version: 66.11
glider: 187
mission: 2
dive: 104
start: 10 3 112 7 6 56
data:
$ID,187
$MISSION,2
$DIVE,104
$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,-1587748.6
$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,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
$GPS1,031012,065929,4741.179,-12523.585,42,1.2,42,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-76.2
$GPS2,031012,070625,4741.183,-12523.626,16,1.3,16,18.7
$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,237.8,143647,-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,17,-0.48,-146.0,0.0,0.0,0,80,0.00,0.00,-60.65,0.000,2,0.000,0.000,112,2171,2875,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.48,-146.0,3.4,-4.8,10,112,11.30,2.35,-10.35,0.000,4,0.223,0.076,3026,3583,3392,0,0,0,0,0,0,25.32,25.59,25.96
$GC,226,-0.48,-146.0,36.5,-14.6,35,233,0.00,2.17,0.00,0.000,6,0.000,0.044,3026,2176,3396,0,0,0,0,0,0,28.83,25.74,28.83
$GC,549,-0.48,-146.0,83.5,-12.4,96,557,0.00,2.20,0.00,0.000,4,0.000,0.050,3026,774,3398,0,0,0,0,0,0,28.83,25.86,28.83
$GC,606,-0.48,-146.0,90.1,-10.5,106,612,0.00,2.17,0.00,0.000,6,0.000,0.050,3017,2183,3399,0,0,0,0,0,0,28.83,25.88,28.83
$GC,928,-0.48,-146.0,121.5,-9.9,165,933,0.00,2.17,0.00,0.000,4,0.000,0.062,3006,3579,3399,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1005,-0.48,-146.0,129.6,-10.9,170,1010,0.12,2.17,0.00,0.000,6,0.139,0.043,3041,2165,3399,0,0,0,0,0,0,25.90,26.02,28.83
$GC,1316,-0.48,-146.0,159.9,-10.0,190,1317,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2160,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1612,-0.48,-146.0,188.0,-8.7,210,1614,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2160,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1922,-0.48,-146.0,214.6,-8.5,228,1928,0.00,2.25,0.00,0.000,4,0.000,0.063,3032,3587,3398,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1950,-0.48,-146.0,216.3,-8.6,229,1954,0.00,2.15,0.00,0.000,6,0.000,0.044,3032,2165,3398,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2257,-0.48,-146.0,245.6,-9.7,244,2263,0.00,2.25,0.00,0.000,4,0.000,0.063,3022,3588,3398,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2278,-0.48,-146.0,247.5,-9.6,245,2283,0.00,2.12,0.00,0.000,6,0.000,0.044,3022,2170,3398,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2598,-0.48,-146.0,281.3,-10.8,261,2599,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2167,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2899,-0.48,-146.0,313.9,-10.8,276,2904,0.00,2.22,0.00,0.000,4,0.000,0.064,3011,3588,3397,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2931,-0.48,-146.0,316.1,-10.8,277,2937,0.00,2.15,0.00,0.000,6,0.000,0.044,3011,2166,3397,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3239,-0.48,-146.0,351.9,-11.1,293,3245,0.00,2.10,0.00,0.000,4,0.000,0.051,3011,782,3397,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3266,-0.48,-146.0,354.2,-11.2,294,3270,0.15,2.15,0.00,0.000,6,0.138,0.053,3046,2178,3397,0,0,0,0,0,0,26.11,26.21,28.83
$GC,3573,-0.48,-146.0,379.7,-7.4,309,3579,0.00,2.22,0.00,0.000,4,0.000,0.065,3037,3595,3396,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3666,-0.48,-146.0,385.9,-7.8,313,3673,0.00,2.17,0.00,0.000,6,0.000,0.043,3037,2165,3396,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3983,-0.48,-146.0,412.1,-8.0,327,3984,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2163,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4283,-0.48,-146.0,435.9,-8.1,337,4289,0.00,2.25,0.00,0.000,4,0.000,0.065,3027,3585,3395,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4313,-0.48,-146.0,438