version: 66.11
glider: 187
mission: 2
dive: 18
start: 9 15 112 7 30 54
data:
$ID,187
$MISSION,2
$DIVE,18
$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,-1587635.1
$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,42
$R_STBD_OVSHOOT,23
$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
$GPS1,150912,072206,4736.161,-12536.159,27,1.9,27,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-77.6
$GPS2,150912,072948,4736.158,-12536.184,15,1.8,32,18.7
$SPEED_LIMITS,0.127,0.220
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.197,0.099
$KALMAN_X,12921.9,-910.5,-778.1,-49440.1,6192.8
$KALMAN_Y,2087.3,1074.4,728.6,-27695.8,-2103.3
$MHEAD_RNG_PITCHd_Wd,255.2,125267,-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,16,-0.48,-146.0,0.0,0.0,0,89,0.00,0.00,-70.35,0.000,2,0.000,0.000,129,2170,2966,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.48,-146.0,3.5,-7.7,11,122,11.50,2.33,-7.57,0.000,4,0.235,0.076,3027,3581,3394,0,0,0,0,0,0,25.37,25.57,25.89
$GC,223,-0.48,-146.0,33.8,-12.0,35,230,0.00,2.20,0.00,0.000,6,0.000,0.043,3027,2176,3398,0,0,0,0,0,0,28.83,25.72,28.83
$GC,558,-0.48,-146.0,77.9,-10.7,101,567,0.00,2.20,0.00,0.000,4,0.000,0.050,3027,771,3400,0,0,0,0,0,0,28.83,25.87,28.83
$GC,601,-0.48,-146.0,82.6,-10.7,108,608,0.00,2.22,0.00,0.000,6,0.000,0.051,3017,2182,3401,0,0,0,0,0,0,28.83,25.88,28.83
$GC,918,-0.48,-146.0,117.4,-10.4,154,927,0.00,2.20,0.00,0.000,4,0.000,0.063,3007,3592,3400,0,0,0,0,0,0,28.83,25.96,28.83
$GC,963,-0.48,-146.0,121.9,-10.4,158,971,0.10,2.20,0.00,0.000,6,0.120,0.043,3053,2167,3400,0,0,0,0,0,0,25.91,26.03,28.83
$GC,1271,-0.48,-146.0,146.7,-8.5,189,1272,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2167,3401,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1573,-0.48,-146.0,172.7,-8.8,219,1581,0.00,2.22,0.00,0.000,4,0.000,0.063,3045,3591,3400,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1615,-0.48,-146.0,176.7,-9.0,223,1624,0.00,2.12,0.00,0.000,6,0.000,0.044,3045,2167,3400,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1925,-0.48,-146.0,202.8,-8.4,254,1926,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2166,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2226,-0.48,-146.0,229.0,-8.9,284,2236,0.00,2.25,0.00,0.000,4,0.000,0.063,3034,3596,3399,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2280,-0.48,-146.0,233.9,-9.3,289,2290,0.00,2.12,0.00,0.000,6,0.000,0.044,3034,2171,3399,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2589,-0.48,-146.0,262.1,-9.0,320,2590,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2170,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2893,-0.48,-146.0,290.0,-9.3,350,2901,0.00,2.20,0.00,0.000,4,0.000,0.065,3024,3589,3398,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2928,-0.48,-146.0,293.3,-9.4,353,2935,0.00,2.12,0.00,0.000,6,0.000,0.045,3024,2173,3397,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3235,-0.48,-146.0,322.8,-9.1,384,3244,0.00,2.22,0.00,0.000,4,0.000,0.065,3014,3584,3397,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3260,-0.48,-146.0,324.8,-9.3,386,3267,0.00,2.12,0.00,0.000,6,0.000,0.045,3013,2169,3396,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3567,-0.48,-146.0,353.6,-9.2,417,3568,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2167,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3869,-0.48,-146.0,382.1,-9.5,447,3876,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2167,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4180,-0.48,-146.0,411.4,-9.5,478,4189,0.00,2.22,0.00,0.000,4,0.000,0.065,3003,3584,3395,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4213,-0.48,-146.0,414.8,-9.5,481,4223,0.10,2.10,0.00,0.000,6,0.122,0.046,3039,2171,3395,0,0,0,0,0,0,26.25,26.34,28.83
