version: 66.11
glider: 187
mission: 2
dive: 192
start: 10 26 112 21 27 39
data:
$ID,187
$MISSION,2
$DIVE,192
$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,-1587990.1
$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,46
$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
$GPS1,261012,212029,4709.371,-12637.860,68,1.0,68,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-76.3
$GPS2,261012,212707,4709.346,-12637.827,12,1.3,12,18.6
$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,208.1,32923,-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,-146.0,0.0,0.0,0,79,0.00,0.00,-60.00,0.000,2,0.000,0.000,109,2161,2776,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.48,-146.0,3.5,-4.4,10,110,11.40,0.00,-12.65,0.000,6,0.222,0.000,3034,2160,3391,0,0,0,0,0,0,25.14,28.83,25.99
$GC,426,-0.48,-146.0,67.9,-15.2,74,433,0.00,2.17,0.00,0.000,4,0.000,0.049,3034,777,3397,0,0,0,0,0,0,28.83,25.73,28.83
$GC,448,-0.48,-146.0,70.8,-13.8,77,455,0.00,2.17,0.00,0.000,6,0.000,0.050,3026,2180,3397,0,0,0,0,0,0,28.83,25.73,28.83
$GC,767,-0.48,-146.0,112.2,-11.8,138,774,0.00,2.22,0.00,0.000,4,0.000,0.062,3016,3584,3398,0,0,0,0,0,0,28.83,25.77,28.83
$GC,818,-0.48,-146.0,118.4,-12.5,147,825,0.00,2.15,0.00,0.000,6,0.000,0.042,3015,2169,3398,0,0,0,0,0,0,28.83,25.90,28.83
$GC,1135,-0.48,-146.0,156.3,-12.1,169,1140,0.00,2.12,0.00,0.000,4,0.000,0.050,3016,770,3398,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1195,-0.48,-146.0,163.8,-12.2,173,1202,0.08,2.15,0.00,0.000,6,0.129,0.050,3034,2177,3398,0,0,0,0,0,0,25.75,25.91,28.83
$GC,1513,-0.48,-146.0,194.4,-9.5,194,1518,0.00,2.20,0.00,0.000,4,0.000,0.063,3025,3589,3398,0,0,0,0,0,0,28.83,25.88,28.83
$GC,1550,-0.48,-146.0,197.7,-9.8,196,1558,0.00,2.17,0.00,0.000,6,0.000,0.043,3025,2178,3398,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1872,-0.48,-146.0,232.5,-10.7,213,1873,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2178,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2172,-0.48,-146.0,263.1,-9.9,228,2173,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2178,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2473,-0.48,-146.0,292.8,-9.9,243,2478,0.00,2.20,0.00,0.000,4,0.000,0.063,3016,3578,3397,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2501,-0.48,-146.0,294.9,-9.9,244,2510,0.00,2.12,0.00,0.000,6,0.000,0.044,3015,2171,3397,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2812,-0.48,-146.0,327.5,-9.9,260,2817,0.00,2.10,0.00,0.000,4,0.000,0.050,3015,782,3397,0,0,0,0,0,0,28.83,26.02,28.83
$GC,2840,-0.48,-146.0,329.7,-10.0,261,2844,0.12,2.15,0.00,0.000,6,0.146,0.052,3041,2178,3397,0,0,0,0,0,0,25.89,26.01,28.83
$GC,3148,-0.48,-146.0,355.1,-7.8,276,3153,0.00,2.20,0.00,0.000,4,0.000,0.065,3033,3588,3396,0,0,0,0,0,0,28.83,25.96,28.83
$GC,3207,-0.48,-146.0,360.0,-8.2,279,3212,0.00,2.15,0.00,0.000,6,0.000,0.044,3033,2169,3396,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3526,-0.48,-146.0,387.5,-8.8,295,3527,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2167,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3836,-0.48,-146.0,414.1,-8.7,308,3842,0.00,2.25,0.00,0.000,4,0.000,0.065,3023,3585,3395,0,0,0,0,0,0,28.83,25.97,28.83
$GC,3869,-0.48,-146.0,416.9,-8.7,309,3873,0.00,2.15,0.00,0.000,6,0.000,0.045,3023,2165,3395,0,0,0,0,0,0,28.83,26.12,28.83
$GC,4191,-0.48,-146.0,448.0,-9.5,320,4192,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2164,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4491,-0.48,-146.0,475.7,-9.1,330,4497,0.00,2.28,0.00,0.000,4,0.000,0.066,3012,3596,3393,0,0,0,0,0,0,28.83,25.96,28.83
