version: 66.11
glider: 187
mission: 2
dive: 45
start: 9 22 112 15 30 19
data:
$ID,187
$MISSION,2
$DIVE,45
$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,-1587674.9
$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,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
$GPS1,220912,152305,4703.330,-12653.174,39,1.0,44,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-78.9
$GPS2,220912,152948,4703.351,-12653.131,13,1.4,13,18.6
$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,222.9,10667,-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,-146.0,0.0,0.0,0,85,0.00,0.00,-66.35,0.000,2,0.000,0.000,114,2157,2956,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.48,-146.0,3.9,-7.9,11,116,11.38,2.17,-7.60,0.000,4,0.228,0.061,3033,763,3393,0,0,0,0,0,0,25.41,25.65,25.94
$GC,333,-0.48,-146.0,54.5,-10.3,56,341,0.00,2.22,0.00,0.000,6,0.000,0.050,3025,2174,3399,0,0,0,0,0,0,28.83,25.81,28.83
$GC,662,-0.48,-146.0,97.8,-12.1,117,668,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2174,3401,0,0,0,0,0,0,28.83,28.83,28.83
$GC,978,-0.48,-146.0,136.8,-11.7,160,984,0.00,2.17,0.00,0.000,4,0.000,0.049,3025,757,3401,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1025,-0.48,-146.0,141.8,-11.4,163,1030,0.00,2.15,0.00,0.000,6,0.000,0.049,3016,2175,3400,0,0,0,0,0,0,28.83,26.05,28.83
$GC,1338,-0.48,-146.0,178.4,-11.8,184,1339,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2175,3401,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1638,-0.48,-146.0,211.9,-10.5,204,1642,0.00,2.20,0.00,0.000,4,0.000,0.062,3005,3593,3400,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1658,-0.48,-146.0,213.8,-10.6,205,1663,0.12,2.17,0.00,0.000,6,0.139,0.044,3040,2167,3400,0,0,0,0,0,0,26.09,26.17,28.83
$GC,1967,-0.48,-146.0,241.2,-8.9,225,1968,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2163,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2265,-0.48,-146.0,266.4,-8.2,245,2269,0.00,2.25,0.00,0.000,4,0.000,0.063,3032,3586,3399,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2297,-0.48,-146.0,269.4,-8.8,247,2303,0.00,2.15,0.00,0.000,6,0.000,0.044,3032,2163,3399,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2612,-0.48,-146.0,296.7,-8.7,268,2613,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2160,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2912,-0.48,-146.0,321.7,-8.1,288,2913,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2160,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3212,-0.48,-146.0,347.4,-8.9,308,3213,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2160,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3512,-0.48,-146.0,373.4,-8.3,328,3518,0.00,2.22,0.00,0.000,4,0.000,0.065,3022,3586,3395,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3542,-0.48,-146.0,376.1,-8.6,330,3547,0.00,2.15,0.00,0.000,6,0.000,0.046,3022,2165,3395,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3858,-0.48,-146.0,403.4,-8.7,350,3860,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2162,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4157,-0.48,-146.0,429.1,-8.6,360,4163,0.00,2.20,0.00,0.000,4,0.000,0.065,3012,3581,3394,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4187,-0.48,-146.0,431.7,-8.7,361,4192,0.00,2.15,0.00,0.000,6,0.000,0.047,3012,2166,3394,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4517,-0.48,-146.0,463.5,-9.6,372,4521,0.00,2.15,0.00,0.000,4,0.000,0.054,3011,766,3393,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4542,-0.48,-146.0,463.5,-9.6,372,4549,0.12,2.15,0.00,0.000,6,0.149,0.053,3037,2175,3392,0,0,0,0,0,0,26.27,26.33,28.83
