version: 66.11
glider: 187
mission: 2
dive: 126
start: 10 9 112 6 0 45
data:
$ID,187
$MISSION,2
$DIVE,126
$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,-1587778.6
$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,39
$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
$GPS1,091012,055359,4714.002,-12632.156,40,1.5,40,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-78.8
$GPS2,091012,060013,4714.034,-12632.181,14,1.5,14,18.6
$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,206.2,43705,-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,-146.0,0.0,0.0,0,81,0.00,0.00,-61.97,0.000,2,0.000,0.000,110,2157,2863,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.48,-146.0,3.6,-5.9,10,114,11.25,2.35,-9.95,0.000,4,0.222,0.073,3023,3587,3394,0,0,0,0,0,0,25.35,25.65,26.03
$GC,241,-0.48,-146.0,44.9,-17.2,38,248,0.00,2.22,0.00,0.000,6,0.000,0.044,3023,2169,3397,0,0,0,0,0,0,28.83,25.83,28.83
$GC,554,-0.48,-146.0,87.3,-11.8,99,561,0.00,2.15,0.00,0.000,4,0.000,0.050,3023,760,3400,0,0,0,0,0,0,28.83,25.89,28.83
$GC,624,-0.48,-146.0,95.2,-11.2,112,631,0.00,2.22,0.00,0.000,6,0.000,0.050,3013,2179,3400,0,0,0,0,0,0,28.83,25.91,28.83
$GC,941,-0.48,-146.0,133.6,-12.8,160,947,0.00,2.20,0.00,0.000,4,0.000,0.061,3003,3586,3400,0,0,0,0,0,0,28.83,25.96,28.83
$GC,995,-0.48,-146.0,139.5,-12.8,163,1002,0.12,2.15,0.00,0.000,6,0.141,0.042,3037,2164,3401,0,0,0,0,0,0,25.90,26.03,28.83
$GC,1304,-0.48,-146.0,172.0,-10.0,184,1309,0.00,2.22,0.00,0.000,4,0.000,0.062,3029,3583,3401,0,0,0,0,0,0,28.83,26.02,28.83
$GC,1335,-0.48,-146.0,175.0,-9.8,186,1339,0.00,2.12,0.00,0.000,6,0.000,0.043,3029,2177,3400,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1648,-0.48,-146.0,202.3,-8.4,206,1653,0.00,2.12,0.00,0.000,4,0.000,0.050,3029,770,3400,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1680,-0.48,-146.0,203.9,-8.3,207,1686,0.00,2.17,0.00,0.000,6,0.000,0.050,3020,2178,3400,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1987,-0.48,-146.0,236.0,-10.7,223,1988,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2178,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2288,-0.48,-146.0,267.1,-10.1,238,2289,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2178,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2587,-0.48,-146.0,296.5,-9.7,253,2593,0.00,2.20,0.00,0.000,4,0.000,0.063,3010,3587,3399,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2635,-0.48,-146.0,300.7,-10.1,255,2640,0.12,2.15,0.00,0.000,6,0.136,0.044,3045,2165,3398,0,0,0,0,0,0,26.09,26.21,28.83
$GC,2943,-0.48,-146.0,326.4,-7.8,270,2948,0.00,2.20,0.00,0.000,4,0.000,0.063,3037,3580,3398,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2982,-0.48,-146.0,329.7,-8.0,272,2987,0.00,2.15,0.00,0.000,6,0.000,0.045,3037,2166,3398,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3302,-0.48,-146.0,357.4,-8.4,288,3308,0.00,2.25,0.00,0.000,4,0.000,0.065,3026,3603,3397,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3344,-0.48,-146.0,361.1,-8.7,290,3349,0.00,2.15,0.00,0.000,6,0.000,0.046,3027,2174,3397,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3663,-0.48,-146.0,389.6,-8.9,306,3664,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2171,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3963,-0.48,-146.0,418.7,-10.2,318,3969,0.00,2.20,0.00,0.000,4,0.000,0.065,3017,3580,3395,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3992,-0.48,-146.0,421.9,-10.4,319,3998,0.00,2.15,0.00,0.000,6,0.000,0.047,3016,2169,3395,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4323,-0.48,-146.0,459.1,-11.2,330,4324,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2166,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4622,-0.48,-146.0,490.7,-10.2,340,4628,0.00,2.22,0.00,0.000,4,0.000,0.066,3006,3586,3394,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4652,-0.48,-146.0,493.7,-10.3,341,4659,0.12,2.15,0.00,0.000,6,0.136,0.047,3042,2173,3394,0,0,0,0,0,0,26.15,26.27,28.83