.5,-8.2,338,4319,0.00,2.15,0.00,0.000,6,0.000,0.045,3027,2169,3395,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4643,-0.48,-146.0,468.6,-8.9,349,4649,0.00,2.22,0.00,0.000,4,0.000,0.065,3016,3587,3395,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4691,-0.48,-146.0,471.5,-9.0,350,4695,0.00,2.15,0.00,0.000,6,0.000,0.045,3016,2169,3395,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4998,-0.48,-146.0,501.4,-9.4,360,4999,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2166,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5298,-0.48,-146.0,528.6,-9.0,370,5299,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2166,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5598,-0.48,-146.0,556.6,-9.6,380,5603,0.00,2.28,0.00,0.000,4,0.000,0.066,3007,3595,3394,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5666,-0.48,-146.0,562.6,-9.8,382,5671,0.12,2.17,0.00,0.000,6,0.139,0.044,3041,2171,3393,0,0,0,0,0,0,26.17,26.31,28.83
$GC,5984,-0.48,-146.0,587.9,-7.5,393,5989,0.00,2.22,0.00,0.000,4,0.000,0.066,3033,3581,3393,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6058,-0.48,-146.0,592.6,-7.6,395,6064,0.00,2.12,0.00,0.000,6,0.000,0.046,3033,2175,3393,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6374,-0.48,-146.0,617.8,-7.3,406,6375,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2174,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6674,-0.48,-146.0,639.0,-7.4,416,6679,0.00,2.22,0.00,0.000,4,0.000,0.067,3023,3583,3391,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6704,-0.48,-146.0,641.4,-7.6,417,6710,0.00,2.15,0.00,0.000,6,0.000,0.047,3023,2172,3392,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7034,-0.48,-146.0,670.3,-9.0,428,7039,0.00,2.22,0.00,0.000,4,0.000,0.067,3013,3588,3391,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7077,-0.48,-146.0,673.1,-9.2,429,7081,0.00,2.15,0.00,0.000,6,0.000,0.047,3013,2170,3391,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7389,-0.48,-146.0,703.9,-9.3,440,7390,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2167,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7689,-0.48,-146.0,730.7,-8.8,450,7695,0.00,2.22,0.00,0.000,4,0.000,0.067,3002,3581,3390,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7758,-0.48,-146.0,736.0,-8.8,452,7765,0.12,2.12,0.00,0.000,6,0.142,0.047,3038,2173,3391,0,0,0,0,0,0,26.17,26.32,28.83
$GC,8079,-0.48,-146.0,759.9,-7.0,463,8085,0.00,2.22,0.00,0.000,4,0.000,0.068,3029,3583,3390,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8112,-0.48,-146.0,762.1,-7.0,464,8117,0.00,2.15,0.00,0.000,6,0.000,0.047,3029,2168,3390,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8435,-0.48,-146.0,786.9,-7.6,475,8436,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2165,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8735,-0.48,-146.0,810.1,-7.8,485,8740,0.00,2.22,0.00,0.000,4,0.000,0.068,3020,3581,3389,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8833,-0.48,-146.0,817.8,-8.3,488,8837,0.00,2.15,0.00,0.000,6,0.000,0.048,3019,2166,3389,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9150,-0.48,-146.0,844.1,-7.9,499,9155,0.00,2.25,0.00,0.000,4,0.000,0.068,3009,3584,3388,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9210,-0.48,-146.0,849.1,-8.1,501,9216,0.08,2.15,0.00,0.000,6,0.118,0.048,3038,2176,3388,0,0,0,0,0,0,26.17,26.31,28.83
$GC,9540,-0.48,-146.0,870.8,-6.6,512,9545,0.00,2.22,0.00,0.000,4,0.000,0.068,3029,3585,3388,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9578,-0.48,-146.0,872.8,-6.8,513,9582,0.00,2.15,0.00,0.000,6,0.000,0.048,3029,2171,3388,0,0,0,0,0,0,28.83,26.30,28.83
