version: 66.11
glider: 187
mission: 2
dive: 29
start: 9 18 112 7 17 28
data:
$ID,187
$MISSION,2
$DIVE,29
$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,-1587654.9
$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,31
$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
$GPS1,180912,070723,4728.499,-12601.496,27,1.4,45,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-78.5
$GPS2,180912,071625,4728.499,-12601.540,11,1.4,11,18.7
$SPEED_LIMITS,0.127,0.220
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.191,-0.109
$KALMAN_X,30609.0,-666.5,-2188.0,-97484.9,9415.0
$KALMAN_Y,12159.1,-187.1,2022.8,-51975.7,-6035.7
$MHEAD_RNG_PITCHd_Wd,200.5,90762,-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,-71.03,0.000,2,0.000,0.000,114,2162,2968,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.48,-146.0,3.4,-5.8,12,123,11.35,2.33,-7.78,0.000,4,0.229,0.073,3022,3590,3393,0,0,0,0,0,0,25.43,25.66,25.94
$GC,311,-0.48,-146.0,47.8,-13.3,51,318,0.00,2.17,0.00,0.000,6,0.000,0.043,3022,2164,3398,0,0,0,0,0,0,28.83,25.81,28.83
$GC,635,-0.48,-146.0,94.9,-12.3,112,642,0.00,2.17,0.00,0.000,4,0.000,0.050,3022,773,3400,0,0,0,0,0,0,28.83,25.93,28.83
$GC,671,-0.48,-146.0,99.2,-12.3,118,679,0.00,2.20,0.00,0.000,6,0.000,0.050,3013,2175,3400,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1001,-0.48,-146.0,137.6,-11.6,161,1007,0.00,2.17,0.00,0.000,4,0.000,0.061,3002,3579,3400,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1049,-0.48,-146.0,143.3,-12.3,164,1054,0.15,2.12,0.00,0.000,6,0.141,0.042,3044,2174,3401,0,0,0,0,0,0,25.96,26.07,28.83
$GC,1358,-0.48,-146.0,174.5,-9.9,184,1362,0.00,2.15,0.00,0.000,4,0.000,0.050,3044,774,3400,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1393,-0.48,-146.0,177.9,-10.0,186,1397,0.00,2.15,0.00,0.000,6,0.000,0.050,3036,2180,3400,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1700,-0.48,-146.0,206.9,-9.4,206,1704,0.00,2.20,0.00,0.000,4,0.000,0.063,3026,3583,3400,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1740,-0.48,-146.0,210.1,-9.7,208,1748,0.00,2.17,0.00,0.000,6,0.000,0.044,3026,2173,3400,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2048,-0.48,-146.0,242.2,-10.1,229,2054,0.00,2.10,0.00,0.000,4,0.000,0.051,3026,780,3398,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2093,-0.48,-146.0,246.8,-10.0,232,2099,0.00,2.12,0.00,0.000,6,0.000,0.050,3017,2176,3399,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2409,-0.48,-146.0,280.0,-10.7,253,2414,0.00,2.17,0.00,0.000,4,0.000,0.063,3006,3590,3398,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2446,-0.48,-146.0,283.5,-11.1,255,2454,0.12,2.15,0.00,0.000,6,0.142,0.044,3040,2162,3397,0,0,0,0,0,0,26.15,26.25,28.83
$GC,2755,-0.48,-146.0,312.9,-8.8,276,2757,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2162,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3053,-0.48,-146.0,339.6,-8.9,296,3055,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2162,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3354,-0.48,-146.0,367.6,-9.5,316,3359,0.00,2.20,0.00,0.000,4,0.000,0.064,3032,3581,3395,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3407,-0.48,-146.0,372.0,-9.6,319,3414,0.00,2.12,0.00,0.000,6,0.000,0.046,3032,2175,3395,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3714,-0.48,-146.0,402.3,-9.3,340,3715,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2176,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4014,-0.48,-146.0,427.4,-8.3,360,4020,0.00,2.20,0.00,0.000,4,0.000,0.065,3022,3586,3394,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4037,-0.48,-146.0,428.7,-8.4,361,4044,0.00,2.12,0.00,0.000