version: 66.11
glider: 187
mission: 2
dive: 198
start: 10 28 112 12 20 14
data:
$ID,187
$MISSION,2
$DIVE,198
$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,-1587998.2
$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,38
$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
$GPS1,281012,121235,4701.397,-12656.465,26,1.7,26,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-73.3
$GPS2,281012,121942,4701.397,-12656.441,14,1.7,31,18.6
$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,221.3,5186,-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,-146.0,0.0,0.0,0,80,0.00,0.00,-60.55,0.000,2,0.000,0.000,110,2162,2555,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.48,-146.0,3.1,-5.3,10,124,11.30,2.30,-20.15,0.000,4,0.216,0.076,3024,3585,3392,0,0,0,0,0,0,25.08,25.48,25.96
$GC,143,-0.48,-146.0,14.2,-19.3,19,149,0.00,2.17,0.00,0.000,6,0.000,0.043,3023,2175,3393,0,0,0,0,0,0,28.83,25.57,28.83
$GC,466,-0.48,-146.0,74.6,-15.0,80,475,0.00,2.20,0.00,0.000,4,0.000,0.050,3023,773,3396,0,0,0,0,0,0,28.83,25.67,28.83
$GC,514,-0.48,-146.0,81.6,-14.0,88,523,0.00,2.22,0.00,0.000,6,0.000,0.050,3013,2176,3396,0,0,0,0,0,0,28.83,25.70,28.83
$GC,848,-0.48,-146.0,126.2,-12.7,145,854,0.00,2.20,0.00,0.000,4,0.000,0.061,3003,3582,3397,0,0,0,0,0,0,28.83,25.72,28.83
$GC,878,-0.48,-146.0,129.9,-12.4,147,884,0.10,2.12,0.00,0.000,6,0.114,0.042,3038,2169,3397,0,0,0,0,0,0,25.65,25.87,28.83
$GC,1194,-0.48,-146.0,160.8,-9.4,168,1195,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2167,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1492,-0.48,-146.0,189.0,-9.6,188,1497,0.00,2.28,0.00,0.000,4,0.000,0.063,3029,3588,3397,0,0,0,0,0,0,28.83,25.81,28.83
$GC,1523,-0.48,-146.0,192.1,-9.7,190,1528,0.00,2.15,0.00,0.000,6,0.000,0.043,3029,2171,3397,0,0,0,0,0,0,28.83,25.97,28.83
$GC,1832,-0.48,-146.0,224.2,-10.4,207,1838,0.00,2.12,0.00,0.000,4,0.000,0.049,3029,771,3397,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1865,-0.48,-146.0,226.5,-10.7,208,1873,0.00,2.17,0.00,0.000,6,0.000,0.050,3022,2181,3397,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2173,-0.48,-146.0,263.1,-11.6,224,2178,0.00,2.20,0.00,0.000,4,0.000,0.063,3011,3582,3397,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2247,-0.48,-146.0,270.2,-11.9,227,2254,0.00,2.15,0.00,0.000,6,0.000,0.043,3011,2165,3397,0,0,0,0,0,0,28.83,26.02,28.83
$GC,2553,-0.48,-146.0,307.4,-11.2,243,2554,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2163,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2852,-0.48,-146.0,340.2,-11.1,258,2858,0.00,2.28,0.00,0.000,4,0.000,0.064,3001,3588,3396,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2875,-0.48,-146.0,342.4,-11.1,259,2880,0.15,2.15,0.00,0.000,6,0.129,0.044,3044,2174,3396,0,0,0,0,0,0,25.85,26.04,28.83
$GC,3189,-0.48,-146.0,371.1,-9.0,275,3194,0.00,2.25,0.00,0.000,4,0.000,0.065,3036,3589,3395,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3216,-0.48,-146.0,372.9,-9.1,276,3220,0.00,2.15,0.00,0.000,6,0.000,0.045,3036,2172,3395,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3524,-0.48,-146.0,401.3,-8.7,291,3529,0.00,2.12,0.00,0.000,4,0.000,0.053,3036,770,3394,0,0,0,0,0,0,28.83,25.96,28.83
$GC,3547,-0.48,-146.0,401.3,-8.7,291,3554,0.00,2.17,0.00,0.000,6,0.000,0.053,3028,2176,3394,0,0,0,0,0,0,28.83,25.97,28.83
$GC,3853,-0.48,-146.0,430.6,-8.7,302,3859,0.00,2.22,0.00,0.000,4,0.000,0.065,3018,3582,3394,0,0,0,0,0,0,28.83,25.90,28.83