$GC,4982,-0.48,-146.0,519.2,-7.4,352,4983,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2170,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5283,-0.48,-146.0,540.2,-6.8,362,5289,0.00,2.20,0.00,0.000,4,0.000,0.067,3034,3577,3392,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5321,-0.48,-146.0,542.2,-6.8,363,5325,0.00,2.12,0.00,0.000,6,0.000,0.048,3033,2176,3392,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5638,-0.48,-146.0,565.3,-7.0,374,5639,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2174,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5938,-0.48,-146.0,586.1,-6.9,384,5943,0.00,2.20,0.00,0.000,4,0.000,0.067,3023,3584,3391,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5976,-0.48,-146.0,588.0,-6.8,385,5980,0.00,2.15,0.00,0.000,6,0.000,0.048,3023,2167,3391,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6293,-0.48,-146.0,612.3,-7.4,396,6298,0.00,2.25,0.00,0.000,4,0.000,0.067,3013,3592,3390,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6316,-0.48,-146.0,612.3,-7.4,396,6323,0.00,2.15,0.00,0.000,6,0.000,0.048,3013,2174,3391,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6623,-0.48,-146.0,638.4,-7.8,407,6624,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2173,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6923,-0.48,-146.0,660.9,-7.4,417,6924,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2173,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7223,-0.48,-146.0,684.0,-7.8,427,7229,0.00,2.20,0.00,0.000,4,0.000,0.068,3003,3576,3389,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7283,-0.48,-146.0,689.1,-8.0,429,7289,0.12,2.15,0.00,0.000,6,0.139,0.049,3039,2165,3388,0,0,0,0,0,0,26.15,26.28,28.83
$GC,7613,-0.48,-146.0,711.3,-6.9,440,7619,0.00,2.22,0.00,0.000,4,0.000,0.068,3030,3584,3388,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7674,-0.48,-146.0,715.9,-7.2,442,7679,0.00,2.12,0.00,0.000,6,0.000,0.049,3030,2181,3387,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8003,-0.48,-146.0,741.9,-8.1,453,8008,0.00,2.22,0.00,0.000,4,0.000,0.068,3020,3588,3387,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8033,-0.48,-146.0,744.5,-8.1,454,8039,0.00,2.17,0.00,0.000,6,0.000,0.049,3020,2165,3388,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8363,-0.48,-146.0,773.5,-8.8,465,8364,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2163,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8663,-0.48,-146.0,799.0,-8.3,475,8668,0.00,2.25,0.00,0.000,4,0.000,0.069,3010,3586,3386,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8727,-0.48,-146.0,804.0,-8.3,477,8734,0.12,2.15,0.00,0.000,6,0.133,0.050,3046,2171,3386,0,0,0,0,0,0,26.16,26.27,28.83
$GC,9053,-0.48,-146.0,824.1,-5.8,488,9057,0.00,2.25,0.00,0.000,4,0.000,0.069,3037,3581,3386,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9078,-0.48,-146.0,824.1,-5.8,488,9085,0.00,2.15,0.00,0.000,6,0.000,0.050,3037,2169,3386,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9386,-0.48,-146.0,844.4,-6.2,499,9389,0.00,2.25,0.00,0.000,4,0.000,0.070,3028,3585,3386,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9418,-0.48,-146.0,846.6,-6.2,500,9423,0.00,2.15,0.00,0.000,6,0.000,0.050,3027,2171,3386,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