version: 66.11
glider: 187
mission: 2
dive: 172
start: 10 21 112 8 45 27
data:
$ID,187
$MISSION,2
$DIVE,172
$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,-1587843.1
$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,38
$R_STBD_OVSHOOT,24
$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
$GPS1,211012,083753,4732.784,-12538.578,40,1.9,40,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-77.0
$GPS2,211012,084455,4732.815,-12538.496,12,1.6,12,18.7
$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,255.9,119545,-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,-146.0,0.0,0.0,0,80,0.00,0.00,-60.97,0.000,2,0.000,0.000,110,2168,2721,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.48,-146.0,3.3,-5.1,10,118,11.48,2.35,-13.90,0.000,4,0.226,0.077,3023,3586,3393,0,0,0,0,0,0,25.17,25.55,25.98
$GC,143,-0.48,-146.0,19.4,-24.1,19,149,0.00,2.20,0.00,0.000,6,0.000,0.044,3023,2172,3395,0,0,0,0,0,0,28.83,25.63,28.83
$GC,465,-0.48,-146.0,68.5,-14.7,80,473,0.00,2.20,0.00,0.000,4,0.000,0.050,3022,765,3399,0,0,0,0,0,0,28.83,25.77,28.83
$GC,491,-0.48,-146.0,72.2,-14.0,84,500,0.00,2.22,0.00,0.000,6,0.000,0.050,3012,2176,3399,0,0,0,0,0,0,28.83,25.79,28.83
$GC,815,-0.48,-146.0,115.3,-12.2,145,822,0.00,2.22,0.00,0.000,4,0.000,0.061,3002,3593,3399,0,0,0,0,0,0,28.83,25.83,28.83
$GC,842,-0.48,-146.0,118.5,-12.6,149,849,0.15,2.20,0.00,0.000,6,0.133,0.043,3044,2164,3400,0,0,0,0,0,0,25.76,25.93,28.83
$GC,1158,-0.48,-146.0,150.3,-9.5,171,1159,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2158,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1458,-0.48,-146.0,178.5,-9.1,191,1459,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2158,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1772,-0.48,-146.0,206.1,-8.9,211,1778,0.00,2.22,0.00,0.000,4,0.000,0.062,3036,3585,3399,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1800,-0.48,-146.0,208.0,-9.1,212,1804,0.00,2.15,0.00,0.000,6,0.000,0.043,3036,2158,3399,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2107,-0.48,-146.0,238.2,-9.6,227,2108,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2154,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2409,-0.48,-146.0,266.7,-9.4,242,2410,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2154,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2708,-0.48,-146.0,293.4,-8.4,257,2713,0.00,2.30,0.00,0.000,4,0.000,0.064,3025,3599,3397,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2770,-0.48,-146.0,298.6,-8.6,260,2774,0.00,2.15,0.00,0.000,6,0.000,0.044,3025,2173,3398,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3082,-0.48,-146.0,328.1,-9.7,276,3088,0.00,2.10,0.00,0.000,4,0.000,0.051,3025,778,3397,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3142,-0.48,-146.0,334.1,-10.2,279,3148,0.00,2.15,0.00,0.000,6,0.000,0.051,3016,2182,3397,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3462,-0.48,-146.0,367.3,-10.5,295,3468,0.00,2.17,0.00,0.000,4,0.000,0.063,3006,3585,3396,0,0,0,0,0,0,28.83,26.05,28.83
$GC,3522,-0.48,-146.0,373.9,-10.8,298,3529,0.12,2.15,0.00,0.000,6,0.135,0.044,3041,2164,3395,0,0,0,0,0,0,26.02,26.17,28.83
