version: 66.11
glider: 187
mission: 2
dive: 191
start: 10 26 112 14 58 14
data:
$ID,187
$MISSION,2
$DIVE,191
$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,-1587988.9
$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,36
$R_STBD_OVSHOOT,23
$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
$GPS1,261012,145035,4710.277,-12634.198,31,1.0,31,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-75.5
$GPS2,261012,145742,4710.343,-12634.166,15,1.0,32,18.6
$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,219.3,37837,-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,-146.0,0.0,0.0,0,79,0.00,0.00,-59.65,0.000,2,0.000,0.000,130,2161,2789,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.48,-146.0,3.4,-4.0,10,117,11.30,2.22,-12.27,0.000,4,0.222,0.063,3031,770,3392,0,0,0,0,0,0,25.18,25.60,26.02
$GC,207,-0.48,-146.0,32.2,-14.8,31,214,0.00,2.20,0.00,0.000,6,0.000,0.050,3023,2183,3395,0,0,0,0,0,0,28.83,25.65,28.83
$GC,531,-0.48,-146.0,78.5,-13.1,92,539,0.00,2.22,0.00,0.000,4,0.000,0.050,3023,771,3397,0,0,0,0,0,0,28.83,25.78,28.83
$GC,640,-0.48,-146.0,92.5,-12.3,112,649,0.00,2.22,0.00,0.000,6,0.000,0.050,3013,2180,3398,0,0,0,0,0,0,28.83,25.81,28.83
$GC,964,-0.48,-146.0,135.9,-13.0,158,965,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2180,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1264,-0.48,-146.0,170.4,-11.0,178,1270,0.00,2.17,0.00,0.000,4,0.000,0.062,3003,3581,3398,0,0,0,0,0,0,28.83,25.88,28.83
$GC,1297,-0.48,-146.0,173.9,-11.4,180,1302,0.15,2.15,0.00,0.000,6,0.131,0.042,3045,2170,3398,0,0,0,0,0,0,25.81,25.99,28.83
$GC,1613,-0.48,-146.0,203.1,-9.1,200,1618,0.00,2.10,0.00,0.000,4,0.000,0.050,3045,771,3398,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1651,-0.48,-146.0,207.0,-9.0,202,1657,0.00,2.17,0.00,0.000,6,0.000,0.050,3038,2180,3398,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1971,-0.48,-146.0,235.7,-8.7,218,1977,0.00,2.20,0.00,0.000,4,0.000,0.063,3027,3582,3398,0,0,0,0,0,0,28.83,25.93,28.83
$GC,2005,-0.48,-146.0,237.4,-8.7,219,2011,0.00,2.12,0.00,0.000,6,0.000,0.043,3027,2172,3398,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2311,-0.48,-146.0,268.8,-9.9,235,2312,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2169,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2611,-0.48,-146.0,299.2,-10.3,250,2612,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2169,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2912,-0.48,-146.0,329.4,-10.1,265,2913,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2169,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3211,-0.48,-146.0,359.4,-9.9,280,3212,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2169,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3511,-0.48,-146.0,388.2,-9.6,295,3512,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2169,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3832,-0.48,-146.0,417.7,-8.9,308,3833,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2169,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4131,-0.48,-146.0,443.6,-8.5,318,4137,0.00,2.28,0.00,0.000,4,0.000,0.065,3017,3595,3394,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4161,-0.48,-146.0,446.2,-8.6,319,4167,0.00,2.17,0.00,0.000,6,0.000,0.046,3016,2169,3395,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4492,-0.48,-146.0,476.7,-9.4,330,4497,0.00,2.22,0.00,0.000,4,0.000,0.066,3007,3577,3394,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4521,-0.48,-146.0,479.6,-9.5,331,4528,0.12,2.15,0.00,0.000,6,0.136,0.045,3042,2168,3393,0,0,0,0,0,0,25.97,26.13,28.83