9747,-0.48,-146.0,870.3,-7.5,511,9753,0.00,2.25,0.00,0.000,4,0.000,0.069,3017,3590,3385,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9795,-0.48,-146.0,872.7,-7.5,512,9799,0.00,2.17,0.00,0.000,6,0.000,0.050,3017,2166,3385,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10104,-0.48,-146.0,900.7,-8.8,522,10107,0.00,2.25,0.00,0.000,4,0.000,0.069,3007,3583,3385,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10149,-0.48,-146.0,903.8,-8.9,523,10153,0.12,2.15,0.00,0.000,6,0.134,0.050,3043,2174,3384,0,0,0,0,0,0,26.14,26.26,28.83
$GC,10462,-0.48,-146.0,928.5,-7.4,534,10467,0.00,2.22,0.00,0.000,4,0.000,0.069,3035,3584,3384,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10505,-0.48,-146.0,930.8,-7.4,535,10509,0.00,2.15,0.00,0.000,6,0.000,0.050,3035,2175,3384,0,0,0,0,0,0,28.83,26.26,28.83
$GC,10817,-0.48,-146.0,955.5,-7.3,546,10823,0.00,2.22,0.00,0.000,4,0.000,0.070,3025,3583,3384,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10855,-0.48,-146.0,958.0,-7.4,547,10859,0.00,2.15,0.00,0.000,6,0.000,0.050,3025,2175,3383,0,0,0,0,0,0,28.83,26.25,28.83
$GC,11172,-0.48,-146.0,982.6,-7.4,558,11176,0.00,2.25,0.00,0.000,4,0.000,0.070,3015,3581,3383,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11212,-0.48,-146.0,985.0,-7.3,559,11216,0.00,2.15,0.00,0.000,6,0.000,0.050,3015,2173,3383,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,11292,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11292,begin apogee
$GC,11299,-0.22,0.0,992.0,-7.7,562,11431,0.30,0.00,125.47,1.203,6,0.116,0.000,3117,2302,2794,0,0,0,0,0,0,26.09,28.83,23.72
$STATE,11434,end apogee,CONTROL_FINISHED_OK
$STATE,11434,begin climb
$GC,11437,0.48,146.0,996.1,0.0,566,11574,0.68,0.00,133.98,1.169,6,0.082,0.000,3346,2302,2198,0,0,0,0,0,0,24.58,28.83,23.21
$GC,11865,0.48,146.0,962.0,9.4,581,11870,0.00,2.30,0.00,0.000,4,0.000,0.069,3346,3694,2187,0,0,0,0,0,0,28.83,25.11,28.83
$GC,11912,0.48,146.0,959.0,9.6,582,11917,0.00,2.22,0.00,0.000,6,0.000,0.051,3356,2309,2186,0,0,0,0,0,0,28.83,25.22,28.83
$GC,12219,0.48,146.0,925.6,10.1,592,12221,0.00,0.00,0.00,0.000,6,0.000,0.000,3356,2303,2185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12520,0.48,146.0,895.2,10.2,602,12526,0.00,2.25,0.00,0.000,4,0.000,0.070,3356,3697,2184,0,0,0,0,0,0,28.83,25.67,28.83
$GC,12579,0.48,146.0,888.3,10.8,604,12585,0.00,2.22,0.00,0.000,6,0.000,0.052,3366,2290,2183,0,0,0,0,0,0,28.83,25.75,28.83
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$STATE,22993,end climb,SURFACE_DEPTH_REACHED
$STATE,22994,begin surface coast
$FINISH,0.9,1.010379
$STATE,23037,end surface coast,CONTROL_FINISHED_OK
$STATE,23037,begin surface
$SM_CCo,23117,0.00,0.000,0,0,1324,360.59
$SM_GC,1.79,8.50,0.15,0.00,0.032,0.083,0.000,123,2172,1324,-9.46,1.36,360.59,0,0,0,0,0,0,25.67,25.64,28.83
$IRIDIUM_FIX,4700.70,-12626.82,081012,232301
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.26
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,16.00
$XPDR_PINGS,0
$24V_AH,23.2,18.653
$10V_AH,10.2,15.819
$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,22.050,199.150,435.475,0.000,0.000,27.613,39.182,175.262,0.000,0.000,15.711,3426.163,16179.576,566.994,2920.241,390.565,0.000,1987.488,0.000,2645.006,0.000,0.536,0.000
$DEVICE_MAMPS,221.850,88.740,1202.580,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,895.064,755.098,540.015,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296972
$DATA_FILE_SIZE,73455,1301
$CAP_FILE_SIZE,192805,0
$CFSIZE,260165632,247410688
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.044, 65.0,1
$GPS,091012,122706,4711.911,-12635.059,26,1.9,26,18.6