version: 66.11
glider: 187
mission: 2
dive: 190
start: 10 26 112 8 23 38
data:
$ID,187
$MISSION,2
$DIVE,190
$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,-1587987.5
$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,42
$R_STBD_OVSHOOT,26
$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
$GPS1,261012,081605,4711.767,-12631.368,56,1.2,56,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-73.9
$GPS2,261012,082306,4711.798,-12631.336,15,1.1,15,18.6
$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,214.8,42287,-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,-146.0,0.0,0.0,0,86,0.00,0.00,-67.10,0.000,2,0.000,0.000,108,2166,2824,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.48,-146.0,3.4,-4.2,11,119,11.40,2.25,-11.20,0.000,4,0.221,0.064,3034,770,3393,0,0,0,0,0,0,25.10,25.54,25.96
$GC,157,-0.48,-146.0,24.0,-22.9,22,165,0.00,2.25,0.00,0.000,6,0.000,0.050,3026,2180,3395,0,0,0,0,0,0,28.83,25.57,28.83
$GC,483,-0.48,-146.0,74.0,-14.0,83,489,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2180,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,796,-0.48,-146.0,114.5,-11.5,144,803,0.00,2.20,0.00,0.000,4,0.000,0.050,3026,780,3399,0,0,0,0,0,0,28.83,25.82,28.83
$GC,820,-0.48,-146.0,117.4,-11.3,148,828,0.00,2.20,0.00,0.000,6,0.000,0.049,3017,2177,3399,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1132,-0.48,-146.0,152.5,-12.1,171,1138,0.00,2.12,0.00,0.000,4,0.000,0.049,3017,778,3399,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1165,-0.48,-146.0,156.1,-11.8,173,1170,0.12,2.15,0.00,0.000,6,0.145,0.049,3042,2176,3399,0,0,0,0,0,0,25.77,25.90,28.83
$GC,1474,-0.48,-146.0,185.2,-9.2,193,1480,0.00,2.20,0.00,0.000,4,0.000,0.063,3033,3584,3399,0,0,0,0,0,0,28.83,25.88,28.83
$GC,1512,-0.48,-146.0,187.9,-9.0,195,1518,0.00,2.15,0.00,0.000,6,0.000,0.043,3033,2161,3399,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1818,-0.48,-146.0,216.6,-9.3,213,1819,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2158,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2118,-0.48,-146.0,244.2,-9.2,228,2124,0.00,2.25,0.00,0.000,4,0.000,0.062,3023,3583,3399,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2147,-0.48,-146.0,246.0,-9.2,229,2151,0.00,2.12,0.00,0.000,6,0.000,0.043,3022,2179,3399,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2455,-0.48,-146.0,277.7,-10.4,244,2456,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2172,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2754,-0.48,-146.0,309.1,-10.5,259,2757,0.00,2.17,0.00,0.000,4,0.000,0.052,3022,763,3398,0,0,0,0,0,0,28.83,26.02,28.83
$GC,2796,-0.48,-146.0,313.7,-10.7,261,2800,0.00,2.20,0.00,0.000,6,0.000,0.051,3013,2181,3398,0,0,0,0,0,0,28.83,26.03,28.83
$GC,3118,-0.48,-146.0,347.8,-10.5,277,3123,0.00,2.20,0.00,0.000,4,0.000,0.063,3002,3583,3397,0,0,0,0,0,0,28.83,25.97,28.83
$GC,3140,-0.48,-146.0,350.0,-10.5,278,3145,0.12,2.15,0.00,0.000,6,0.138,0.044,3038,2171,3396,0,0,0,0,0,0,25.94,26.10,28.83
$GC,3460,-0.48,-146.0,377.7,-8.4,294,3465,0.00,2.22,0.00,0.000,4,0.000,0.064,3030,3580,3396,0,0,0,0,0,0,28.83,25.98,28.83
$GC,3498,-0.48,-146.0,381.4,-8.7,296,3504,0.00,2.12,0.00,0.000,6,0.000,0.045,3030,2172,3396,0,0,0,0,0,0,28.83,26.12,28.83
