version: 66.11
glider: 187
mission: 2
dive: 20
start: 9 15 112 20 43 1
data:
$ID,187
$MISSION,2
$DIVE,20
$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,-1587637.6
$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,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
$GPS1,150912,203405,4735.259,-12540.080,40,1.3,40,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-76.4
$GPS2,150912,204155,4735.191,-12540.041,17,1.4,17,18.7
$SPEED_LIMITS,0.127,0.220
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.156,0.155
$KALMAN_X,15411.5,712.1,-232.9,-58889.9,1552.4
$KALMAN_Y,1578.2,-1136.2,3020.7,-29057.5,-5936.4
$MHEAD_RNG_PITCHd_Wd,251.3,120197,-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,-146.0,0.0,0.0,0,81,0.00,0.00,-62.55,0.000,2,0.000,0.000,122,2161,2948,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.48,-146.0,3.3,-5.9,10,115,11.45,2.20,-8.00,0.000,4,0.232,0.060,3033,763,3394,0,0,0,0,0,0,25.38,25.62,25.91
$GC,151,-0.48,-146.0,24.6,-17.7,21,159,0.00,2.25,0.00,0.000,6,0.000,0.052,3025,2174,3397,0,0,0,0,0,0,28.83,25.65,28.83
$GC,494,-0.48,-146.0,69.9,-12.4,90,500,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2174,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,811,-0.48,-146.0,107.7,-12.3,145,819,0.00,2.20,0.00,0.000,4,0.000,0.063,3014,3592,3400,0,0,0,0,0,0,28.83,25.96,28.83
$GC,866,-0.48,-146.0,114.4,-12.6,150,874,0.00,2.20,0.00,0.000,6,0.000,0.042,3014,2164,3400,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1174,-0.48,-146.0,150.8,-11.5,181,1175,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2163,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1476,-0.48,-146.0,186.0,-11.8,211,1485,0.00,2.22,0.00,0.000,4,0.000,0.063,3004,3591,3400,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1508,-0.48,-146.0,190.2,-12.0,214,1519,0.12,2.12,0.00,0.000,6,0.147,0.043,3037,2172,3400,0,0,0,0,0,0,26.05,26.15,28.83
$GC,1820,-0.48,-146.0,220.7,-9.7,245,1826,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2172,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2130,-0.48,-146.0,249.7,-9.1,276,2140,0.00,2.10,0.00,0.000,4,0.000,0.050,3037,778,3400,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2166,-0.48,-146.0,253.0,-9.7,279,2174,0.00,2.17,0.00,0.000,6,0.000,0.051,3031,2176,3400,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2474,-0.48,-146.0,283.4,-10.1,310,2483,0.00,2.20,0.00,0.000,4,0.000,0.064,3020,3584,3399,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2516,-0.48,-146.0,287.9,-10.5,314,2525,0.00,2.12,0.00,0.000,6,0.000,0.044,3020,2164,3399,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2827,-0.48,-146.0,321.3,-11.0,345,2828,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2164,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3130,-0.48,-146.0,352.3,-10.0,375,3139,0.00,2.20,0.00,0.000,4,0.000,0.064,3010,3582,3397,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3173,-0.48,-146.0,356.9,-10.1,379,3182,0.12,2.12,0.00,0.000,6,0.142,0.045,3044,2172,3397,0,0,0,0,0,0,26.21,26.30,28.83
$GC,3482,-0.48,-146.0,382.2,-8.2,410,3491,0.00,2.22,0.00,0.000,4,0.000,0.065,3036,3593,3397,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3514,-0.48,-146.0,385.0,-8.4,413,3523,0.00,2.15,0.00,0.000,6,0.000,0.045,3036,2169,3397,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3824,-0.48,-146.0,411.3,-8.5,444,3834,0.00,2.22,0.00,0.000,4,0.000,0.064,3025,3589,3396,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3851,-0.48,-146.0,413.2,-8.4,446,3857,0.00,2.12,0.00,0.000,6,0.000,0.045,3026,2175,3396,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4158,-0.48,-146.0,441.6,-9.3,477,4159,