version: 66.11
glider: 187
mission: 2
dive: 27
start: 9 17 112 18 18 30
data:
$ID,187
$MISSION,2
$DIVE,27
$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,-1587652.4
$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,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
$GPS1,170912,181005,4731.285,-12556.186,36,0.8,36,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-77.5
$GPS2,170912,181725,4731.277,-12556.193,14,1.1,14,18.7
$SPEED_LIMITS,0.127,0.220
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.186,-0.118
$KALMAN_X,28431.8,280.4,-232.8,-91569.0,2797.1
$KALMAN_Y,8824.3,-906.8,2152.4,-42874.3,-5852.7
$MHEAD_RNG_PITCHd_Wd,200.1,99249,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.48,-146.0,0.0,0.0,0,90,0.00,0.00,-71.07,0.000,2,0.000,0.000,113,2166,3036,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.48,-146.0,3.9,-8.1,12,122,11.43,2.33,-6.38,0.000,4,0.230,0.073,3026,3591,3394,0,0,0,0,0,0,25.41,25.62,25.93
$GC,279,-0.48,-146.0,42.8,-13.0,46,286,0.00,2.22,0.00,0.000,6,0.000,0.044,3026,2168,3398,0,0,0,0,0,0,28.83,25.79,28.83
$GC,596,-0.48,-146.0,84.1,-10.8,107,602,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2168,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,920,-0.48,-146.0,122.4,-11.8,167,921,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2168,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1219,-0.48,-146.0,155.9,-11.4,187,1221,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2168,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1520,-0.48,-146.0,185.9,-9.4,207,1525,0.00,2.22,0.00,0.000,4,0.000,0.063,3015,3593,3400,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1557,-0.48,-146.0,188.7,-9.5,209,1564,0.00,2.15,0.00,0.000,6,0.000,0.043,3016,2167,3400,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1864,-0.48,-146.0,221.2,-10.4,230,1869,0.00,2.12,0.00,0.000,4,0.000,0.051,3015,771,3399,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1897,-0.48,-146.0,224.4,-10.4,232,1901,0.12,2.15,0.00,0.000,6,0.152,0.051,3041,2177,3399,0,0,0,0,0,0,26.10,26.17,28.83
$GC,2207,-0.48,-146.0,252.0,-8.8,252,2212,0.00,2.17,0.00,0.000,4,0.000,0.064,3032,3585,3399,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2266,-0.48,-146.0,257.7,-9.4,256,2271,0.00,2.10,0.00,0.000,6,0.000,0.044,3032,2177,3399,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2581,-0.48,-146.0,287.5,-9.6,277,2583,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2175,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2881,-0.48,-146.0,315.4,-9.0,297,2885,0.00,2.22,0.00,0.000,4,0.000,0.064,3021,3590,3398,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2921,-0.48,-146.0,318.4,-9.2,299,2928,0.00,2.15,0.00,0.000,6,0.000,0.045,3021,2164,3397,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3228,-0.48,-146.0,348.5,-9.5,320,3230,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2163,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3528,-0.48,-146.0,377.3,-9.7,340,3534,0.00,2.25,0.00,0.000,4,0.000,0.065,3011,3589,3396,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3558,-0.48,-146.0,380.4,-10.2,342,3564,0.00,2.15,0.00,0.000,6,0.000,0.046,3011,2165,3396,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3873,-0.48,-146.0,413.4,-10.7,363,3875,0.12,0.00,0.00,0.000,6,0.157,0.000,3045,2162,3396,0,0,0,0,0,0,26.26,28.83,28.83
