version: 66.11
glider: 187
mission: 2
dive: 166
start: 10 19 112 17 50 3
data:
$ID,187
$MISSION,2
$DIVE,166
$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,-1587835.2
$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,34
$R_STBD_OVSHOOT,27
$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
$GPS1,191012,174236,4739.326,-12522.583,68,1.2,68,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-74.5
$GPS2,191012,174931,4739.261,-12522.670,16,1.9,16,18.7
$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,220.0,142828,-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,17,-0.48,-146.0,0.0,0.0,0,97,0.00,0.00,-77.75,0.000,2,0.000,0.000,115,2162,2836,0,0,0,0,0,0,28.83,28.83,28.83
$GC,101,-0.48,-146.0,3.5,-4.9,13,128,11.38,0.00,-10.98,0.000,6,0.223,0.000,3032,2160,3392,0,0,0,0,0,0,25.22,28.83,25.99
$GC,439,-0.48,-146.0,70.2,-14.4,77,446,0.00,2.15,0.00,0.000,4,0.000,0.049,3032,758,3398,0,0,0,0,0,0,28.83,25.78,28.83
$GC,579,-0.48,-146.0,89.1,-12.4,104,587,0.00,2.22,0.00,0.000,6,0.000,0.050,3025,2173,3398,0,0,0,0,0,0,28.83,25.83,28.83
$GC,892,-0.48,-146.0,125.9,-12.0,159,898,0.00,2.20,0.00,0.000,4,0.000,0.062,3014,3587,3399,0,0,0,0,0,0,28.83,25.86,28.83
$GC,976,-0.48,-146.0,135.4,-12.8,164,984,0.00,2.20,0.00,0.000,6,0.000,0.043,3014,2155,3399,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1283,-0.48,-146.0,175.3,-11.9,185,1284,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2155,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1587,-0.48,-146.0,210.1,-11.0,204,1592,0.00,2.22,0.00,0.000,4,0.000,0.063,3004,3582,3398,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1615,-0.48,-146.0,212.3,-11.0,205,1620,0.12,2.10,0.00,0.000,6,0.138,0.044,3039,2180,3399,0,0,0,0,0,0,25.92,26.07,28.83
$GC,1922,-0.48,-146.0,242.3,-9.2,220,1923,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2177,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2224,-0.48,-146.0,269.5,-9.0,235,2229,0.00,2.20,0.00,0.000,4,0.000,0.063,3030,3586,3398,0,0,0,0,0,0,28.83,26.02,28.83
$GC,2265,-0.48,-146.0,273.2,-9.3,237,2269,0.00,2.12,0.00,0.000,6,0.000,0.044,3030,2168,3397,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2577,-0.48,-146.0,304.2,-10.0,253,2583,0.00,2.25,0.00,0.000,4,0.000,0.063,3020,3587,3397,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2605,-0.48,-146.0,306.3,-10.1,254,2609,0.00,2.12,0.00,0.000,6,0.000,0.044,3019,2171,3397,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2912,-0.48,-146.0,340.6,-10.5,269,2914,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2168,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3213,-0.48,-146.0,370.2,-9.7,284,3214,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2168,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3512,-0.48,-146.0,398.2,-9.0,299,3518,0.00,2.22,0.00,0.000,4,0.000,0.064,3010,3587,3395,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3556,-0.48,-146.0,401.0,-9.3,301,3560,0.12,2.12,0.00,0.000,6,0.136,0.045,3044,2171,3395,0,0,0,0,0,0,26.03,26.18,28.83
$GC,3869,-0.48,-146.0,424.6,-6.9,312,3874,0.00,2.22,0.00,0.000,4,0.000,0.064,3036,3594,3394,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3907,-0.48,-146.0,426.8,-6.9,313,3911,0.00,2.12,0.00,0.000,6,0.000,0.046,3036,2176,3394,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4224,-0.48,-146.0,451.9,-7.9,324,4230,0.00,2.25,0.00,0.000,4,0.000,0.066,3026,3597,3393,0,0,0,0,0,0,28.83,26.07,28.83
