version: 66.11
glider: 187
mission: 2
dive: 40
start: 9 21 112 6 49 1
data:
$ID,187
$MISSION,2
$DIVE,40
$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,2
$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,-1587668.6
$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
$GPS1,210912,064153,4710.184,-12636.112,27,1.2,44,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-79.4
$GPS2,210912,064831,4710.185,-12636.106,13,1.4,13,18.6
$SPEED_LIMITS,0.127,0.220
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.160,-0.151
$KALMAN_X,28840.3,-242.5,2380.9,-124483.9,-7867.0
$KALMAN_Y,16218.2,688.6,-1323.7,-71650.8,4158.7
$MHEAD_RNG_PITCHd_Wd,220.3,35589,-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,-146.0,0.0,0.0,0,97,0.00,0.00,-77.20,0.000,2,0.000,0.000,114,2164,2911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,100,-0.48,-146.0,3.5,-7.3,13,129,11.38,2.30,-8.62,0.000,4,0.227,0.070,3025,3597,3392,0,0,0,0,0,0,25.39,25.60,25.91
$GC,146,-0.48,-146.0,23.0,-39.3,20,155,0.00,2.25,0.00,0.000,6,0.000,0.044,3026,2181,3394,0,0,0,0,0,0,28.83,25.67,28.83
$GC,474,-0.48,-146.0,77.4,-13.2,81,481,0.00,2.17,0.00,0.000,4,0.000,0.050,3025,765,3400,0,0,0,0,0,0,28.83,25.84,28.83
$GC,494,-0.48,-146.0,80.2,-13.1,84,502,0.00,2.22,0.00,0.000,6,0.000,0.050,3016,2176,3400,0,0,0,0,0,0,28.83,25.85,28.83
$GC,818,-0.48,-146.0,124.2,-12.8,141,819,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2176,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1118,-0.48,-146.0,160.7,-12.0,161,1119,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2177,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1418,-0.48,-146.0,195.4,-11.0,181,1419,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2176,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1717,-0.48,-146.0,227.3,-10.9,201,1718,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2176,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2017,-0.48,-146.0,258.3,-10.1,221,2022,0.00,2.17,0.00,0.000,4,0.000,0.063,3005,3584,3399,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2070,-0.48,-146.0,263.0,-10.5,224,2078,0.12,2.17,0.00,0.000,6,0.142,0.044,3040,2158,3398,0,0,0,0,0,0,26.13,26.22,28.83
$GC,2379,-0.48,-146.0,288.4,-8.0,245,2380,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2158,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2677,-0.48,-146.0,312.4,-8.0,265,2678,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2158,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2977,-0.48,-146.0,338.4,-9.0,285,2983,0.00,2.25,0.00,0.000,4,0.000,0.064,3032,3585,3395,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3021,-0.48,-146.0,342.5,-9.2,288,3027,0.00,2.12,0.00,0.000,6,0.000,0.045,3032,2177,3395,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3337,-0.48,-146.0,372.2,-9.1,309,3342,0.00,2.20,0.00,0.000,4,0.000,0.065,3021,3584,3395,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3361,-0.48,-146.0,373.6,-9.3,310,3368,0.00,2.12,0.00,0.000,6,0.000,0.046,3021,2174,3395,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3683,-0.48,-146.0,402.9,-8.4,331,3688,0.00,2.17,0.00,0.000,4,0.000,0.065,3011,3583,3394,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3719,-0.48,-146.0,405.6,-8.5,332,3724,0.00,2.12,0.00,0.000,6,0.000,0.047,3011,2177,3393,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4037,-0.48,-146.0,434.2,-8.8,343,4043,0.00,2.12,0.00,0.000,4,0.000,0.054,3011,776,3392,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4075,-0.48,-146.0,437.0,-8.9,344,4080,0.15,2.15,0.00,0.000,6,0.142,0.054,3045,2182,3392,0,0,0,0,0,0,26.25,26.31,28.83
