version: 66.11
glider: 187
mission: 2
dive: 165
start: 10 19 112 11 51 20
data:
$ID,187
$MISSION,2
$DIVE,165
$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,-1587833.9
$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,32
$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
$GPS1,191012,114030,4741.332,-12519.123,73,1.9,73,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-72.9
$GPS2,191012,115049,4741.259,-12518.863,11,1.7,11,18.7
$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,216.7,148852,-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,-146.0,0.0,0.0,0,74,0.00,0.00,-55.72,0.000,2,0.000,0.000,130,2168,2858,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-0.48,-146.0,3.5,-5.2,9,106,11.27,2.33,-10.45,0.000,4,0.222,0.070,3022,3590,3393,0,0,0,0,0,0,25.20,25.58,25.98
$GC,203,-0.48,-146.0,36.3,-20.1,31,210,0.00,2.17,0.00,0.000,6,0.000,0.042,3022,2165,3396,0,0,0,0,0,0,28.83,25.71,28.83
$GC,519,-0.48,-146.0,81.7,-12.4,92,526,0.00,2.30,0.00,0.000,4,0.000,0.060,3012,3588,3399,0,0,0,0,0,0,28.83,25.77,28.83
$GC,569,-0.48,-146.0,88.2,-13.2,101,576,0.00,2.15,0.00,0.000,6,0.000,0.042,3012,2171,3400,0,0,0,0,0,0,28.83,25.88,28.83
$GC,891,-0.48,-146.0,132.1,-13.2,152,893,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2165,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1191,-0.48,-146.0,169.2,-12.1,172,1193,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2165,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1507,-0.48,-146.0,207.8,-11.9,192,1508,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2165,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1806,-0.48,-146.0,241.7,-11.2,207,1807,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2165,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2107,-0.48,-146.0,275.0,-10.8,222,2113,0.00,2.10,0.00,0.000,4,0.000,0.050,3011,771,3399,0,0,0,0,0,0,28.83,26.07,28.83
$GC,2134,-0.48,-146.0,277.3,-11.1,223,2139,0.15,2.17,0.00,0.000,6,0.140,0.050,3045,2183,3399,0,0,0,0,0,0,25.94,26.08,28.83
$GC,2441,-0.48,-146.0,305.1,-8.9,238,2445,0.00,2.20,0.00,0.000,4,0.000,0.063,3036,3587,3398,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2483,-0.48,-146.0,309.0,-9.2,240,2489,0.00,2.15,0.00,0.000,6,0.000,0.044,3036,2162,3397,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2803,-0.48,-146.0,339.0,-9.2,256,2809,0.00,2.08,0.00,0.000,4,0.000,0.050,3036,778,3397,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2836,-0.48,-146.0,341.0,-9.3,257,2842,0.00,2.15,0.00,0.000,6,0.000,0.050,3027,2187,3397,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3143,-0.48,-146.0,371.3,-9.5,273,3148,0.00,2.17,0.00,0.000,4,0.000,0.063,3016,3583,3396,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3171,-0.48,-146.0,373.2,-9.5,274,3175,0.00,2.12,0.00,0.000,6,0.000,0.044,3016,2166,3396,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3498,-0.48,-146.0,406.1,-9.6,289,3499,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2163,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3798,-0.48,-146.0,434.1,-9.4,299,3803,0.00,2.22,0.00,0.000,4,0.000,0.064,3007,3582,3395,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3829,-0.48,-146.0,437.1,-9.7,300,3835,0.08,2.10,0.00,0.000,6,0.116,0.046,3035,2177,3394,0,0,0,0,0,0,26.02,26.19,28.83
