version: 66.11
glider: 187
mission: 2
dive: 193
start: 10 27 112 3 58 35
data:
$ID,187
$MISSION,2
$DIVE,193
$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,-1587991.5
$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,45
$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
$GPS1,271012,035105,4707.636,-12640.430,40,1.4,46,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-77.2
$GPS2,271012,035803,4707.661,-12640.419,16,2.6,35,18.6
$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,224.2,28512,-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,-146.0,0.0,0.0,0,82,0.00,0.00,-62.90,0.000,2,0.000,0.000,115,2171,2696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.48,-146.0,3.2,-4.0,10,120,11.45,2.30,-15.05,0.000,4,0.222,0.072,3026,3594,3391,0,0,0,0,0,0,25.08,25.49,25.97
$GC,224,-0.48,-146.0,34.8,-19.5,34,232,0.00,2.22,0.00,0.000,6,0.000,0.042,3026,2186,3393,0,0,0,0,0,0,28.83,25.64,28.83
$GC,551,-0.48,-146.0,81.7,-12.9,95,558,0.00,2.17,0.00,0.000,4,0.000,0.048,3026,763,3396,0,0,0,0,0,0,28.83,25.73,28.83
$GC,623,-0.48,-146.0,91.1,-12.7,108,631,0.00,2.22,0.00,0.000,6,0.000,0.050,3016,2173,3397,0,0,0,0,0,0,28.83,25.75,28.83
$GC,947,-0.48,-146.0,131.2,-12.5,158,953,0.00,2.22,0.00,0.000,4,0.000,0.062,3006,3584,3397,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1001,-0.48,-146.0,137.0,-12.8,161,1008,0.12,2.15,0.00,0.000,6,0.137,0.042,3041,2164,3397,0,0,0,0,0,0,25.74,25.91,28.83
$GC,1309,-0.48,-146.0,167.3,-8.9,182,1315,0.00,2.25,0.00,0.000,4,0.000,0.062,3032,3587,3397,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1346,-0.48,-146.0,170.3,-9.1,184,1354,0.00,2.17,0.00,0.000,6,0.000,0.042,3032,2176,3396,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1655,-0.48,-146.0,199.0,-9.2,205,1660,0.00,2.12,0.00,0.000,4,0.000,0.050,3032,775,3397,0,0,0,0,0,0,28.83,25.92,28.83
$GC,1716,-0.48,-146.0,204.6,-9.2,209,1720,0.00,2.17,0.00,0.000,6,0.000,0.050,3023,2186,3396,0,0,0,0,0,0,28.83,25.92,28.83
$GC,2029,-0.48,-146.0,235.4,-9.8,225,2035,0.00,2.17,0.00,0.000,4,0.000,0.063,3013,3578,3396,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2071,-0.48,-146.0,239.6,-10.0,227,2075,0.00,2.12,0.00,0.000,6,0.000,0.043,3013,2172,3396,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2383,-0.48,-146.0,272.8,-10.7,243,2385,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2167,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2684,-0.48,-146.0,305.6,-11.0,258,2689,0.00,2.12,0.00,0.000,4,0.000,0.050,3013,768,3395,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2711,-0.48,-146.0,308.0,-11.2,259,2716,0.12,2.17,0.00,0.000,6,0.146,0.051,3039,2180,3396,0,0,0,0,0,0,25.85,25.98,28.83
$GC,3018,-0.48,-146.0,337.1,-9.0,274,3024,0.00,2.22,0.00,0.000,4,0.000,0.064,3030,3592,3395,0,0,0,0,0,0,28.83,25.92,28.83
$GC,3061,-0.48,-146.0,340.8,-9.1,276,3065,0.00,2.17,0.00,0.000,6,0.000,0.044,3030,2168,3395,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3374,-0.48,-146.0,370.4,-9.3,292,3375,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2164,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3674,-0.48,-146.0,397.8,-9.2,307,3675,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2164,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3983,-0.48,-146.0,424.6,-8.7,318,3989,0.00,2.25,0.00,0.000,4,0.000,0.064,3020,3582,3393,0,0,0,0,0,0,28.83,25.94,28.83
