version: 66.11
glider: 187
mission: 2
dive: 176
start: 10 22 112 10 50 45
data:
$ID,187
$MISSION,2
$DIVE,176
$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,-1587848.1
$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,40
$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
$GPS1,221012,104153,4730.133,-12549.766,41,1.2,41,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-74.5
$GPS2,221012,105012,4730.174,-12549.927,12,1.1,29,18.7
$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,212.5,104672,-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,-146.0,0.0,0.0,0,75,0.00,0.00,-56.28,0.000,2,0.000,0.000,106,2163,2765,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-0.48,-146.0,3.6,-5.1,9,112,11.55,2.22,-12.48,0.000,4,0.226,0.063,3033,765,3393,0,0,0,0,0,0,25.18,25.58,25.99
$GC,352,-0.48,-146.0,57.1,-13.4,59,359,0.00,2.20,0.00,0.000,6,0.000,0.049,3025,2186,3397,0,0,0,0,0,0,28.83,25.71,28.83
$GC,673,-0.48,-146.0,99.5,-12.2,120,681,0.00,2.22,0.00,0.000,4,0.000,0.049,3025,766,3400,0,0,0,0,0,0,28.83,25.82,28.83
$GC,768,-0.48,-146.0,110.7,-13.0,137,775,0.00,2.20,0.00,0.000,6,0.000,0.049,3015,2182,3400,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1088,-0.48,-146.0,150.0,-12.4,167,1094,0.00,2.17,0.00,0.000,4,0.000,0.061,3004,3577,3400,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1135,-0.48,-146.0,156.1,-12.8,170,1140,0.12,2.15,0.00,0.000,6,0.136,0.042,3039,2163,3399,0,0,0,0,0,0,25.82,25.98,28.83
$GC,1444,-0.48,-146.0,188.0,-9.8,190,1448,0.00,2.15,0.00,0.000,4,0.000,0.050,3039,764,3400,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1469,-0.48,-146.0,190.0,-9.8,191,1476,0.00,2.17,0.00,0.000,6,0.000,0.050,3032,2183,3400,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1788,-0.48,-146.0,222.5,-9.9,209,1794,0.00,2.17,0.00,0.000,4,0.000,0.062,3021,3580,3399,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1850,-0.48,-146.0,228.9,-10.7,212,1854,0.00,2.12,0.00,0.000,6,0.000,0.043,3021,2166,3399,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2162,-0.48,-146.0,263.8,-11.0,228,2163,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2163,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2462,-0.48,-146.0,297.0,-11.0,243,2468,0.00,2.12,0.00,0.000,4,0.000,0.050,3021,765,3398,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2503,-0.48,-146.0,301.3,-10.9,245,2508,0.00,2.15,0.00,0.000,6,0.000,0.051,3012,2179,3398,0,0,0,0,0,0,28.83,26.04,28.83
$GC,2823,-0.48,-146.0,334.8,-10.3,261,2828,0.00,2.17,0.00,0.000,4,0.000,0.063,3001,3583,3397,0,0,0,0,0,0,28.83,25.99,28.83
$GC,2865,-0.48,-146.0,339.0,-10.5,263,2870,0.15,2.12,0.00,0.000,6,0.131,0.044,3045,2168,3397,0,0,0,0,0,0,25.94,26.13,28.83
$GC,3178,-0.48,-146.0,365.6,-8.2,279,3184,0.00,2.10,0.00,0.000,4,0.000,0.052,3045,771,3397,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3201,-0.48,-146.0,367.3,-8.2,280,3205,0.00,2.15,0.00,0.000,6,0.000,0.052,3037,2177,3397,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3513,-0.48,-146.0,395.0,-9.1,296,3519,0.00,2.22,0.00,0.000,4,0.000,0.065,3027,3593,3395,0,0,0,0,0,0,28.83,26.00,28.83