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2175,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4459,-0.48,-146.0,470.4,-9.6,507,4469,0.00,2.17,0.00,0.000,4,0.000,0.066,3016,3582,3395,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4503,-0.48,-146.0,475.0,-10.4,511,4511,0.00,2.10,0.00,0.000,6,0.000,0.046,3016,2174,3395,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4812,-0.48,-146.0,505.8,-9.6,542,4813,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2173,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5114,-0.48,-146.0,534.0,-9.2,572,5120,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2173,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5425,-0.48,-146.0,561.2,-8.5,603,5435,0.00,2.17,0.00,0.000,4,0.000,0.067,3006,3578,3392,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5468,-0.48,-146.0,565.3,-9.2,607,5478,0.12,2.15,0.00,0.000,6,0.143,0.047,3041,2163,3392,0,0,0,0,0,0,26.29,26.39,28.83
$GC,5778,-0.48,-146.0,586.6,-7.0,638,5787,0.00,2.20,0.00,0.000,4,0.000,0.067,3033,3578,3392,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5802,-0.48,-146.0,588.0,-6.7,640,5810,0.00,2.12,0.00,0.000,6,0.000,0.047,3033,2167,3392,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6130,-0.48,-146.0,610.9,-6.9,663,6136,0.00,2.22,0.00,0.000,4,0.000,0.067,3023,3586,3391,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6183,-0.48,-146.0,613.1,-6.9,664,6190,0.00,2.12,0.00,0.000,6,0.000,0.047,3023,2174,3391,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6490,-0.48,-146.0,638.0,-7.7,675,6491,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2173,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6790,-0.48,-146.0,661.9,-8.2,685,6796,0.00,2.22,0.00,0.000,4,0.000,0.067,3013,3590,3391,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6828,-0.48,-146.0,664.4,-8.3,686,6832,0.00,2.15,0.00,0.000,6,0.000,0.047,3013,2176,3391,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7150,-0.48,-146.0,693.7,-8.8,697,7156,0.00,2.20,0.00,0.000,4,0.000,0.067,3003,3586,3390,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7188,-0.48,-146.0,696.4,-8.8,698,7192,0.12,2.12,0.00,0.000,6,0.144,0.047,3038,2176,3390,0,0,0,0,0,0,26.32,26.41,28.83
$GC,7506,-0.48,-146.0,718.7,-6.7,709,7507,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2174,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7806,-0.48,-146.0,737.4,-6.1,719,7811,0.00,2.20,0.00,0.000,4,0.000,0.068,3030,3582,3389,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7859,-0.48,-146.0,739.3,-6.2,720,7866,0.00,2.15,0.00,0.000,6,0.000,0.048,3029,2173,3389,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8166,-0.48,-146.0,760.2,-6.2,731,8167,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2173,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8466,-0.48,-146.0,778.9,-6.4,741,8470,0.00,2.22,0.00,0.000,4,0.000,0.069,3020,3582,3388,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8506,-0.48,-146.0,781.1,-6.5,742,8510,0.00,2.15,0.00,0.000,6,0.000,0.049,3020,2172,3388,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8824,-0.48,-146.0,805.1,-7.6,753,8829,0.00,2.20,0.00,0.000,4,0.000,0.068,3011,3579,3387,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8896,-0.48,-146.0,809.9,-7.7,755,8900,0.00,2.12,0.00,0.000,6,0.000,0.048,3011,2172,3387,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9208,-0.48,-146.0,834.9,-7.6,766,9215,0.12,2.22,0.00,0.000,4,0.154,0.067,3043,3584,3387,0,0,0,0,0,0,26.35,26.37,28.83