$GC,3843,-0.48,-146.0,401.1,-8.2,314,3849,0.00,2.22,0.00,0.000,4,0.000,0.064,3033,3581,3395,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3876,-0.48,-146.0,403.7,-8.3,315,3880,0.00,2.12,0.00,0.000,6,0.000,0.045,3033,2168,3395,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4198,-0.48,-146.0,430.5,-8.2,326,4199,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2166,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4498,-0.48,-146.0,454.9,-8.0,336,4503,0.00,2.25,0.00,0.000,4,0.000,0.065,3023,3590,3394,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4528,-0.48,-146.0,457.4,-8.0,337,4534,0.00,2.12,0.00,0.000,6,0.000,0.046,3023,2176,3394,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4858,-0.48,-146.0,487.6,-9.5,348,4863,0.00,2.22,0.00,0.000,4,0.000,0.065,3013,3583,3394,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4891,-0.48,-146.0,490.6,-9.6,349,4895,0.00,2.12,0.00,0.000,6,0.000,0.046,3012,2173,3393,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5213,-0.48,-146.0,524.4,-10.5,360,5219,0.00,2.20,0.00,0.000,4,0.000,0.065,3003,3579,3392,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5245,-0.48,-146.0,527.5,-10.5,361,5250,0.12,2.12,0.00,0.000,6,0.138,0.046,3038,2177,3393,0,0,0,0,0,0,26.03,26.19,28.83
$GC,5568,-0.48,-146.0,554.5,-7.9,372,5570,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2172,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5869,-0.48,-146.0,576.8,-7.2,382,5875,0.00,2.25,0.00,0.000,4,0.000,0.067,3030,3586,3392,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5917,-0.48,-146.0,578.9,-7.1,383,5921,0.00,2.15,0.00,0.000,6,0.000,0.047,3030,2166,3392,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6224,-0.48,-146.0,603.4,-7.5,393,6225,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2164,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6524,-0.48,-146.0,626.2,-7.7,403,6530,0.00,2.22,0.00,0.000,4,0.000,0.066,3020,3578,3391,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6577,-0.48,-146.0,628.5,-7.8,404,6584,0.00,2.12,0.00,0.000,6,0.000,0.047,3020,2171,3391,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6883,-0.48,-146.0,655.4,-8.1,415,6889,0.00,2.12,0.00,0.000,4,0.000,0.054,3020,779,3390,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6914,-0.48,-146.0,658.0,-8.1,416,6919,0.00,2.15,0.00,0.000,6,0.000,0.054,3011,2174,3390,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7243,-0.48,-146.0,685.2,-8.2,427,7249,0.00,2.22,0.00,0.000,4,0.000,0.068,3001,3584,3390,0,0,0,0,0,0,28.83,26.05,28.83
$GC,7347,-0.48,-146.0,693.2,-8.7,430,7352,0.15,2.12,0.00,0.000,6,0.130,0.047,3044,2179,3390,0,0,0,0,0,0,26.01,26.19,28.83
$GC,7660,-0.48,-146.0,713.9,-6.1,441,7662,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2176,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7960,-0.48,-146.0,732.0,-6.1,451,7965,0.00,2.20,0.00,0.000,4,0.000,0.068,3036,3576,3388,0,0,0,0,0,0,28.83,26.05,28.83
$GC,8038,-0.48,-146.0,735.8,-6.2,453,8042,0.00,2.12,0.00,0.000,6,0.000,0.048,3036,2174,3388,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8345,-0.48,-146.0,758.0,-6.9,463,8350,0.00,2.22,0.00,0.000,4,0.000,0.067,3026,3582,3388,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8383,-0.48,-146.0,760.2,-7.0,464,8387,0.00,2.15,0.00,0.000,6,0.000,0.048,3027,2166,3387,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8700,-0.48,-146.0,784.5,-7.6,475,8701,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2164,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9000,-0.48,-146.0,808.6,-8.0,485,9006,0.00,2.25,0.00,0.000,4,0.000,0.068,3016,3585,3387,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9073,-0.48,-146.0,813.8,-8.4,487,9077,0.00,2.15,0.00,0.000,6,0.000,0.047,3016,2168,3387,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9385,-0.48,-146.0,843.1,-9.0,498,9391,0.00,2.25,0.00,0.000,4,0.000,0.068,3006,3587,3387,0,0,0,0,0,0,28.83,26.02,28.83
$GC,9415,-0.48,-146.0,846.0,-9.0,499,9421,0.12,2.17,0.00,0.000,6,0.134,0.048,3042,2164,3386,0,0,0,0,0,0,26.02,26.17,28.83