$GC,4523,-0.48,-146.0,436.6,-6.3,512,4524,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2171,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4825,-0.48,-146.0,455.8,-6.6,542,4833,0.00,2.20,0.00,0.000,4,0.000,0.066,3030,3584,3394,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4859,-0.48,-146.0,458.1,-6.8,545,4867,0.00,2.12,0.00,0.000,6,0.000,0.046,3030,2168,3394,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5166,-0.48,-146.0,482.3,-7.9,576,5168,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2168,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5470,-0.48,-146.0,506.8,-7.8,606,5480,0.00,2.20,0.00,0.000,4,0.000,0.067,3020,3587,3393,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5496,-0.48,-146.0,508.9,-7.8,608,5502,0.00,2.12,0.00,0.000,6,0.000,0.047,3020,2172,3393,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5803,-0.48,-146.0,535.3,-8.2,639,5812,0.00,2.22,0.00,0.000,4,0.000,0.067,3010,3592,3392,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5838,-0.48,-146.0,538.2,-9.0,642,5846,0.08,2.17,0.00,0.000,6,0.122,0.047,3037,2177,3392,0,0,0,0,0,0,26.29,26.41,28.83
$GC,6147,-0.48,-146.0,560.0,-7.2,673,6156,0.00,2.17,0.00,0.000,4,0.000,0.067,3029,3580,3392,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6180,-0.48,-146.0,562.5,-7.3,676,6188,0.00,2.10,0.00,0.000,6,0.000,0.047,3029,2170,3392,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6489,-0.48,-146.0,586.4,-7.7,707,6490,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2171,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6789,-0.48,-146.0,609.9,-8.0,729,6795,0.00,2.22,0.00,0.000,4,0.000,0.067,3019,3592,3391,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6819,-0.48,-146.0,612.5,-8.0,730,6825,0.00,2.15,0.00,0.000,6,0.000,0.047,3019,2172,3391,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7149,-0.48,-146.0,640.6,-8.7,741,7150,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2169,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7449,-0.48,-146.0,666.6,-8.7,751,7450,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2169,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7749,-0.48,-146.0,692.5,-8.5,761,7755,0.00,2.22,0.00,0.000,4,0.000,0.067,3010,3588,3389,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7797,-0.48,-146.0,695.1,-8.6,762,7802,0.12,2.15,0.00,0.000,6,0.141,0.048,3045,2165,3389,0,0,0,0,0,0,26.32,26.41,28.83
$GC,8104,-0.48,-146.0,717.7,-6.8,772,8109,0.00,2.22,0.00,0.000,4,0.000,0.068,3036,3588,3389,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8166,-0.48,-146.0,721.9,-6.8,774,8171,0.00,2.12,0.00,0.000,6,0.000,0.048,3036,2176,3389,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8494,-0.48,-146.0,743.6,-6.4,785,8500,0.00,2.22,0.00,0.000,4,0.000,0.069,3027,3584,3388,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8534,-0.48,-146.0,745.6,-6.4,786,8539,0.00,2.15,0.00,0.000,6,0.000,0.048,3027,2162,3388,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8854,-0.48,-146.0,767.9,-6.5,797,8860,0.00,2.22,0.00,0.000,4,0.000,0.068,3017,3588,3388,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8897,-0.48,-146.0,769.9,-6.4,798,8901,0.00,2.17,0.00,0.000,6,0.000,0.048,3017,2165,3387,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9214,-0.48,-146.0,792.4,-7.3,809,9220,0.00,2.22,0.00,0.000,4,0.000,0.068,3007,3585,3387,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9262,-0.48,-146.0,794.7,-7.4,810,9267,0.12,2.15,0.00,0.000,6,0.142,0.049,3042,2165,3387,0,0,0,0,0,0,26.33,26.42,28.83
