version: 66.11
glider: 187
mission: 2
dive: 17
start: 9 15 112 1 3 55
data:
$ID,187
$MISSION,2
$DIVE,17
$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,0.0031000001
$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,-1587633.9
$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,34
$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
$GPS1,150912,005506,4737.048,-12533.695,28,1.9,28,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-76.9
$GPS2,150912,010249,4736.950,-12533.637,14,2.0,14,18.7
$SPEED_LIMITS,0.127,0.220
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.117,-0.186
$KALMAN_X,11902.4,418.7,-996.0,-46366.2,7299.2
$KALMAN_Y,2434.0,-701.8,-1355.2,-22716.6,7664.3
$MHEAD_RNG_PITCHd_Wd,254.2,128770,-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,-146.0,0.0,0.0,0,88,0.00,0.00,-68.85,0.000,2,0.000,0.000,128,2165,3006,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.48,-146.0,3.5,-6.7,11,115,11.40,2.35,-6.85,0.000,4,0.231,0.075,3023,3584,3393,0,0,0,0,0,0,25.34,25.56,25.87
$GC,224,-0.48,-146.0,35.1,-13.6,36,231,0.00,2.22,0.00,0.000,6,0.000,0.044,3023,2170,3398,0,0,0,0,0,0,28.83,25.69,28.83
$GC,553,-0.48,-146.0,81.1,-13.3,101,561,0.00,2.17,0.00,0.000,4,0.000,0.051,3023,777,3400,0,0,0,0,0,0,28.83,25.86,28.83
$GC,686,-0.48,-146.0,98.1,-13.5,126,693,0.00,2.20,0.00,0.000,6,0.000,0.050,3014,2175,3400,0,0,0,0,0,0,28.83,25.91,28.83
$GC,997,-0.48,-146.0,135.7,-11.5,158,1006,0.00,2.20,0.00,0.000,4,0.000,0.063,3003,3589,3400,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1070,-0.48,-146.0,143.9,-11.0,165,1080,0.10,2.12,0.00,0.000,6,0.122,0.043,3038,2169,3400,0,0,0,0,0,0,25.94,26.04,28.83
$GC,1379,-0.48,-146.0,171.1,-8.9,196,1389,0.00,2.12,0.00,0.000,4,0.000,0.051,3038,771,3400,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1433,-0.48,-146.0,176.0,-9.5,201,1442,0.00,2.12,0.00,0.000,6,0.000,0.050,3030,2173,3400,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1742,-0.48,-146.0,207.7,-10.6,232,1752,0.00,2.20,0.00,0.000,4,0.000,0.064,3020,3583,3400,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1796,-0.48,-146.0,213.6,-11.4,237,1800,0.00,2.12,0.00,0.000,6,0.000,0.044,3019,2174,3400,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2108,-0.48,-146.0,247.0,-10.1,268,2109,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2171,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2411,-0.48,-146.0,276.1,-9.7,298,2420,0.00,2.22,0.00,0.000,4,0.000,0.064,3009,3585,3399,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2436,-0.48,-146.0,278.6,-9.8,300,2444,0.08,2.17,0.00,0.000,6,0.125,0.045,3036,2170,3399,0,0,0,0,0,0,26.13,26.23,28.83
$GC,2744,-0.48,-146.0,305.9,-8.8,331,2745,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2169,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3046,-0.48,-146.0,334.3,-9.9,361,3052,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2169,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3355,-0.48,-146.0,364.1,-9.7,392,3363,0.00,2.20,0.00,0.000,4,0.000,0.065,3028,3583,3397,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3407,-0.48,-146.0,369.1,-9.6,397,3417,0.00,2.12,0.00,0.000,6,0.000,0.045,3028,2174,3396,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3717,-0.48,-146.0,398.3,-8.7,428,3718,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2174,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4019,-0.48,-146.0,423.6,-8.4,458,4025,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2174,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4329,-0.48,-146.0,448.6,-7.7,489,4339,0.00,2.20,0.00,0.000,4,0.000,0.067,3017,3584,3395,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