$GC,4284,-0.48,-146.0,457.1,-8.2,326,4289,0.00,2.15,0.00,0.000,6,0.000,0.046,3026,2174,3394,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4614,-0.48,-146.0,486.4,-9.0,337,4620,0.00,2.20,0.00,0.000,4,0.000,0.065,3015,3583,3393,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4662,-0.48,-146.0,489.3,-9.3,338,4666,0.00,2.12,0.00,0.000,6,0.000,0.046,3016,2170,3392,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4970,-0.48,-146.0,520.2,-9.5,348,4971,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2168,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5269,-0.48,-146.0,547.1,-8.9,358,5275,0.00,2.25,0.00,0.000,4,0.000,0.066,3006,3590,3391,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5307,-0.48,-146.0,550.0,-9.0,359,5312,0.12,2.15,0.00,0.000,6,0.135,0.047,3041,2169,3391,0,0,0,0,0,0,26.06,26.20,28.83
$GC,5625,-0.48,-146.0,575.5,-7.7,370,5630,0.00,2.25,0.00,0.000,4,0.000,0.066,3033,3594,3391,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5673,-0.48,-146.0,577.8,-7.8,371,5677,0.00,2.15,0.00,0.000,6,0.000,0.045,3033,2164,3391,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5980,-0.48,-146.0,603.0,-7.7,381,5985,0.00,2.28,0.00,0.000,4,0.000,0.066,3023,3596,3390,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6040,-0.48,-146.0,607.9,-7.9,383,6045,0.00,2.15,0.00,0.000,6,0.000,0.045,3023,2171,3390,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6370,-0.48,-146.0,634.7,-8.1,394,6376,0.00,2.22,0.00,0.000,4,0.000,0.067,3013,3584,3390,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6408,-0.48,-146.0,637.5,-8.2,395,6412,0.00,2.12,0.00,0.000,6,0.000,0.047,3013,2174,3389,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6725,-0.48,-146.0,666.1,-8.9,406,6726,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2171,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7025,-0.48,-146.0,694.0,-9.2,416,7031,0.00,2.22,0.00,0.000,4,0.000,0.067,3002,3590,3389,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7058,-0.48,-146.0,697.0,-9.3,417,7063,0.12,2.15,0.00,0.000,6,0.138,0.047,3038,2167,3388,0,0,0,0,0,0,26.04,26.20,28.83
$GC,7381,-0.48,-146.0,723.6,-8.0,428,7387,0.00,2.22,0.00,0.000,4,0.000,0.067,3030,3585,3388,0,0,0,0,0,0,28.83,26.07,28.83
$GC,7419,-0.48,-146.0,726.1,-8.1,429,7423,0.00,2.12,0.00,0.000,6,0.000,0.047,3030,2177,3388,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7737,-0.48,-146.0,752.8,-7.9,440,7742,0.00,2.25,0.00,0.000,4,0.000,0.067,3020,3586,3387,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7774,-0.48,-146.0,755.0,-7.8,441,7778,0.00,2.15,0.00,0.000,6,0.000,0.048,3020,2173,3388,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8092,-0.48,-146.0,779.6,-7.5,452,8097,0.00,2.22,0.00,0.000,4,0.000,0.067,3010,3593,3387,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8134,-0.48,-146.0,782.0,-7.6,453,8139,0.12,2.15,0.00,0.000,6,0.132,0.048,3046,2171,3387,0,0,0,0,0,0,26.05,26.18,28.83
$GC,8448,-0.48,-146.0,802.4,-6.1,464,8449,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2170,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8748,-0.48,-146.0,821.4,-6.4,474,8753,0.00,2.22,0.00,0.000,4,0.000,0.068,3038,3583,3386,0,0,0,0,0,0,28.83,26.05,28.83
$GC,8816,-0.48,-146.0,825.5,-6.8,476,8820,0.00,2.15,0.00,0.000,6,0.000,0.048,3037,2164,3386,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9133,-0.48,-146.0,847.5,-6.7,487,9138,0.00,2.22,0.00,0.000,4,0.000,0.067,3028,3583,3386,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9166,-0.48,-146.0,849.8,-6.8,488,9170,0.00,2.15,0.00,0.000,6,0.000,0.049,3027,2165,3385,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9488,-0.48,-146.0,871.6,-6.5,499,9493,0.00,2.25,0.00,0.000,4,0.000,0.068,3018,3591,3385,0,0,0,0,0,0,28.83,26.04,28.83
