version: 66.11
glider: 187
mission: 2
dive: 24
start: 9 16 112 22 35 13
data:
$ID,187
$MISSION,2
$DIVE,24
$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,-1587644.6
$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,38
$R_STBD_OVSHOOT,27
$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
$GPS1,160912,222635,4734.910,-12549.599,31,1.9,31,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-78.3
$GPS2,160912,223407,4734.943,-12549.603,16,1.7,16,18.7
$SPEED_LIMITS,0.127,0.220
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.128,-0.179
$KALMAN_X,23471.7,-10.0,-379.5,-77968.7,3286.4
$KALMAN_Y,8234.9,149.6,345.9,-34803.1,4704.0
$MHEAD_RNG_PITCHd_Wd,198.8,109974,-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,-146.0,0.0,0.0,0,82,0.00,0.00,-63.30,0.000,2,0.000,0.000,127,2186,2992,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.48,-146.0,3.5,-7.1,10,109,11.35,2.30,-7.12,0.000,4,0.231,0.073,3024,3589,3393,0,0,0,0,0,0,25.44,25.64,25.96
$GC,348,-0.48,-146.0,54.3,-12.9,62,355,0.00,2.22,0.00,0.000,6,0.000,0.043,3024,2163,3400,0,0,0,0,0,0,28.83,25.84,28.83
$GC,666,-0.48,-146.0,98.0,-12.7,123,672,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2159,3401,0,0,0,0,0,0,28.83,28.83,28.83
$GC,978,-0.48,-146.0,133.0,-10.8,155,987,0.00,2.22,0.00,0.000,4,0.000,0.063,3013,3583,3400,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1031,-0.48,-146.0,139.2,-11.2,160,1041,0.00,2.15,0.00,0.000,6,0.000,0.043,3013,2161,3401,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1341,-0.48,-146.0,175.9,-11.8,191,1342,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2161,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1644,-0.48,-146.0,207.6,-9.8,221,1652,0.00,2.22,0.00,0.000,4,0.000,0.063,3003,3590,3400,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1675,-0.48,-146.0,211.2,-10.2,224,1686,0.12,2.12,0.00,0.000,6,0.146,0.044,3037,2176,3400,0,0,0,0,0,0,26.08,26.17,28.83
$GC,1986,-0.48,-146.0,235.7,-7.3,255,1988,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2175,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2288,-0.48,-146.0,258.2,-7.8,285,2294,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2175,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2600,-0.48,-146.0,282.1,-8.3,316,2609,0.00,2.15,0.00,0.000,4,0.000,0.064,3029,3573,3399,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2642,-0.48,-146.0,286.1,-8.7,320,2652,0.00,2.10,0.00,0.000,6,0.000,0.044,3029,2177,3399,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2952,-0.48,-146.0,317.4,-11.0,351,2953,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2177,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3254,-0.48,-146.0,350.0,-10.5,381,3264,0.00,2.20,0.00,0.000,4,0.000,0.065,3018,3589,3397,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3290,-0.48,-146.0,353.7,-10.6,384,3298,0.00,2.17,0.00,0.000,6,0.000,0.045,3018,2177,3397,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3597,-0.48,-146.0,384.9,-10.0,415,3599,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2177,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3902,-0.48,-146.0,413.6,-9.5,445,3907,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2177,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4209,-0.48,-146.0,441.7,-8.8,476,4218,0.00,2.17,0.00,0.000,4,0.000,0.066,3008,3579,3396,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4241,-0.48,-146.0,444.4,-8.1,479,4251,0.12,2.12,0.00,0.000,6,0.144,0.046,3043,2173,3396,0,0,0,0,0,0,26.27,26.36,28.83