$GC,9895,-0.48,-146.0,895.5,-6.8,524,9901,0.00,2.22,0.00,0.000,4,0.000,0.069,3020,3581,3388,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9938,-0.48,-146.0,897.6,-6.8,525,9942,0.00,2.15,0.00,0.000,6,0.000,0.048,3020,2164,3388,0,0,0,0,0,0,28.83,26.30,28.83
$GC,10250,-0.48,-146.0,920.3,-6.8,536,10256,0.00,2.28,0.00,0.000,4,0.000,0.069,3010,3592,3387,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10294,-0.48,-146.0,922.6,-6.9,537,10299,0.12,2.15,0.00,0.000,6,0.134,0.049,3045,2175,3387,0,0,0,0,0,0,26.18,26.30,28.83
$GC,10607,-0.48,-146.0,941.0,-5.5,548,10613,0.00,2.22,0.00,0.000,4,0.000,0.069,3038,3584,3387,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10660,-0.48,-146.0,942.8,-5.7,549,10667,0.00,2.15,0.00,0.000,6,0.000,0.049,3037,2168,3387,0,0,0,0,0,0,28.83,26.30,28.83
$GC,10967,-0.48,-146.0,964.1,-6.5,560,10968,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2168,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11267,-0.48,-146.0,983.7,-6.6,570,11273,0.00,2.22,0.00,0.000,4,0.000,0.069,3028,3578,3387,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11320,-0.48,-146.0,985.5,-6.5,571,11327,0.00,2.15,0.00,0.000,6,0.000,0.049,3028,2165,3386,0,0,0,0,0,0,28.83,26.30,28.83
$STATE,11354,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11355,begin apogee
$GC,11361,-0.22,0.0,990.1,-7.1,573,11493,0.28,0.00,126.22,1.196,6,0.115,0.000,3122,2309,2793,0,0,0,0,0,0,26.15,28.83,23.72
$STATE,11496,end apogee,CONTROL_FINISHED_OK
$STATE,11496,begin climb
$GC,11499,0.48,146.0,993.5,0.0,577,11642,0.65,2.45,132.85,1.164,4,0.083,0.068,3343,3702,2196,0,0,0,0,0,0,24.58,24.01,23.31
$GC,11658,0.48,153.1,984.4,7.1,583,11671,0.00,2.33,7.65,0.921,6,0.000,0.049,3353,2310,2168,0,0,0,0,0,0,28.83,24.32,23.54
$GC,11985,0.48,153.1,951.0,10.0,594,11986,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,2309,2161,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12285,0.48,153.1,920.8,10.0,604,12286,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,2309,2160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12585,0.48,153.1,890.5,10.1,614,12590,0.00,2.30,0.00,0.000,4,0.000,0.069,3354,3709,2159,0,0,0,0,0,0,28.83,25.70,28.83
$GC,12638,0.48,153.1,887.1,10.4,615,12645,0.00,2.22,0.00,0.000,6,0.000,0.049,3364,2292,2159,0,0,0,0,0,0,28.83,25.77,28.83
$GC,12945,0.48,153.1,851.2,10.8,626,12946,0.00,0.00,0.00,0.000,6,0.000,0.000,3364,2287,2158,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,22672,end climb,SURFACE_DEPTH_REACHED
$STATE,22673,begin surface coast
$FINISH,1.0,1.010282
$STATE,22747,end surface coast,CONTROL_FINISHED_OK
$STATE,22747,begin surface
$SM_CCo,22826,0.00,0.000,0,0,1118,410.88
$SM_GC,1.75,8.50,0.22,0.00,0.031,0.067,0.000,121,2159,1118,-9.46,0.90,410.88,0,0,0,0,0,0,25.53,25.48,28.83
$IRIDIUM_FIX,4726.11,-12527.05,031012,000022
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.63
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,19.50
$XPDR_PINGS,0
$24V_AH,23.3,15.624
$10V_AH,10.2,13.300
$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,21.975,185.950,471.750,0.000,0.000,25.023,38.549,218.919,0.000,0.000,17.688,3434.039,15846.735,553.651,3015.752,381.237,0.000,2006.752,0.000,2706.802,0.000,0.535,0.000
$DEVICE_MAMPS,222.615,83.385,1196.460,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,901.317,774.757,567.770,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297028
$DATA_FILE_SIZE,73442,1310
$CAP_FILE_SIZE,191814,0
$CFSIZE,260165632,249323520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.077,105.1,1
$GPS,031012,132905,4740.234,-12526.939,65,0.9,65,18.7