version: 66.11
glider: 187
mission: 2
dive: 174
start: 10 21 112 21 52 28
data:
$ID,187
$MISSION,2
$DIVE,174
$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,-1587845.6
$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,40
$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
$GPS1,211012,214405,4732.437,-12544.561,31,0.9,31,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-76.7
$GPS2,211012,215155,4732.479,-12544.574,13,1.2,13,18.7
$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,219.9,112668,-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,-146.0,0.0,0.0,0,81,0.00,0.00,-62.60,0.000,2,0.000,0.000,117,2164,2870,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.48,-146.0,3.8,-5.9,10,113,11.35,2.35,-10.10,0.000,4,0.222,0.073,3023,3587,3394,0,0,0,0,0,0,25.18,25.54,25.96
$GC,146,-0.48,-146.0,23.8,-26.0,20,155,0.00,2.22,0.00,0.000,6,0.000,0.044,3022,2176,3397,0,0,0,0,0,0,28.83,25.63,28.83
$GC,474,-0.48,-146.0,73.5,-14.2,81,481,0.00,2.15,0.00,0.000,4,0.000,0.050,3022,768,3400,0,0,0,0,0,0,28.83,25.76,28.83
$GC,636,-0.48,-146.0,95.7,-12.2,111,643,0.00,2.17,0.00,0.000,6,0.000,0.050,3013,2179,3400,0,0,0,0,0,0,28.83,25.82,28.83
$GC,960,-0.48,-146.0,137.1,-12.3,155,961,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2179,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1260,-0.48,-146.0,172.9,-11.7,175,1266,0.00,2.20,0.00,0.000,4,0.000,0.062,3003,3591,3400,0,0,0,0,0,0,28.83,25.90,28.83
$GC,1297,-0.48,-146.0,176.6,-11.9,177,1305,0.15,2.17,0.00,0.000,6,0.135,0.043,3045,2162,3401,0,0,0,0,0,0,25.84,26.01,28.83
$GC,1605,-0.48,-146.0,205.8,-8.8,197,1606,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2160,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1904,-0.48,-146.0,230.9,-8.2,212,1910,0.00,2.25,0.00,0.000,4,0.000,0.063,3036,3584,3400,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1932,-0.48,-146.0,232.5,-8.1,213,1936,0.00,2.12,0.00,0.000,6,0.000,0.044,3036,2173,3400,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2241,-0.48,-146.0,261.0,-9.1,228,2246,0.00,2.10,0.00,0.000,4,0.000,0.050,3036,776,3399,0,0,0,0,0,0,28.83,26.04,28.83
$GC,2273,-0.48,-146.0,262.9,-9.2,229,2279,0.00,2.15,0.00,0.000,6,0.000,0.050,3027,2179,3399,0,0,0,0,0,0,28.83,26.05,28.83
$GC,2582,-0.48,-146.0,294.7,-9.8,245,2587,0.00,2.20,0.00,0.000,4,0.000,0.063,3017,3587,3399,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2620,-0.48,-146.0,298.9,-10.0,247,2626,0.00,2.15,0.00,0.000,6,0.000,0.044,3017,2165,3398,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2940,-0.48,-146.0,333.7,-10.9,263,2941,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2162,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3240,-0.48,-146.0,364.9,-10.3,278,3241,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2162,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3540,-0.48,-146.0,396.5,-10.3,293,3546,0.00,2.28,0.00,0.000,4,0.000,0.065,3006,3592,3397,0,0,0,0,0,0,28.83,26.03,28.83
$GC,3563,-0.48,-146.0,398.5,-10.2,294,3568,0.12,2.15,0.00,0.000,6,0.134,0.045,3042,2170,3397,0,0,0,0,0,0,26.01,26.16,28.83
$GC,3877,-0.48,-146.0,425.0,-8.3,305,3882,0.00,2.22,0.00,0.000,4,0.000,0.065,3034,3584,3396,0,0,0,0,0,0,28.83,26.04,28.83
$GC,3909,-0.48,-146.0,427.5,-8.1,306,3913,0.00,2.15,0.00,0.000,6,0.000,0.045,3034,2173,3396,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4232,-0.48,-146.0,455.6,-8.5,317,4236,0.00,2.15,0.00,0.000,4,0.000,0.052,3034,766,3395,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4272,-0.48,-146.0,458.6,-8.6,318,4276,0.00,2.20,0.00,0.000,6,0.000,0.053,3025,2185,3395,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4594,-0.48,-146.0,488.1,-8.7,329,4600,0.00,2.17,0.00,0.000,4,0.000,0.066,3015,3578,3394,0,0,0,0,0,0,28.83,26.04,28.83
