version: 66.11
glider: 187
mission: 2
dive: 183
start: 10 24 112 8 29 24
data:
$ID,187
$MISSION,2
$DIVE,183
$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,-1587857
$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,33
$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
$GPS1,241012,082005,4719.708,-12610.361,27,1.6,27,18.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-74.0
$GPS2,241012,082854,4719.690,-12610.319,11,1.7,16,18.6
$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,219.5,72576,-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,-146.0,0.0,0.0,0,93,0.00,0.00,-74.32,0.000,2,0.000,0.000,106,2170,2875,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.48,-146.0,3.4,-4.1,12,125,11.45,2.28,-10.10,0.000,4,0.223,0.063,3032,755,3393,0,0,0,0,0,0,25.15,25.57,25.96
$GC,169,-0.48,-146.0,25.8,-23.1,24,176,0.00,2.25,0.00,0.000,6,0.000,0.050,3024,2170,3396,0,0,0,0,0,0,28.83,25.59,28.83
$GC,485,-0.48,-146.0,74.6,-14.5,85,492,0.00,2.22,0.00,0.000,4,0.000,0.060,3013,3583,3399,0,0,0,0,0,0,28.83,25.70,28.83
$GC,550,-0.48,-146.0,84.0,-14.3,97,557,0.00,2.15,0.00,0.000,6,0.000,0.041,3012,2165,3399,0,0,0,0,0,0,28.83,25.83,28.83
$GC,867,-0.48,-146.0,128.0,-12.5,151,868,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2158,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1168,-0.48,-146.0,165.7,-12.7,171,1173,0.00,2.10,0.00,0.000,4,0.000,0.048,3012,769,3399,0,0,0,0,0,0,28.83,25.92,28.83
$GC,1212,-0.48,-146.0,171.5,-12.9,174,1218,0.12,2.15,0.00,0.000,6,0.146,0.049,3038,2176,3399,0,0,0,0,0,0,25.79,25.93,28.83
$GC,1534,-0.48,-146.0,202.3,-8.6,195,1539,0.00,2.20,0.00,0.000,4,0.000,0.062,3030,3585,3399,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1572,-0.48,-146.0,205.8,-8.4,197,1578,0.00,2.12,0.00,0.000,6,0.000,0.042,3030,2164,3399,0,0,0,0,0,0,28.83,26.05,28.83
$GC,1892,-0.48,-146.0,233.4,-8.5,213,1898,0.00,2.10,0.00,0.000,4,0.000,0.049,3030,776,3399,0,0,0,0,0,0,28.83,26.00,28.83
$GC,2002,-0.48,-146.0,242.0,-8.5,218,2011,0.00,2.15,0.00,0.000,6,0.000,0.050,3020,2183,3398,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2312,-0.48,-146.0,268.2,-8.1,234,2318,0.00,2.12,0.00,0.000,4,0.000,0.049,3020,779,3398,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2442,-0.48,-146.0,278.3,-8.5,240,2451,0.00,2.15,0.00,0.000,6,0.000,0.050,3011,2187,3397,0,0,0,0,0,0,28.83,26.04,28.83
$GC,2753,-0.48,-146.0,305.3,-8.4,256,2759,0.12,2.17,0.00,0.000,4,0.145,0.062,3044,3583,3397,0,0,0,0,0,0,26.08,25.98,28.83
$GC,2875,-0.48,-146.0,314.0,-7.3,262,2879,0.00,2.12,0.00,0.000,6,0.000,0.044,3044,2171,3397,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3197,-0.48,-146.0,336.5,-6.9,278,3203,0.00,2.10,0.00,0.000,4,0.000,0.050,3044,773,3396,0,0,0,0,0,0,28.83,26.07,28.83
$GC,3332,-0.48,-146.0,345.0,-7.0,284,3339,0.00,2.15,0.00,0.000,6,0.000,0.051,3035,2180,3396,0,0,0,0,0,0,28.83,26.07,28.83
$GC,3637,-0.48,-146.0,368.1,-7.4,300,3643,0.00,2.12,0.00,0.000,4,0.000,0.050,3034,766,3395,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3759,-0.48,-146.0,377.6,-7.9,306,3764,0.00,2.15,0.00,0.000,6,0.000,0.052,3026,2180,3395,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4067,-0.48,-146.0,402.5,-8.1,321,4072,0.00,2.15,0.00,0.000,4,0.000,0.050,3026,763,3394,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4207,-0.48,-146.0,412.6,-8.4,325,4216,0.00,2.17,0.00,0.000,6,0.000,0.052,3016,2183,3394,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4518,-0.48,-146.0,439.3,-8.0,336,4523,0.00,2.17,0.00,0.000,4,0.000,0.065,3007,3577,3393,0,0,0,0,0,0,28.83,26.02,28.83