$GC,9569,-0.48,-146.0,813.8,-5.6,820,9575,0.00,2.25,0.00,0.000,4,0.000,0.069,3034,3592,3387,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9642,-0.48,-146.0,817.2,-5.6,822,9646,0.00,2.15,0.00,0.000,6,0.000,0.048,3034,2175,3387,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9954,-0.48,-146.0,836.3,-6.1,833,9960,0.00,2.20,0.00,0.000,4,0.000,0.069,3024,3583,3387,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10015,-0.48,-146.0,840.0,-6.1,835,10021,0.00,2.12,0.00,0.000,6,0.000,0.049,3024,2179,3386,0,0,0,0,0,0,28.83,26.42,28.83
$GC,10345,-0.48,-146.0,861.2,-6.5,846,10346,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2178,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10645,-0.48,-146.0,882.0,-7.0,856,10650,0.00,2.20,0.00,0.000,4,0.000,0.070,3014,3591,3386,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10717,-0.48,-146.0,886.8,-7.5,858,10722,0.00,2.15,0.00,0.000,6,0.000,0.049,3014,2171,3385,0,0,0,0,0,0,28.83,26.43,28.83
$GC,11029,-0.48,-146.0,912.2,-8.0,869,11031,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2169,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11330,-0.48,-146.0,934.4,-7.4,879,11331,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2169,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11629,-0.48,-146.0,957.4,-7.7,889,11635,0.00,2.22,0.00,0.000,4,0.000,0.069,3004,3582,3385,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11691,-0.48,-146.0,962.3,-7.9,891,11697,0.10,2.12,0.00,0.000,6,0.118,0.050,3040,2182,3384,0,0,0,0,0,0,26.34,26.44,28.83
$GC,12021,-0.48,-146.0,983.3,-6.0,902,12025,0.00,2.22,0.00,0.000,4,0.000,0.070,3032,3586,3384,0,0,0,0,0,0,28.83,26.38,28.83
$GC,12061,-0.48,-146.0,985.3,-5.9,903,12065,0.00,2.15,0.00,0.000,6,0.000,0.050,3032,2168,3384,0,0,0,0,0,0,28.83,26.43,28.83
$STATE,12140,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12141,begin apogee
$GC,12147,-0.22,0.0,991.0,-6.3,906,12279,0.25,0.00,126.80,1.238,6,0.122,0.000,3119,2312,2794,0,0,0,0,0,0,26.35,28.83,23.50
$STATE,12282,end apogee,CONTROL_FINISHED_OK
$STATE,12283,begin climb
$GC,12285,0.48,146.0,994.1,0.0,910,12427,0.68,2.45,135.02,1.187,4,0.086,0.067,3344,3704,2197,0,0,0,0,0,0,24.45,24.06,23.27
$GC,12446,0.48,153.3,985.0,7.1,916,12458,0.00,2.30,7.55,0.940,6,0.000,0.050,3354,2310,2168,0,0,0,0,0,0,28.83,24.45,23.56
$GC,12766,0.48,153.3,951.8,10.1,927,12772,0.00,2.28,0.00,0.000,4,0.000,0.058,3364,896,2160,0,0,0,0,0,0,28.83,25.34,28.83
$GC,12789,0.48,153.3,951.8,10.1,927,12796,0.00,2.25,0.00,0.000,6,0.000,0.057,3364,2295,2159,0,0,0,0,0,0,28.83,25.37,28.83
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$STATE,23337,end climb,SURFACE_DEPTH_REACHED
$STATE,23337,begin surface coast
$FINISH,0.4,1.023475
$STATE,23502,end surface coast,CONTROL_FINISHED_OK
$STATE,23502,begin surface
$SM_CCo,23582,0.00,0.000,0,0,1466,325.76
$SM_GC,1.16,8.52,0.20,0.00,0.032,0.073,0.000,132,2164,1466,-9.46,0.96,325.76,0,0,0,0,0,0,25.58,25.56,28.83
$IRIDIUM_FIX,4719.74,-12537.46,150912,000010
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.67
$INTERNAL_PRESSURE,9.11829
$TCM_TEMP,16.50
$XPDR_PINGS,0
$24V_AH,23.3,4.994
$10V_AH,10.3,3.807
$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,22.125,185.475,405.725,0.000,0.000,28.990,38.755,236.676,0.000,0.000,33.019,4829.138,13729.179,634.923,4366.843,466.700,33.253,2428.703,0.000,4029.082,0.000,0.535,0.000
$DEVICE_MAMPS,234.855,84.150,1237.770,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1337.140,1594.349,1927.007,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296940
$DATA_FILE_SIZE,110089,1938
$CAP_FILE_SIZE,222001,0
$CFSIZE,260165632,255815680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.158,122.1,1
$GPS,150912,140506,4735.409,-12538.361,32,1.7,32,18.7