$GC,9745,-0.48,-146.0,870.6,-7.2,510,9751,0.00,2.25,0.00,0.000,4,0.000,0.068,3034,3582,3386,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9794,-0.48,-146.0,872.8,-7.3,511,9798,0.00,2.15,0.00,0.000,6,0.000,0.048,3034,2169,3386,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10100,-0.48,-146.0,897.5,-7.7,521,10106,0.00,2.28,0.00,0.000,4,0.000,0.069,3024,3582,3386,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10148,-0.48,-146.0,899.9,-7.7,522,10152,0.00,2.15,0.00,0.000,6,0.000,0.048,3024,2171,3386,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10455,-0.48,-146.0,926.4,-8.3,532,10461,0.00,2.22,0.00,0.000,4,0.000,0.068,3014,3578,3386,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10528,-0.48,-146.0,931.9,-8.5,534,10532,0.00,2.15,0.00,0.000,6,0.000,0.048,3014,2166,3385,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10841,-0.48,-146.0,959.8,-8.5,545,10847,0.00,2.25,0.00,0.000,4,0.000,0.069,3004,3580,3385,0,0,0,0,0,0,28.83,26.00,28.83
$GC,10888,-0.48,-146.0,962.6,-8.6,546,10893,0.12,2.15,0.00,0.000,6,0.135,0.049,3040,2171,3385,0,0,0,0,0,0,26.00,26.15,28.83
$GC,11195,-0.48,-146.0,986.4,-7.0,556,11197,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2168,3384,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11253,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11253,begin apogee
$GC,11260,-0.22,0.0,990.5,-7.0,558,11392,0.22,0.00,125.88,1.190,6,0.119,0.000,3120,2314,2793,0,0,0,0,0,0,26.03,28.83,23.69
$STATE,11395,end apogee,CONTROL_FINISHED_OK
$STATE,11395,begin climb
$GC,11398,0.48,146.0,995.0,0.0,562,11536,0.65,0.00,133.40,1.156,6,0.083,0.000,3341,2314,2198,0,0,0,0,0,0,24.57,28.83,22.99
$GC,11826,0.48,146.0,963.5,9.2,577,11827,0.00,0.00,0.00,0.000,6,0.000,0.000,3341,2314,2188,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12126,0.48,146.0,935.4,9.5,587,12127,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,2314,2186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12426,0.48,146.0,907.7,9.2,597,12431,0.00,2.28,0.00,0.000,4,0.000,0.069,3341,3705,2185,0,0,0,0,0,0,28.83,25.57,28.83
$GC,12458,0.48,146.0,904.9,9.3,598,12462,0.00,2.22,0.00,0.000,6,0.000,0.050,3352,2302,2184,0,0,0,0,0,0,28.83,25.67,28.83
$GC,12781,0.48,146.0,873.5,9.7,609,12782,0.00,0.00,0.00,0.000,6,0.000,0.000,3352,2298,2184,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13080,0.48,146.0,845.3,9.2,619,13082,0.00,0.00,0.00,0.000,6,0.000,0.000,3352,2299,2183,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,22761,end climb,SURFACE_DEPTH_REACHED
$STATE,22761,begin surface coast
$FINISH,1.0,1.009115
$STATE,22808,end surface coast,CONTROL_FINISHED_OK
$STATE,22808,begin surface
$SM_CCo,22887,0.00,0.000,0,0,1534,308.83
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$IRIDIUM_FIX,4719.74,-12535.60,211012,020223
$TT8_MAMPS,0.028462,0.028462
$HUMID,43.69
$INTERNAL_PRESSURE,9.11829
$TCM_TEMP,19.50
$XPDR_PINGS,0
$24V_AH,23.0,24.871
$10V_AH,10.2,20.949
$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,22.075,189.725,392.075,0.000,0.000,28.556,43.972,217.235,0.000,0.000,13.198,3390.803,16018.272,504.537,3002.572,383.384,0.000,1943.549,0.000,2677.147,0.000,0.535,0.000
$DEVICE_MAMPS,225.675,82.620,1190.340,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,883.895,752.406,550.533,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73486,1284
$CAP_FILE_SIZE,191609,0
$CFSIZE,260165632,243478528
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.106, 87.9,1
$GPS,211012,150805,4733.120,-12541.645,33,1.6,33,18.7