$GC,4174,-0.48,-146.0,438.9,-8.3,383,4179,0.00,2.22,0.00,0.000,4,0.000,0.066,3036,3590,3395,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4218,-0.48,-146.0,442.8,-8.7,386,4224,0.00,2.15,0.00,0.000,6,0.000,0.046,3036,2167,3395,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4534,-0.48,-146.0,470.2,-8.5,407,4539,0.00,2.22,0.00,0.000,4,0.000,0.066,3026,3590,3394,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4564,-0.48,-146.0,472.8,-8.2,409,4570,0.00,2.12,0.00,0.000,6,0.000,0.047,3025,2173,3394,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4878,-0.48,-146.0,499.5,-8.2,430,4879,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2171,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5178,-0.48,-146.0,522.7,-7.7,450,5182,0.00,2.25,0.00,0.000,4,0.000,0.067,3016,3592,3393,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5218,-0.48,-146.0,525.3,-7.8,452,5225,0.00,2.20,0.00,0.000,6,0.000,0.047,3015,2171,3393,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5526,-0.48,-146.0,553.4,-9.4,473,5527,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2170,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5826,-0.48,-146.0,581.7,-9.5,493,5830,0.00,2.22,0.00,0.000,4,0.000,0.067,3006,3588,3392,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5851,-0.48,-146.0,583.5,-9.7,494,5859,0.08,2.17,0.00,0.000,6,0.123,0.047,3034,2180,3392,0,0,0,0,0,0,26.30,26.39,28.83
$GC,6173,-0.48,-146.0,609.9,-7.6,512,6177,0.00,2.22,0.00,0.000,4,0.000,0.067,3025,3593,3391,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6223,-0.48,-146.0,612.6,-7.8,513,6227,0.00,2.15,0.00,0.000,6,0.000,0.047,3025,2175,3391,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6530,-0.48,-146.0,637.4,-7.3,523,6536,0.00,2.20,0.00,0.000,4,0.000,0.067,3015,3582,3391,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6563,-0.48,-146.0,639.8,-7.4,524,6567,0.00,2.15,0.00,0.000,6,0.000,0.047,3015,2166,3391,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6885,-0.48,-146.0,667.0,-8.6,535,6891,0.00,2.20,0.00,0.000,4,0.000,0.067,3006,3581,3390,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6933,-0.48,-146.0,669.8,-8.7,536,6938,0.12,2.15,0.00,0.000,6,0.142,0.048,3041,2164,3390,0,0,0,0,0,0,26.32,26.39,28.83
$GC,7240,-0.48,-146.0,693.6,-7.2,546,7246,0.00,2.25,0.00,0.000,4,0.000,0.067,3033,3586,3390,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7270,-0.48,-146.0,695.8,-7.3,547,7276,0.00,2.15,0.00,0.000,6,0.000,0.048,3033,2165,3390,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7600,-0.48,-146.0,721.3,-7.5,558,7606,0.00,2.22,0.00,0.000,4,0.000,0.067,3024,3582,3389,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7633,-0.48,-146.0,723.7,-7.5,559,7637,0.00,2.15,0.00,0.000,6,0.000,0.048,3023,2167,3389,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7955,-0.48,-146.0,748.5,-7.6,570,7957,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2165,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8256,-0.48,-146.0,770.5,-7.1,580,8261,0.00,2.20,0.00,0.000,4,0.000,0.068,3013,3580,3388,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8333,-0.48,-146.0,775.1,-7.4,582,8337,0.00,2.15,0.00,0.000,6,0.000,0.048,3013,2164,3388,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8641,-0.48,-146.0,800.0,-7.7,592,8642,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2162,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8940,-0.48,-146.0,821.6,-7.3,602,8946,0.00,2.25,0.00,0.000,4,0.000,0.068,3003,3593,3387,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8983,-0.48,-146.0,823.9,-7.4,603,8988,0.12,2.17,0.00,0.000,6,0.143,0.049,3038,2173,3387,0,0,0,0,0,0,26.33,26.41,28.83
