version: 66.11
glider: 187
mission: 2
dive: 15
start: 9 14 112 12 28 7
data:
$ID,187
$MISSION,2
$DIVE,15
$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,1
$HD_A,0.0046000001
$HD_B,0.0099999998
$HD_C,1.34e-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,-1587629.4
$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,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,2732
$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
$GPS1,140912,122005,4739.259,-12527.726,34,1.6,34,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-76.5
$GPS2,140912,122706,4739.249,-12527.716,11,1.6,16,18.7
$SPEED_LIMITS,0.127,0.235
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.231,-0.040
$KALMAN_X,7349.3,-752.9,257.9,-34538.5,3496.6
$KALMAN_Y,1079.5,996.0,-412.4,-19740.6,-664.4
$MHEAD_RNG_PITCHd_Wd,246.1,137368,-14.3,-7.333,-17.34
$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,16,-0.51,-146.0,0.0,0.0,0,94,0.00,0.00,-75.20,0.000,2,0.000,0.000,131,2186,3004,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.51,-146.0,3.7,-8.1,12,121,11.45,2.30,-5.72,0.000,4,0.233,0.070,3014,3592,3330,0,0,0,0,0,0,25.34,25.56,25.86
$GC,181,-0.51,-146.0,33.2,-16.3,27,188,0.00,2.22,0.00,0.000,6,0.000,0.044,3014,2180,3335,0,0,0,0,0,0,28.83,25.65,28.83
$GC,514,-0.51,-146.0,78.0,-14.6,93,521,0.00,2.20,0.00,0.000,4,0.000,0.051,3014,777,3337,0,0,0,0,0,0,28.83,25.82,28.83
$GC,555,-0.51,-146.0,83.9,-14.6,100,562,0.00,2.22,0.00,0.000,6,0.000,0.051,3005,2184,3337,0,0,0,0,0,0,28.83,25.84,28.83
$GC,868,-0.51,-146.0,126.4,-11.1,141,869,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2183,3337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1170,-0.51,-146.0,162.6,-12.4,171,1179,0.00,2.15,0.00,0.000,4,0.000,0.050,3005,770,3337,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1205,-0.51,-146.0,167.0,-12.2,174,1215,0.10,2.20,0.00,0.000,6,0.131,0.051,3040,2172,3337,0,0,0,0,0,0,25.95,26.04,28.83
$GC,1513,-0.51,-146.0,194.1,-8.2,205,1522,0.00,2.25,0.00,0.000,4,0.000,0.065,3032,3595,3337,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1558,-0.51,-146.0,197.7,-8.4,209,1565,0.00,2.15,0.00,0.000,6,0.000,0.042,3031,2164,3337,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1866,-0.51,-146.0,225.4,-9.0,240,1867,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2163,3337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2167,-0.51,-146.0,251.9,-9.2,270,2175,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2163,3336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2479,-0.51,-146.0,281.5,-9.4,301,2487,0.00,2.20,0.00,0.000,4,0.000,0.063,3021,3583,3335,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2520,-0.51,-146.0,286.0,-10.2,305,2529,0.00,2.10,0.00,0.000,6,0.000,0.044,3022,2173,3336,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2830,-0.51,-146.0,318.6,-10.6,336,2831,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2173,3335,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3132,-0.51,-146.0,350.2,-10.5,366,3142,0.00,2.17,0.00,0.000,4,0.000,0.064,3011,3579,3334,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3158,-0.51,-146.0,352.8,-10.5,368,3165,0.00,2.10,0.00,0.000,6,0.000,0.044,3011,2173,3334,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3466,-0.51,-146.0,385.8,-10.2,399,3467,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2172,3334,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3767,-0.51,-146.0,416.0,-9.6,429,3774,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2172,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4078,-0.51,-146.0,445.4,-9.6,460,4087,0.00,2.22,0.00,0.000,4,0.000,0.065,3001,3586,3332,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4131,-0.51,-146.0,451.0,-10.2,465,4141,0.12,2.12,0.00,0.000,6,0.148,0.044,3034,2164,3332,0,0,0,0,0,0,26.22,26.34,28.83