$GC,4158,-0.48,-146.0,466.1,-9.0,311,4162,0.00,2.12,0.00,0.000,4,0.000,0.054,3036,776,3394,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4204,-0.48,-146.0,469.1,-9.1,312,4210,0.00,2.15,0.00,0.000,6,0.000,0.052,3029,2182,3393,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4520,-0.48,-146.0,501.8,-10.2,323,4526,0.00,2.17,0.00,0.000,4,0.000,0.065,3019,3582,3393,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4579,-0.48,-146.0,508.0,-10.2,325,4585,0.00,2.12,0.00,0.000,6,0.000,0.046,3018,2173,3392,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4910,-0.48,-146.0,541.7,-10.0,336,4911,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2171,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5210,-0.48,-146.0,570.4,-9.3,346,5211,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2170,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5510,-0.48,-146.0,596.8,-8.6,356,5511,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2171,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5810,-0.48,-146.0,623.6,-9.1,366,5816,0.00,2.22,0.00,0.000,4,0.000,0.066,3009,3583,3390,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5848,-0.48,-146.0,626.5,-9.4,367,5853,0.12,2.15,0.00,0.000,6,0.135,0.047,3044,2166,3390,0,0,0,0,0,0,26.06,26.21,28.83
$GC,6166,-0.48,-146.0,649.3,-6.6,378,6171,0.00,2.22,0.00,0.000,4,0.000,0.067,3035,3584,3389,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6198,-0.48,-146.0,651.2,-6.6,379,6203,0.00,2.12,0.00,0.000,6,0.000,0.047,3035,2177,3389,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6521,-0.48,-146.0,677.9,-8.6,390,6526,0.00,2.20,0.00,0.000,4,0.000,0.067,3026,3579,3389,0,0,0,0,0,0,28.83,26.07,28.83
$GC,6553,-0.48,-146.0,680.4,-8.6,391,6557,0.00,2.12,0.00,0.000,6,0.000,0.047,3026,2171,3389,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6876,-0.48,-146.0,709.1,-8.8,402,6881,0.00,2.25,0.00,0.000,4,0.000,0.067,3016,3582,3388,0,0,0,0,0,0,28.83,26.07,28.83
$GC,6959,-0.48,-146.0,714.4,-8.8,404,6966,0.00,2.15,0.00,0.000,6,0.000,0.047,3016,2171,3387,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7266,-0.48,-146.0,744.0,-9.1,415,7272,0.00,2.22,0.00,0.000,4,0.000,0.067,3006,3586,3387,0,0,0,0,0,0,28.83,26.07,28.83
$GC,7309,-0.48,-146.0,747.0,-9.3,416,7314,0.12,2.12,0.00,0.000,6,0.136,0.047,3042,2177,3387,0,0,0,0,0,0,26.05,26.20,28.83
$GC,7622,-0.48,-146.0,771.4,-7.3,427,7628,0.00,2.20,0.00,0.000,4,0.000,0.067,3034,3576,3387,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7684,-0.48,-146.0,776.0,-7.6,429,7688,0.00,2.15,0.00,0.000,6,0.000,0.048,3034,2170,3386,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8012,-0.48,-146.0,802.5,-7.8,440,8018,0.00,2.22,0.00,0.000,4,0.000,0.067,3023,3587,3386,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8035,-0.48,-146.0,802.5,-7.8,440,8041,0.00,2.15,0.00,0.000,6,0.000,0.048,3023,2166,3386,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8342,-0.48,-146.0,828.1,-7.6,451,8348,0.00,2.25,0.00,0.000,4,0.000,0.067,3013,3585,3386,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8410,-0.48,-146.0,833.0,-7.9,453,8414,0.00,2.15,0.00,0.000,6,0.000,0.048,3013,2167,3385,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8728,-0.48,-146.0,858.2,-7.3,464,8733,0.00,2.22,0.00,0.000,4,0.000,0.067,3004,3580,3385,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8770,-0.48,-146.0,860.6,-7.5,465,8775,0.12,2.12,0.00,0.000,6,0.137,0.048,3039,2177,3385,0,0,0,0,0,0,26.03,26.18,28.83
$GC,9083,-0.48,-146.0,879.4,-5.3,476,9089,0.00,2.25,0.00,0.000,4,0.000,0.068,3031,3583,3384,0,0,0,0,0,0,28.83,26.04,28.83
$GC,9131,-0.48,-146.0,881.3,-5.5,477,9135,0.00,2.15,0.00,0.000,6,0.000,0.049,3031,2167,3384,0,0,0,0,0,0,28.83,26.18,28.83
$GC,9438,-0.48,-146.0,902.3,-6.7,487,9443,0.00,2.22,0.00,0.000,4,0.000,0.068,3021,3579,3384,0,0,0,0,0,0,28.83,26.04,28.83