$GC,9297,-0.48,-146.0,841.7,-5.2,614,9302,0.00,2.20,0.00,0.000,4,0.000,0.069,3030,3579,3386,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9329,-0.48,-146.0,843.4,-5.2,615,9333,0.00,2.15,0.00,0.000,6,0.000,0.049,3030,2164,3386,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9652,-0.48,-146.0,862.4,-6.2,626,9653,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2162,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9952,-0.48,-146.0,880.4,-6.0,636,9957,0.00,2.22,0.00,0.000,4,0.000,0.069,3020,3589,3386,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10012,-0.48,-146.0,884.3,-6.2,638,10016,0.00,2.17,0.00,0.000,6,0.000,0.050,3020,2168,3386,0,0,0,0,0,0,28.83,26.42,28.83
$GC,10344,-0.48,-146.0,906.5,-6.7,649,10345,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2167,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10644,-0.48,-146.0,928.4,-7.4,659,10649,0.00,2.25,0.00,0.000,4,0.000,0.069,3011,3590,3385,0,0,0,0,0,0,28.83,26.38,28.83
$GC,10711,-0.48,-146.0,933.3,-7.6,661,10716,0.00,2.15,0.00,0.000,6,0.000,0.049,3011,2173,3385,0,0,0,0,0,0,28.83,26.43,28.83
$GC,11030,-0.48,-146.0,958.7,-7.9,672,11036,0.10,2.20,0.00,0.000,4,0.164,0.067,3029,3579,3385,0,0,0,0,0,0,26.38,26.38,28.83
$GC,11059,-0.48,-146.0,961.0,-7.9,673,11064,0.00,2.12,0.00,0.000,6,0.000,0.050,3029,2176,3385,0,0,0,0,0,0,28.83,26.42,28.83
$GC,11389,-0.48,-146.0,982.8,-6.6,684,11395,0.00,2.25,0.00,0.000,4,0.000,0.070,3020,3594,3384,0,0,0,0,0,0,28.83,26.37,28.83
$GC,11433,-0.48,-146.0,984.7,-6.6,685,11437,0.00,2.15,0.00,0.000,6,0.000,0.047,3019,2174,3384,0,0,0,0,0,0,28.83,26.43,28.83
$STATE,11504,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11504,begin apogee
$GC,11511,-0.22,0.0,990.6,-6.7,688,11644,0.30,0.00,126.60,1.210,6,0.119,0.000,3123,2306,2794,0,0,0,0,0,0,26.34,28.83,23.58
$STATE,11645,end apogee,CONTROL_FINISHED_OK
$STATE,11645,begin climb
$GC,11648,0.48,146.0,993.8,0.0,692,11791,0.65,2.45,134.25,1.174,4,0.083,0.067,3343,3702,2196,0,0,0,0,0,0,24.50,24.10,23.32
$GC,11809,0.48,146.0,984.2,7.4,698,11815,0.00,2.33,0.00,0.000,6,0.000,0.049,3354,2305,2193,0,0,0,0,0,0,28.83,24.48,28.83
$GC,12130,0.48,146.0,947.1,11.4,709,12135,0.00,2.30,0.00,0.000,4,0.000,0.058,3364,888,2186,0,0,0,0,0,0,28.83,25.37,28.83
$GC,12147,0.48,146.0,947.1,11.4,709,12152,0.00,2.28,0.00,0.000,6,0.000,0.057,3365,2298,2186,0,0,0,0,0,0,28.83,25.39,28.83
$GC,12455,0.48,146.0,908.5,11.8,719,12460,0.00,2.30,0.00,0.000,4,0.000,0.069,3364,3710,2185,0,0,0,0,0,0,28.83,25.64,28.83
$GC,12517,0.48,146.0,900.4,12.7,721,12521,0.00,2.25,0.00,0.000,6,0.000,0.051,3375,2287,2184,0,0,0,0,0,0,28.83,25.71,28.83
$GC,12840,0.48,146.0,860.9,12.1,732,12841,0.00,0.00,0.00,0.000,6,0.000,0.000,3375,2283,2184,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,22455,end climb,SURFACE_DEPTH_REACHED
$STATE,22455,begin surface coast
$FINISH,0.6,1.023605
$STATE,22497,end surface coast,CONTROL_FINISHED_OK
$STATE,22498,begin surface
$SM_CCo,22579,0.00,0.000,0,0,1434,333.36
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$IRIDIUM_FIX,4713.38,-12633.72,170912,111118
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.36
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,16.00
$XPDR_PINGS,0
$24V_AH,23.3,6.232
$10V_AH,10.3,5.430
$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,22.050,190.400,416.650,0.000,0.000,27.094,40.558,233.152,0.000,0.000,17.217,3877.650,14659.260,542.117,3526.511,395.001,33.234,2069.457,0.000,3206.061,0.000,0.535,0.000
$DEVICE_MAMPS,230.265,84.915,1210.230,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1040.425,1225.750,1260.629,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297064
$DATA_FILE_SIZE,86841,1507
$CAP_FILE_SIZE,200807,0
$CFSIZE,260165632,254922752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.104, 10.8,1
$GPS,180912,003605,4730.218,-12558.990,38,1.2,38,18.7