$GC,4627,-0.48,-146.0,491.1,-9.0,330,4631,0.00,2.12,0.00,0.000,6,0.000,0.045,3015,2167,3395,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4950,-0.48,-146.0,521.4,-9.5,341,4951,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2165,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5249,-0.48,-146.0,550.3,-9.7,351,5254,0.00,2.25,0.00,0.000,4,0.000,0.066,3005,3585,3394,0,0,0,0,0,0,28.83,26.04,28.83
$GC,5292,-0.48,-146.0,553.4,-9.7,352,5296,0.12,2.12,0.00,0.000,6,0.138,0.046,3040,2175,3393,0,0,0,0,0,0,26.02,26.18,28.83
$GC,5605,-0.48,-146.0,580.4,-8.2,363,5606,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2171,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5905,-0.48,-146.0,604.8,-8.2,373,5910,0.00,2.22,0.00,0.000,4,0.000,0.067,3032,3584,3392,0,0,0,0,0,0,28.83,26.04,28.83
$GC,5947,-0.48,-146.0,607.4,-8.3,374,5951,0.00,2.12,0.00,0.000,6,0.000,0.047,3032,2176,3392,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6260,-0.48,-146.0,635.1,-8.5,385,6261,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2174,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6560,-0.48,-146.0,660.3,-8.3,395,6561,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2174,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6860,-0.48,-146.0,685.0,-8.1,405,6865,0.00,2.22,0.00,0.000,4,0.000,0.067,3022,3587,3391,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6902,-0.48,-146.0,687.5,-8.0,406,6906,0.00,2.15,0.00,0.000,6,0.000,0.047,3022,2167,3391,0,0,0,0,0,0,28.83,26.18,28.83
$GC,7215,-0.48,-146.0,714.3,-8.3,417,7216,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2166,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7514,-0.48,-146.0,738.5,-7.9,427,7520,0.00,2.25,0.00,0.000,4,0.000,0.067,3012,3583,3390,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7598,-0.48,-146.0,743.5,-8.2,429,7604,0.00,2.15,0.00,0.000,6,0.000,0.047,3012,2176,3390,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7905,-0.48,-146.0,771.9,-8.4,440,7906,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2175,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8205,-0.48,-146.0,796.9,-8.2,450,8210,0.00,2.25,0.00,0.000,4,0.000,0.069,3002,3591,3389,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8237,-0.48,-146.0,799.4,-8.2,451,8242,0.15,2.17,0.00,0.000,6,0.127,0.048,3046,2170,3389,0,0,0,0,0,0,26.00,26.17,28.83
$GC,8561,-0.48,-146.0,819.1,-5.8,462,8566,0.00,2.22,0.00,0.000,4,0.000,0.068,3038,3576,3388,0,0,0,0,0,0,28.83,26.02,28.83
$GC,8593,-0.48,-146.0,821.1,-6.1,463,8597,0.00,2.12,0.00,0.000,6,0.000,0.048,3038,2177,3388,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8916,-0.48,-146.0,842.9,-6.9,474,8917,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2175,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9216,-0.48,-146.0,863.0,-6.7,484,9221,0.00,2.22,0.00,0.000,4,0.000,0.069,3028,3583,3387,0,0,0,0,0,0,28.83,26.00,28.83
$GC,9309,-0.48,-146.0,869.5,-7.1,487,9313,0.00,2.15,0.00,0.000,6,0.000,0.048,3028,2169,3387,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9631,-0.48,-146.0,891.9,-7.0,498,9632,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2167,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9931,-0.48,-146.0,912.1,-6.5,508,9936,0.00,2.25,0.00,0.000,4,0.000,0.068,3018,3583,3386,0,0,0,0,0,0,28.83,26.00,28.83