$GC,4021,-0.48,-146.0,427.4,-8.8,319,4025,0.00,2.15,0.00,0.000,6,0.000,0.045,3021,2165,3394,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4339,-0.48,-146.0,458.5,-9.8,330,4340,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2162,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4638,-0.48,-146.0,487.9,-9.6,340,4640,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2162,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4938,-0.48,-146.0,515.9,-9.2,350,4940,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2162,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5238,-0.48,-146.0,542.7,-8.8,360,5244,0.00,2.28,0.00,0.000,4,0.000,0.066,3010,3593,3390,0,0,0,0,0,0,28.83,25.94,28.83
$GC,5277,-0.48,-146.0,545.5,-8.9,361,5282,0.12,2.17,0.00,0.000,6,0.132,0.046,3046,2166,3390,0,0,0,0,0,0,25.95,26.10,28.83
$GC,5595,-0.48,-146.0,568.8,-7.0,372,5600,0.00,2.25,0.00,0.000,4,0.000,0.067,3038,3582,3390,0,0,0,0,0,0,28.83,25.93,28.83
$GC,5633,-0.48,-146.0,571.0,-7.0,373,5637,0.00,2.15,0.00,0.000,6,0.000,0.047,3037,2168,3390,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5950,-0.48,-146.0,595.3,-7.6,384,5956,0.00,2.25,0.00,0.000,4,0.000,0.067,3028,3586,3390,0,0,0,0,0,0,28.83,25.93,28.83
$GC,5980,-0.48,-146.0,597.7,-7.7,385,5986,0.00,2.17,0.00,0.000,6,0.000,0.047,3028,2165,3389,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6310,-0.48,-146.0,624.6,-8.2,396,6316,0.00,2.28,0.00,0.000,4,0.000,0.067,3018,3585,3388,0,0,0,0,0,0,28.83,25.92,28.83
$GC,6343,-0.48,-146.0,627.1,-8.2,397,6347,0.00,2.17,0.00,0.000,6,0.000,0.047,3017,2168,3388,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6670,-0.48,-146.0,656.0,-8.8,408,6671,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2165,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6970,-0.48,-146.0,682.2,-8.6,418,6976,0.00,2.28,0.00,0.000,4,0.000,0.067,3007,3592,3387,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7023,-0.48,-146.0,685.0,-8.8,419,7031,0.12,2.17,0.00,0.000,6,0.132,0.045,3043,2171,3387,0,0,0,0,0,0,25.94,26.10,28.83
$GC,7330,-0.48,-146.0,709.5,-7.1,430,7336,0.00,2.22,0.00,0.000,4,0.000,0.067,3035,3575,3387,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7373,-0.48,-146.0,711.7,-7.1,431,7378,0.00,2.12,0.00,0.000,6,0.000,0.047,3035,2179,3386,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7686,-0.48,-146.0,735.6,-7.2,442,7691,0.00,2.22,0.00,0.000,4,0.000,0.068,3025,3582,3386,0,0,0,0,0,0,28.83,25.90,28.83
$GC,7739,-0.48,-146.0,737.6,-7.1,443,7746,0.00,2.15,0.00,0.000,6,0.000,0.047,3025,2169,3386,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8046,-0.48,-146.0,762.1,-7.3,454,8047,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2168,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8346,-0.48,-146.0,783.7,-7.0,464,8351,0.00,2.28,0.00,0.000,4,0.000,0.068,3016,3584,3385,0,0,0,0,0,0,28.83,25.89,28.83
$GC,8406,-0.48,-146.0,788.2,-7.2,466,8411,0.00,2.15,0.00,0.000,6,0.000,0.047,3015,2178,3385,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8736,-0.48,-146.0,812.7,-7.4,477,8737,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2176,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9036,-0.48,-146.0,833.9,-7.0,487,9041,0.00,2.22,0.00,0.000,4,0.000,0.068,3006,3575,3384,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9066,-0.48,-146.0,835.9,-7.0,488,9072,0.10,2.15,0.00,0.000,6,0.145,0.047,3037,2173,3384,0,0,0,0,0,0,25.94,26.08,28.83
$GC,9396,-0.48,-146.0,855.3,-5.9,499,9402,0.00,2.22,0.00,0.000,4,0.000,0.069,3029,3574,3384,0,0,0,0,0,0,28.83,25.87,28.83
$GC,9444,-0.48,-146.0,857.3,-6.1,500,9448,0.00,2.15,0.00,0.000,6,0.000,0.047,3029,2165,3384,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9751,-0.48,-146.0,879.1,-6.7,510,9757,0.00,2.28,0.00,0.000,4,0.000,0.068,3020,3581,3384,0,0,0,0,0,0,28.83,25.86,28.83