$GC,3819,-0.48,-146.0,412.2,-10.0,310,3820,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2169,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4118,-0.48,-146.0,442.0,-9.9,320,4120,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2169,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4419,-0.48,-146.0,471.3,-9.5,330,4420,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2169,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4719,-0.48,-146.0,497.8,-8.5,340,4720,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2169,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5019,-0.48,-146.0,522.9,-8.3,350,5025,0.00,2.25,0.00,0.000,4,0.000,0.066,3020,3583,3392,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5056,-0.48,-146.0,525.5,-8.3,351,5060,0.00,2.15,0.00,0.000,6,0.000,0.046,3020,2172,3392,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5379,-0.48,-146.0,553.7,-8.4,362,5380,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2168,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5679,-0.48,-146.0,578.6,-8.2,372,5685,0.00,2.22,0.00,0.000,4,0.000,0.066,3010,3582,3391,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5708,-0.48,-146.0,581.2,-8.2,373,5715,0.12,2.15,0.00,0.000,6,0.132,0.046,3045,2174,3391,0,0,0,0,0,0,25.98,26.13,28.83
$GC,6039,-0.48,-146.0,603.7,-6.7,384,6040,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2168,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6339,-0.48,-146.0,624.5,-7.0,394,6340,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2168,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6639,-0.48,-146.0,645.7,-7.1,404,6640,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2167,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6939,-0.48,-146.0,667.1,-7.2,414,6945,0.00,2.28,0.00,0.000,4,0.000,0.068,3037,3584,3389,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6983,-0.48,-146.0,669.4,-7.3,415,6988,0.00,2.15,0.00,0.000,6,0.000,0.047,3037,2170,3389,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7299,-0.48,-146.0,694.9,-7.7,426,7300,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2168,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7599,-0.48,-146.0,718.5,-7.9,436,7602,0.00,2.28,0.00,0.000,4,0.000,0.068,3027,3585,3388,0,0,0,0,0,0,28.83,25.95,28.83
$GC,7644,-0.48,-146.0,721.2,-8.0,437,7649,0.00,2.15,0.00,0.000,6,0.000,0.047,3027,2172,3388,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7956,-0.48,-146.0,748.8,-8.4,448,7958,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2169,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8256,-0.48,-146.0,772.9,-7.8,458,8262,0.00,2.25,0.00,0.000,4,0.000,0.067,3017,3583,3387,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8289,-0.48,-146.0,775.4,-7.9,459,8293,0.00,2.15,0.00,0.000,6,0.000,0.047,3017,2171,3387,0,0,0,0,0,0,28.83,26.11,28.83
$GC,8611,-0.48,-146.0,801.6,-7.8,470,8613,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2168,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8912,-0.48,-146.0,823.6,-7.2,480,8917,0.00,2.22,0.00,0.000,4,0.000,0.067,3007,3578,3387,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8950,-0.48,-146.0,825.8,-7.3,481,8955,0.12,2.15,0.00,0.000,6,0.133,0.047,3043,2167,3386,0,0,0,0,0,0,25.96,26.10,28.83
$GC,9268,-0.48,-146.0,843.8,-5.2,492,9269,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2165,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9568,-0.48,-146.0,860.9,-5.8,502,9574,0.00,2.25,0.00,0.000,4,0.000,0.069,3035,3582,3386,0,0,0,0,0,0,28.83,25.92,28.83
$GC,9617,-0.48,-146.0,862.8,-5.9,503,9621,0.00,2.15,0.00,0.000,6,0.000,0.048,3035,2175,3385,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9923,-0.48,-146.0,885.4,-7.1,513,9924,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2173,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10223,-0.48,-146.0,907.3,-7.4,523,10229,0.00,2.28,0.00,0.000,4,0.000,0.070,3026,3586,3385,0,0,0,0,0,0,28.83,25.91,28.83
