version: 66.11
glider: 187
mission: 2
dive: 22
start: 9 16 112 9 39 31
data:
$ID,187
$MISSION,2
$DIVE,22
$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,-1587640.1
$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,43
$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
$GPS1,160912,093105,4735.480,-12544.406,72,0.9,72,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-75.4
$GPS2,160912,093825,4735.458,-12544.390,17,0.9,17,18.7
$SPEED_LIMITS,0.127,0.220
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.192,-0.107
$KALMAN_X,20152.9,-612.8,-99.2,-67854.8,3918.9
$KALMAN_Y,-638.2,200.7,3677.7,-28327.9,-10912.5
$MHEAD_RNG_PITCHd_Wd,225.0,115899,-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,-62.83,0.000,2,0.000,0.000,131,2156,2866,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.48,-146.0,3.1,-5.3,10,115,11.38,2.30,-10.07,0.000,4,0.231,0.073,3025,3596,3392,0,0,0,0,0,0,25.41,25.62,25.95
$GC,228,-0.48,-146.0,36.0,-16.2,37,235,0.00,2.22,0.00,0.000,6,0.000,0.043,3025,2180,3395,0,0,0,0,0,0,28.83,25.76,28.83
$GC,558,-0.48,-146.0,83.0,-12.3,102,565,0.00,2.20,0.00,0.000,4,0.000,0.050,3024,771,3398,0,0,0,0,0,0,28.83,25.90,28.83
$GC,611,-0.48,-146.0,89.7,-11.5,111,618,0.00,2.22,0.00,0.000,6,0.000,0.050,3015,2183,3398,0,0,0,0,0,0,28.83,25.91,28.83
$GC,921,-0.48,-146.0,127.1,-12.0,150,923,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2183,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1223,-0.48,-146.0,161.7,-11.6,180,1233,0.00,2.20,0.00,0.000,4,0.000,0.063,3004,3585,3398,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1257,-0.48,-146.0,165.6,-11.4,183,1266,0.10,2.12,0.00,0.000,6,0.125,0.043,3038,2163,3398,0,0,0,0,0,0,26.00,26.11,28.83
$GC,1566,-0.48,-146.0,194.7,-9.0,214,1576,0.00,2.25,0.00,0.000,4,0.000,0.063,3030,3597,3398,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1609,-0.48,-146.0,198.8,-9.7,218,1619,0.00,2.17,0.00,0.000,6,0.000,0.044,3030,2169,3398,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1921,-0.48,-146.0,229.0,-10.0,249,1929,0.00,2.20,0.00,0.000,4,0.000,0.063,3019,3582,3398,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1943,-0.48,-146.0,231.2,-9.7,251,1951,0.00,2.10,0.00,0.000,6,0.000,0.044,3019,2176,3397,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2252,-0.48,-146.0,263.9,-10.5,282,2253,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2176,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2554,-0.48,-146.0,295.4,-10.2,312,2561,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2176,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2867,-0.48,-146.0,326.5,-9.9,343,2875,0.00,2.20,0.00,0.000,4,0.000,0.064,3009,3591,3396,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2921,-0.48,-146.0,332.3,-10.4,348,2930,0.08,2.17,0.00,0.000,6,0.126,0.044,3036,2177,3395,0,0,0,0,0,0,26.19,26.29,28.83
$GC,3229,-0.48,-146.0,359.4,-9.0,379,3230,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2177,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3531,-0.48,-146.0,385.4,-8.6,409,3540,0.00,2.20,0.00,0.000,4,0.000,0.065,3028,3592,3395,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3563,-0.48,-146.0,388.5,-9.2,412,3573,0.00,2.12,0.00,0.000,6,0.000,0.046,3027,2167,3394,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3873,-0.48,-146.0,418.1,-9.5,443,3874,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2167,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4177,-0.48,-146.0,446.0,-9.2,473,4185,0.00,2.20,0.00,0.000,4,0.000,0.066,3017,3582,3393,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4252,-0.48,-146.0,453.4,-9.7,480,4261,0.00,2.17,0.00,0.000,6,0