$GC,3561,-0.48,-146.0,398.8,-9.1,298,3565,0.00,2.15,0.00,0.000,6,0.000,0.045,3027,2166,3396,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3889,-0.48,-146.0,431.0,-9.7,309,3890,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2164,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4188,-0.48,-146.0,459.5,-9.4,319,4189,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2163,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4489,-0.48,-146.0,486.7,-8.8,329,4490,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2163,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4788,-0.48,-146.0,511.5,-8.1,339,4794,0.00,2.25,0.00,0.000,4,0.000,0.066,3017,3583,3392,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4851,-0.48,-146.0,516.5,-8.2,341,4855,0.00,2.12,0.00,0.000,6,0.000,0.046,3017,2174,3392,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5174,-0.48,-146.0,545.5,-8.8,352,5179,0.00,2.10,0.00,0.000,4,0.000,0.053,3016,779,3392,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5233,-0.48,-146.0,551.3,-9.3,354,5239,0.12,2.15,0.00,0.000,6,0.144,0.053,3043,2174,3392,0,0,0,0,0,0,25.97,26.08,28.83
$GC,5564,-0.48,-146.0,575.9,-7.4,365,5569,0.00,2.20,0.00,0.000,4,0.000,0.067,3034,3581,3391,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5631,-0.48,-146.0,580.7,-7.6,367,5635,0.00,2.15,0.00,0.000,6,0.000,0.046,3034,2166,3391,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5948,-0.48,-146.0,605.4,-7.5,378,5949,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2163,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6248,-0.48,-146.0,627.9,-7.5,388,6249,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2163,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6548,-0.48,-146.0,651.1,-7.8,398,6554,0.00,2.25,0.00,0.000,4,0.000,0.067,3024,3582,3390,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6578,-0.48,-146.0,653.7,-8.0,399,6584,0.00,2.15,0.00,0.000,6,0.000,0.047,3024,2167,3390,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6908,-0.48,-146.0,682.3,-8.8,410,6914,0.00,2.22,0.00,0.000,4,0.000,0.067,3014,3579,3388,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6941,-0.48,-146.0,685.0,-8.9,411,6945,0.00,2.12,0.00,0.000,6,0.000,0.047,3014,2176,3389,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7263,-0.48,-146.0,715.9,-9.7,422,7269,0.00,2.25,0.00,0.000,4,0.000,0.067,3004,3589,3388,0,0,0,0,0,0,28.83,25.99,28.83
$GC,7296,-0.48,-146.0,719.0,-9.8,423,7301,0.12,2.15,0.00,0.000,6,0.136,0.047,3040,2170,3388,0,0,0,0,0,0,25.99,26.15,28.83
$GC,7619,-0.48,-146.0,745.2,-7.9,434,7620,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2167,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7919,-0.48,-146.0,768.0,-7.4,444,7924,0.00,2.28,0.00,0.000,4,0.000,0.067,3031,3586,3387,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7962,-0.48,-146.0,770.3,-7.4,445,7966,0.00,2.15,0.00,0.000,6,0.000,0.047,3031,2167,3388,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8275,-0.48,-146.0,793.7,-6.9,456,8276,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2164,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8574,-0.48,-146.0,812.5,-6.0,466,8580,0.00,2.22,0.00,0.000,4,0.000,0.068,3021,3578,3387,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8627,-0.48,-146.0,814.5,-6.0,467,8634,0.00,2.12,0.00,0.000,6,0.000,0.047,3021,2173,3386,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8935,-0.48,-146.0,835.3,-6.4,478,8936,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2171,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9234,-0.48,-146.0,854.5,-6.7,488,9240,0.00,2.22,0.00,0.000,4,0.000,0.068,3011,3580,3386,0,0,0,0,0,0,28.83,25.97,28.83
$GC,9265,-0.48,-146.0,856.7,-6.8,489,9270,0.00,2.12,0.00,0.000,6,0.000,0.049,3011,2176,3386,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9594,-0.48,-146.0,882.3,-7.7,500,9600,0.00,2.12,0.00,0.000,4,0.000,0.055,3011,779,3385,0,0,0,0,0,0,28.83,26.04,28.83
$GC,9617,-0.48,-146.0,882.3,-7.7,500,9626,0.12,2.17,0.00,0.000,6,0.147,0.056,3039,2183,3385,0,0,0,0,0,0,25.92,26.04,28.83