$GC,4540,-0.48,-146.0,478.4,-9.2,331,4544,0.00,2.15,0.00,0.000,6,0.000,0.044,3012,2173,3392,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4847,-0.48,-146.0,509.3,-9.5,341,4848,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2169,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5146,-0.48,-146.0,538.1,-9.5,351,5147,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2169,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5447,-0.48,-146.0,566.4,-9.4,361,5453,0.00,2.28,0.00,0.000,4,0.000,0.066,3002,3595,3391,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5484,-0.48,-146.0,569.4,-9.5,362,5489,0.15,2.17,0.00,0.000,6,0.128,0.047,3046,2174,3391,0,0,0,0,0,0,25.95,26.13,28.83
$GC,5803,-0.48,-146.0,593.6,-7.2,373,5804,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2169,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6103,-0.48,-146.0,615.0,-7.1,383,6109,0.00,2.22,0.00,0.000,4,0.000,0.067,3038,3580,3390,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6146,-0.48,-146.0,617.1,-7.1,384,6150,0.00,2.15,0.00,0.000,6,0.000,0.047,3037,2173,3390,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6458,-0.48,-146.0,641.8,-7.7,395,6459,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2171,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6758,-0.48,-146.0,666.0,-8.1,405,6764,0.00,2.25,0.00,0.000,4,0.000,0.068,3028,3587,3389,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6796,-0.48,-146.0,668.5,-8.1,406,6800,0.00,2.15,0.00,0.000,6,0.000,0.047,3028,2174,3389,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7113,-0.48,-146.0,695.7,-8.2,417,7114,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2172,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7413,-0.48,-146.0,718.6,-7.3,427,7419,0.00,2.22,0.00,0.000,4,0.000,0.068,3018,3577,3388,0,0,0,0,0,0,28.83,25.93,28.83
$GC,7477,-0.48,-146.0,723.1,-7.4,429,7483,0.00,2.12,0.00,0.000,6,0.000,0.046,3018,2175,3388,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7803,-0.48,-146.0,747.4,-7.3,440,7804,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2171,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8103,-0.48,-146.0,769.2,-7.2,450,8107,0.00,2.28,0.00,0.000,4,0.000,0.067,3008,3584,3387,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8159,-0.48,-146.0,771.8,-7.3,451,8166,0.12,2.15,0.00,0.000,6,0.132,0.047,3043,2171,3386,0,0,0,0,0,0,25.96,26.11,28.83
$GC,8466,-0.48,-146.0,791.5,-5.6,462,8471,0.00,2.25,0.00,0.000,4,0.000,0.068,3035,3582,3386,0,0,0,0,0,0,28.83,25.91,28.83
$GC,8499,-0.48,-146.0,793.2,-5.6,463,8503,0.00,2.15,0.00,0.000,6,0.000,0.048,3035,2177,3386,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8821,-0.48,-146.0,814.1,-6.5,474,8827,0.00,2.22,0.00,0.000,4,0.000,0.069,3026,3582,3386,0,0,0,0,0,0,28.83,25.91,28.83
$GC,8864,-0.48,-146.0,816.2,-6.7,475,8869,0.00,2.15,0.00,0.000,6,0.000,0.047,3026,2172,3386,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9177,-0.48,-146.0,840.4,-7.5,486,9182,0.00,2.25,0.00,0.000,4,0.000,0.068,3016,3585,3385,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9206,-0.48,-146.0,842.7,-7.6,487,9212,0.00,2.17,0.00,0.000,6,0.000,0.048,3015,2169,3385,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9537,-0.48,-146.0,869.3,-7.9,498,9538,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2167,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9837,-0.48,-146.0,892.9,-7.9,508,9843,0.00,2.28,0.00,0.000,4,0.000,0.069,3007,3584,3385,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9896,-0.48,-146.0,897.6,-7.9,510,9903,0.12,2.17,0.00,0.000,6,0.132,0.048,3042,2168,3385,0,0,0,0,0,0,25.93,26.09,28.83