$GC,4849,-0.48,-146.0,491.0,-8.0,383,4853,0.00,2.20,0.00,0.000,4,0.000,0.066,3029,3582,3392,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4904,-0.48,-146.0,493.6,-8.0,384,4911,0.00,2.12,0.00,0.000,6,0.000,0.047,3029,2173,3392,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5212,-0.48,-146.0,519.1,-7.3,395,5213,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2173,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5511,-0.48,-146.0,540.5,-7.2,405,5512,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2173,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5814,-0.48,-146.0,562.3,-7.3,415,5819,0.00,2.20,0.00,0.000,4,0.000,0.067,3019,3581,3390,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5844,-0.48,-146.0,564.6,-7.5,416,5849,0.00,2.10,0.00,0.000,6,0.000,0.048,3019,2180,3390,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6172,-0.48,-146.0,592.7,-8.9,427,6174,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2178,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6472,-0.48,-146.0,620.6,-9.3,437,6473,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2178,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6773,-0.48,-146.0,647.6,-8.7,447,6776,0.00,2.22,0.00,0.000,4,0.000,0.067,3009,3582,3388,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6804,-0.48,-146.0,650.4,-8.7,448,6811,0.12,2.15,0.00,0.000,6,0.138,0.048,3045,2162,3388,0,0,0,0,0,0,26.32,26.40,28.83
$GC,7135,-0.48,-146.0,672.0,-6.2,459,7136,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2161,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7435,-0.48,-146.0,690.2,-6.1,469,7440,0.00,2.25,0.00,0.000,4,0.000,0.068,3036,3585,3387,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7473,-0.48,-146.0,692.0,-6.1,470,7477,0.00,2.17,0.00,0.000,6,0.000,0.049,3036,2165,3387,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7795,-0.48,-146.0,713.4,-6.5,481,7796,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2162,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8095,-0.48,-146.0,733.1,-6.6,491,8101,0.00,2.22,0.00,0.000,4,0.000,0.068,3027,3582,3386,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8138,-0.48,-146.0,735.3,-6.8,492,8142,0.00,2.15,0.00,0.000,6,0.000,0.049,3027,2172,3385,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8455,-0.48,-146.0,759.8,-7.4,503,8456,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2170,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8755,-0.48,-146.0,781.9,-7.5,513,8761,0.00,2.20,0.00,0.000,4,0.000,0.068,3017,3577,3385,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8793,-0.48,-146.0,783.9,-7.3,514,8796,0.00,2.15,0.00,0.000,6,0.000,0.050,3017,2169,3384,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9115,-0.48,-146.0,810.3,-8.1,525,9116,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2167,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9416,-0.48,-146.0,834.8,-8.2,535,9421,0.00,2.20,0.00,0.000,4,0.000,0.070,3007,3578,3384,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9445,-0.48,-146.0,837.2,-8.4,536,9451,0.12,2.12,0.00,0.000,6,0.137,0.050,3043,2175,3384,0,0,0,0,0,0,26.33,26.41,28.83
$GC,9775,-0.48,-146.0,860.1,-6.8,547,9776,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2173,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10075,-0.48,-146.0,880.6,-6.8,557,10081,0.00,2.20,0.00,0.000,4,0.000,0.070,3035,3577,3383,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10107,-0.48,-146.0,882.6,-6.9,558,10112,0.00,2.15,0.00,0.000,6,0.000,0.050,3035,2167,3383,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10430,-0.48,-146.0,905.0,-6.8,569,10431,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2165,3383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10731,-0.48,-146.0,924.0,-6.4,579,10736,0.00,2.22,0.00,0.000,4,0.000,0.070,3026,3581,3382,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10783,-0.48,-146.0,925.9,-6.4,580,10790,0.00,2.15,0.00,0.000,6,0.000,0.050,3026,2168,3383,0,0,0,0,0,0,28.83,26.41,28.83