$GC,9551,-0.48,-146.0,875.7,-6.7,501,9555,0.00,2.17,0.00,0.000,6,0.000,0.048,3018,2171,3385,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9873,-0.48,-146.0,897.8,-6.7,512,9879,0.00,2.22,0.00,0.000,4,0.000,0.068,3008,3581,3385,0,0,0,0,0,0,28.83,26.04,28.83
$GC,9921,-0.48,-146.0,900.0,-7.0,513,9926,0.12,2.15,0.00,0.000,6,0.133,0.049,3044,2165,3384,0,0,0,0,0,0,26.03,26.17,28.83
$GC,10228,-0.48,-146.0,916.6,-4.8,523,10234,0.00,2.28,0.00,0.000,4,0.000,0.068,3035,3590,3384,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10281,-0.48,-146.0,918.0,-5.0,524,10288,0.00,2.15,0.00,0.000,6,0.000,0.049,3035,2171,3384,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10588,-0.48,-146.0,935.3,-5.2,535,10594,0.00,2.22,0.00,0.000,4,0.000,0.069,3026,3581,3384,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10631,-0.48,-146.0,937.1,-5.3,536,10635,0.00,2.15,0.00,0.000,6,0.000,0.049,3026,2174,3384,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10948,-0.48,-146.0,958.0,-6.7,547,10954,0.00,2.22,0.00,0.000,4,0.000,0.069,3016,3584,3383,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11009,-0.48,-146.0,962.2,-6.9,549,11013,0.00,2.17,0.00,0.000,6,0.000,0.050,3016,2166,3383,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11341,-0.48,-146.0,987.1,-7.6,560,11347,0.00,2.25,0.00,0.000,4,0.000,0.068,3007,3587,3383,0,0,0,0,0,0,28.83,26.02,28.83
$GC,11393,-0.48,-146.0,989.5,-7.8,561,11401,0.12,2.15,0.00,0.000,6,0.131,0.049,3043,2169,3383,0,0,0,0,0,0,26.03,26.16,28.83
$STATE,11428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11428,begin apogee
$GC,11435,-0.22,0.0,994.2,-8.0,563,11567,0.22,0.00,125.85,1.193,6,0.116,0.000,3124,2314,2793,0,0,0,0,0,0,26.06,28.83,23.68
$STATE,11570,end apogee,CONTROL_FINISHED_OK
$STATE,11570,begin climb
$GC,11573,0.48,146.0,998.0,0.0,567,11710,0.65,0.00,134.23,1.162,6,0.080,0.000,3346,2314,2198,0,0,0,0,0,0,24.57,28.83,23.01
$GC,12001,0.48,146.0,965.5,9.2,582,12006,0.00,2.30,0.00,0.000,4,0.000,0.068,3346,3705,2188,0,0,0,0,0,0,28.83,24.98,28.83
$GC,12038,0.48,146.0,962.4,9.5,583,12043,0.00,2.25,0.00,0.000,6,0.000,0.050,3356,2311,2187,0,0,0,0,0,0,28.83,25.10,28.83
$GC,12356,0.48,146.0,928.3,10.6,594,12361,0.00,2.30,0.00,0.000,4,0.000,0.068,3356,3706,2186,0,0,0,0,0,0,28.83,25.41,28.83
$GC,12399,0.48,146.0,924.6,10.9,595,12403,0.00,2.22,0.00,0.000,6,0.000,0.050,3367,2301,2186,0,0,0,0,0,0,28.83,25.52,28.83
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$STATE,22744,end climb,SURFACE_DEPTH_REACHED
$STATE,22744,begin surface coast
$FINISH,1.0,1.012977
$STATE,22787,end surface coast,CONTROL_FINISHED_OK
$STATE,22787,begin surface
$SM_CCo,22867,0.00,0.000,0,0,1260,376.04
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$TT8_MAMPS,0.026964,0.026964
$HUMID,44.21
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,15.90
$XPDR_PINGS,0
$24V_AH,23.0,24.068
$10V_AH,10.2,20.264
$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
$DEVICE_SECS,22.325,225.100,444.875,0.000,0.000,25.595,41.902,216.986,0.000,0.000,17.203,3379.788,15883.506,594.646,3029.427,390.096,0.000,2078.790,0.000,2703.145,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,872.299,733.121,510.463,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296772
$DATA_FILE_SIZE,73508,1269
$CAP_FILE_SIZE,200782,0
$CFSIZE,260165632,243994624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.084, 93.5,1
$GPS,201012,001230,4737.736,-12525.372,42,1.5,42,18.7