$GC,4552,-0.48,-146.0,466.3,-7.1,510,4561,0.00,2.17,0.00,0.000,4,0.000,0.066,3034,3577,3395,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4578,-0.48,-146.0,468.1,-7.2,512,4585,0.00,2.12,0.00,0.000,6,0.000,0.047,3034,2168,3395,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4884,-0.48,-146.0,492.3,-7.9,543,4894,0.00,2.22,0.00,0.000,4,0.000,0.066,3024,3589,3395,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4910,-0.48,-146.0,494.2,-7.8,545,4916,0.00,2.15,0.00,0.000,6,0.000,0.047,3024,2168,3394,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5217,-0.48,-146.0,519.7,-8.2,576,5218,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2168,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5521,-0.48,-146.0,542.4,-7.4,606,5530,0.00,2.22,0.00,0.000,4,0.000,0.066,3014,3588,3394,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5583,-0.48,-146.0,547.6,-8.4,612,5594,0.00,2.15,0.00,0.000,6,0.000,0.047,3014,2173,3393,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5894,-0.48,-146.0,571.0,-7.0,643,5903,0.00,2.10,0.00,0.000,4,0.000,0.054,3014,782,3393,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5919,-0.48,-146.0,572.7,-7.3,645,5927,0.10,2.17,0.00,0.000,6,0.127,0.055,3041,2173,3393,0,0,0,0,0,0,26.29,26.36,28.83
$GC,6227,-0.48,-146.0,589.7,-5.4,676,6236,0.00,2.20,0.00,0.000,4,0.000,0.067,3032,3579,3391,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6313,-0.48,-146.0,595.0,-6.7,684,6321,0.00,2.17,0.00,0.000,6,0.000,0.047,3032,2169,3392,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6630,-0.48,-146.0,616.7,-7.1,700,6631,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2169,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6929,-0.48,-146.0,638.4,-7.4,710,6933,0.00,2.25,0.00,0.000,4,0.000,0.067,3022,3590,3391,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6999,-0.48,-146.0,643.3,-7.5,712,7003,0.00,2.15,0.00,0.000,6,0.000,0.047,3022,2171,3390,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7316,-0.48,-146.0,668.8,-7.8,723,7322,0.00,2.22,0.00,0.000,4,0.000,0.067,3012,3587,3390,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7346,-0.48,-146.0,671.2,-7.9,724,7352,0.00,2.15,0.00,0.000,6,0.000,0.047,3012,2176,3390,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7676,-0.48,-146.0,698.0,-8.0,735,7677,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2173,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7976,-0.48,-146.0,722.2,-8.1,745,7980,0.00,2.22,0.00,0.000,4,0.000,0.068,3002,3593,3389,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8001,-0.48,-146.0,722.2,-8.1,745,8008,0.15,2.15,0.00,0.000,6,0.138,0.048,3045,2174,3389,0,0,0,0,0,0,26.33,26.41,28.83
$GC,8309,-0.48,-146.0,742.1,-5.7,756,8314,0.00,2.22,0.00,0.000,4,0.000,0.068,3037,3585,3389,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8339,-0.48,-146.0,743.9,-5.8,757,8344,0.00,2.12,0.00,0.000,6,0.000,0.048,3037,2180,3389,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8668,-0.48,-146.0,762.1,-5.4,768,8674,0.00,2.17,0.00,0.000,4,0.000,0.068,3027,3579,3388,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8701,-0.48,-146.0,763.7,-5.3,769,8705,0.00,2.15,0.00,0.000,6,0.000,0.048,3027,2164,3388,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9023,-0.48,-146.0,782.6,-5.7,780,9029,0.00,2.22,0.00,0.000,4,0.000,0.069,3017,3588,3388,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9066,-0.48,-146.0,784.4,-5.8,781,9070,0.00,2.15,0.00,0.000,6,0.000,0.049,3017,2171,3387,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9379,-0.48,-146.0,806.2,-6.7,792,9383,0.00,2.25,0.00,0.000,4,0.000,0.069,3007,3588,3387,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9411,-0.48,-146.0,808.4,-6.6,793,9418,0.08,2.12,0.00,0.000,6,0.120,0.049,3035,2181,3387,0,0,0,0,0,0,26.33,26.42,28.83
