version: 66.11
glider: 187
mission: 2
dive: 128
start: 10 9 112 19 3 21
data:
$ID,187
$MISSION,2
$DIVE,128
$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,-1587781.1
$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,36
$R_STBD_OVSHOOT,26
$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
$GPS1,091012,185635,4710.682,-12638.276,37,0.8,37,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-78.4
$GPS2,091012,190249,4710.697,-12638.282,16,0.8,16,18.6
$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,216.3,33836,-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,-146.0,0.0,0.0,0,73,0.00,0.00,-54.78,0.000,2,0.000,0.000,113,2176,2755,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.48,-146.0,3.0,-3.6,9,105,11.15,0.00,-13.02,0.000,6,0.219,0.000,3031,2175,3391,0,0,0,0,0,0,25.37,28.83,26.03
$GC,416,-0.48,-146.0,70.7,-12.8,73,423,0.00,2.15,0.00,0.000,4,0.000,0.050,3032,767,3397,0,0,0,0,0,0,28.83,25.84,28.83
$GC,462,-0.48,-146.0,76.8,-12.9,81,468,0.00,2.17,0.00,0.000,6,0.000,0.050,3024,2181,3398,0,0,0,0,0,0,28.83,25.86,28.83
$GC,772,-0.48,-146.0,118.9,-13.1,142,779,0.00,2.17,0.00,0.000,4,0.000,0.049,3024,756,3399,0,0,0,0,0,0,28.83,25.96,28.83
$GC,794,-0.48,-146.0,121.7,-13.7,145,798,0.00,2.17,0.00,0.000,6,0.000,0.049,3014,2177,3399,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1103,-0.48,-146.0,153.6,-8.2,165,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2177,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1403,-0.48,-146.0,188.2,-12.6,185,1409,0.00,2.17,0.00,0.000,4,0.000,0.062,3004,3580,3399,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1480,-0.48,-146.0,197.5,-12.4,190,1485,0.12,2.15,0.00,0.000,6,0.140,0.043,3039,2165,3399,0,0,0,0,0,0,25.99,26.12,28.83
$GC,1804,-0.48,-146.0,227.7,-9.0,206,1809,0.00,2.22,0.00,0.000,4,0.000,0.062,3030,3587,3399,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1836,-0.48,-146.0,229.6,-9.1,207,1844,0.00,2.15,0.00,0.000,6,0.000,0.044,3030,2161,3399,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2142,-0.48,-146.0,258.3,-8.9,223,2148,0.00,2.12,0.00,0.000,4,0.000,0.050,3030,767,3398,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2171,-0.48,-146.0,260.2,-8.9,224,2175,0.00,2.15,0.00,0.000,6,0.000,0.050,3021,2176,3398,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2479,-0.48,-146.0,290.9,-9.6,239,2484,0.00,2.17,0.00,0.000,4,0.000,0.063,3010,3584,3397,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2540,-0.48,-146.0,297.1,-10.2,242,2544,0.00,2.12,0.00,0.000,6,0.000,0.044,3010,2177,3397,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2853,-0.48,-146.0,329.5,-10.5,258,2855,0.12,0.00,0.00,0.000,6,0.150,0.000,3045,2175,3396,0,0,0,0,0,0,26.15,28.83,28.83
$GC,3152,-0.48,-146.0,354.9,-8.5,273,3158,0.00,2.20,0.00,0.000,4,0.000,0.065,3036,3583,3395,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3186,-0.48,-146.0,356.9,-8.7,274,3193,0.00,2.12,0.00,0.000,6,0.000,0.046,3037,2177,3395,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3492,-0.48,-146.0,385.5,-8.7,290,3494,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2175,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3792,-0.48,-146.0,411.4,-8.6,303,3798,0.00,2.20,0.00,0.000,4,0.000,0.065,3026,3583,3394,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3836,-0.48,-146.0,414.0,-8.6,304,3840,0.00,2.15,0.00,0.000,6,0.000,0.047,3026,2174,3393,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4153,-0.48,-146.0,442.5,-8.8,315,4154,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2172,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4453