$GC,4851,-0.48,-146.0,505.7,-8.0,342,4857,0.00,2.12,0.00,0.000,4,0.000,0.053,3043,775,3393,0,0,0,0,0,0,28.83,26.05,28.83
$GC,4875,-0.48,-146.0,505.7,-8.0,342,4882,0.00,2.17,0.00,0.000,6,0.000,0.054,3035,2184,3392,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5182,-0.48,-146.0,533.2,-8.5,353,5187,0.00,2.20,0.00,0.000,4,0.000,0.067,3025,3585,3391,0,0,0,0,0,0,28.83,25.97,28.83
$GC,5234,-0.48,-146.0,535.9,-8.6,354,5241,0.00,2.15,0.00,0.000,6,0.000,0.046,3024,2167,3392,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5542,-0.48,-146.0,566.0,-9.2,365,5543,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2165,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5841,-0.48,-146.0,592.3,-8.7,375,5847,0.00,2.28,0.00,0.000,4,0.000,0.067,3014,3591,3391,0,0,0,0,0,0,28.83,25.97,28.83
$GC,5902,-0.48,-146.0,597.7,-8.8,377,5906,0.00,2.17,0.00,0.000,6,0.000,0.047,3014,2175,3391,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6234,-0.48,-146.0,627.5,-8.8,388,6235,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2174,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6534,-0.48,-146.0,654.0,-8.8,398,6537,0.00,2.28,0.00,0.000,4,0.000,0.067,3004,3588,3390,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6565,-0.48,-146.0,656.9,-8.8,399,6572,0.12,2.17,0.00,0.000,6,0.139,0.047,3039,2167,3390,0,0,0,0,0,0,25.96,26.13,28.83
$GC,6896,-0.48,-146.0,680.9,-7.2,410,6897,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2164,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7195,-0.48,-146.0,702.8,-7.4,420,7201,0.00,2.30,0.00,0.000,4,0.000,0.068,3031,3592,3389,0,0,0,0,0,0,28.83,25.94,28.83
$GC,7268,-0.48,-146.0,707.6,-7.7,422,7272,0.00,2.17,0.00,0.000,6,0.000,0.047,3031,2165,3389,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7581,-0.48,-146.0,733.5,-7.9,433,7586,0.00,2.25,0.00,0.000,4,0.000,0.068,3021,3586,3388,0,0,0,0,0,0,28.83,25.94,28.83
$GC,7618,-0.48,-146.0,736.0,-8.1,434,7622,0.00,2.15,0.00,0.000,6,0.000,0.047,3021,2173,3388,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7936,-0.48,-146.0,763.2,-8.2,445,7937,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2171,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8236,-0.48,-146.0,786.7,-7.6,455,8241,0.00,2.28,0.00,0.000,4,0.000,0.068,3011,3584,3387,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8288,-0.48,-146.0,789.1,-7.7,456,8296,0.00,2.15,0.00,0.000,6,0.000,0.047,3011,2172,3387,0,0,0,0,0,0,28.83,26.11,28.83
$GC,8595,-0.48,-146.0,816.0,-8.2,467,8601,0.00,2.25,0.00,0.000,4,0.000,0.068,3001,3581,3387,0,0,0,0,0,0,28.83,25.92,28.83
$GC,8625,-0.48,-146.0,818.8,-8.3,468,8632,0.15,2.15,0.00,0.000,6,0.129,0.047,3045,2176,3386,0,0,0,0,0,0,25.92,26.10,28.83
$GC,8956,-0.48,-146.0,839.6,-6.0,479,8961,0.00,2.25,0.00,0.000,4,0.000,0.069,3037,3585,3386,0,0,0,0,0,0,28.83,25.91,28.83
$GC,8986,-0.48,-146.0,841.5,-6.1,480,8991,0.00,2.17,0.00,0.000,6,0.000,0.048,3037,2171,3386,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9316,-0.48,-146.0,862.1,-6.1,491,9321,0.00,2.25,0.00,0.000,4,0.000,0.069,3027,3584,3386,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9346,-0.48,-146.0,864.1,-6.2,492,9351,0.00,2.17,0.00,0.000,6,0.000,0.048,3027,2168,3386,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9676,-0.48,-146.0,885.6,-6.7,503,9677,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2166,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9976,-0.48,-146.0,905.9,-6.9,513,9982,0.00,2.28,0.00,0.000,4,0.000,0.069,3018,3581,3385,0,0,0,0,0,0,28.83,25.90,28.83