$GC,4393,-0.48,-146.0,459.5,-7.0,355,4398,0.00,2.15,0.00,0.000,4,0.000,0.066,3036,3577,3391,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4453,-0.48,-146.0,463.7,-7.0,357,4459,0.00,2.12,0.00,0.000,6,0.000,0.047,3037,2167,3391,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4782,-0.48,-146.0,489.7,-8.0,368,4784,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2164,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5083,-0.48,-146.0,513.8,-8.1,378,5089,0.00,2.22,0.00,0.000,4,0.000,0.067,3026,3588,3390,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5145,-0.48,-146.0,518.7,-8.1,380,5149,0.00,2.15,0.00,0.000,6,0.000,0.047,3026,2167,3389,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5468,-0.48,-146.0,546.0,-8.4,391,5469,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2165,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5768,-0.48,-146.0,569.5,-7.7,401,5769,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2164,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6067,-0.48,-146.0,592.7,-7.6,411,6073,0.00,2.25,0.00,0.000,4,0.000,0.067,3016,3594,3387,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6115,-0.48,-146.0,595.2,-7.8,412,6119,0.00,2.15,0.00,0.000,6,0.000,0.048,3016,2175,3387,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6423,-0.48,-146.0,621.8,-8.3,422,6428,0.00,2.25,0.00,0.000,4,0.000,0.067,3006,3592,3386,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6445,-0.48,-146.0,621.8,-8.3,422,6453,0.12,2.15,0.00,0.000,6,0.141,0.048,3041,2172,3386,0,0,0,0,0,0,26.30,26.39,28.83
$GC,6753,-0.48,-146.0,643.7,-6.3,433,6757,0.00,2.22,0.00,0.000,4,0.000,0.068,3033,3584,3386,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6785,-0.48,-146.0,645.8,-6.4,434,6791,0.00,2.12,0.00,0.000,6,0.000,0.049,3034,2180,3386,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7116,-0.48,-146.0,669.2,-7.3,445,7117,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2179,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7415,-0.48,-146.0,691.7,-7.5,455,7421,0.00,2.22,0.00,0.000,4,0.000,0.067,3024,3594,3385,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7448,-0.48,-146.0,694.1,-7.6,456,7452,0.00,2.15,0.00,0.000,6,0.000,0.049,3023,2171,3385,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7770,-0.48,-146.0,719.8,-7.8,467,7776,0.00,2.22,0.00,0.000,4,0.000,0.067,3013,3584,3384,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7800,-0.48,-146.0,722.2,-7.9,468,7806,0.00,2.15,0.00,0.000,6,0.000,0.049,3014,2165,3384,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8130,-0.48,-146.0,750.2,-8.4,479,8136,0.00,2.22,0.00,0.000,4,0.000,0.068,3003,3585,3384,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8173,-0.48,-146.0,752.9,-8.6,480,8178,0.12,2.15,0.00,0.000,6,0.142,0.049,3039,2166,3384,0,0,0,0,0,0,26.32,26.40,28.83
$GC,8486,-0.48,-146.0,777.6,-7.5,491,8492,0.00,2.25,0.00,0.000,4,0.000,0.069,3029,3591,3383,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8524,-0.48,-146.0,779.9,-7.5,492,8528,0.00,2.15,0.00,0.000,6,0.000,0.050,3031,2176,3383,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8841,-0.48,-146.0,804.6,-7.4,503,8843,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2174,3383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9142,-0.48,-146.0,825.2,-6.6,513,9146,0.00,2.25,0.00,0.000,4,0.000,0.069,3021,3591,3383,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9177,-0.48,-146.0,827.3,-6.5,514,9181,0.00,2.17,0.00,0.000,6,0.000,0.050,3020,2172,3382,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9505,-0.48,-146.0,849.3,-6.4,525,9506,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2169,3382,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9804,-0.48,-146.0,868.4,-6.3,535,9810,0.00,2.20,0.00,0.000,4,0.000,0.069,3011,3577,3381,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9865,-0.48,-146.0,872.9,-6.7,537,9870,0.00,2.12,0.00,0.000,6,0.000,0.050,3011,2169,3382,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10194,-0.48,-146.0,896.2,-7.1,548,10201,0.12,2.22,0.00,0.000,4,0.151,0.067,3043,3588,3381,0,0,0,0,0,0,26.35,26.36,28.83