$GC,4698,-0.48,-146.0,453.9,-7.9,342,4705,0.12,2.12,0.00,0.000,6,0.139,0.043,3042,2161,3393,0,0,0,0,0,0,25.99,26.17,28.83
$GC,5029,-0.48,-146.0,476.4,-6.7,353,5034,0.00,2.22,0.00,0.000,4,0.000,0.066,3034,3580,3392,0,0,0,0,0,0,28.83,26.02,28.83
$GC,5046,-0.48,-146.0,476.4,-6.7,353,5051,0.00,2.12,0.00,0.000,6,0.000,0.045,3035,2169,3392,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5354,-0.48,-146.0,497.5,-6.5,363,5359,0.00,2.10,0.00,0.000,4,0.000,0.051,3034,773,3392,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5421,-0.48,-146.0,501.4,-6.5,365,5425,0.00,2.17,0.00,0.000,6,0.000,0.053,3026,2175,3391,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5739,-0.48,-146.0,523.0,-6.7,376,5745,0.00,2.20,0.00,0.000,4,0.000,0.066,3016,3582,3390,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5967,-0.48,-146.0,537.8,-7.1,383,5971,0.00,2.12,0.00,0.000,6,0.000,0.044,3015,2167,3391,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6273,-0.48,-146.0,561.7,-7.4,393,6279,0.00,2.28,0.00,0.000,4,0.000,0.066,3005,3591,3390,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6455,-0.48,-146.0,576.0,-7.9,399,6461,0.12,2.15,0.00,0.000,6,0.137,0.044,3040,2168,3390,0,0,0,0,0,0,26.00,26.17,28.83
$GC,6786,-0.48,-146.0,599.8,-7.2,410,6791,0.00,2.22,0.00,0.000,4,0.000,0.066,3033,3583,3389,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6868,-0.48,-146.0,604.2,-7.3,412,6875,0.00,2.12,0.00,0.000,6,0.000,0.047,3033,2174,3389,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7175,-0.48,-146.0,627.6,-6.9,423,7181,0.00,2.25,0.00,0.000,4,0.000,0.067,3023,3588,3388,0,0,0,0,0,0,28.83,25.99,28.83
$GC,7370,-0.48,-146.0,640.1,-6.8,429,7374,0.00,2.12,0.00,0.000,6,0.000,0.046,3022,2177,3388,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7683,-0.48,-146.0,662.2,-6.9,440,7689,0.00,2.22,0.00,0.000,4,0.000,0.068,3013,3583,3388,0,0,0,0,0,0,28.83,25.99,28.83
$GC,7864,-0.48,-146.0,674.6,-6.8,446,7871,0.00,2.15,0.00,0.000,6,0.000,0.047,3013,2165,3388,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8195,-0.48,-146.0,697.5,-7.0,457,8200,0.00,2.22,0.00,0.000,4,0.000,0.067,3003,3575,3387,0,0,0,0,0,0,28.83,25.99,28.83
$GC,8238,-0.48,-146.0,699.7,-7.0,458,8243,0.12,2.12,0.00,0.000,6,0.138,0.046,3038,2168,3387,0,0,0,0,0,0,25.98,26.16,28.83
$GC,8551,-0.48,-146.0,720.5,-6.2,469,8557,0.00,2.10,0.00,0.000,4,0.000,0.052,3038,776,3387,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8564,-0.48,-146.0,720.5,-6.2,469,8568,0.00,2.15,0.00,0.000,6,0.000,0.054,3032,2173,3387,0,0,0,0,0,0,28.83,26.06,28.83
$GC,8877,-0.48,-146.0,741.2,-6.4,480,8883,0.00,2.22,0.00,0.000,4,0.000,0.067,3022,3585,3386,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8990,-0.48,-146.0,747.3,-6.7,483,8997,0.00,2.12,0.00,0.000,6,0.000,0.046,3022,2173,3386,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9297,-0.48,-146.0,769.5,-6.7,494,9298,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2173,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9597,-0.48,-146.0,789.2,-6.5,504,9603,0.00,2.28,0.00,0.000,4,0.000,0.067,3012,3592,3386,0,0,0,0,0,0,28.83,25.97,28.83
$GC,9710,-0.48,-146.0,795.6,-6.9,507,9717,0.00,2.15,0.00,0.000,6,0.000,0.046,3012,2168,3385,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10017,-0.48,-146.0,819.7,-7.2,518,10018,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2168,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10317,-0.48,-146.0,841.8,-7.5,528,10321,0.00,2.15,0.00,0.000,4,0.000,0.054,3012,777,3385,0,0,0,0,0,0,28.83,26.04,28.83
