version: 66.11
glider: 187
mission: 2
dive: 46
start: 9 22 112 22 5 55
data:
$ID,187
$MISSION,2
$DIVE,46
$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,-1587676.1
$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,35
$R_STBD_OVSHOOT,25
$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
$GPS1,220912,215823,4701.535,-12656.279,39,1.8,39,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-78.7
$GPS2,220912,220525,4701.535,-12656.266,14,1.9,14,18.6
$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,229.9,5507,-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,-71.05,0.000,2,0.000,0.000,114,2174,2958,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.48,-146.0,3.9,-7.2,12,122,11.38,2.22,-7.62,0.000,4,0.226,0.061,3035,756,3392,0,0,0,0,0,0,25.39,25.63,25.93
$GC,145,-0.48,-146.0,26.2,-38.7,20,152,0.00,2.25,0.00,0.000,6,0.000,0.047,3027,2178,3395,0,0,0,0,0,0,28.83,25.65,28.83
$GC,462,-0.48,-146.0,73.9,-13.6,81,469,0.00,2.20,0.00,0.000,4,0.000,0.050,3027,757,3399,0,0,0,0,0,0,28.83,25.85,28.83
$GC,552,-0.48,-146.0,86.5,-14.0,98,560,0.00,2.22,0.00,0.000,6,0.000,0.049,3017,2173,3400,0,0,0,0,0,0,28.83,25.89,28.83
$GC,872,-0.48,-146.0,125.4,-11.9,154,878,0.00,2.22,0.00,0.000,4,0.000,0.061,3006,3601,3400,0,0,0,0,0,0,28.83,25.98,28.83
$GC,905,-0.48,-146.0,129.1,-11.8,156,910,0.12,2.20,0.00,0.000,6,0.141,0.042,3039,2158,3399,0,0,0,0,0,0,25.93,26.02,28.83
$GC,1215,-0.48,-146.0,159.4,-9.3,176,1216,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2153,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1513,-0.48,-146.0,186.0,-8.6,196,1519,0.00,2.28,0.00,0.000,4,0.000,0.063,3032,3583,3399,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1545,-0.48,-146.0,188.5,-8.6,198,1549,0.00,2.15,0.00,0.000,6,0.000,0.044,3032,2166,3399,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1854,-0.48,-146.0,217.4,-9.4,218,1855,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2163,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2153,-0.48,-146.0,245.4,-9.6,238,2154,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2163,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2453,-0.48,-146.0,274.9,-9.7,258,2454,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2163,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2753,-0.48,-146.0,303.1,-9.1,278,2754,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2163,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3052,-0.48,-146.0,329.7,-8.5,298,3054,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2163,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3353,-0.48,-146.0,355.3,-8.6,318,3358,0.00,2.22,0.00,0.000,4,0.000,0.064,3021,3593,3395,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3390,-0.48,-146.0,357.8,-8.3,320,3397,0.00,2.15,0.00,0.000,6,0.000,0.046,3021,2169,3394,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3698,-0.48,-146.0,387.1,-9.4,341,3703,0.00,2.12,0.00,0.000,4,0.000,0.054,3021,778,3394,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3730,-0.48,-146.0,390.0,-9.3,343,3734,0.00,2.15,0.00,0.000,6,0.000,0.053,3012,2184,3394,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4052,-0.48,-146.0,421.1,-9.4,357,4058,0.00,2.17,0.00,0.000,4,0.000,0.065,3002,3582,3392,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4090,-0.48,-146.0,424.0,-9.5,358,4095,0.15,2.12,0.00,0.000,6,0.134,0.046,3045,2172,3392,0,0,0,0,0,0,26.25,26.34,28.83
