version: 66.11
glider: 187
mission: 2
dive: 164
start: 10 19 112 6 9 15
data:
$ID,187
$MISSION,2
$DIVE,164
$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,-1587832.6
$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
$GPS1,191012,060206,4742.120,-12516.062,36,1.2,36,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-75.7
$GPS2,191012,060842,4742.174,-12516.025,12,1.2,18,18.7
$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,225.3,152798,-13.4,-7.333,-18.42
$D_GRID,880
$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,-66.65,0.000,2,0.000,0.000,112,2175,2797,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.48,-146.0,3.3,-4.5,11,122,11.18,2.22,-12.45,0.000,4,0.219,0.063,3031,763,3393,0,0,0,0,0,0,25.26,25.65,26.03
$GC,164,-0.48,-146.0,23.0,-20.9,23,171,0.00,2.20,0.00,0.000,6,0.000,0.050,3023,2182,3394,0,0,0,0,0,0,28.83,25.68,28.83
$GC,485,-0.48,-146.0,74.4,-15.2,84,493,0.00,2.20,0.00,0.000,4,0.000,0.049,3023,775,3397,0,0,0,0,0,0,28.83,25.83,28.83
$GC,537,-0.48,-146.0,81.5,-13.8,93,543,0.00,2.17,0.00,0.000,6,0.000,0.050,3013,2176,3398,0,0,0,0,0,0,28.83,25.85,28.83
$GC,850,-0.48,-146.0,126.1,-13.0,148,855,0.00,2.20,0.00,0.000,4,0.000,0.061,3002,3583,3398,0,0,0,0,0,0,28.83,25.89,28.83
$GC,888,-0.48,-146.0,130.1,-13.0,150,897,0.10,2.17,0.00,0.000,6,0.116,0.042,3038,2164,3398,0,0,0,0,0,0,25.82,25.99,28.83
$GC,1197,-0.48,-146.0,162.0,-9.9,171,1202,0.00,2.08,0.00,0.000,4,0.000,0.050,3037,780,3398,0,0,0,0,0,0,28.83,25.99,28.83
$GC,1257,-0.48,-146.0,168.0,-10.0,175,1262,0.00,2.15,0.00,0.000,6,0.000,0.050,3030,2177,3399,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1571,-0.48,-146.0,200.8,-10.8,196,1574,0.00,2.20,0.00,0.000,4,0.000,0.062,3020,3583,3398,0,0,0,0,0,0,28.83,25.99,28.83
$GC,1620,-0.48,-146.0,205.6,-11.1,198,1625,0.00,2.10,0.00,0.000,6,0.000,0.043,3019,2180,3398,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1929,-0.48,-146.0,241.1,-11.2,213,1930,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2176,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2228,-0.48,-146.0,273.1,-10.4,228,2233,0.00,2.22,0.00,0.000,4,0.000,0.063,3009,3589,3397,0,0,0,0,0,0,28.83,26.05,28.83
$GC,2270,-0.48,-146.0,277.4,-10.6,230,2275,0.12,2.12,0.00,0.000,6,0.138,0.044,3044,2173,3397,0,0,0,0,0,0,26.00,26.15,28.83
$GC,2583,-0.48,-146.0,303.6,-7.9,246,2584,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2168,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2883,-0.48,-146.0,326.4,-7.7,261,2887,0.00,2.22,0.00,0.000,4,0.000,0.063,3036,3583,3396,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2958,-0.48,-146.0,331.4,-8.0,264,2964,0.00,2.12,0.00,0.000,6,0.000,0.044,3036,2163,3396,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3265,-0.48,-146.0,358.4,-8.6,280,3266,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2162,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3565,-0.48,-146.0,385.6,-8.8,295,3566,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2162,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3865,-0.48,-146.0,410.9,-8.0,308,3870,0.00,2.22,0.00,0.000,4,0.000,0.063,3026,3583,3395,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3925,-0.48,-146.0,415.8,-8.0,310,3929,0.00,2.15,0.00,0.000,6,0.000,0.045,3026,2166,3395,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4257,-0.48,-146.0,444.0,-8.8,321,4262,0.00,2.10,0.00,0.000,4,0.000,0.053,3026,777,3394,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4289,-0.48,-146.0,446.8,-8.9,322,4293,0.00,2.15,0.00,0.000,6,0.000,0.052,3016,2185,3394,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4612,-0.48,-146.0,478.1,-10.0,333,4617,0.00,2.15,0.00,0.000,4,0.000,0.065,3006,3576,3393,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4644,-0.48,-146.0,481.2,-10.2,334,4649,0.12,2.12,0.00,0.000,6,0.137,0.046,3042,2166,3393,0,0,0,0,0,0,26.07,26.22,28.83