$GC,9481,-0.48,-146.0,904.5,-6.9,488,9486,0.00,2.15,0.00,0.000,6,0.000,0.049,3021,2165,3384,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9794,-0.48,-146.0,928.2,-7.0,499,9795,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2162,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10094,-0.48,-146.0,947.6,-6.4,509,10099,0.00,2.22,0.00,0.000,4,0.000,0.068,3011,3579,3383,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10154,-0.48,-146.0,951.6,-6.6,511,10158,0.00,2.15,0.00,0.000,6,0.000,0.050,3011,2172,3383,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10486,-0.48,-146.0,975.3,-7.8,522,10493,0.10,2.25,0.00,0.000,4,0.158,0.067,3030,3584,3383,0,0,0,0,0,0,26.26,26.01,28.83
$GC,10524,-0.48,-146.0,977.3,-7.7,523,10528,0.00,2.17,0.00,0.000,6,0.000,0.049,3030,2165,3383,0,0,0,0,0,0,28.83,26.17,28.83
$STATE,10694,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10694,begin apogee
$GC,10701,-0.22,0.0,991.6,-8.1,529,10832,0.28,0.00,125.40,1.196,6,0.110,0.000,3126,2308,2793,0,0,0,0,0,0,26.03,28.83,23.69
$STATE,10835,end apogee,CONTROL_FINISHED_OK
$STATE,10835,begin climb
$GC,10838,0.48,146.0,997.1,0.0,533,10979,0.65,2.45,133.60,1.166,4,0.082,0.057,3358,898,2196,0,0,0,0,0,0,24.58,23.77,23.04
$GC,11002,0.50,212.2,991.4,4.8,539,11069,0.00,2.35,59.65,1.138,6,0.000,0.054,3358,2294,1929,0,0,0,0,0,0,28.83,24.08,22.82
$GC,11382,0.50,212.2,948.0,12.2,552,11388,0.00,2.35,0.00,0.000,4,0.000,0.068,3358,3715,1920,0,0,0,0,0,0,28.83,24.96,28.83
$GC,11456,0.50,212.2,940.1,12.8,554,11462,0.00,2.28,0.00,0.000,6,0.000,0.050,3368,2310,1918,0,0,0,0,0,0,28.83,25.15,28.83
$GC,11772,0.50,212.2,898.2,12.7,565,11778,0.00,2.22,0.00,0.000,4,0.000,0.058,3378,896,1918,0,0,0,0,0,0,28.83,25.48,28.83
$GC,11805,0.50,212.2,894.3,12.6,566,11809,0.00,2.25,0.00,0.000,6,0.000,0.056,3379,2310,1917,0,0,0,0,0,0,28.83,25.50,28.83
$GC,12127,0.50,212.2,852.6,12.9,577,12133,0.00,2.28,0.00,0.000,4,0.000,0.070,3378,3716,1917,0,0,0,0,0,0,28.83,25.64,28.83
$GC,12187,0.50,212.2,843.8,13.6,579,12193,0.00,2.25,0.00,0.000,6,0.000,0.050,3388,2294,1916,0,0,0,0,0,0,28.83,25.74,28.83
$GC,12517,0.50,212.2,796.9,14.4,590,12523,0.00,2.30,0.00,0.000,4,0.000,0.069,3388,3712,1916,0,0,0,0,0,0,28.83,25.76,28.83
$GC,12580,0.50,212.2,787.8,14.7,592,12584,0.15,2.22,0.00,0.000,6,0.155,0.051,3360,2291,1916,0,0,0,0,0,0,25.67,25.85,28.83
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$STATE,20855,end climb,SURFACE_DEPTH_REACHED
$STATE,20855,begin surface coast
$FINISH,1.0,1.023512
$STATE,20889,end surface coast,CONTROL_FINISHED_OK
$STATE,20889,begin surface
$SM_CCo,20970,0.00,0.000,0,0,1034,431.73
$SM_GC,1.76,8.40,2.45,0.00,0.030,0.045,0.000,116,2169,1034,-9.46,0.93,431.73,0,0,0,0,0,0,25.77,25.65,28.83
$IRIDIUM_FIX,4719.74,-12514.44,191012,111125
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.68
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,19.20
$XPDR_PINGS,0
$24V_AH,22.8,23.932
$10V_AH,10.2,20.149
$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,21.800,185.900,495.300,0.000,0.000,53.900,77.841,263.356,0.000,0.000,12.799,3099.373,14637.064,573.133,2894.755,379.650,0.000,1915.662,0.000,2446.247,0.000,0.536,0.000
$DEVICE_MAMPS,221.850,84.150,1196.460,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,809.650,683.234,474.679,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296744
$DATA_FILE_SIZE,66834,1178
$CAP_FILE_SIZE,180559,0
$CFSIZE,260165632,244105216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.012, 46.1,1
$GPS,191012,174236,4739.326,-12522.583,68,1.2,68,18.7