$GC,10342,-0.48,-146.0,841.8,-7.5,528,10349,0.12,2.17,0.00,0.000,6,0.146,0.054,3038,2185,3384,0,0,0,0,0,0,25.91,26.04,28.83
$GC,10650,-0.48,-146.0,863.3,-6.4,539,10653,0.00,2.25,0.00,0.000,4,0.000,0.067,3030,3593,3384,0,0,0,0,0,0,28.83,25.95,28.83
$GC,10682,-0.48,-146.0,865.5,-6.4,540,10688,0.00,2.12,0.00,0.000,6,0.000,0.047,3030,2183,3384,0,0,0,0,0,0,28.83,26.14,28.83
$GC,11012,-0.48,-146.0,888.1,-6.9,551,11017,0.00,2.15,0.00,0.000,4,0.000,0.053,3029,770,3384,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11060,-0.48,-146.0,890.4,-7.1,552,11064,0.00,2.17,0.00,0.000,6,0.000,0.055,3020,2176,3384,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11366,-0.48,-146.0,914.8,-7.4,562,11372,0.00,2.25,0.00,0.000,4,0.000,0.068,3010,3586,3384,0,0,0,0,0,0,28.83,25.94,28.83
$GC,11410,-0.48,-146.0,917.2,-7.6,563,11415,0.12,2.15,0.00,0.000,6,0.129,0.047,3046,2168,3384,0,0,0,0,0,0,25.98,26.13,28.83
$GC,11723,-0.48,-146.0,938.4,-6.3,574,11724,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2166,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12024,-0.48,-146.0,956.7,-6.0,584,12025,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2166,3383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12324,-0.48,-146.0,974.8,-6.0,594,12325,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2166,3383,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12621,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12621,begin apogee
$GC,12628,-0.22,0.0,991.5,-5.4,604,12759,0.20,0.00,126.32,1.190,6,0.119,0.000,3119,2312,2793,0,0,0,0,0,0,26.05,28.83,23.65
$STATE,12763,end apogee,CONTROL_FINISHED_OK
$STATE,12763,begin climb
$GC,12765,0.48,146.0,995.0,0.0,608,12909,0.68,2.47,133.52,1.159,4,0.081,0.066,3348,3697,2196,0,0,0,0,0,0,24.55,23.61,22.87
$GC,12945,0.48,160.0,986.4,6.8,614,12964,0.00,2.33,13.50,1.043,6,0.000,0.047,3358,2306,2141,0,0,0,0,0,0,28.83,24.11,23.16
$GC,13277,0.48,160.0,951.7,9.6,626,13283,0.00,2.33,0.00,0.000,4,0.000,0.067,3358,3693,2134,0,0,0,0,0,0,28.83,24.98,28.83
$GC,13307,0.48,160.0,948.6,9.7,627,13313,0.00,2.25,0.00,0.000,6,0.000,0.048,3368,2298,2133,0,0,0,0,0,0,28.83,25.11,28.83
$GC,13637,0.48,160.0,915.4,9.8,638,13643,0.00,2.30,0.00,0.000,4,0.000,0.069,3369,3694,2131,0,0,0,0,0,0,28.83,25.40,28.83
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$STATE,24026,end climb,SURFACE_DEPTH_REACHED
$STATE,24026,begin surface coast
$FINISH,1.2,1.024242
$STATE,24065,end surface coast,CONTROL_FINISHED_OK
$STATE,24065,begin surface
$SM_CCo,24145,0.00,0.000,0,0,1245,379.97
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$IRIDIUM_FIX,4703.87,-12610.28,241012,010122
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.81
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,19.30
$XPDR_PINGS,2
$24V_AH,22.9,26.421
$10V_AH,10.1,22.203
$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,22.175,210.925,458.175,0.000,0.000,62.700,44.384,219.373,0.500,0.000,16.984,3540.881,16642.977,582.774,3483.388,412.317,0.000,2246.906,0.000,3095.547,0.000,0.537,0.000
$DEVICE_MAMPS,223.380,81.855,1190.340,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,909.119,750.336,523.203,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296728
$DATA_FILE_SIZE,76964,1322
$CAP_FILE_SIZE,213892,0
$CFSIZE,260165632,242495488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.094, 88.7,1
$GPS,241012,151305,4719.036,-12612.234,38,0.9,38,18.6