$GC,3956,-0.48,-146.0,438.9,-9.1,305,3960,0.00,2.15,0.00,0.000,6,0.000,0.045,3017,2174,3393,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4274,-0.48,-146.0,469.4,-9.4,316,4279,0.00,2.12,0.00,0.000,4,0.000,0.052,3017,774,3392,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4306,-0.48,-146.0,472.3,-9.4,317,4311,0.12,2.17,0.00,0.000,6,0.142,0.054,3043,2174,3392,0,0,0,0,0,0,25.85,25.98,28.83
$GC,4629,-0.48,-146.0,496.7,-7.4,328,4634,0.00,2.28,0.00,0.000,4,0.000,0.067,3034,3596,3391,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4691,-0.48,-146.0,501.5,-7.6,330,4695,0.00,2.17,0.00,0.000,6,0.000,0.045,3034,2168,3391,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5014,-0.48,-146.0,527.4,-8.0,341,5015,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2166,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5314,-0.48,-146.0,552.0,-8.3,351,5319,0.00,2.28,0.00,0.000,4,0.000,0.067,3025,3592,3390,0,0,0,0,0,0,28.83,25.89,28.83
$GC,5344,-0.48,-146.0,554.7,-8.4,352,5350,0.00,2.17,0.00,0.000,6,0.000,0.046,3025,2161,3390,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5674,-0.48,-146.0,584.9,-9.3,363,5675,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2159,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5974,-0.48,-146.0,611.6,-8.6,373,5979,0.00,2.25,0.00,0.000,4,0.000,0.067,3014,3578,3389,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6017,-0.48,-146.0,614.3,-8.6,374,6021,0.00,2.15,0.00,0.000,6,0.000,0.046,3015,2168,3389,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6330,-0.48,-146.0,642.9,-8.6,385,6331,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2165,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6629,-0.48,-146.0,667.5,-8.0,395,6635,0.00,2.28,0.00,0.000,4,0.000,0.067,3004,3590,3387,0,0,0,0,0,0,28.83,25.88,28.83
$GC,6672,-0.48,-146.0,669.9,-8.0,396,6677,0.12,2.17,0.00,0.000,6,0.135,0.047,3040,2167,3387,0,0,0,0,0,0,25.91,26.08,28.83
$GC,6986,-0.48,-146.0,690.5,-6.1,407,6992,0.00,2.25,0.00,0.000,4,0.000,0.067,3031,3581,3387,0,0,0,0,0,0,28.83,25.88,28.83
$GC,7039,-0.48,-146.0,692.3,-6.1,408,7047,0.00,2.15,0.00,0.000,6,0.000,0.047,3031,2172,3387,0,0,0,0,0,0,28.83,26.07,28.83
$GC,7347,-0.48,-146.0,714.3,-7.0,419,7352,0.00,2.28,0.00,0.000,4,0.000,0.068,3022,3586,3386,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7389,-0.48,-146.0,716.5,-7.1,420,7394,0.00,2.17,0.00,0.000,6,0.000,0.047,3022,2165,3386,0,0,0,0,0,0,28.83,26.07,28.83
$GC,7702,-0.48,-146.0,743.1,-8.4,431,7707,0.00,2.28,0.00,0.000,4,0.000,0.067,3012,3586,3385,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7745,-0.48,-146.0,745.9,-8.6,432,7749,0.00,2.17,0.00,0.000,6,0.000,0.047,3012,2165,3385,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8057,-0.48,-146.0,776.2,-9.3,443,8063,0.00,2.28,0.00,0.000,4,0.000,0.067,3002,3584,3385,0,0,0,0,0,0,28.83,25.85,28.83
$GC,8080,-0.48,-146.0,776.2,-9.3,443,8087,0.15,2.17,0.00,0.000,6,0.127,0.047,3045,2163,3385,0,0,0,0,0,0,25.86,26.05,28.83
$GC,8388,-0.48,-146.0,800.8,-7.0,454,8393,0.00,2.28,0.00,0.000,4,0.000,0.069,3037,3588,3385,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8435,-0.48,-146.0,803.0,-7.2,455,8439,0.00,2.17,0.00,0.000,6,0.000,0.047,3037,2168,3385,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8742,-0.48,-146.0,826.8,-7.4,465,8748,0.00,2.30,0.00,0.000,4,0.000,0.069,3028,3595,3384,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8772,-0.48,-146.0,829.1,-7.5,466,8778,0.00,2.20,0.00,0.000,6,0.000,0.047,3028,2167,3384,0,0,0,0,0,0,28.83,26.05,28.83