$GC,10044,-0.48,-146.0,910.2,-7.1,515,10048,0.00,2.15,0.00,0.000,6,0.000,0.047,3018,2172,3385,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10361,-0.48,-146.0,934.7,-7.5,526,10362,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2170,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10661,-0.48,-146.0,958.1,-8.0,536,10666,0.00,2.25,0.00,0.000,4,0.000,0.069,3011,3582,3384,0,0,0,0,0,0,28.83,25.89,28.83
$GC,10729,-0.48,-146.0,963.1,-8.1,538,10733,0.00,2.15,0.00,0.000,6,0.000,0.048,3011,2175,3384,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11047,-0.48,-146.0,989.2,-7.8,549,11053,0.12,2.25,0.00,0.000,4,0.143,0.068,3043,3581,3384,0,0,0,0,0,0,26.13,25.88,28.83
$STATE,11074,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11074,begin apogee
$GC,11083,-0.22,0.0,991.4,-7.8,550,11215,0.22,0.00,126.18,1.189,6,0.112,0.000,3122,2297,2794,0,0,0,0,0,0,26.00,28.83,23.62
$STATE,11216,end apogee,CONTROL_FINISHED_OK
$STATE,11216,begin climb
$GC,11219,0.48,146.0,995.3,0.0,554,11359,0.65,0.00,136.00,1.156,6,0.083,0.000,3343,2297,2198,0,0,0,0,0,0,24.52,28.83,22.81
$GC,11642,0.48,146.0,962.3,9.6,569,11647,0.00,2.38,0.00,0.000,4,0.000,0.070,3344,3703,2187,0,0,0,0,0,0,28.83,24.85,28.83
$GC,11694,0.48,146.0,959.1,9.7,570,11701,0.00,2.25,0.00,0.000,6,0.000,0.049,3354,2310,2187,0,0,0,0,0,0,28.83,25.04,28.83
$GC,12002,0.48,146.0,923.7,10.8,581,12003,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,2305,2185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12301,0.48,146.0,891.1,10.9,591,12307,0.00,2.33,0.00,0.000,4,0.000,0.070,3354,3712,2184,0,0,0,0,0,0,28.83,25.52,28.83
$GC,12331,0.48,146.0,887.6,11.0,592,12337,0.00,2.25,0.00,0.000,6,0.000,0.048,3364,2289,2184,0,0,0,0,0,0,28.83,25.64,28.83
$GC,12662,0.48,146.0,850.0,11.1,603,12663,0.00,0.00,0.00,0.000,6,0.000,0.000,3364,2282,2184,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12962,0.48,146.0,817.6,10.6,613,12968,0.00,2.30,0.00,0.000,4,0.000,0.069,3364,3712,2184,0,0,0,0,0,0,28.83,25.70,28.83
$GC,13024,0.48,146.0,810.4,11.2,615,13028,0.00,2.22,0.00,0.000,6,0.000,0.049,3375,2288,2183,0,0,0,0,0,0,28.83,25.84,28.83
$GC,13347,0.48,146.0,775.1,10.4,626,13352,0.00,2.30,0.00,0.000,4,0.000,0.069,3375,3709,2183,0,0,0,0,0,0,28.83,25.76,28.83
$GC,13384,0.48,146.0,771.6,10.7,627,13389,0.15,2.20,0.00,0.000,6,0.155,0.050,3347,2301,2182,0,0,0,0,0,0,25.65,25.89,28.83
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$STATE,22700,end climb,SURFACE_DEPTH_REACHED
$STATE,22700,begin surface coast
$FINISH,1.1,1.001330
$STATE,22750,end surface coast,CONTROL_FINISHED_OK
$STATE,22750,begin surface
$SM_CCo,22829,0.00,0.000,0,0,1411,339.25
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$IRIDIUM_FIX,4657.54,-12629.37,261012,080806
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.68
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,19.40
$XPDR_PINGS,2
$24V_AH,22.8,27.620
$10V_AH,10.2,23.141
$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,21.900,187.200,422.525,0.000,0.000,26.081,36.231,214.791,0.500,0.000,33.518,3380.274,15968.705,557.377,2933.875,408.075,0.000,1960.625,0.000,2619.574,0.000,0.536,0.000
$DEVICE_MAMPS,221.850,71.145,1188.810,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,890.758,757.758,540.182,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296744
$DATA_FILE_SIZE,73515,1294
$CAP_FILE_SIZE,187367,0
$CFSIZE,260165632,241827840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.076, 22.6,1
$GPS,261012,212029,4709.371,-12637.860,68,1.0,68,18.6