,6,0.000,0.046,3022,2178,3394,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4345,-0.48,-146.0,457.1,-9.1,382,4350,0.00,2.15,0.00,0.000,4,0.000,0.054,3022,768,3393,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4368,-0.48,-146.0,458.6,-9.2,383,4375,0.00,2.17,0.00,0.000,6,0.000,0.054,3013,2177,3392,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4675,-0.48,-146.0,489.6,-10.1,404,4679,0.00,2.22,0.00,0.000,4,0.000,0.066,3002,3593,3392,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4716,-0.48,-146.0,492.9,-10.2,406,4724,0.10,2.17,0.00,0.000,6,0.118,0.047,3038,2180,3392,0,0,0,0,0,0,26.27,26.36,28.83
$GC,5023,-0.48,-146.0,518.7,-7.9,427,5025,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2180,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5324,-0.48,-146.0,540.9,-7.0,447,5329,0.00,2.17,0.00,0.000,4,0.000,0.066,3030,3578,3390,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5346,-0.48,-146.0,541.9,-7.0,448,5353,0.00,2.17,0.00,0.000,6,0.000,0.047,3029,2168,3390,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5653,-0.48,-146.0,568.1,-8.6,469,5654,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2168,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5953,-0.48,-146.0,594.6,-9.0,489,5959,0.00,2.20,0.00,0.000,4,0.000,0.067,3020,3580,3389,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6017,-0.48,-146.0,600.2,-9.2,493,6021,0.00,2.12,0.00,0.000,6,0.000,0.047,3019,2173,3389,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6339,-0.48,-146.0,630.0,-8.8,504,6340,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2171,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6639,-0.48,-146.0,655.0,-8.2,514,6643,0.00,2.22,0.00,0.000,4,0.000,0.067,3010,3589,3388,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6674,-0.48,-146.0,657.7,-8.2,515,6679,0.12,2.15,0.00,0.000,6,0.139,0.048,3045,2168,3388,0,0,0,0,0,0,26.32,26.40,28.83
$GC,6997,-0.48,-146.0,678.8,-6.4,526,6998,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2166,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7297,-0.48,-146.0,699.2,-6.8,536,7303,0.00,2.20,0.00,0.000,4,0.000,0.067,3037,3577,3387,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7340,-0.48,-146.0,701.4,-6.9,537,7344,0.00,2.15,0.00,0.000,6,0.000,0.049,3037,2166,3387,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7657,-0.48,-146.0,726.6,-7.7,548,7662,0.00,2.25,0.00,0.000,4,0.000,0.067,3027,3583,3386,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7689,-0.48,-146.0,729.0,-7.8,549,7693,0.00,2.12,0.00,0.000,6,0.000,0.048,3027,2178,3386,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8012,-0.48,-146.0,754.5,-7.7,560,8013,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2176,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8312,-0.48,-146.0,774.9,-6.4,570,8317,0.00,2.20,0.00,0.000,4,0.000,0.068,3017,3585,3385,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8372,-0.48,-146.0,779.2,-6.8,572,8376,0.00,2.15,0.00,0.000,6,0.000,0.049,3017,2164,3385,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8705,-0.48,-146.0,802.6,-7.1,583,8706,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2162,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9004,-0.48,-146.0,823.7,-6.9,593,9008,0.00,2.25,0.00,0.000,4,0.000,0.068,3007,3583,3384,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9044,-0.48,-146.0,825.9,-6.9,594,9049,0.12,2.15,0.00,0.000,6,0.138,0.050,3042,2165,3384,0,0,0,0,0,0,26.34,26.42,28.83