$GC,9925,-0.48,-146.0,902.6,-6.1,511,9930,0.00,2.20,0.00,0.000,4,0.000,0.069,3030,3579,3385,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10007,-0.48,-146.0,906.8,-6.4,513,10014,0.00,2.15,0.00,0.000,6,0.000,0.048,3030,2162,3384,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10314,-0.48,-146.0,928.4,-6.7,524,10320,0.00,2.30,0.00,0.000,4,0.000,0.069,3020,3594,3385,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10348,-0.48,-146.0,930.6,-6.8,525,10352,0.00,2.17,0.00,0.000,6,0.000,0.049,3020,2170,3384,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10670,-0.48,-146.0,952.5,-6.6,536,10675,0.00,2.12,0.00,0.000,4,0.000,0.056,3020,771,3384,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10708,-0.48,-146.0,954.6,-6.6,537,10712,0.00,2.17,0.00,0.000,6,0.000,0.056,3011,2175,3384,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11025,-0.48,-146.0,979.2,-7.7,548,11031,0.00,2.20,0.00,0.000,4,0.000,0.069,3001,3582,3384,0,0,0,0,0,0,28.83,25.94,28.83
$GC,11100,-0.48,-146.0,984.4,-8.2,550,11106,0.15,2.15,0.00,0.000,6,0.128,0.048,3045,2165,3383,0,0,0,0,0,0,25.94,26.12,28.83
$STATE,11173,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11173,begin apogee
$GC,11180,-0.22,0.0,990.5,-7.2,553,11312,0.22,0.00,125.70,1.192,6,0.116,0.000,3124,2309,2793,0,0,0,0,0,0,26.02,28.83,23.66
$STATE,11315,end apogee,CONTROL_FINISHED_OK
$STATE,11315,begin climb
$GC,11317,0.48,146.0,993.8,0.0,557,11459,0.65,2.47,134.12,1.155,4,0.081,0.067,3345,3701,2196,0,0,0,0,0,0,24.56,23.68,22.96
$GC,11478,0.48,161.4,985.5,6.7,563,11498,0.00,2.35,14.70,1.042,6,0.000,0.048,3355,2305,2137,0,0,0,0,0,0,28.83,24.00,23.08
$GC,11800,0.48,161.4,953.6,10.0,573,11801,0.00,0.00,0.00,0.000,6,0.000,0.000,3355,2305,2128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12100,0.48,161.4,924.8,9.6,583,12105,0.00,2.30,0.00,0.000,4,0.000,0.069,3355,3705,2127,0,0,0,0,0,0,28.83,25.36,28.83
$GC,12122,0.48,161.4,924.8,9.6,583,12129,0.00,2.22,0.00,0.000,6,0.000,0.050,3365,2303,2126,0,0,0,0,0,0,28.83,25.45,28.83
$GC,12429,0.48,161.4,891.3,10.0,594,12435,0.00,2.30,0.00,0.000,4,0.000,0.069,3365,3704,2126,0,0,0,0,0,0,28.83,25.56,28.83
$GC,12473,0.48,161.4,887.8,10.3,595,12477,0.00,2.20,0.00,0.000,6,0.000,0.050,3375,2298,2125,0,0,0,0,0,0,28.83,25.67,28.83
$GC,12785,0.48,161.4,850.8,11.3,606,12791,0.00,2.28,0.00,0.000,4,0.000,0.070,3376,3704,2125,0,0,0,0,0,0,28.83,25.69,28.83
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$STATE,22411,end climb,SURFACE_DEPTH_REACHED
$STATE,22411,begin surface coast
$FINISH,1.0,1.024109
$STATE,22450,end surface coast,CONTROL_FINISHED_OK
$STATE,22450,begin surface
$SM_CCo,22533,0.00,0.000,0,0,1136,406.46
$SM_GC,2.03,8.52,2.58,0.00,0.038,0.076,0.000,141,2194,1136,-9.46,1.22,406.46,0,0,0,0,0,0,25.70,25.53,28.83
$IRIDIUM_FIX,4713.38,-12552.27,221012,040415
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.89
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,14.80
$XPDR_PINGS,0
$24V_AH,23.0,25.422
$10V_AH,10.2,21.400
$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,22.500,212.500,472.400,0.000,0.000,27.894,40.438,284.648,0.000,0.000,30.645,3334.153,15679.160,584.499,3007.124,420.820,0.000,2028.716,0.000,2634.529,0.000,0.535,0.000
$DEVICE_MAMPS,226.440,83.385,1191.870,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,866.757,732.923,516.740,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296796
$DATA_FILE_SIZE,70174,1261
$CAP_FILE_SIZE,195343,0
$CFSIZE,260165632,243126272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.114, 19.7,1
$GPS,221012,170756,4729.191,-12552.610,40,3.5,59,18.7