$GC,4441,-0.51,-146.0,476.6,-8.5,496,4443,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2164,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4744,-0.51,-146.0,505.3,-9.7,526,4750,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2164,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5052,-0.51,-146.0,535.7,-9.4,557,5061,0.00,2.20,0.00,0.000,4,0.000,0.066,3026,3580,3330,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5115,-0.51,-146.0,541.8,-9.6,563,5124,0.00,2.10,0.00,0.000,6,0.000,0.046,3025,2168,3331,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5424,-0.51,-146.0,568.9,-7.9,594,5426,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2168,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5727,-0.51,-146.0,591.5,-7.3,624,5736,0.00,2.20,0.00,0.000,4,0.000,0.067,3015,3583,3329,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5782,-0.51,-146.0,595.8,-8.1,629,5788,0.00,2.12,0.00,0.000,6,0.000,0.046,3015,2164,3329,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6109,-0.51,-146.0,621.8,-7.9,644,6115,0.00,2.22,0.00,0.000,4,0.000,0.066,3006,3587,3328,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6162,-0.51,-146.0,624.3,-8.0,645,6169,0.00,2.12,0.00,0.000,6,0.000,0.046,3005,2166,3328,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6469,-0.51,-146.0,653.9,-8.9,656,6470,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2165,3327,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6769,-0.51,-146.0,680.3,-8.8,666,6770,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2165,3327,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7069,-0.51,-146.0,705.9,-8.4,676,7074,0.00,2.22,0.00,0.000,4,0.000,0.067,2996,3584,3327,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7102,-0.51,-146.0,708.8,-8.6,677,7107,0.12,2.15,0.00,0.000,6,0.152,0.047,3029,2167,3327,0,0,0,0,0,0,26.30,26.41,28.83
$GC,7425,-0.51,-146.0,734.4,-8.0,688,7431,0.00,2.22,0.00,0.000,4,0.000,0.067,3021,3584,3327,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7468,-0.51,-146.0,737.0,-8.2,689,7472,0.00,2.12,0.00,0.000,6,0.000,0.047,3020,2170,3327,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7780,-0.51,-146.0,767.1,-9.3,700,7786,0.00,2.22,0.00,0.000,4,0.000,0.067,3011,3590,3326,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7823,-0.51,-146.0,770.0,-9.4,701,7827,0.00,2.12,0.00,0.000,6,0.000,0.047,3011,2174,3326,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8135,-0.51,-146.0,801.5,-9.6,712,8141,0.00,2.22,0.00,0.000,4,0.000,0.067,3001,3584,3326,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8165,-0.51,-146.0,804.5,-9.6,713,8172,0.12,2.12,0.00,0.000,6,0.149,0.047,3035,2173,3325,0,0,0,0,0,0,26.31,26.41,28.83
$GC,8495,-0.51,-146.0,829.7,-7.3,724,8501,0.00,2.20,0.00,0.000,4,0.000,0.067,3027,3586,3325,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8533,-0.51,-146.0,831.9,-7.2,725,8537,0.00,2.15,0.00,0.000,6,0.000,0.047,3027,2169,3325,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8856,-0.51,-146.0,856.1,-7.1,736,8861,0.00,2.20,0.00,0.000,4,0.000,0.068,3017,3581,3325,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8917,-0.51,-146.0,861.0,-7.6,738,8922,0.00,2.10,0.00,0.000,6,0.000,0.047,3017,2178,3324,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9245,-0.51,-146.0,886.1,-7.5,749,9247,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2175,3325,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9546,-0.51,-146.0,906.5,-6.6,759,9552,0.00,2.22,0.00,0.000,4,0.000,0.070,3007,3587,3324,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9638,-0.51,-146.0,912.7,-6.7,762,9642,0.00,2.15,0.00,0.000,6,0.000,0.050,3007,2163,3324,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9961,-0.51,-146.0,934.4,-6.6,773,9967,0.00,2.22,0.00,0.000,4,0.000,0.070,2997,3583,3324,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10055,-0.51,-146.0,940.7,-7.0,776,10061,0.12,2.12,0.00,0.000,6,0.150,0.050,3031,2171,3323,0,0,0,0,0,0,26.32,26.42,28.83