$GC,9363,-0.48,-146.0,843.4,-5.3,605,9368,0.00,2.22,0.00,0.000,4,0.000,0.069,3034,3585,3384,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9401,-0.48,-146.0,844.9,-5.3,606,9405,0.00,2.15,0.00,0.000,6,0.000,0.049,3034,2166,3384,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9718,-0.48,-146.0,864.5,-6.2,617,9719,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2164,3383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10018,-0.48,-146.0,883.4,-6.4,627,10024,0.00,2.22,0.00,0.000,4,0.000,0.070,3025,3585,3383,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10086,-0.48,-146.0,887.3,-6.4,629,10090,0.00,2.15,0.00,0.000,6,0.000,0.050,3025,2166,3383,0,0,0,0,0,0,28.83,26.42,28.83
$GC,10404,-0.48,-146.0,909.1,-6.5,640,10410,0.00,2.20,0.00,0.000,4,0.000,0.069,3014,3579,3383,0,0,0,0,0,0,28.83,26.38,28.83
$GC,10434,-0.48,-146.0,911.3,-6.6,641,10439,0.00,2.15,0.00,0.000,6,0.000,0.050,3014,2168,3383,0,0,0,0,0,0,28.83,26.42,28.83
$GC,10764,-0.48,-146.0,934.1,-6.7,652,10769,0.00,2.22,0.00,0.000,4,0.000,0.070,3005,3586,3382,0,0,0,0,0,0,28.83,26.38,28.83
$GC,10794,-0.48,-146.0,936.2,-6.7,653,10800,0.10,2.15,0.00,0.000,6,0.153,0.050,3036,2173,3382,0,0,0,0,0,0,26.34,26.42,28.83
$GC,11124,-0.48,-146.0,954.7,-5.5,664,11129,0.00,2.20,0.00,0.000,4,0.000,0.070,3028,3578,3382,0,0,0,0,0,0,28.83,26.38,28.83
$GC,11147,-0.48,-146.0,954.7,-5.5,664,11154,0.00,2.15,0.00,0.000,6,0.000,0.050,3028,2164,3382,0,0,0,0,0,0,28.83,26.42,28.83
$GC,11454,-0.48,-146.0,976.0,-6.6,675,11459,0.00,2.22,0.00,0.000,4,0.000,0.070,3018,3583,3382,0,0,0,0,0,0,28.83,26.37,28.83
$GC,11514,-0.48,-146.0,980.5,-7.0,677,11518,0.00,2.15,0.00,0.000,6,0.000,0.050,3018,2169,3382,0,0,0,0,0,0,28.83,26.42,28.83
$STATE,11663,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11663,begin apogee
$GC,11670,-0.22,0.0,991.8,-7.5,682,11802,0.30,0.00,126.18,1.213,6,0.119,0.000,3120,2313,2794,0,0,0,0,0,0,26.34,28.83,23.58
$STATE,11805,end apogee,CONTROL_FINISHED_OK
$STATE,11805,begin climb
$GC,11808,0.48,146.0,996.3,0.0,686,11946,0.65,0.00,133.88,1.179,6,0.082,0.000,3342,2312,2198,0,0,0,0,0,0,24.52,28.83,23.32
$GC,12236,0.48,146.0,966.3,8.6,701,12241,0.00,2.28,0.00,0.000,4,0.000,0.069,3342,3697,2187,0,0,0,0,0,0,28.83,25.29,28.83
$GC,12304,0.48,146.0,960.4,9.2,703,12308,0.00,2.22,0.00,0.000,6,0.000,0.050,3353,2307,2186,0,0,0,0,0,0,28.83,25.41,28.83
$GC,12621,0.48,146.0,929.0,9.7,714,12626,0.00,2.28,0.00,0.000,4,0.000,0.069,3353,3700,2185,0,0,0,0,0,0,28.83,25.65,28.83
$GC,12651,0.48,146.0,925.7,10.1,715,12657,0.00,2.22,0.00,0.000,6,0.000,0.051,3362,2292,2184,0,0,0,0,0,0,28.83,25.70,28.83
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$STATE,22789,end climb,SURFACE_DEPTH_REACHED
$STATE,22789,begin surface coast
$FINISH,0.5,1.004109
$STATE,22837,end surface coast,CONTROL_FINISHED_OK
$STATE,22837,begin surface
$SM_CCo,22916,0.00,0.000,0,0,1317,362.31
$SM_GC,1.62,8.48,0.20,0.00,0.035,0.071,0.000,119,2166,1317,-9.47,0.88,362.31,0,0,0,0,0,0,25.86,25.84,28.83
$IRIDIUM_FIX,4710.21,-12557.43,180912,070724
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.95
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,19.40
$XPDR_PINGS,2
$24V_AH,23.3,6.511
$10V_AH,10.3,5.730
$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,22.150,203.100,439.900,0.000,0.000,58.413,60.289,227.660,0.500,0.000,12.739,3842.890,15054.377,565.695,3559.477,422.183,33.241,2121.137,0.000,3198.402,0.000,0.536,0.000
$DEVICE_MAMPS,228.735,83.385,1213.290,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1031.799,1225.901,1224.775,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297216
$DATA_FILE_SIZE,86892,1496
$CAP_FILE_SIZE,206504,0
$CFSIZE,260165632,254730240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.073, 19.5,1
$GPS,180912,134035,4726.862,-12604.319,33,0.9,33,18.7