$GC,9246,-0.48,-146.0,836.9,-7.4,767,9250,0.00,2.15,0.00,0.000,6,0.000,0.049,3042,2171,3387,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9569,-0.48,-146.0,855.7,-5.5,778,9574,0.00,2.20,0.00,0.000,4,0.000,0.069,3033,3581,3387,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9602,-0.48,-146.0,857.5,-5.6,779,9606,0.00,2.12,0.00,0.000,6,0.000,0.049,3033,2176,3386,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9924,-0.48,-146.0,876.3,-5.6,790,9925,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2174,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10224,-0.48,-146.0,893.3,-5.7,800,10229,0.00,2.20,0.00,0.000,4,0.000,0.070,3023,3581,3386,0,0,0,0,0,0,28.83,26.38,28.83
$GC,10292,-0.48,-146.0,897.2,-6.1,802,10296,0.00,2.12,0.00,0.000,6,0.000,0.049,3022,2175,3385,0,0,0,0,0,0,28.83,26.43,28.83
$GC,10610,-0.48,-146.0,918.6,-6.7,813,10616,0.00,2.20,0.00,0.000,4,0.000,0.070,3013,3580,3385,0,0,0,0,0,0,28.83,26.38,28.83
$GC,10670,-0.48,-146.0,922.9,-7.0,815,10675,0.00,2.15,0.00,0.000,6,0.000,0.049,3013,2167,3385,0,0,0,0,0,0,28.83,26.43,28.83
$GC,11000,-0.48,-146.0,946.6,-6.9,826,11001,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2165,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11300,-0.48,-146.0,967.6,-7.0,836,11305,0.00,2.20,0.00,0.000,4,0.000,0.069,3003,3578,3384,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11407,-0.48,-146.0,974.3,-7.3,839,11412,0.12,2.15,0.00,0.000,6,0.142,0.050,3038,2166,3384,0,0,0,0,0,0,26.34,26.43,28.83
$STATE,11682,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11682,begin apogee
$GC,11689,-0.22,0.0,991.2,-5.2,848,11821,0.22,0.00,126.88,1.225,6,0.122,0.000,3118,2310,2793,0,0,0,0,0,0,26.36,28.83,23.53
$STATE,11824,end apogee,CONTROL_FINISHED_OK
$STATE,11824,begin climb
$GC,11827,0.48,146.0,993.6,0.0,852,11970,0.68,2.40,134.02,1.183,4,0.085,0.055,3355,906,2197,0,0,0,0,0,0,24.48,24.09,23.30
$GC,11991,0.48,146.0,983.4,7.6,858,11996,0.00,2.33,0.00,0.000,6,0.000,0.056,3355,2296,2192,0,0,0,0,0,0,28.83,24.48,28.83
$GC,12309,0.48,146.0,951.2,9.7,869,12314,0.00,2.33,0.00,0.000,4,0.000,0.069,3355,3718,2187,0,0,0,0,0,0,28.83,25.37,28.83
$GC,12387,0.48,146.0,944.4,10.5,871,12391,0.00,2.25,0.00,0.000,6,0.000,0.050,3365,2302,2186,0,0,0,0,0,0,28.83,25.48,28.83
$GC,12694,0.48,146.0,910.4,10.3,881,12695,0.00,0.00,0.00,0.000,6,0.000,0.000,3366,2298,2185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12994,0.48,146.0,878.7,10.5,891,12999,0.00,2.30,0.00,0.000,4,0.000,0.069,3365,3717,2184,0,0,0,0,0,0,28.83,25.82,28.83
$GC,13057,0.48,146.0,871.6,11.3,893,13061,0.00,2.22,0.00,0.000,6,0.000,0.050,3376,2292,2183,0,0,0,0,0,0,28.83,25.87,28.83
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$STATE,22858,end climb,SURFACE_DEPTH_REACHED
$STATE,22858,begin surface coast
$FINISH,0.5,1.023783
$STATE,22927,end surface coast,CONTROL_FINISHED_OK
$STATE,22927,begin surface
$SM_CCo,23006,0.00,0.000,0,0,1355,352.99
$SM_GC,1.36,8.57,0.20,0.00,0.034,0.073,0.000,132,2165,1355,-9.45,1.10,352.99,0,0,0,0,0,0,25.60,25.57,28.83
$IRIDIUM_FIX,4716.56,-12536.34,150912,141439
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.59
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,16.50
$XPDR_PINGS,2
$24V_AH,23.3,5.277
$10V_AH,10.3,4.180
$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,22.200,185.300,425.825,0.000,0.000,25.588,36.757,263.754,0.500,0.000,18.362,4599.942,13553.262,627.615,4233.077,444.471,33.237,2395.156,0.000,3881.410,0.000,0.535,0.000
$DEVICE_MAMPS,231.795,84.915,1224.765,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1272.288,1522.288,1790.669,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296952
$DATA_FILE_SIZE,103297,1845
$CAP_FILE_SIZE,216907,0
$CFSIZE,260165632,255614976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.154,113.3,1
$GPS,160912,030735,4734.572,-12542.090,30,1.4,30,18.7