$GC,10225,-0.48,-146.0,898.1,-6.9,549,10230,0.00,2.12,0.00,0.000,6,0.000,0.050,3043,2172,3381,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10555,-0.48,-146.0,915.8,-5.3,560,10556,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2170,3381,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10854,-0.48,-146.0,931.4,-5.2,570,10858,0.00,2.25,0.00,0.000,4,0.000,0.070,3033,3584,3380,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10910,-0.48,-146.0,933.2,-5.2,571,10916,0.00,2.15,0.00,0.000,6,0.000,0.050,3033,2166,3380,0,0,0,0,0,0,28.83,26.41,28.83
$GC,11217,-0.48,-146.0,951.6,-5.4,582,11222,0.00,2.22,0.00,0.000,4,0.000,0.070,3024,3582,3380,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11247,-0.48,-146.0,953.4,-5.6,583,11252,0.00,2.12,0.00,0.000,6,0.000,0.050,3024,2177,3380,0,0,0,0,0,0,28.83,26.41,28.83
$GC,11577,-0.48,-146.0,973.4,-6.1,594,11578,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2176,3380,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11844,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11844,begin apogee
$GC,11851,-0.22,0.0,990.2,-6.1,603,11982,0.30,0.00,125.53,1.205,6,0.116,0.000,3126,2307,2794,0,0,0,0,0,0,26.34,28.83,23.63
$STATE,11985,end apogee,CONTROL_FINISHED_OK
$STATE,11985,begin climb
$GC,11988,0.48,146.0,992.9,0.0,607,12131,0.65,2.40,133.10,1.170,4,0.080,0.057,3358,905,2197,0,0,0,0,0,0,24.56,24.12,23.34
$GC,12152,0.48,146.0,983.4,7.4,613,12156,0.00,2.35,0.00,0.000,6,0.000,0.057,3358,2295,2192,0,0,0,0,0,0,28.83,24.48,28.83
$GC,12469,0.48,146.0,949.3,10.6,624,12475,0.00,2.33,0.00,0.000,4,0.000,0.070,3358,3716,2186,0,0,0,0,0,0,28.83,25.35,28.83
$GC,12537,0.48,146.0,942.1,11.3,626,12542,0.00,2.25,0.00,0.000,6,0.000,0.051,3369,2304,2185,0,0,0,0,0,0,28.83,25.46,28.83
$GC,12855,0.48,146.0,904.9,11.2,637,12860,0.00,2.28,0.00,0.000,4,0.000,0.070,3369,3705,2184,0,0,0,0,0,0,28.83,25.67,28.83
$GC,12885,0.48,146.0,901.2,11.4,638,12890,0.00,2.22,0.00,0.000,6,0.000,0.052,3379,2296,2184,0,0,0,0,0,0,28.83,25.72,28.83
$GC,13215,0.48,146.0,862.0,11.8,649,13220,0.00,2.28,0.00,0.000,4,0.000,0.070,3379,3706,2184,0,0,0,0,0,0,28.83,25.84,28.83
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$STATE,22949,end climb,SURFACE_DEPTH_REACHED
$STATE,22949,begin surface coast
$FINISH,0.6,1.020041
$STATE,23009,end surface coast,CONTROL_FINISHED_OK
$STATE,23009,begin surface
$SM_CCo,23089,0.00,0.000,0,0,1379,347.10
$SM_GC,1.40,8.38,0.17,0.00,0.032,0.078,0.000,111,2169,1379,-9.46,1.19,347.10,0,0,0,0,0,0,25.86,25.84,28.83
$IRIDIUM_FIX,4657.54,-12636.35,210912,000059
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.85
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,15.80
$XPDR_PINGS,0
$24V_AH,23.3,8.040
$10V_AH,10.2,7.207
$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,22.025,186.400,419.800,0.000,0.000,27.099,36.141,204.366,0.000,0.000,14.573,3537.146,15990.021,526.564,3042.531,379.668,0.000,2002.908,0.000,2749.607,0.000,0.536,0.000
$DEVICE_MAMPS,227.205,89.505,1204.875,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,929.046,1103.425,599.018,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297100
$DATA_FILE_SIZE,76729,1347
$CAP_FILE_SIZE,194369,0
$CFSIZE,260165632,253755392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.073, 39.7,1
$GPS,210912,131505,4709.000,-12639.757,37,0.9,37,18.6