$GC,10029,-0.48,-146.0,918.1,-6.8,511,10033,0.00,2.15,0.00,0.000,6,0.000,0.048,3018,2170,3386,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10347,-0.48,-146.0,940.1,-6.6,522,10352,0.00,2.25,0.00,0.000,4,0.000,0.069,3008,3583,3386,0,0,0,0,0,0,28.83,25.99,28.83
$GC,10399,-0.48,-146.0,942.1,-6.6,523,10407,0.12,2.15,0.00,0.000,6,0.134,0.049,3045,2170,3386,0,0,0,0,0,0,26.00,26.15,28.83
$GC,10707,-0.48,-146.0,959.2,-5.0,534,10712,0.00,2.28,0.00,0.000,4,0.000,0.069,3036,3587,3386,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10739,-0.48,-146.0,960.7,-5.0,535,10743,0.00,2.17,0.00,0.000,6,0.000,0.049,3036,2175,3386,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11066,-0.48,-146.0,979.0,-5.4,546,11072,0.00,2.25,0.00,0.000,4,0.000,0.070,3026,3586,3385,0,0,0,0,0,0,28.83,25.97,28.83
$GC,11115,-0.48,-146.0,980.7,-5.4,547,11119,0.00,2.15,0.00,0.000,6,0.000,0.049,3026,2176,3386,0,0,0,0,0,0,28.83,26.14,28.83
$STATE,11268,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11268,begin apogee
$GC,11275,-0.22,0.0,991.3,-6.1,552,11407,0.28,0.00,126.05,1.188,6,0.112,0.000,3122,2305,2793,0,0,0,0,0,0,25.97,28.83,23.68
$STATE,11411,end apogee,CONTROL_FINISHED_OK
$STATE,11411,begin climb
$GC,11413,0.48,146.0,994.2,0.0,556,11551,0.65,0.00,134.27,1.157,6,0.081,0.000,3344,2305,2197,0,0,0,0,0,0,24.57,28.83,22.97
$GC,11841,0.48,146.0,959.0,9.5,571,11847,0.00,2.35,0.00,0.000,4,0.000,0.069,3343,3706,2188,0,0,0,0,0,0,28.83,24.95,28.83
$GC,11874,0.48,146.0,956.0,9.7,572,11878,0.00,2.25,0.00,0.000,6,0.000,0.050,3353,2310,2187,0,0,0,0,0,0,28.83,25.08,28.83
$GC,12196,0.48,146.0,921.4,10.6,583,12202,0.00,2.28,0.00,0.000,4,0.000,0.069,3354,3694,2185,0,0,0,0,0,0,28.83,25.40,28.83
$GC,12229,0.48,146.0,917.9,10.7,584,12233,0.00,2.22,0.00,0.000,6,0.000,0.050,3364,2291,2185,0,0,0,0,0,0,28.83,25.50,28.83
$GC,12551,0.48,146.0,881.0,11.3,595,12553,0.00,0.00,0.00,0.000,6,0.000,0.000,3364,2285,2185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12851,0.48,146.0,847.0,11.1,605,12857,0.00,2.30,0.00,0.000,4,0.000,0.069,3364,3701,2184,0,0,0,0,0,0,28.83,25.70,28.83
$GC,12911,0.48,146.0,839.7,11.7,607,12917,0.00,2.20,0.00,0.000,6,0.000,0.050,3375,2299,2184,0,0,0,0,0,0,28.83,25.82,28.83
$GC,13242,0.48,146.0,800.9,11.9,618,13248,0.00,2.28,0.00,0.000,4,0.000,0.070,3375,3698,2183,0,0,0,0,0,0,28.83,25.79,28.83
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$STATE,22758,end climb,SURFACE_DEPTH_REACHED
$STATE,22758,begin surface coast
$FINISH,0.9,1.014220
$STATE,22791,end surface coast,CONTROL_FINISHED_OK
$STATE,22791,begin surface
$SM_CCo,22873,0.00,0.000,0,0,1256,377.27
$SM_GC,2.04,8.38,2.47,0.00,0.027,0.044,0.000,111,2178,1256,-9.47,0.99,377.27,0,0,0,0,0,0,25.71,25.61,28.83
$IRIDIUM_FIX,4716.56,-12538.19,211012,151506
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.81
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,15.10
$XPDR_PINGS,0
$24V_AH,23.0,25.140
$10V_AH,10.2,21.176
$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,22.025,194.900,449.325,0.000,0.000,26.267,34.959,276.377,0.000,0.000,14.501,3322.754,16081.690,576.798,2938.677,414.196,0.000,1981.140,0.000,2599.172,0.000,0.535,0.000
$DEVICE_MAMPS,221.850,85.680,1188.045,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,869.851,729.909,510.485,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296800
$DATA_FILE_SIZE,70199,1265
$CAP_FILE_SIZE,191477,0
$CFSIZE,260165632,243302400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.079, 43.6,1
$GPS,221012,041519,4731.379,-12547.489,40,2.2,59,18.7