,-0.48,-146.0,469.2,-9.0,325,4458,0.00,2.22,0.00,0.000,4,0.000,0.066,3016,3584,3392,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4485,-0.48,-146.0,472.0,-9.1,326,4489,0.00,2.15,0.00,0.000,6,0.000,0.047,3016,2170,3391,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4808,-0.48,-146.0,503.4,-9.7,337,4813,0.00,2.20,0.00,0.000,4,0.000,0.066,3006,3580,3391,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4840,-0.48,-146.0,506.5,-9.8,338,4845,0.12,2.12,0.00,0.000,6,0.137,0.047,3042,2178,3391,0,0,0,0,0,0,26.15,26.27,28.83
$GC,5163,-0.48,-146.0,532.1,-7.7,349,5167,0.00,2.22,0.00,0.000,4,0.000,0.067,3033,3585,3390,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5195,-0.48,-146.0,534.7,-7.7,350,5201,0.00,2.15,0.00,0.000,6,0.000,0.047,3033,2174,3390,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5525,-0.48,-146.0,561.4,-8.1,361,5530,0.00,2.22,0.00,0.000,4,0.000,0.067,3023,3583,3389,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5548,-0.48,-146.0,561.4,-8.1,361,5554,0.00,2.15,0.00,0.000,6,0.000,0.047,3023,2165,3389,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5856,-0.48,-146.0,590.6,-8.9,372,5857,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2163,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6155,-0.48,-146.0,616.8,-8.5,382,6158,0.00,2.25,0.00,0.000,4,0.000,0.067,3012,3584,3388,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6189,-0.48,-146.0,619.6,-8.6,383,6193,0.00,2.17,0.00,0.000,6,0.000,0.048,3013,2165,3388,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6517,-0.48,-146.0,648.3,-8.6,394,6522,0.00,2.25,0.00,0.000,4,0.000,0.067,3003,3583,3388,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6546,-0.48,-146.0,651.0,-8.7,395,6553,0.12,2.17,0.00,0.000,6,0.139,0.048,3038,2164,3387,0,0,0,0,0,0,26.15,26.27,28.83
$GC,6877,-0.48,-146.0,673.9,-6.7,406,6882,0.00,2.22,0.00,0.000,4,0.000,0.067,3030,3578,3387,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6937,-0.48,-146.0,678.1,-6.8,408,6941,0.00,2.17,0.00,0.000,6,0.000,0.048,3030,2169,3387,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7269,-0.48,-146.0,702.2,-7.4,419,7275,0.00,2.25,0.00,0.000,4,0.000,0.067,3020,3588,3386,0,0,0,0,0,0,28.83,26.18,28.83
$GC,7329,-0.48,-146.0,706.9,-7.6,421,7335,0.00,2.17,0.00,0.000,6,0.000,0.048,3020,2166,3386,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7660,-0.48,-146.0,733.0,-7.7,432,7661,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2163,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7959,-0.48,-146.0,755.3,-7.4,442,7965,0.00,2.25,0.00,0.000,4,0.000,0.068,3010,3587,3385,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8008,-0.48,-146.0,757.4,-7.4,443,8013,0.12,2.15,0.00,0.000,6,0.132,0.049,3046,2171,3385,0,0,0,0,0,0,26.15,26.27,28.83
$GC,8315,-0.48,-146.0,776.4,-5.5,453,8320,0.00,2.25,0.00,0.000,4,0.000,0.068,3038,3583,3384,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8348,-0.48,-146.0,778.1,-5.5,454,8352,0.00,2.15,0.00,0.000,6,0.000,0.049,3037,2177,3385,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8675,-0.48,-146.0,797.5,-5.8,465,8681,0.00,2.20,0.00,0.000,4,0.000,0.069,3028,3581,3384,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8707,-0.48,-146.0,799.5,-6.0,466,8711,0.00,2.17,0.00,0.000,6,0.000,0.049,3028,2168,3384,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9030,-0.48,-146.0,821.1,-6.7,477,9035,0.00,2.22,0.00,0.000,4,0.000,0.069,3017,3580,3384,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9073,-0.48,-146.0,823.3,-6.7,478,9077,0.00,2.15,0.00,0.000,6,0.000,0.050,3017,2168,3383,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9385,-0.48,-146.0,847.4,-7.4,489,9386,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2165,3383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9685,-0.48,-146.0,870.3,-7.7,499,9691,0.00,2.28,0.00,0.000,4,0.000,0.069,3007,3594,3382,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9764,-0.48,-146.0,875.4,-8.0,501,9769,0.12,2.15,0.00,0.000,6,0.134,0.047,3043,2172,3382,0,0,0,0,0,0,26.15,26.28,28.83