$GC,11090,-0.48,-146.0,948.0,-6.5,591,11096,0.00,2.25,0.00,0.000,4,0.000,0.070,3016,3587,3382,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11134,-0.48,-146.0,950.0,-6.6,592,11138,0.00,2.15,0.00,0.000,6,0.000,0.050,3016,2173,3382,0,0,0,0,0,0,28.83,26.41,28.83
$GC,11446,-0.48,-146.0,971.4,-5.9,603,11452,0.00,2.22,0.00,0.000,4,0.000,0.070,3014,3585,3382,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11484,-0.48,-146.0,973.1,-5.7,604,11488,0.00,2.15,0.00,0.000,6,0.000,0.050,3014,2172,3382,0,0,0,0,0,0,28.83,26.41,28.83
$STATE,11768,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11768,begin apogee
$GC,11776,-0.22,0.0,990.2,-5.8,614,11907,0.30,0.00,125.68,1.206,6,0.112,0.000,3120,2314,2794,0,0,0,0,0,0,26.34,28.83,23.64
$STATE,11910,end apogee,CONTROL_FINISHED_OK
$STATE,11910,begin climb
$GC,11913,0.48,146.0,994.1,0.0,618,12051,0.65,0.00,133.15,1.173,6,0.081,0.000,3342,2314,2198,0,0,0,0,0,0,24.57,28.83,23.34
$GC,12341,0.48,146.0,964.7,7.5,633,12347,0.00,2.30,0.00,0.000,4,0.000,0.057,3353,901,2188,0,0,0,0,0,0,28.83,25.29,28.83
$GC,12444,0.48,146.0,957.6,7.8,636,12448,0.00,2.25,0.00,0.000,6,0.000,0.057,3353,2300,2186,0,0,0,0,0,0,28.83,25.41,28.83
$GC,12756,0.48,146.0,926.0,9.7,647,12762,0.00,2.30,0.00,0.000,4,0.000,0.070,3353,3714,2184,0,0,0,0,0,0,28.83,25.65,28.83
$GC,12850,0.48,146.0,915.7,11.0,650,12855,0.00,2.22,0.00,0.000,6,0.000,0.051,3363,2307,2184,0,0,0,0,0,0,28.83,25.75,28.83
$GC,13173,0.48,146.0,883.3,9.5,661,13179,0.00,2.28,0.00,0.000,4,0.000,0.070,3363,3709,2183,0,0,0,0,0,0,28.83,25.85,28.83
$GC,13205,0.48,146.0,880.1,9.8,662,13209,0.00,2.22,0.00,0.000,6,0.000,0.051,3374,2298,2183,0,0,0,0,0,0,28.83,25.89,28.83
$GC,13528,0.48,146.0,847.3,9.9,673,13533,0.00,2.30,0.00,0.000,4,0.000,0.070,3374,3724,2183,0,0,0,0,0,0,28.83,25.96,28.83
$GC,13550,0.48,146.0,847.3,9.9,673,13558,0.12,2.25,0.00,0.000,6,0.174,0.052,3354,2290,2183,0,0,0,0,0,0,25.87,25.98,28.83
$GC,13858,0.48,146.0,816.9,9.3,684,13859,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,2283,2183,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,23084,end climb,SURFACE_DEPTH_REACHED
$STATE,23084,begin surface coast
$FINISH,0.7,1.016679
$STATE,23128,end surface coast,CONTROL_FINISHED_OK
$STATE,23128,begin surface
$SM_CCo,23207,0.00,0.000,0,0,1241,380.46
$SM_GC,1.69,8.48,0.20,0.00,0.031,0.074,0.000,117,2174,1241,-9.48,1.13,380.46,0,0,0,0,0,0,25.64,25.60,28.83
$IRIDIUM_FIX,4648.08,-12646.50,220912,080849
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.06
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,16.40
$XPDR_PINGS,0
$24V_AH,23.3,8.712
$10V_AH,10.2,7.811
$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,21.900,177.350,446.325,0.000,0.000,27.681,37.650,209.972,0.000,0.000,14.006,3559.125,16059.861,535.081,3069.902,376.322,0.000,1996.233,0.000,2766.925,0.000,0.536,0.000
$DEVICE_MAMPS,227.970,84.915,1206.405,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,947.541,1119.100,624.065,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297052
$DATA_FILE_SIZE,76751,1375
$CAP_FILE_SIZE,192658,0
$CFSIZE,260165632,253321216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.065, 93.5,1
$GPS,220912,215823,4701.535,-12656.279,39,1.8,39,18.6