$GC,10228,-0.48,-146.0,916.6,-5.7,521,10233,0.00,2.25,0.00,0.000,4,0.000,0.069,3034,3580,3384,0,0,0,0,0,0,28.83,25.89,28.83
$GC,10259,-0.48,-146.0,918.4,-5.8,522,10263,0.00,2.15,0.00,0.000,6,0.000,0.047,3034,2171,3384,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10582,-0.48,-146.0,938.0,-6.1,533,10588,0.00,2.25,0.00,0.000,4,0.000,0.068,3025,3582,3384,0,0,0,0,0,0,28.83,25.89,28.83
$GC,10665,-0.48,-146.0,942.1,-6.5,535,10672,0.00,2.15,0.00,0.000,6,0.000,0.047,3025,2171,3384,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10972,-0.48,-146.0,963.6,-6.5,546,10978,0.00,2.25,0.00,0.000,4,0.000,0.068,3015,3588,3383,0,0,0,0,0,0,28.83,25.88,28.83
$GC,11025,-0.48,-146.0,965.7,-6.6,547,11032,0.00,2.15,0.00,0.000,6,0.000,0.047,3015,2176,3383,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11332,-0.48,-146.0,988.7,-7.0,558,11338,0.00,2.25,0.00,0.000,4,0.000,0.070,3004,3587,3383,0,0,0,0,0,0,28.83,25.86,28.83
$STATE,11359,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11359,begin apogee
$GC,11368,-0.22,0.0,991.0,-7.1,559,11501,0.35,0.00,126.82,1.185,6,0.115,0.000,3123,2301,2794,0,0,0,0,0,0,25.81,28.83,23.61
$STATE,11502,end apogee,CONTROL_FINISHED_OK
$STATE,11502,begin climb
$GC,11505,0.48,146.0,994.4,0.0,563,11644,0.65,0.00,135.70,1.155,6,0.081,0.000,3344,2300,2197,0,0,0,0,0,0,24.52,28.83,22.80
$GC,11927,0.48,146.0,960.0,9.5,578,11932,0.00,2.40,0.00,0.000,4,0.000,0.069,3345,3721,2187,0,0,0,0,0,0,28.83,24.84,28.83
$GC,11950,0.48,146.0,960.0,9.5,578,11957,0.00,2.30,0.00,0.000,6,0.000,0.049,3354,2304,2187,0,0,0,0,0,0,28.83,24.97,28.83
$GC,12257,0.48,146.0,925.3,10.4,589,12258,0.00,0.00,0.00,0.000,6,0.000,0.000,3355,2298,2186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12557,0.48,146.0,895.0,10.0,599,12562,0.00,2.35,0.00,0.000,4,0.000,0.070,3355,3712,2185,0,0,0,0,0,0,28.83,25.49,28.83
$GC,12600,0.48,146.0,891.7,10.2,600,12604,0.00,2.22,0.00,0.000,6,0.000,0.048,3365,2298,2184,0,0,0,0,0,0,28.83,25.63,28.83
$GC,12912,0.48,146.0,857.6,10.2,611,12918,0.00,2.30,0.00,0.000,4,0.000,0.069,3366,3713,2184,0,0,0,0,0,0,28.83,25.63,28.83
$GC,12935,0.48,146.0,857.6,10.2,611,12942,0.00,2.25,0.00,0.000,6,0.000,0.048,3376,2295,2183,0,0,0,0,0,0,28.83,25.75,28.83
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$STATE,22803,end climb,SURFACE_DEPTH_REACHED
$STATE,22803,begin surface coast
$FINISH,1.2,1.024170
$STATE,22842,end surface coast,CONTROL_FINISHED_OK
$STATE,22842,begin surface
$SM_CCo,22922,0.00,0.000,0,0,1276,372.37
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$TT8_MAMPS,0.026964,0.026964
$HUMID,43.89
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,14.90
$XPDR_PINGS,0
$24V_AH,22.8,27.755
$10V_AH,10.1,23.254
$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,22.175,208.025,446.225,0.000,0.000,26.579,41.271,200.473,0.000,0.000,14.864,3343.773,16100.799,576.743,2877.352,411.816,0.000,1988.940,0.000,2591.808,0.000,0.536,0.000
$DEVICE_MAMPS,221.850,81.855,1184.985,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,870.139,733.865,510.789,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296812
$DATA_FILE_SIZE,70358,1265
$CAP_FILE_SIZE,193094,0
$CFSIZE,260165632,241733632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.070, 68.7,1
$GPS,271012,035105,4707.636,-12640.430,40,1.4,46,18.6