000,4,0.000,0.068,3014,3607,3384,0,0,0,0,0,0,28.83,25.92,28.83
$GC,9686,-0.48,-146.0,861.4,-7.2,504,9690,0.00,2.20,0.00,0.000,6,0.000,0.049,3015,2168,3384,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9992,-0.48,-146.0,887.2,-8.0,514,9998,0.00,2.28,0.00,0.000,4,0.000,0.068,3004,3590,3384,0,0,0,0,0,0,28.83,25.91,28.83
$GC,10022,-0.48,-146.0,889.6,-8.0,515,10028,0.12,2.17,0.00,0.000,6,0.134,0.048,3040,2173,3384,0,0,0,0,0,0,25.94,26.10,28.83
$GC,10353,-0.48,-146.0,912.2,-6.9,526,10354,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2171,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10652,-0.48,-146.0,932.8,-6.8,536,10658,0.00,2.25,0.00,0.000,4,0.000,0.069,3031,3577,3383,0,0,0,0,0,0,28.83,25.91,28.83
$GC,10690,-0.48,-146.0,934.7,-6.8,537,10694,0.00,2.15,0.00,0.000,6,0.000,0.049,3031,2172,3383,0,0,0,0,0,0,28.83,26.09,28.83
$GC,11008,-0.48,-146.0,957.9,-7.0,548,11013,0.00,2.25,0.00,0.000,4,0.000,0.069,3023,3582,3383,0,0,0,0,0,0,28.83,25.89,28.83
$GC,11040,-0.48,-146.0,959.9,-7.0,549,11044,0.00,2.15,0.00,0.000,6,0.000,0.048,3022,2177,3383,0,0,0,0,0,0,28.83,26.09,28.83
$GC,11363,-0.48,-146.0,983.0,-7.1,560,11364,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2175,3383,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11480,begin apogee
$GC,11487,-0.22,0.0,991.1,-6.9,564,11619,0.28,0.00,126.30,1.190,6,0.113,0.000,3118,2306,2793,0,0,0,0,0,0,25.91,28.83,23.63
$STATE,11622,end apogee,CONTROL_FINISHED_OK
$STATE,11622,begin climb
$GC,11625,0.48,146.0,994.1,0.0,568,11763,0.68,0.00,135.43,1.157,6,0.083,0.000,3345,2306,2198,0,0,0,0,0,0,24.53,28.83,22.83
$GC,12053,0.48,146.0,959.2,9.2,583,12058,0.00,2.33,0.00,0.000,4,0.000,0.069,3346,3695,2187,0,0,0,0,0,0,28.83,24.88,28.83
$GC,12090,0.48,146.0,956.3,9.3,584,12095,0.00,2.28,0.00,0.000,6,0.000,0.049,3356,2300,2186,0,0,0,0,0,0,28.83,25.03,28.83
$GC,12408,0.48,146.0,924.9,9.5,595,12409,0.00,0.00,0.00,0.000,6,0.000,0.000,3356,2295,2185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12707,0.48,146.0,897.2,9.1,605,12714,0.00,2.33,0.00,0.000,4,0.000,0.070,3356,3706,2184,0,0,0,0,0,0,28.83,25.53,28.83
$GC,12756,0.48,146.0,894.2,9.3,606,12760,0.00,2.22,0.00,0.000,6,0.000,0.050,3367,2297,2184,0,0,0,0,0,0,28.83,25.65,28.83
$GC,13063,0.48,146.0,861.8,9.8,616,13068,0.00,2.28,0.00,0.000,4,0.000,0.070,3367,3694,2184,0,0,0,0,0,0,28.83,25.65,28.83
$GC,13110,0.48,146.0,858.3,10.1,617,13115,0.00,2.20,0.00,0.000,6,0.000,0.050,3377,2294,2183,0,0,0,0,0,0,28.83,25.77,28.83
$GC,13418,0.48,146.0,823.6,10.6,627,13423,0.00,2.30,0.00,0.000,4,0.000,0.069,3377,3702,2183,0,0,0,0,0,0,28.83,25.72,28.83
$GC,13455,0.48,146.0,820.1,10.8,628,13460,0.15,2.22,0.00,0.000,6,0.160,0.050,3349,2291,2182,0,0,0,0,0,0,25.60,25.84,28.83
$GC,13774,0.48,146.0,790.7,8.7,639,13779,0.00,2.28,0.00,0.000,4,0.000,0.069,3349,3698,2182,0,0,0,0,0,0,28.83,25.77,28.83
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$STATE,23616,end climb,SURFACE_DEPTH_REACHED
$STATE,23617,begin surface coast
$FINISH,1.3,1.008572
$STATE,23655,end surface coast,CONTROL_FINISHED_OK
$STATE,23655,begin surface
$SM_CCo,23734,0.00,0.000,0,0,1271,373.35
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$IRIDIUM_FIX,4657.54,-12617.96,251012,181833
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.01
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,19.40
$XPDR_PINGS,0
$24V_AH,22.8,27.356
$10V_AH,10.2,22.914
$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,22.200,195.600,451.575,0.000,0.000,25.170,36.866,186.524,0.000,0.000,14.860,3450.902,16729.482,583.433,2945.523,396.188,0.000,2011.661,0.000,2667.091,0.000,0.535,0.000
$DEVICE_MAMPS,223.380,87.210,1190.340,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,909.436,762.847,550.758,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296732
$DATA_FILE_SIZE,73586,1322
$CAP_FILE_SIZE,196331,0
$CFSIZE,260165632,241995776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.060, 38.6,1
$GPS,261012,081605,4711.767,-12631.368,56,1.2,56,18.6