version: 66.11
glider: 187
mission: 2
dive: 125
start: 10 8 112 23 32 14
data:
$ID,187
$MISSION,2
$DIVE,125
$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,-1587777.4
$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,37
$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
$GPS1,081012,232505,4715.396,-12628.960,27,1.2,27,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-78.4
$GPS2,081012,233142,4715.355,-12628.927,12,1.2,17,18.6
$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,210.9,48467,-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,-66.20,0.000,2,0.000,0.000,115,2169,2896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.48,-146.0,3.5,-5.3,11,117,11.25,2.22,-9.27,0.000,4,0.222,0.061,3034,761,3393,0,0,0,0,0,0,25.30,25.63,25.98
$GC,237,-0.48,-146.0,40.9,-13.4,38,244,0.00,2.25,0.00,0.000,6,0.000,0.050,3025,2178,3398,0,0,0,0,0,0,28.83,25.72,28.83
$GC,552,-0.48,-146.0,85.1,-11.6,99,559,0.00,2.22,0.00,0.000,4,0.000,0.062,3014,3589,3401,0,0,0,0,0,0,28.83,25.82,28.83
$GC,632,-0.48,-146.0,95.0,-12.1,114,639,0.00,2.17,0.00,0.000,6,0.000,0.043,3014,2162,3401,0,0,0,0,0,0,28.83,25.92,28.83
$GC,949,-0.48,-146.0,135.2,-12.4,160,950,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2160,3401,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1249,-0.48,-146.0,169.0,-10.3,180,1250,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2160,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1549,-0.48,-146.0,201.3,-11.2,200,1550,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2160,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1850,-0.48,-146.0,233.9,-10.7,215,1855,0.00,2.25,0.00,0.000,4,0.000,0.063,3004,3588,3400,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1911,-0.48,-146.0,240.4,-10.9,218,1916,0.12,2.15,0.00,0.000,6,0.142,0.044,3038,2173,3400,0,0,0,0,0,0,26.01,26.15,28.83
$GC,2225,-0.48,-146.0,267.0,-7.9,234,2226,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2170,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2524,-0.48,-146.0,292.2,-8.7,249,2530,0.00,2.20,0.00,0.000,4,0.000,0.063,3030,3582,3398,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2567,-0.48,-146.0,295.8,-9.0,251,2571,0.00,2.15,0.00,0.000,6,0.000,0.045,3030,2167,3398,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2879,-0.48,-146.0,325.9,-9.6,267,2880,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2164,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3180,-0.48,-146.0,354.4,-9.7,282,3185,0.00,2.22,0.00,0.000,4,0.000,0.064,3019,3586,3397,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3219,-0.48,-146.0,358.5,-9.9,284,3225,0.00,2.15,0.00,0.000,6,0.000,0.046,3020,2175,3397,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3539,-0.48,-146.0,391.0,-10.1,300,3540,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2173,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3849,-0.48,-146.0,423.1,-10.5,312,3853,0.00,2.25,0.00,0.000,4,0.000,0.066,3009,3591,3396,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3894,-0.48,-146.0,426.7,-10.7,313,3899,0.12,2.15,0.00,0.000,6,0.138,0.047,3045,2173,3395,0,0,0,0,0,0,26.12,26.25,28.83