$GC,4408,-0.48,-146.0,448.8,-7.5,369,4410,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2170,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4708,-0.48,-146.0,471.0,-7.4,379,4714,0.00,2.22,0.00,0.000,4,0.000,0.066,3037,3584,3391,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4738,-0.48,-146.0,473.3,-7.4,380,4744,0.00,2.15,0.00,0.000,6,0.000,0.047,3037,2167,3391,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5068,-0.48,-146.0,498.6,-7.6,391,5070,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2165,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5368,-0.48,-146.0,521.6,-7.8,401,5374,0.00,2.22,0.00,0.000,4,0.000,0.067,3026,3582,3390,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5398,-0.48,-146.0,524.1,-7.8,402,5404,0.00,2.15,0.00,0.000,6,0.000,0.047,3027,2172,3390,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5728,-0.48,-146.0,552.2,-8.6,413,5730,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2170,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6028,-0.48,-146.0,577.3,-8.2,423,6029,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2170,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6328,-0.48,-146.0,600.8,-7.5,433,6334,0.00,2.22,0.00,0.000,4,0.000,0.067,3017,3584,3387,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6366,-0.48,-146.0,603.1,-7.6,434,6370,0.00,2.15,0.00,0.000,6,0.000,0.048,3016,2166,3388,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6683,-0.48,-146.0,630.4,-8.6,445,6685,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2164,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6983,-0.48,-146.0,658.0,-9.4,455,6984,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2164,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7283,-0.48,-146.0,685.7,-9.0,465,7289,0.00,2.25,0.00,0.000,4,0.000,0.067,3007,3592,3385,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7347,-0.48,-146.0,691.4,-9.1,467,7352,0.12,2.15,0.00,0.000,6,0.138,0.048,3042,2174,3385,0,0,0,0,0,0,26.32,26.40,28.83
$GC,7670,-0.48,-146.0,714.4,-6.9,478,7676,0.00,2.20,0.00,0.000,4,0.000,0.068,3034,3578,3385,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7713,-0.48,-146.0,716.5,-6.9,479,7717,0.00,2.15,0.00,0.000,6,0.000,0.049,3034,2176,3385,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8030,-0.48,-146.0,740.0,-6.9,490,8031,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2174,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8331,-0.48,-146.0,760.6,-6.9,500,8336,0.00,2.20,0.00,0.000,4,0.000,0.069,3025,3581,3384,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8398,-0.48,-146.0,765.0,-7.1,502,8402,0.00,2.15,0.00,0.000,6,0.000,0.049,3024,2164,3384,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8716,-0.48,-146.0,788.7,-7.2,513,8717,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2162,3383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9016,-0.48,-146.0,809.5,-6.9,523,9021,0.00,2.22,0.00,0.000,4,0.000,0.069,3014,3583,3383,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9069,-0.48,-146.0,811.6,-6.9,524,9076,0.00,2.15,0.00,0.000,6,0.000,0.050,3014,2169,3382,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9375,-0.48,-146.0,835.9,-7.3,535,9376,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2169,3383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9675,-0.48,-146.0,857.9,-7.5,545,9681,0.00,2.25,0.00,0.000,4,0.000,0.069,3004,3584,3382,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9713,-0.48,-146.0,860.3,-7.6,546,9718,0.12,2.15,0.00,0.000,6,0.139,0.050,3040,2178,3382,0,0,0,0,0,0,26.32,26.41,28.83
