version: 66.11
glider: 187
mission: 2
dive: 194
start: 10 27 112 10 32 3
data:
$ID,187
$MISSION,2
$DIVE,194
$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,-1587992.9
$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,46
$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
$GPS1,271012,102454,4706.845,-12644.087,66,1.2,66,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-74.6
$GPS2,271012,103131,4706.861,-12644.081,15,1.8,15,18.6
$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,215.9,23785,-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,-146.0,0.0,0.0,0,87,0.00,0.00,-68.15,0.000,2,0.000,0.000,106,2168,2881,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.48,-146.0,3.7,-5.1,11,119,11.43,2.35,-9.88,0.000,4,0.223,0.073,3025,3589,3393,0,0,0,0,0,0,25.14,25.54,26.00
$GC,133,-0.48,-146.0,19.0,-35.4,17,140,0.00,2.20,0.00,0.000,6,0.000,0.042,3025,2176,3395,0,0,0,0,0,0,28.83,25.62,28.83
$GC,457,-0.48,-146.0,71.7,-14.2,78,465,0.00,2.20,0.00,0.000,4,0.000,0.048,3025,768,3398,0,0,0,0,0,0,28.83,25.72,28.83
$GC,560,-0.48,-146.0,85.9,-13.7,97,566,0.00,2.20,0.00,0.000,6,0.000,0.050,3016,2176,3398,0,0,0,0,0,0,28.83,25.75,28.83
$GC,880,-0.48,-146.0,128.2,-12.8,151,885,0.00,2.20,0.00,0.000,4,0.000,0.061,3005,3582,3399,0,0,0,0,0,0,28.83,25.77,28.83
$GC,926,-0.48,-146.0,133.9,-12.7,154,931,0.12,2.15,0.00,0.000,6,0.138,0.041,3039,2164,3399,0,0,0,0,0,0,25.72,25.91,28.83
$GC,1237,-0.48,-146.0,166.1,-10.4,174,1238,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2157,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1533,-0.48,-146.0,195.6,-9.8,194,1539,0.00,2.25,0.00,0.000,4,0.000,0.061,3030,3584,3399,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1568,-0.48,-146.0,198.7,-9.7,196,1572,0.00,2.15,0.00,0.000,6,0.000,0.041,3030,2161,3399,0,0,0,0,0,0,28.83,26.00,28.83
$GC,1891,-0.48,-146.0,232.5,-10.4,212,1896,0.00,2.25,0.00,0.000,4,0.000,0.062,3020,3589,3399,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1912,-0.48,-146.0,234.7,-10.4,213,1916,0.00,2.17,0.00,0.000,6,0.000,0.042,3020,2164,3399,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2231,-0.48,-146.0,270.2,-10.9,229,2232,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2159,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2529,-0.48,-146.0,300.1,-9.6,244,2530,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2159,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2830,-0.48,-146.0,328.0,-9.3,259,2831,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2159,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3129,-0.48,-146.0,355.8,-9.3,274,3135,0.00,2.25,0.00,0.000,4,0.000,0.063,3010,3583,3397,0,0,0,0,0,0,28.83,25.93,28.83
$GC,3158,-0.48,-146.0,357.6,-9.2,275,3162,0.12,2.12,0.00,0.000,6,0.134,0.043,3045,2175,3397,0,0,0,0,0,0,25.92,26.09,28.83
$GC,3466,-0.48,-146.0,383.9,-8.4,290,3467,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2170,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3784,-0.48,-146.0,411.2,-8.6,304,3790,0.00,2.25,0.00,0.000,4,0.000,0.063,3036,3586,3395,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3844,-0.48,-146.0,416.6,-8.7,306,3850,0.00,2.15,0.00,0.000,6,0.000,0.044,3036,2172,3395,0,0,0,0,0,0,28.83,26.11,28.83
$GC,4175,-0.48,-146.0,445.9,-8.8,317,4180,0.00,2.22,0.00,0.000,4,0.000,0.065,3026,3581,3395,0,0,0,0,0,0,28.83,25.94,28.83
$GC,4207,-0.48,-146.0,448.7,-8.8,318,4211,0.00,2.12,0.00,0.000,6,0.000,0.044,3026,2174,3395,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4529,-0.48,-146.0,478.0,-9.1,329,4535,0.00,2.28,0.00,0.000,4,0.000,0.065,3016,3592,3394,0,0,0,0,0,0,28.83,25.93,28.83