$GC,4207,-0.48,-146.0,455.8,-8.4,324,4208,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2171,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4508,-0.48,-146.0,478.8,-7.4,334,4514,0.00,2.20,0.00,0.000,4,0.000,0.067,3036,3582,3394,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4560,-0.48,-146.0,481.0,-7.4,335,4567,0.00,2.15,0.00,0.000,6,0.000,0.047,3036,2165,3393,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4868,-0.48,-146.0,505.9,-7.5,346,4873,0.00,2.22,0.00,0.000,4,0.000,0.067,3026,3590,3393,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4927,-0.48,-146.0,510.7,-7.7,348,4931,0.00,2.17,0.00,0.000,6,0.000,0.047,3026,2169,3393,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5259,-0.48,-146.0,539.4,-8.7,359,5265,0.00,2.25,0.00,0.000,4,0.000,0.067,3016,3593,3392,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5289,-0.48,-146.0,542.0,-8.7,360,5295,0.00,2.17,0.00,0.000,6,0.000,0.048,3016,2167,3392,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5620,-0.48,-146.0,571.3,-8.8,371,5621,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2165,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5919,-0.48,-146.0,596.3,-8.0,381,5925,0.00,2.25,0.00,0.000,4,0.000,0.067,3006,3591,3391,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5967,-0.48,-146.0,598.9,-8.1,382,5972,0.12,2.15,0.00,0.000,6,0.137,0.048,3042,2176,3391,0,0,0,0,0,0,26.15,26.27,28.83
$GC,6275,-0.48,-146.0,621.5,-7.1,392,6281,0.00,2.25,0.00,0.000,4,0.000,0.067,3033,3595,3390,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6318,-0.48,-146.0,623.8,-7.2,393,6322,0.00,2.15,0.00,0.000,6,0.000,0.047,3033,2174,3390,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6630,-0.48,-146.0,650.1,-8.2,404,6631,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2173,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6931,-0.48,-146.0,674.1,-7.9,414,6936,0.00,2.22,0.00,0.000,4,0.000,0.067,3023,3588,3389,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6978,-0.48,-146.0,676.6,-8.0,415,6982,0.00,2.15,0.00,0.000,6,0.000,0.048,3023,2174,3389,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7285,-0.48,-146.0,704.3,-8.5,425,7291,0.00,2.25,0.00,0.000,4,0.000,0.068,3013,3595,3388,0,0,0,0,0,0,28.83,26.18,28.83
$GC,7318,-0.48,-146.0,707.0,-8.7,426,7322,0.00,2.15,0.00,0.000,6,0.000,0.047,3013,2174,3388,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7640,-0.48,-146.0,737.5,-9.7,437,7646,0.00,2.22,0.00,0.000,4,0.000,0.067,3002,3584,3388,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7671,-0.48,-146.0,740.6,-9.8,438,7677,0.10,2.12,0.00,0.000,6,0.109,0.049,3040,2180,3388,0,0,0,0,0,0,26.13,26.27,28.83
$GC,8001,-0.48,-146.0,767.6,-7.9,449,8006,0.00,2.22,0.00,0.000,4,0.000,0.069,3032,3583,3387,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8031,-0.48,-146.0,770.3,-8.2,450,8037,0.00,2.17,0.00,0.000,6,0.000,0.049,3032,2164,3387,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8360,-0.48,-146.0,796.4,-7.6,461,8366,0.00,2.25,0.00,0.000,4,0.000,0.068,3022,3583,3387,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8451,-0.48,-146.0,803.4,-7.7,464,8456,0.00,2.17,0.00,0.000,6,0.000,0.049,3022,2162,3387,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8781,-0.48,-146.0,826.3,-6.6,475,8786,0.00,2.25,0.00,0.000,4,0.000,0.068,3012,3591,3386,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8813,-0.48,-146.0,828.4,-6.6,476,8817,0.00,2.15,0.00,0.000,6,0.000,0.049,3012,2173,3386,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9136,-0.48,-146.0,851.5,-7.3,487,9141,0.00,2.22,0.00,0.000,4,0.000,0.069,3002,3587,3386,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9178,-0.48,-146.0,853.9,-7.5,488,9183,0.15,2.15,0.00,0.000,6,0.127,0.049,3046,2174,3385,0,0,0,0,0,0,26.13,26.27,28.83
$GC,9492,-0.48,-146.0,874.9,-6.6,499,9498,0.00,2.25,0.00,0.000,4,0.000,0.070,3037,3588,3386,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9530,-0.48,-146.0,877.2,-6.9,500,9534,0.00,2.17,0.00,0.000,6,0.000,0.050,3037,2169,3385,0,0,0,0,0,0,28.83,26.26,28.83