$GC,4967,-0.48,-146.0,510.0,-9.0,345,4972,0.00,2.22,0.00,0.000,4,0.000,0.065,3033,3582,3392,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4999,-0.48,-146.0,512.8,-9.1,346,5003,0.00,2.12,0.00,0.000,6,0.000,0.046,3033,2167,3392,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5322,-0.48,-146.0,541.1,-8.5,357,5327,0.00,2.25,0.00,0.000,4,0.000,0.066,3023,3594,3392,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5345,-0.48,-146.0,541.1,-8.5,357,5351,0.00,2.15,0.00,0.000,6,0.000,0.047,3023,2166,3392,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5652,-0.48,-146.0,569.7,-8.6,368,5658,0.00,2.25,0.00,0.000,4,0.000,0.065,3013,3589,3391,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5675,-0.48,-146.0,569.7,-8.6,368,5681,0.00,2.12,0.00,0.000,6,0.000,0.047,3013,2174,3391,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5982,-0.48,-146.0,602.0,-10.2,379,5983,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2173,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6282,-0.48,-146.0,632.8,-10.2,389,6286,0.00,2.25,0.00,0.000,4,0.000,0.067,3003,3591,3391,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6344,-0.48,-146.0,639.4,-10.3,391,6350,0.10,2.12,0.00,0.000,6,0.111,0.047,3039,2174,3391,0,0,0,0,0,0,26.05,26.22,28.83
$GC,6674,-0.48,-146.0,666.4,-8.3,402,6675,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2171,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6974,-0.48,-146.0,690.5,-7.7,412,6980,0.00,2.20,0.00,0.000,4,0.000,0.067,3031,3580,3389,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7007,-0.48,-146.0,692.6,-7.6,413,7011,0.00,2.12,0.00,0.000,6,0.000,0.048,3031,2170,3390,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7329,-0.48,-146.0,718.1,-7.4,424,7334,0.00,2.22,0.00,0.000,4,0.000,0.067,3021,3582,3389,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7367,-0.48,-146.0,720.5,-7.4,425,7371,0.00,2.12,0.00,0.000,6,0.000,0.047,3021,2172,3389,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7684,-0.48,-146.0,745.3,-7.6,436,7690,0.00,2.25,0.00,0.000,4,0.000,0.067,3010,3594,3388,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7714,-0.48,-146.0,747.7,-7.4,437,7721,0.12,2.15,0.00,0.000,6,0.132,0.048,3046,2174,3388,0,0,0,0,0,0,26.07,26.21,28.83
$GC,8045,-0.48,-146.0,767.4,-6.1,448,8050,0.00,2.20,0.00,0.000,4,0.000,0.067,3039,3580,3388,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8092,-0.48,-146.0,769.2,-6.1,449,8096,0.00,2.12,0.00,0.000,6,0.000,0.048,3038,2173,3388,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8400,-0.48,-146.0,791.4,-6.7,459,8401,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2171,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8700,-0.48,-146.0,811.8,-6.8,469,8704,0.00,2.25,0.00,0.000,4,0.000,0.068,3028,3582,3387,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8762,-0.48,-146.0,816.3,-7.1,471,8767,0.00,2.12,0.00,0.000,6,0.000,0.048,3028,2168,3387,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9092,-0.48,-146.0,839.4,-7.1,482,9093,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2167,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9392,-0.48,-146.0,862.6,-7.7,492,9397,0.00,2.22,0.00,0.000,4,0.000,0.067,3018,3582,3386,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9445,-0.48,-146.0,864.8,-7.6,493,9451,0.00,2.15,0.00,0.000,6,0.000,0.048,3017,2174,3386,0,0,0,0,0,0,28.83,26.20,28.83