$GC,10071,-0.48,-146.0,897.1,-6.5,511,10076,0.00,2.25,0.00,0.000,4,0.000,0.069,3034,3588,3382,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10119,-0.48,-146.0,899.1,-6.5,512,10123,0.00,2.15,0.00,0.000,6,0.000,0.050,3034,2176,3382,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10426,-0.48,-146.0,921.5,-6.9,522,10431,0.00,2.22,0.00,0.000,4,0.000,0.070,3024,3587,3382,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10459,-0.48,-146.0,923.5,-6.9,523,10463,0.00,2.15,0.00,0.000,6,0.000,0.050,3024,2175,3381,0,0,0,0,0,0,28.83,26.26,28.83
$GC,10781,-0.48,-146.0,945.9,-6.7,534,10782,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2173,3381,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11081,-0.48,-146.0,965.0,-6.1,544,11087,0.00,2.22,0.00,0.000,4,0.000,0.070,3014,3581,3381,0,0,0,0,0,0,28.83,26.16,28.83
$GC,11154,-0.48,-146.0,969.0,-6.4,546,11158,0.00,2.15,0.00,0.000,6,0.000,0.050,3014,2173,3381,0,0,0,0,0,0,28.83,26.26,28.83
$STATE,11463,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11463,begin apogee
$GC,11471,-0.22,0.0,991.2,-6.9,557,11602,0.32,0.00,124.97,1.200,6,0.116,0.000,3125,2313,2793,0,0,0,0,0,0,26.09,28.83,23.73
$STATE,11605,end apogee,CONTROL_FINISHED_OK
$STATE,11605,begin climb
$GC,11607,0.48,146.0,994.1,0.0,561,11745,0.65,0.00,133.25,1.167,6,0.080,0.000,3346,2313,2198,0,0,0,0,0,0,24.58,28.83,23.22
$GC,12038,0.48,146.0,959.3,9.3,576,12043,0.00,2.28,0.00,0.000,4,0.000,0.069,3346,3697,2187,0,0,0,0,0,0,28.83,25.11,28.83
$GC,12069,0.48,146.0,956.3,9.3,577,12074,0.00,2.22,0.00,0.000,6,0.000,0.051,3357,2310,2186,0,0,0,0,0,0,28.83,25.20,28.83
$GC,12392,0.48,146.0,924.9,9.6,588,12394,0.00,0.00,0.00,0.000,6,0.000,0.000,3357,2305,2185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12692,0.48,146.0,896.1,9.7,598,12697,0.00,2.30,0.00,0.000,4,0.000,0.070,3357,3709,2184,0,0,0,0,0,0,28.83,25.67,28.83
$GC,12731,0.48,146.0,892.7,10.0,599,12737,0.00,2.22,0.00,0.000,6,0.000,0.052,3367,2297,2184,0,0,0,0,0,0,28.83,25.74,28.83
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$STATE,22645,end climb,SURFACE_DEPTH_REACHED
$STATE,22646,begin surface coast
$FINISH,0.9,1.009332
$STATE,22692,end surface coast,CONTROL_FINISHED_OK
$STATE,22692,begin surface
$SM_CCo,22772,0.00,0.000,0,0,1280,371.38
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$IRIDIUM_FIX,4638.64,-12641.48,091012,121206
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.73
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,19.80
$XPDR_PINGS,1
$24V_AH,23.2,18.916
$10V_AH,10.2,16.044
$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,22.025,220.925,438.350,0.000,0.000,28.474,37.653,175.235,0.250,0.000,17.587,3333.358,15907.656,550.326,2938.127,408.312,0.000,2014.966,0.000,2669.585,0.000,0.536,0.000
$DEVICE_MAMPS,218.790,84.150,1200.285,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,860.058,726.383,506.366,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296928
$DATA_FILE_SIZE,70127,1250
$CAP_FILE_SIZE,196608,0
$CFSIZE,260165632,247238656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.042, 63.2,1
$GPS,101012,012405,4709.031,-12641.692,34,1.4,34,18.6