$GC,10381,-0.51,-146.0,959.5,-5.6,787,10387,0.00,2.25,0.00,0.000,4,0.000,0.070,3023,3588,3323,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10413,-0.51,-146.0,961.5,-5.8,788,10417,0.00,2.15,0.00,0.000,6,0.000,0.050,3023,2169,3323,0,0,0,0,0,0,28.83,26.42,28.83
$GC,10736,-0.51,-146.0,983.9,-7.0,799,10742,0.00,2.22,0.00,0.000,4,0.000,0.070,3014,3590,3323,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10797,-0.51,-146.0,988.2,-7.0,801,10802,0.00,2.12,0.00,0.000,6,0.000,0.050,3013,2175,3322,0,0,0,0,0,0,28.83,26.42,28.83
$STATE,10823,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10823,begin apogee
$GC,10830,-0.22,0.0,990.5,-7.3,802,10962,0.32,0.00,127.53,1.228,6,0.125,0.000,3122,2411,2732,0,0,0,0,0,0,26.32,28.83,23.47
$STATE,10965,end apogee,CONTROL_FINISHED_OK
$STATE,10965,begin climb
$GC,10968,0.51,146.0,994.2,0.0,806,11107,0.70,0.00,134.73,1.186,6,0.087,0.000,3355,2412,2135,0,0,0,0,0,0,24.41,28.83,23.25
$GC,11395,0.51,146.0,954.6,10.9,821,11401,0.00,2.30,0.00,0.000,4,0.000,0.057,3365,994,2125,0,0,0,0,0,0,28.83,25.29,28.83
$GC,11428,0.51,146.0,951.2,11.0,822,11432,0.00,2.28,0.00,0.000,6,0.000,0.058,3366,2397,2124,0,0,0,0,0,0,28.83,25.33,28.83
$GC,11750,0.51,146.0,911.4,12.4,833,11756,0.00,2.28,0.00,0.000,4,0.000,0.070,3366,3797,2123,0,0,0,0,0,0,28.83,25.61,28.83
$GC,11788,0.51,146.0,907.3,12.5,834,11793,0.00,2.20,0.00,0.000,6,0.000,0.051,3376,2396,2122,0,0,0,0,0,0,28.83,25.67,28.83
$GC,12106,0.51,146.0,865.7,12.8,845,12107,0.00,0.00,0.00,0.000,6,0.000,0.000,3376,2395,2122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12406,0.51,146.0,828.2,12.4,855,12411,0.00,2.28,0.00,0.000,4,0.000,0.070,3376,3801,2121,0,0,0,0,0,0,28.83,25.89,28.83
$GC,12429,0.51,146.0,828.2,12.4,855,12436,0.00,2.20,0.00,0.000,6,0.000,0.050,3387,2395,2121,0,0,0,0,0,0,28.83,25.94,28.83
$GC,12736,0.51,146.0,784.5,13.2,866,12742,0.00,2.17,0.00,0.000,4,0.000,0.057,3397,994,2121,0,0,0,0,0,0,28.83,25.98,28.83
$GC,12765,0.51,146.0,780.8,13.0,867,12772,0.15,2.22,0.00,0.000,6,0.164,0.059,3359,2403,2121,0,0,0,0,0,0,25.89,25.98,28.83
$GC,13096,0.51,146.0,743.2,11.6,878,13097,0.00,0.00,0.00,0.000,6,0.000,0.000,3360,2403,2121,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,20985,end climb,SURFACE_DEPTH_REACHED
$STATE,20985,begin surface coast
$FINISH,3.3,1.023852
$STATE,20995,end surface coast,CONTROL_FINISHED_OK
$STATE,20995,begin surface
$SM_CCo,21017,19.65,0.378,1,0,1508,300.00
$SM_GC,1.93,8.68,1.92,19.65,0.042,0.052,0.378,140,2183,1508,-9.47,-0.62,300.00,0,0,0,0,1,0,25.65,25.61,24.92
$IRIDIUM_FIX,4729.30,-12508.44,140912,060633
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.47
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,16.30
$XPDR_PINGS,0
$24V_AH,23.2,4.580
$10V_AH,10.3,3.244
$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,22.250,166.175,357.750,19.650,0.000,27.969,42.263,210.969,0.000,0.000,16.836,4275.013,12281.946,590.599,3874.166,423.970,33.241,2210.823,0.000,3582.085,0.000,0.535,0.000
$DEVICE_MAMPS,233.325,74.205,1227.825,377.910,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1179.904,1406.453,1658.087,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296968
$DATA_FILE_SIZE,96862,1710
$CAP_FILE_SIZE,197913,0
$CFSIZE,260165632,256155648
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.098,130.2,1
$GPS,140912,182023,4738.410,-12530.769,53,1.9,53,18.7