.000,0.046,3017,2168,3393,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4560,-0.48,-146.0,484.7,-10.4,511,4561,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2167,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4862,-0.48,-146.0,514.8,-9.9,541,4868,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2167,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5171,-0.48,-146.0,544.8,-9.5,572,5180,0.00,2.20,0.00,0.000,4,0.000,0.066,3006,3582,3391,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5217,-0.48,-146.0,549.1,-9.9,576,5226,0.08,2.17,0.00,0.000,6,0.125,0.047,3034,2169,3390,0,0,0,0,0,0,26.29,26.39,28.83
$GC,5525,-0.48,-146.0,573.1,-7.3,607,5533,0.00,2.20,0.00,0.000,4,0.000,0.066,3026,3585,3390,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5576,-0.48,-146.0,577.0,-7.9,612,5588,0.00,2.15,0.00,0.000,6,0.000,0.047,3025,2164,3390,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5888,-0.48,-146.0,599.8,-6.7,643,5896,0.00,2.20,0.00,0.000,4,0.000,0.067,3016,3583,3390,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5942,-0.48,-146.0,602.3,-7.2,645,5949,0.00,2.15,0.00,0.000,6,0.000,0.047,3015,2172,3390,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6249,-0.48,-146.0,628.7,-7.9,656,6255,0.00,2.22,0.00,0.000,4,0.000,0.067,3006,3592,3389,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6280,-0.48,-146.0,631.2,-8.0,657,6286,0.08,2.12,0.00,0.000,6,0.125,0.047,3034,2180,3389,0,0,0,0,0,0,26.31,26.39,28.83
$GC,6609,-0.48,-146.0,654.7,-7.4,668,6615,0.00,2.20,0.00,0.000,4,0.000,0.067,3026,3585,3388,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6641,-0.48,-146.0,657.0,-7.5,669,6646,0.00,2.15,0.00,0.000,6,0.000,0.047,3025,2168,3388,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6964,-0.48,-146.0,682.7,-8.1,680,6965,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2165,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7264,-0.48,-146.0,707.3,-8.4,690,7270,0.00,2.22,0.00,0.000,4,0.000,0.067,3016,3585,3387,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7332,-0.48,-146.0,712.8,-8.7,692,7336,0.00,2.12,0.00,0.000,6,0.000,0.048,3015,2175,3387,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7649,-0.48,-146.0,741.9,-8.9,703,7655,0.00,2.22,0.00,0.000,4,0.000,0.067,3006,3592,3386,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7692,-0.48,-146.0,744.7,-9.0,704,7697,0.12,2.15,0.00,0.000,6,0.144,0.048,3041,2175,3386,0,0,0,0,0,0,26.32,26.41,28.83
$GC,8005,-0.48,-146.0,769.0,-7.1,715,8011,0.00,2.20,0.00,0.000,4,0.000,0.068,3032,3582,3386,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8029,-0.48,-146.0,769.0,-7.1,715,8035,0.00,2.12,0.00,0.000,6,0.000,0.048,3032,2175,3386,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8335,-0.48,-146.0,793.4,-7.3,726,8341,0.00,2.20,0.00,0.000,4,0.000,0.068,3023,3588,3385,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8365,-0.48,-146.0,795.5,-7.2,727,8371,0.00,2.15,0.00,0.000,6,0.000,0.048,3023,2174,3385,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8696,-0.48,-146.0,818.6,-6.6,738,8701,0.00,2.20,0.00,0.000,4,0.000,0.069,3013,3585,3385,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8728,-0.48,-146.0,820.6,-6.7,739,8732,0.00,2.12,0.00,0.000,6,0.000,0.048,3013,2175,3385,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9051,-0.48,-146.0,843.9,-7.2,750,9056,0.00,2.20,0.00,0.000,4,0.000,0.069,3003,3582,3384,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9089,-0.48,-146.0,846.1,-7.2,751,9094,0.12,2.12,0.00,0.000,6,0.144,0.049,3037,2176,3384,0,0,0,0,0,0,26.32,26.41,28.83