4362,-0.48,-146.0,451.5,-7.9,492,4371,0.00,2.12,0.00,0.000,6,0.000,0.046,3017,2175,3394,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4673,-0.48,-146.0,478.7,-9.3,523,4674,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2175,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4975,-0.48,-146.0,506.4,-8.7,553,4984,0.00,2.20,0.00,0.000,4,0.000,0.067,3007,3584,3393,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5018,-0.48,-146.0,510.9,-10.0,557,5028,0.12,2.12,0.00,0.000,6,0.145,0.047,3042,2170,3393,0,0,0,0,0,0,26.27,26.36,28.83
$GC,5329,-0.48,-146.0,534.3,-7.4,588,5336,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2170,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5641,-0.48,-146.0,556.5,-6.7,619,5649,0.00,2.20,0.00,0.000,4,0.000,0.067,3034,3587,3392,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5666,-0.48,-146.0,558.3,-7.2,621,5673,0.00,2.17,0.00,0.000,6,0.000,0.047,3034,2174,3392,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5973,-0.48,-146.0,581.6,-7.5,652,5982,0.00,2.22,0.00,0.000,4,0.000,0.067,3024,3583,3392,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6015,-0.48,-146.0,585.0,-8.0,656,6024,0.00,2.12,0.00,0.000,6,0.000,0.047,3023,2176,3391,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6325,-0.48,-146.0,609.5,-7.8,679,6326,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2176,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6625,-0.48,-146.0,634.4,-8.3,689,6631,0.00,2.22,0.00,0.000,4,0.000,0.068,3013,3593,3391,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6668,-0.48,-146.0,636.9,-8.4,690,6673,0.00,2.15,0.00,0.000,6,0.000,0.047,3013,2170,3390,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6980,-0.48,-146.0,664.7,-8.7,701,6982,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2167,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7281,-0.48,-146.0,691.9,-9.1,711,7287,0.00,2.22,0.00,0.000,4,0.000,0.067,3004,3585,3390,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7310,-0.48,-146.0,694.8,-9.1,712,7317,0.12,2.15,0.00,0.000,6,0.145,0.048,3038,2167,3390,0,0,0,0,0,0,26.31,26.41,28.83
$GC,7641,-0.48,-146.0,719.1,-7.3,723,7642,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2165,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7941,-0.48,-146.0,741.8,-7.7,733,7946,0.00,2.22,0.00,0.000,4,0.000,0.069,3030,3583,3389,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8002,-0.48,-146.0,746.7,-7.9,735,8007,0.00,2.12,0.00,0.000,6,0.000,0.048,3029,2171,3389,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8331,-0.48,-146.0,773.7,-8.1,746,8332,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2168,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8631,-0.48,-146.0,797.2,-7.7,756,8636,0.00,2.25,0.00,0.000,4,0.000,0.069,3020,3589,3387,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8703,-0.48,-146.0,801.8,-7.6,758,8707,0.00,2.15,0.00,0.000,6,0.000,0.048,3020,2166,3387,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9016,-0.48,-146.0,826.5,-7.3,769,9017,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2164,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9316,-0.48,-146.0,846.9,-6.8,779,9321,0.00,2.22,0.00,0.000,4,0.000,0.069,3010,3584,3387,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9384,-0.48,-146.0,851.1,-6.8,781,9389,0.12,2.12,0.00,0.000,6,0.142,0.049,3045,2174,3387,0,0,0,0,0,0,26.34,26.43,28.83
$GC,9702,-0.48,-146.0,868.3,-5.4,792,9708,0.00,2.20,0.00,0.000,4,0.000,0.070,3037,3580,3387,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9732,-0.48,-146.0,870.2,-5.7,793,9738,0.00,2.12,0.00,0.000,6,0.000,0.049,3037,2172,3386,0,0,0,0,0,0,28.83,26.43,28.83