$STATE,9629,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9629,begin apogee
$GC,9636,-0.22,0.0,881.0,-7.8,500,9765,0.30,0.00,124.32,1.126,6,0.117,0.000,3119,2305,2795,0,0,0,0,0,0,26.00,28.83,23.79
$STATE,9768,end apogee,CONTROL_FINISHED_OK
$STATE,9768,begin climb
$GC,9771,0.48,146.0,885.2,0.0,504,9910,0.65,2.45,131.45,1.090,4,0.083,0.067,3341,3703,2196,0,0,0,0,0,0,24.61,23.96,23.27
$GC,9943,0.49,178.0,877.6,6.1,510,9978,0.00,2.30,29.33,1.038,6,0.000,0.048,3351,2307,2068,0,0,0,0,0,0,28.83,24.35,23.32
$GC,10280,0.49,178.0,841.4,11.0,521,10281,0.00,0.00,0.00,0.000,6,0.000,0.000,3351,2307,2058,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10581,0.49,178.0,808.5,11.6,531,10582,0.00,0.00,0.00,0.000,6,0.000,0.000,3351,2307,2057,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10880,0.49,178.0,779.5,8.8,541,10881,0.00,0.00,0.00,0.000,6,0.000,0.000,3351,2307,2055,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11181,0.49,178.0,755.2,8.3,551,11186,0.00,2.28,0.00,0.000,4,0.000,0.069,3351,3705,2055,0,0,0,0,0,0,28.83,25.75,28.83
$GC,11243,0.49,178.0,749.0,9.3,553,11247,0.00,2.17,0.00,0.000,6,0.000,0.050,3360,2304,2054,0,0,0,0,0,0,28.83,25.84,28.83
$GC,11565,0.49,178.0,716.1,10.2,564,11567,0.00,0.00,0.00,0.000,6,0.000,0.000,3359,2299,2054,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11865,0.49,178.0,685.1,10.5,574,11866,0.00,0.00,0.00,0.000,6,0.000,0.000,3360,2298,2054,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12165,0.49,178.0,655.3,9.9,584,12166,0.00,0.00,0.00,0.000,6,0.000,0.000,3360,2299,2053,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12465,0.49,178.0,627.1,9.0,594,12471,0.00,2.22,0.00,0.000,4,0.000,0.068,3359,3698,2053,0,0,0,0,0,0,28.83,25.95,28.83
$GC,12498,0.49,178.0,623.8,9.3,595,12502,0.00,2.17,0.00,0.000,6,0.000,0.050,3369,2290,2053,0,0,0,0,0,0,28.83,26.04,28.83
$GC,12820,0.49,178.0,590.5,10.5,606,12821,0.00,0.00,0.00,0.000,6,0.000,0.000,3369,2284,2053,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13120,0.49,178.0,560.3,9.9,616,13126,0.00,2.25,0.00,0.000,4,0.000,0.068,3369,3700,2053,0,0,0,0,0,0,28.83,25.99,28.83
$GC,13193,0.49,178.0,553.0,10.8,618,13197,0.00,2.15,0.00,0.000,6,0.000,0.050,3379,2299,2052,0,0,0,0,0,0,28.83,26.08,28.83
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$STATE,19639,end climb,SURFACE_DEPTH_REACHED
$STATE,19639,begin surface coast
$FINISH,1.2,1.024063
$STATE,19684,end surface coast,CONTROL_FINISHED_OK
$STATE,19684,begin surface
$SM_CCo,19764,0.00,0.000,0,0,1568,300.74
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$IRIDIUM_FIX,4726.11,-12529.66,191012,010146
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.17
$INTERNAL_PRESSURE,9.12806
$TCM_TEMP,19.80
$XPDR_PINGS,1
$24V_AH,23.3,23.773
$10V_AH,10.2,20.041
$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,21.275,144.925,384.800,0.000,0.000,26.302,43.055,197.907,0.250,0.000,18.987,3059.918,13640.155,482.162,2636.206,340.832,0.000,1710.510,0.000,2342.865,0.000,0.536,0.000
$DEVICE_MAMPS,218.790,86.445,1126.080,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,811.263,700.360,537.875,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296776
$DATA_FILE_SIZE,66887,1180
$CAP_FILE_SIZE,161404,0
$CFSIZE,260165632,244203520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.081, 49.2,1
$GPS,191012,114030,4741.332,-12519.123,73,1.9,73,18.7