$GC,9789,-0.48,-146.0,881.3,-6.8,511,9793,0.00,2.15,0.00,0.000,6,0.000,0.047,3020,2174,3383,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10111,-0.48,-146.0,904.9,-7.0,522,10112,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2172,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10411,-0.48,-146.0,926.3,-7.2,532,10417,0.00,2.28,0.00,0.000,4,0.000,0.069,3010,3581,3383,0,0,0,0,0,0,28.83,25.86,28.83
$GC,10445,-0.48,-146.0,928.6,-7.3,533,10449,0.12,2.15,0.00,0.000,6,0.129,0.048,3046,2175,3383,0,0,0,0,0,0,25.91,26.06,28.83
$GC,10768,-0.48,-146.0,948.3,-6.0,544,10773,0.00,2.25,0.00,0.000,4,0.000,0.070,3038,3581,3383,0,0,0,0,0,0,28.83,25.84,28.83
$GC,10806,-0.48,-146.0,950.2,-6.2,545,10810,0.00,2.15,0.00,0.000,6,0.000,0.048,3038,2176,3383,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11124,-0.48,-146.0,970.8,-6.3,556,11129,0.00,2.22,0.00,0.000,4,0.000,0.070,3029,3574,3383,0,0,0,0,0,0,28.83,25.85,28.83
$GC,11162,-0.48,-146.0,972.9,-6.4,557,11166,0.00,2.15,0.00,0.000,6,0.000,0.047,3029,2166,3382,0,0,0,0,0,0,28.83,26.06,28.83
$STATE,11416,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11416,begin apogee
$GC,11424,-0.22,0.0,990.7,-6.7,566,11555,0.28,0.00,126.20,1.188,6,0.113,0.000,3123,2310,2793,0,0,0,0,0,0,25.89,28.83,23.61
$STATE,11558,end apogee,CONTROL_FINISHED_OK
$STATE,11558,begin climb
$GC,11561,0.48,146.0,994.1,0.0,570,11700,0.65,0.00,135.30,1.155,6,0.080,0.000,3345,2310,2198,0,0,0,0,0,0,24.53,28.83,22.79
$GC,11993,0.48,146.0,960.4,9.2,585,11998,0.00,2.33,0.00,0.000,4,0.000,0.068,3344,3695,2187,0,0,0,0,0,0,28.83,24.86,28.83
$GC,12021,0.48,146.0,957.2,9.4,586,12027,0.00,2.25,0.00,0.000,6,0.000,0.047,3355,2310,2187,0,0,0,0,0,0,28.83,25.01,28.83
$GC,12352,0.48,146.0,923.4,10.2,597,12358,0.00,2.28,0.00,0.000,4,0.000,0.068,3355,3693,2186,0,0,0,0,0,0,28.83,25.33,28.83
$GC,12374,0.48,146.0,923.4,10.2,597,12381,0.00,2.22,0.00,0.000,6,0.000,0.047,3366,2299,2185,0,0,0,0,0,0,28.83,25.45,28.83
$GC,12681,0.48,146.0,887.5,10.7,608,12683,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,2295,2185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12981,0.48,146.0,856.2,10.2,618,12987,0.00,2.30,0.00,0.000,4,0.000,0.069,3365,3701,2184,0,0,0,0,0,0,28.83,25.61,28.83
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$STATE,22952,end climb,SURFACE_DEPTH_REACHED
$STATE,22952,begin surface coast
$FINISH,1.2,1.010940
$STATE,22995,end surface coast,CONTROL_FINISHED_OK
$STATE,22995,begin surface
$SM_CCo,23075,0.00,0.000,0,0,1306,364.76
$SM_GC,2.29,8.43,0.17,0.00,0.034,0.083,0.000,107,2170,1306,-9.47,1.36,364.76,0,0,0,0,0,0,25.83,25.77,28.83
$IRIDIUM_FIX,4654.38,-12638.89,261012,212129
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.29
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,14.50
$XPDR_PINGS,1
$24V_AH,22.8,27.889
$10V_AH,10.2,23.367
$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,22.150,200.100,437.950,0.000,0.000,25.327,45.748,193.676,0.250,0.000,37.699,3359.892,16239.698,563.239,2912.410,410.039,0.000,1980.203,0.000,2599.623,0.000,0.536,0.000
$DEVICE_MAMPS,221.850,82.620,1188.045,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,880.307,739.430,506.604,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296784
$DATA_FILE_SIZE,73456,1279
$CAP_FILE_SIZE,192589,0
$CFSIZE,260165632,241647616
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.078, 48.6,1
$GPS,271012,102454,4706.845,-12644.087,66,1.2,66,18.6