$GC,9847,-0.48,-146.0,903.1,-8.1,511,9848,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2167,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10147,-0.48,-146.0,926.5,-7.6,521,10152,0.00,2.22,0.00,0.000,4,0.000,0.069,3028,3578,3385,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10225,-0.48,-146.0,931.1,-7.6,523,10229,0.00,2.15,0.00,0.000,6,0.000,0.050,3027,2168,3385,0,0,0,0,0,0,28.83,26.26,28.83
$GC,10532,-0.48,-146.0,953.8,-6.7,533,10538,0.00,2.22,0.00,0.000,4,0.000,0.070,3017,3578,3384,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10581,-0.48,-146.0,955.8,-6.6,534,10585,0.00,2.15,0.00,0.000,6,0.000,0.050,3017,2169,3384,0,0,0,0,0,0,28.83,26.26,28.83
$GC,10887,-0.48,-146.0,976.6,-6.2,544,10892,0.00,2.22,0.00,0.000,4,0.000,0.070,3007,3583,3384,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10917,-0.48,-146.0,978.7,-6.3,545,10923,0.08,2.17,0.00,0.000,6,0.109,0.050,3037,2165,3384,0,0,0,0,0,0,26.13,26.25,28.83
$STATE,11154,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11154,begin apogee
$GC,11161,-0.22,0.0,990.3,-4.8,553,11293,0.22,0.00,125.40,1.198,6,0.116,0.000,3118,2307,2794,0,0,0,0,0,0,26.15,28.83,23.73
$STATE,11296,end apogee,CONTROL_FINISHED_OK
$STATE,11296,begin climb
$GC,11299,0.48,146.0,992.2,0.0,557,11436,0.68,0.00,132.90,1.167,6,0.080,0.000,3347,2307,2198,0,0,0,0,0,0,24.58,28.83,23.22
$GC,11727,0.48,146.0,952.1,10.5,572,11732,0.00,2.33,0.00,0.000,4,0.000,0.070,3347,3705,2187,0,0,0,0,0,0,28.83,25.11,28.83
$GC,11750,0.48,146.0,952.1,10.5,572,11757,0.00,2.25,0.00,0.000,6,0.000,0.050,3357,2307,2187,0,0,0,0,0,0,28.83,25.19,28.83
$GC,12057,0.48,146.0,916.6,10.3,583,12058,0.00,0.00,0.00,0.000,6,0.000,0.000,3358,2302,2186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12357,0.48,146.0,887.3,9.5,593,12363,0.00,2.25,0.00,0.000,4,0.000,0.070,3357,3697,2185,0,0,0,0,0,0,28.83,25.67,28.83
$GC,12395,0.48,146.0,884.2,9.8,594,12399,0.00,2.20,0.00,0.000,6,0.000,0.052,3368,2301,2184,0,0,0,0,0,0,28.83,25.73,28.83
$GC,12712,0.48,146.0,851.3,10.0,605,12717,0.00,2.25,0.00,0.000,4,0.000,0.070,3368,3695,2184,0,0,0,0,0,0,28.83,25.79,28.83
$GC,12742,0.48,146.0,847.9,10.4,606,12747,0.00,2.20,0.00,0.000,6,0.000,0.052,3378,2298,2183,0,0,0,0,0,0,28.83,25.86,28.83
$GC,13072,0.48,146.0,811.2,11.1,617,13073,0.00,0.00,0.00,0.000,6,0.000,0.000,3379,2294,2183,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,22697,end climb,SURFACE_DEPTH_REACHED
$STATE,22699,begin surface coast
$FINISH,0.9,1.023802
$STATE,22747,end surface coast,CONTROL_FINISHED_OK
$STATE,22747,begin surface
$SM_CCo,22827,0.00,0.000,0,0,1417,337.78
$SM_GC,1.65,8.43,0.20,0.00,0.031,0.072,0.000,111,2158,1417,-9.47,0.79,337.78,0,0,0,0,0,0,25.94,25.89,28.83
$IRIDIUM_FIX,4700.70,-12619.83,081012,161619
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.81
$INTERNAL_PRESSURE,9.11829
$TCM_TEMP,15.70
$XPDR_PINGS,1
$24V_AH,23.2,18.521
$10V_AH,10.2,15.704
$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,21.875,190.725,417.125,0.000,0.000,26.204,40.080,196.388,0.250,0.000,19.672,3338.637,16066.907,521.117,2920.359,367.246,0.000,1930.868,0.000,2615.474,0.000,0.536,0.000
$DEVICE_MAMPS,221.850,84.150,1197.990,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,872.556,729.332,512.743,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296912
$DATA_FILE_SIZE,70249,1267
$CAP_FILE_SIZE,188966,0
$CFSIZE,260165632,247500800
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.082, 29.6,1
$GPS,091012,055359,4714.002,-12632.156,40,1.5,40,18.6