$GC,9103,-0.48,-146.0,853.7,-7.3,477,9108,0.00,2.25,0.00,0.000,4,0.000,0.069,3018,3581,3384,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9156,-0.48,-146.0,855.9,-7.3,478,9162,0.00,2.15,0.00,0.000,6,0.000,0.048,3018,2176,3384,0,0,0,0,0,0,28.83,26.04,28.83
$GC,9462,-0.48,-146.0,881.5,-7.7,489,9468,0.00,2.22,0.00,0.000,4,0.000,0.069,3008,3582,3384,0,0,0,0,0,0,28.83,25.83,28.83
$GC,9526,-0.48,-146.0,886.6,-8.0,491,9533,0.12,2.15,0.00,0.000,6,0.133,0.048,3043,2177,3384,0,0,0,0,0,0,25.87,26.04,28.83
$GC,9853,-0.48,-146.0,908.2,-6.5,502,9858,0.00,2.28,0.00,0.000,4,0.000,0.070,3035,3603,3383,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9882,-0.48,-146.0,910.2,-6.5,503,9888,0.00,2.22,0.00,0.000,6,0.000,0.048,3035,2165,3383,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10212,-0.48,-146.0,933.1,-6.9,514,10218,0.00,2.28,0.00,0.000,4,0.000,0.070,3026,3585,3382,0,0,0,0,0,0,28.83,25.82,28.83
$GC,10246,-0.48,-146.0,935.2,-6.9,515,10250,0.00,2.17,0.00,0.000,6,0.000,0.049,3025,2169,3382,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10568,-0.48,-146.0,959.3,-7.4,526,10573,0.00,2.28,0.00,0.000,4,0.000,0.069,3016,3583,3382,0,0,0,0,0,0,28.83,25.81,28.83
$GC,10621,-0.48,-146.0,961.6,-7.4,527,10627,0.00,2.17,0.00,0.000,6,0.000,0.048,3016,2166,3382,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10928,-0.48,-146.0,986.5,-7.4,538,10934,0.00,2.30,0.00,0.000,4,0.000,0.069,3007,3585,3382,0,0,0,0,0,0,28.83,25.80,28.83
$GC,10971,-0.48,-146.0,988.8,-7.4,539,10976,0.12,2.17,0.00,0.000,6,0.133,0.048,3042,2171,3382,0,0,0,0,0,0,25.86,26.02,28.83
$STATE,10980,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10981,begin apogee
$GC,10988,-0.22,0.0,990.7,-7.4,540,11120,0.22,0.00,126.68,1.184,6,0.115,0.000,3123,2312,2793,0,0,0,0,0,0,25.95,28.83,23.58
$STATE,11123,end apogee,CONTROL_FINISHED_OK
$STATE,11123,begin climb
$GC,11126,0.48,146.0,994.1,0.0,544,11270,0.65,2.50,134.70,1.151,4,0.081,0.067,3344,3698,2198,0,0,0,0,0,0,24.52,23.53,22.77
$GC,11292,0.48,151.6,984.8,7.1,550,11305,0.00,2.38,6.03,0.848,6,0.000,0.048,3355,2309,2176,0,0,0,0,0,0,28.83,23.93,23.05
$GC,11614,0.48,151.6,950.2,10.4,561,11615,0.00,0.00,0.00,0.000,6,0.000,0.000,3355,2309,2170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11914,0.48,151.6,919.0,10.4,571,11919,0.00,2.30,0.00,0.000,4,0.000,0.069,3355,3694,2168,0,0,0,0,0,0,28.83,25.30,28.83
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$STATE,22408,end climb,SURFACE_DEPTH_REACHED
$STATE,22408,begin surface coast
$FINISH,1.0,1.003068
$STATE,22447,end surface coast,CONTROL_FINISHED_OK
$STATE,22447,begin surface
$SM_CCo,22527,0.00,0.000,0,0,986,443.50
$SM_GC,2.00,8.43,0.20,0.00,0.029,0.074,0.000,115,2165,986,-9.46,1.07,443.50,0,0,0,0,0,0,25.68,25.61,28.83
$IRIDIUM_FIX,4648.08,-12653.46,281012,050533
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.80
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,15.90
$XPDR_PINGS,0
$24V_AH,22.8,28.577
$10V_AH,10.2,23.928
$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,22.100,218.675,501.875,0.000,0.000,28.723,47.819,200.946,0.000,0.000,34.208,3298.263,15672.911,599.513,2979.323,395.579,0.000,2080.734,0.000,2649.776,0.000,0.535,0.000
$DEVICE_MAMPS,216.495,83.385,1184.220,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,861.063,722.612,512.827,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70192,1253
$CAP_FILE_SIZE,196476,0
$CFSIZE,260165632,241217536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.074, 73.8,1
$GPS,281012,183659,4659.912,-12659.501,40,1.9,40,18.6