$GC,10062,-0.48,-146.0,892.0,-7.1,804,10063,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2171,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10362,-0.48,-146.0,915.2,-7.9,814,10368,0.00,2.20,0.00,0.000,4,0.000,0.070,3028,3580,3386,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10430,-0.48,-146.0,920.1,-7.9,816,10434,0.00,2.12,0.00,0.000,6,0.000,0.050,3028,2175,3385,0,0,0,0,0,0,28.83,26.43,28.83
$GC,10747,-0.48,-146.0,948.6,-8.9,827,10753,0.00,2.22,0.00,0.000,4,0.000,0.070,3018,3586,3385,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10790,-0.48,-146.0,951.3,-8.9,828,10794,0.00,2.15,0.00,0.000,6,0.000,0.050,3018,2172,3385,0,0,0,0,0,0,28.83,26.43,28.83
$GC,11102,-0.48,-146.0,979.0,-8.3,839,11108,0.00,2.22,0.00,0.000,4,0.000,0.070,3010,3582,3385,0,0,0,0,0,0,28.83,26.37,28.83
$GC,11145,-0.48,-146.0,981.4,-8.1,840,11149,0.00,2.15,0.00,0.000,6,0.000,0.050,3011,2165,3384,0,0,0,0,0,0,28.83,26.42,28.83
$STATE,11244,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11245,begin apogee
$GC,11251,-0.22,0.0,990.7,-8.0,844,11384,0.32,0.00,127.25,1.235,6,0.123,0.000,3120,2309,2794,0,0,0,0,0,0,26.34,28.83,23.49
$STATE,11387,end apogee,CONTROL_FINISHED_OK
$STATE,11387,begin climb
$GC,11389,0.48,146.0,994.4,0.0,848,11528,0.68,0.00,135.48,1.186,6,0.086,0.000,3346,2309,2198,0,0,0,0,0,0,24.44,28.83,23.26
$GC,11817,0.48,146.0,960.2,9.4,863,11823,0.00,2.30,0.00,0.000,4,0.000,0.070,3346,3701,2187,0,0,0,0,0,0,28.83,25.29,28.83
$GC,11870,0.48,146.0,957.1,9.6,864,11877,0.00,2.22,0.00,0.000,6,0.000,0.050,3356,2308,2187,0,0,0,0,0,0,28.83,25.39,28.83
$GC,12177,0.48,146.0,922.9,10.1,875,12178,0.00,0.00,0.00,0.000,6,0.000,0.000,3355,2303,2185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12477,0.48,146.0,894.6,9.3,885,12483,0.00,2.28,0.00,0.000,4,0.000,0.070,3356,3703,2185,0,0,0,0,0,0,28.83,25.78,28.83
$GC,12510,0.48,146.0,891.4,9.6,886,12514,0.00,2.22,0.00,0.000,6,0.000,0.051,3366,2297,2184,0,0,0,0,0,0,28.83,25.82,28.83
$GC,12832,0.48,146.0,858.5,10.3,897,12838,0.00,2.33,0.00,0.000,4,0.000,0.070,3366,3712,2184,0,0,0,0,0,0,28.83,25.89,28.83
$GC,12863,0.48,146.0,855.3,10.3,898,12868,0.00,2.20,0.00,0.000,6,0.000,0.051,3377,2302,2183,0,0,0,0,0,0,28.83,25.94,28.83
$GC,13192,0.48,146.0,819.5,11.0,909,13198,0.00,2.25,0.00,0.000,4,0.000,0.069,3377,3703,2183,0,0,0,0,0,0,28.83,25.98,28.83
$GC,13230,0.48,146.0,815.9,11.3,910,13235,0.15,2.20,0.00,0.000,6,0.174,0.051,3350,2291,2183,0,0,0,0,0,0,25.90,26.03,28.83
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$STATE,22477,end climb,SURFACE_DEPTH_REACHED
$STATE,22477,begin surface coast
$FINISH,0.4,1.023804
$STATE,22546,end surface coast,CONTROL_FINISHED_OK
$STATE,22546,begin surface
$SM_CCo,22626,0.00,0.000,0,0,1299,366.72
$SM_GC,1.36,8.52,0.17,0.00,0.030,0.077,0.000,129,2170,1299,-9.46,1.16,366.72,0,0,0,0,0,0,25.49,25.46,28.83
$IRIDIUM_FIX,4719.74,-12540.05,140912,181826
$TT8_MAMPS,0.026964,0.026964
$HUMID,41.92
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,15.50
$XPDR_PINGS,0
$24V_AH,23.3,4.860
$10V_AH,10.3,3.613
$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,22.200,202.925,440.150,0.000,0.000,25.290,47.400,250.132,0.000,0.000,17.734,4538.806,13263.625,694.151,4127.344,447.660,33.270,2436.629,0.000,3779.268,0.000,0.535,0.000
$DEVICE_MAMPS,231.030,84.150,1234.710,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1252.825,1497.642,1727.243,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296920
$DATA_FILE_SIZE,103576,1818
$CAP_FILE_SIZE,216913,0
$CFSIZE,260165632,255930368
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.143,123.0,1
$GPS,150912,072206,4736.161,-12536.159,27,1.9,27,18.7