$GC,9407,-0.48,-146.0,864.2,-5.3,762,9411,0.00,2.22,0.00,0.000,4,0.000,0.069,3029,3585,3384,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9462,-0.48,-146.0,865.9,-5.3,763,9469,0.00,2.17,0.00,0.000,6,0.000,0.049,3029,2163,3384,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9769,-0.48,-146.0,884.6,-5.6,774,9770,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2163,3383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10069,-0.48,-146.0,902.9,-6.4,784,10075,0.00,2.25,0.00,0.000,4,0.000,0.069,3020,3585,3383,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10137,-0.48,-146.0,907.3,-7.0,786,10141,0.00,2.15,0.00,0.000,6,0.000,0.049,3019,2166,3383,0,0,0,0,0,0,28.83,26.42,28.83
$GC,10454,-0.48,-146.0,933.6,-8.4,797,10460,0.00,2.22,0.00,0.000,4,0.000,0.069,3010,3592,3383,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10517,-0.48,-146.0,938.8,-8.6,799,10522,0.12,2.15,0.00,0.000,6,0.140,0.049,3045,2173,3383,0,0,0,0,0,0,26.34,26.42,28.83
$GC,10840,-0.48,-146.0,961.4,-7.0,810,10846,0.00,2.20,0.00,0.000,4,0.000,0.070,3037,3580,3381,0,0,0,0,0,0,28.83,26.38,28.83
$GC,10904,-0.48,-146.0,965.9,-7.0,812,10908,0.00,2.12,0.00,0.000,6,0.000,0.050,3036,2174,3382,0,0,0,0,0,0,28.83,26.42,28.83
$GC,11226,-0.48,-146.0,988.4,-6.7,823,11232,0.00,2.22,0.00,0.000,4,0.000,0.070,3027,3581,3381,0,0,0,0,0,0,28.83,26.37,28.83
$STATE,11253,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11253,begin apogee
$GC,11262,-0.22,0.0,990.4,-6.6,824,11392,0.28,0.00,126.00,1.219,6,0.116,0.000,3123,2289,2794,0,0,0,0,0,0,26.34,28.83,23.55
$STATE,11395,end apogee,CONTROL_FINISHED_OK
$STATE,11395,begin climb
$GC,11398,0.48,146.0,994.5,0.0,828,11536,0.65,0.00,134.95,1.183,6,0.085,0.000,3342,2289,2198,0,0,0,0,0,0,24.47,28.83,23.30
$GC,11826,0.48,146.0,960.2,9.5,843,11831,0.00,2.35,0.00,0.000,4,0.000,0.069,3342,3707,2188,0,0,0,0,0,0,28.83,25.29,28.83
$GC,11874,0.48,146.0,957.1,9.6,844,11878,0.00,2.25,0.00,0.000,6,0.000,0.050,3352,2301,2187,0,0,0,0,0,0,28.83,25.39,28.83
$GC,12181,0.48,146.0,924.6,9.7,854,12186,0.00,2.28,0.00,0.000,4,0.000,0.068,3353,3703,2186,0,0,0,0,0,0,28.83,25.64,28.83
$GC,12210,0.48,146.0,921.2,10.1,855,12216,0.00,2.22,0.00,0.000,6,0.000,0.051,3363,2299,2185,0,0,0,0,0,0,28.83,25.68,28.83
$GC,12541,0.48,146.0,884.6,11.2,866,12542,0.00,0.00,0.00,0.000,6,0.000,0.000,3363,2296,2185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12841,0.48,146.0,850.0,11.8,876,12846,0.00,2.28,0.00,0.000,4,0.000,0.068,3363,3708,2183,0,0,0,0,0,0,28.83,25.91,28.83
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$STATE,22500,end climb,SURFACE_DEPTH_REACHED
$STATE,22500,begin surface coast
$FINISH,0.5,1.009247
$STATE,22565,end surface coast,CONTROL_FINISHED_OK
$STATE,22565,begin surface
$SM_CCo,22644,0.00,0.000,0,0,1476,323.31
$SM_GC,1.61,8.43,0.17,0.00,0.030,0.075,0.000,123,2180,1476,-9.48,1.24,323.31,0,0,0,0,0,0,25.72,25.71,28.83
$IRIDIUM_FIX,4716.56,-12547.10,160912,030344
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.08
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,15.60
$XPDR_PINGS,0
$24V_AH,23.3,5.550
$10V_AH,10.2,4.542
$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,22.050,206.750,403.150,0.000,0.000,25.545,39.464,232.938,0.000,0.000,18.130,4570.946,13202.240,670.065,4157.009,468.291,33.239,2419.249,0.000,3844.084,0.000,0.535,0.000
$DEVICE_MAMPS,231.030,74.970,1219.410,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1260.507,1511.661,1766.847,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296916
$DATA_FILE_SIZE,103424,1829
$CAP_FILE_SIZE,219727,0
$CFSIZE,260165632,255406080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.125, 72.5,1
$GPS,160912,155806,4734.473,-12546.540,33,1.3,33,18.7