$GC,9741,-0.48,-146.0,825.4,-5.0,804,9747,0.00,2.17,0.00,0.000,4,0.000,0.069,3028,3578,3387,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9771,-0.48,-146.0,826.9,-5.0,805,9777,0.00,2.12,0.00,0.000,6,0.000,0.049,3028,2175,3387,0,0,0,0,0,0,28.83,26.42,28.83
$GC,10101,-0.48,-146.0,846.5,-6.2,816,10102,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2173,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10401,-0.48,-146.0,867.0,-6.8,826,10407,0.00,2.20,0.00,0.000,4,0.000,0.069,3017,3581,3386,0,0,0,0,0,0,28.83,26.38,28.83
$GC,10499,-0.48,-146.0,873.6,-7.3,829,10503,0.00,2.15,0.00,0.000,6,0.000,0.049,3018,2170,3386,0,0,0,0,0,0,28.83,26.43,28.83
$GC,10816,-0.48,-146.0,899.8,-8.3,840,10817,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2168,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11116,-0.48,-146.0,924.7,-8.1,850,11122,0.00,2.22,0.00,0.000,4,0.000,0.069,3007,3584,3385,0,0,0,0,0,0,28.83,26.38,28.83
$GC,11146,-0.48,-146.0,927.2,-8.1,851,11152,0.12,2.17,0.00,0.000,6,0.142,0.049,3042,2161,3385,0,0,0,0,0,0,26.34,26.43,28.83
$GC,11476,-0.48,-146.0,948.5,-6.2,862,11482,0.00,2.25,0.00,0.000,4,0.000,0.069,3034,3583,3385,0,0,0,0,0,0,28.83,26.38,28.83
$GC,11525,-0.48,-146.0,950.5,-6.2,863,11529,0.00,2.15,0.00,0.000,6,0.000,0.050,3034,2170,3385,0,0,0,0,0,0,28.83,26.43,28.83
$GC,11832,-0.48,-146.0,969.2,-5.4,873,11837,0.00,2.25,0.00,0.000,4,0.000,0.070,3025,3592,3385,0,0,0,0,0,0,28.83,26.38,28.83
$GC,11880,-0.48,-146.0,970.8,-5.4,874,11884,0.00,2.15,0.00,0.000,6,0.000,0.050,3024,2174,3384,0,0,0,0,0,0,28.83,26.43,28.83
$GC,12186,-0.48,-146.0,988.4,-5.3,884,12192,0.00,2.20,0.00,0.000,4,0.000,0.070,3015,3582,3385,0,0,0,0,0,0,28.83,26.38,28.83
$STATE,12214,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12214,begin apogee
$GC,12222,-0.22,0.0,990.1,-5.4,885,12355,0.30,0.00,126.55,1.223,6,0.119,0.000,3119,2291,2794,0,0,0,0,0,0,26.34,28.83,23.56
$STATE,12356,end apogee,CONTROL_FINISHED_OK
$STATE,12357,begin climb
$GC,12359,0.48,146.0,992.5,0.0,889,12504,0.68,2.58,133.70,1.180,4,0.084,0.068,3346,3714,2197,0,0,0,0,0,0,24.48,24.08,23.30
$GC,12520,0.48,146.0,981.2,8.4,895,12525,0.00,2.35,0.00,0.000,6,0.000,0.050,3356,2309,2194,0,0,0,0,0,0,28.83,24.46,28.83
$GC,12838,0.48,146.0,943.1,11.3,906,12839,0.00,0.00,0.00,0.000,6,0.000,0.000,3356,2304,2187,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13138,0.48,146.0,907.9,12.0,916,13143,0.00,2.33,0.00,0.000,4,0.000,0.069,3356,3717,2186,0,0,0,0,0,0,28.83,25.63,28.83
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$STATE,22990,end climb,SURFACE_DEPTH_REACHED
$STATE,22990,begin surface coast
$FINISH,0.5,1.001089
$STATE,23057,end surface coast,CONTROL_FINISHED_OK
$STATE,23057,begin surface
$SM_CCo,23136,0.00,0.000,0,0,1385,345.63
$SM_GC,1.33,8.43,0.20,0.00,0.034,0.072,0.000,120,2166,1385,-9.47,0.93,345.63,0,0,0,0,0,0,25.73,25.71,28.83
$IRIDIUM_FIX,4700.70,-12541.11,160912,161622
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.47
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,15.90
$XPDR_PINGS,2
$24V_AH,23.3,5.819
$10V_AH,10.3,4.909
$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,22.050,180.400,419.500,0.000,0.000,28.908,38.755,240.392,0.500,0.000,17.566,4623.133,13651.186,638.302,4191.225,467.534,33.240,2398.158,0.000,3871.105,0.000,0.536,0.000
$DEVICE_MAMPS,231.030,72.675,1223.235,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1280.732,1537.724,1784.032,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296960
$DATA_FILE_SIZE,103500,1857
$CAP_FILE_SIZE,215226,0
$CFSIZE,260165632,255205376
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.110, 47.6,1
$GPS,170912,050205,4733.244,-12551.185,38,0.9,38,18.7