$GC,10256,-0.48,-146.0,909.7,-7.5,524,10260,0.00,2.17,0.00,0.000,6,0.000,0.049,3025,2169,3385,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10579,-0.48,-146.0,935.1,-7.7,535,10580,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2167,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10878,-0.48,-146.0,957.8,-7.5,545,10884,0.00,2.28,0.00,0.000,4,0.000,0.069,3015,3587,3384,0,0,0,0,0,0,28.83,25.90,28.83
$GC,10927,-0.48,-146.0,960.0,-7.4,546,10931,0.00,2.17,0.00,0.000,6,0.000,0.048,3016,2165,3385,0,0,0,0,0,0,28.83,26.09,28.83
$GC,11233,-0.48,-146.0,984.3,-7.4,556,11234,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2164,3384,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11321,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11321,begin apogee
$GC,11328,-0.22,0.0,990.7,-7.1,559,11460,0.30,0.00,126.47,1.190,6,0.119,0.000,3118,2309,2793,0,0,0,0,0,0,25.87,28.83,23.63
$STATE,11463,end apogee,CONTROL_FINISHED_OK
$STATE,11463,begin climb
$GC,11466,0.48,146.0,993.9,0.0,563,11605,0.68,0.00,134.68,1.156,6,0.083,0.000,3346,2309,2198,0,0,0,0,0,0,24.53,28.83,22.83
$GC,11894,0.48,146.0,958.8,9.7,578,11899,0.00,2.33,0.00,0.000,4,0.000,0.069,3346,3701,2187,0,0,0,0,0,0,28.83,24.87,28.83
$GC,11926,0.48,146.0,955.4,9.9,579,11930,0.00,2.25,0.00,0.000,6,0.000,0.050,3356,2310,2187,0,0,0,0,0,0,28.83,25.01,28.83
$GC,12248,0.48,146.0,922.3,10.0,590,12249,0.00,0.00,0.00,0.000,6,0.000,0.000,3357,2305,2186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12549,0.48,146.0,893.4,9.3,600,12554,0.00,2.28,0.00,0.000,4,0.000,0.069,3357,3701,2185,0,0,0,0,0,0,28.83,25.53,28.83
$GC,12586,0.48,146.0,890.4,9.5,601,12590,0.00,2.22,0.00,0.000,6,0.000,0.050,3367,2293,2184,0,0,0,0,0,0,28.83,25.64,28.83
$GC,12903,0.48,146.0,859.0,9.6,612,12909,0.00,2.30,0.00,0.000,4,0.000,0.069,3367,3701,2184,0,0,0,0,0,0,28.83,25.65,28.83
$GC,12933,0.48,146.0,855.8,9.8,613,12939,0.00,2.22,0.00,0.000,6,0.000,0.050,3377,2291,2183,0,0,0,0,0,0,28.83,25.76,28.83
$GC,13264,0.48,146.0,822.1,10.3,624,13269,0.00,2.28,0.00,0.000,4,0.000,0.069,3378,3695,2184,0,0,0,0,0,0,28.83,25.72,28.83
$GC,13323,0.48,146.0,815.0,11.0,626,13330,0.15,2.20,0.00,0.000,6,0.159,0.050,3349,2300,2183,0,0,0,0,0,0,25.61,25.84,28.83
$GC,13654,0.48,146.0,785.2,9.0,637,13659,0.00,2.28,0.00,0.000,4,0.000,0.070,3349,3705,2183,0,0,0,0,0,0,28.83,25.77,28.83
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$STATE,22987,end climb,SURFACE_DEPTH_REACHED
$STATE,22987,begin surface coast
$FINISH,1.0,1.001580
$STATE,23068,end surface coast,CONTROL_FINISHED_OK
$STATE,23068,begin surface
$SM_CCo,23148,0.00,0.000,0,0,1438,332.63
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$IRIDIUM_FIX,4657.54,-12624.94,261012,010101
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.76
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,15.80
$XPDR_PINGS,0
$24V_AH,22.8,27.489
$10V_AH,10.2,23.028
$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,21.925,186.775,416.550,0.000,0.000,27.236,43.062,211.787,0.000,0.000,17.975,3390.621,16336.511,526.891,2916.696,388.110,0.000,1922.837,0.000,2595.843,0.000,0.535,0.000
$DEVICE_MAMPS,221.085,83.385,1190.340,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,892.160,750.985,536.077,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296776
$DATA_FILE_SIZE,73596,1295
$CAP_FILE_SIZE,189801,0
$CFSIZE,260165632,241909760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.072, 54.5,1
$GPS,261012,145035,4710.277,-12634.198,31,1.0,31,18.6