$GC,10032,-0.48,-146.0,882.1,-6.5,557,10033,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2176,3382,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10332,-0.48,-146.0,901.7,-6.4,567,10337,0.00,2.20,0.00,0.000,4,0.000,0.070,3032,3578,3381,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10380,-0.48,-146.0,903.8,-6.6,568,10384,0.00,2.15,0.00,0.000,6,0.000,0.050,3031,2170,3381,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10687,-0.48,-146.0,925.8,-6.5,578,10692,0.00,2.20,0.00,0.000,4,0.000,0.070,3021,3577,3381,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10717,-0.48,-146.0,927.7,-6.3,579,10722,0.00,2.15,0.00,0.000,6,0.000,0.050,3022,2166,3380,0,0,0,0,0,0,28.83,26.41,28.83
$GC,11047,-0.48,-146.0,949.1,-6.3,590,11048,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2163,3380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11347,-0.48,-146.0,968.0,-6.3,600,11352,0.00,2.22,0.00,0.000,4,0.000,0.070,3012,3581,3380,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11420,-0.48,-146.0,971.8,-6.3,602,11424,0.00,2.15,0.00,0.000,6,0.000,0.050,3012,2169,3380,0,0,0,0,0,0,28.83,26.41,28.83
$STATE,11700,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11700,begin apogee
$GC,11707,-0.22,0.0,991.9,-6.7,612,11838,0.32,0.00,125.62,1.205,6,0.119,0.000,3122,2313,2794,0,0,0,0,0,0,26.32,28.83,23.64
$STATE,11841,end apogee,CONTROL_FINISHED_OK
$STATE,11841,begin climb
$GC,11844,0.48,146.0,994.5,0.0,616,11982,0.65,0.00,134.73,1.170,6,0.082,0.000,3343,2313,2198,0,0,0,0,0,0,24.57,28.83,23.34
$GC,12272,0.48,146.0,958.4,9.6,631,12278,0.00,2.33,0.00,0.000,4,0.000,0.070,3343,3708,2187,0,0,0,0,0,0,28.83,25.27,28.83
$GC,12315,0.48,146.0,955.3,9.8,632,12320,0.00,2.25,0.00,0.000,6,0.000,0.050,3353,2303,2186,0,0,0,0,0,0,28.83,25.37,28.83
$GC,12628,0.48,146.0,923.1,9.7,643,12633,0.00,2.30,0.00,0.000,4,0.000,0.070,3353,3706,2186,0,0,0,0,0,0,28.83,25.63,28.83
$GC,12658,0.48,146.0,919.8,9.9,644,12663,0.00,2.20,0.00,0.000,6,0.000,0.051,3364,2303,2184,0,0,0,0,0,0,28.83,25.67,28.83
$GC,12987,0.48,146.0,885.9,10.4,655,12993,0.00,2.28,0.00,0.000,4,0.000,0.069,3364,3702,2184,0,0,0,0,0,0,28.83,25.81,28.83
$GC,13018,0.48,146.0,882.5,10.6,656,13023,0.00,2.20,0.00,0.000,6,0.000,0.052,3374,2295,2183,0,0,0,0,0,0,28.83,25.85,28.83
$GC,13347,0.48,146.0,846.5,10.9,667,13353,0.00,2.28,0.00,0.000,4,0.000,0.070,3374,3701,2183,0,0,0,0,0,0,28.83,25.92,28.83
$GC,13378,0.48,146.0,842.8,11.1,668,13384,0.10,2.20,0.00,0.000,6,0.145,0.051,3353,2295,2183,0,0,0,0,0,0,25.85,25.96,28.83
$GC,13708,0.48,146.0,810.3,9.7,679,13713,0.00,2.25,0.00,0.000,4,0.000,0.070,3353,3699,2183,0,0,0,0,0,0,28.83,26.00,28.83
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$STATE,23096,end climb,SURFACE_DEPTH_REACHED
$STATE,23096,begin surface coast
$FINISH,0.7,1.012302
$STATE,23145,end surface coast,CONTROL_FINISHED_OK
$STATE,23145,begin surface
$SM_CCo,23224,0.00,0.000,0,0,1475,323.55
$SM_GC,1.88,8.35,0.20,0.00,0.030,0.074,0.000,114,2163,1475,-9.46,1.10,323.55,0,0,0,0,0,0,25.82,25.79,28.83
$IRIDIUM_FIX,4644.93,-12727.57,220912,151504
$TT8_MAMPS,0.027713,0.027713
$HUMID,43.30
$INTERNAL_PRESSURE,9.13782
$TCM_TEMP,19.70
$XPDR_PINGS,1
$24V_AH,23.3,8.843
$10V_AH,10.2,7.935
$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,22.000,190.450,405.550,0.000,0.000,28.630,40.731,221.698,0.250,0.000,15.158,3610.754,15997.794,547.702,3084.688,394.217,0.000,1994.420,0.000,2772.060,0.000,0.538,0.000
$DEVICE_MAMPS,226.440,84.150,1204.875,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,954.578,1127.257,649.488,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297096
$DATA_FILE_SIZE,80036,1384
$CAP_FILE_SIZE,195941,0
$CFSIZE,260165632,253231104
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.071, 79.8,1
$GPS,230912,043405,4700.693,-12659.799,28,1.7,28,18.6