$GC,4568,-0.48,-146.0,480.8,-9.2,330,4572,0.00,2.15,0.00,0.000,6,0.000,0.044,3016,2176,3394,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4889,-0.48,-146.0,513.6,-10.0,341,4891,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2172,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5190,-0.48,-146.0,544.0,-10.0,351,5191,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2172,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5490,-0.48,-146.0,572.2,-9.3,361,5491,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2172,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5790,-0.48,-146.0,600.3,-9.0,371,5791,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2172,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6089,-0.48,-146.0,627.7,-9.1,381,6095,0.00,2.25,0.00,0.000,4,0.000,0.067,3007,3582,3391,0,0,0,0,0,0,28.83,25.92,28.83
$GC,6137,-0.48,-146.0,630.5,-9.1,382,6142,0.12,2.15,0.00,0.000,6,0.135,0.046,3042,2167,3391,0,0,0,0,0,0,25.94,26.10,28.83
$GC,6445,-0.48,-146.0,655.3,-7.4,392,6450,0.00,2.28,0.00,0.000,4,0.000,0.067,3034,3586,3391,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6492,-0.48,-146.0,657.6,-7.4,393,6496,0.00,2.15,0.00,0.000,6,0.000,0.045,3034,2172,3390,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6800,-0.48,-146.0,682.5,-7.7,403,6801,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2169,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7100,-0.48,-146.0,705.2,-7.5,413,7106,0.00,2.28,0.00,0.000,4,0.000,0.066,3024,3586,3389,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7167,-0.48,-146.0,709.9,-7.7,415,7171,0.00,2.15,0.00,0.000,6,0.000,0.046,3024,2172,3389,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7485,-0.48,-146.0,734.9,-7.7,426,7490,0.00,2.25,0.00,0.000,4,0.000,0.066,3014,3589,3388,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7537,-0.48,-146.0,737.3,-7.8,427,7544,0.00,2.17,0.00,0.000,6,0.000,0.045,3014,2172,3388,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7844,-0.48,-146.0,764.1,-8.1,438,7846,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2171,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8144,-0.48,-146.0,788.4,-8.1,448,8148,0.00,2.25,0.00,0.000,4,0.000,0.067,3004,3583,3387,0,0,0,0,0,0,28.83,25.89,28.83
$GC,8180,-0.48,-146.0,791.0,-8.1,449,8185,0.12,2.17,0.00,0.000,6,0.135,0.046,3040,2169,3387,0,0,0,0,0,0,25.91,26.08,28.83
$GC,8503,-0.48,-146.0,812.4,-6.5,460,8508,0.00,2.25,0.00,0.000,4,0.000,0.067,3031,3582,3386,0,0,0,0,0,0,28.83,25.88,28.83
$GC,8551,-0.48,-146.0,814.5,-6.5,461,8556,0.00,2.15,0.00,0.000,6,0.000,0.047,3031,2171,3387,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8858,-0.48,-146.0,836.5,-7.0,471,8859,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2169,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9158,-0.48,-146.0,856.4,-6.6,481,9164,0.00,2.28,0.00,0.000,4,0.000,0.067,3021,3584,3386,0,0,0,0,0,0,28.83,25.87,28.83
$GC,9206,-0.48,-146.0,858.4,-6.6,482,9210,0.00,2.15,0.00,0.000,6,0.000,0.047,3021,2173,3386,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9513,-0.48,-146.0,881.3,-7.0,492,9518,0.00,2.22,0.00,0.000,4,0.000,0.067,3012,3577,3386,0,0,0,0,0,0,28.83,25.87,28.83
$GC,9573,-0.48,-146.0,885.7,-7.1,494,9577,0.00,2.17,0.00,0.000,6,0.000,0.047,3012,2165,3385,0,0,0,0,0,0,28.83,26.07,28.83
$GC,9905,-0.48,-146.0,910.4,-7.5,505,9911,0.00,2.25,0.00,0.000,4,0.000,0.067,3002,3583,3385,0,0,0,0,0,0,28.83,25.86,28.83
$GC,9973,-0.48,-146.0,915.4,-8.0,507,9977,0.12,2.15,0.00,0.000,6,0.134,0.047,3037,2173,3385,0,0,0,0,0,0,25.89,26.06,28.83
$GC,10291,-0.48,-146.0,936.5,-6.1,518,10296,0.00,2.28,0.00,0.000,4,0.000,0.069,3030,3585,3385,0,0,0,0,0,0,28.83,25.84,28.83
$GC,10334,-0.48,-146.0,938.4,-6.2,519,10338,0.00,2.15,0.00,0.000,6,0.000,0.047,3030,2176,3384,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10646,-0.48,-146.0,960.2,-6.5,530,10650,0.00,2.28,0.00,0.000,4,0.000,0.068,3020,3595,3384,0,0,0,0,0,0,28.83,25.84,28.83
$GC,10681,-0.48,-146.0,962.5,-6.7,531,10685,0.00,2.17,0.00,0.000,6,0.000,0.047,3020,2174,3385,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11009,-0.48,-146.0,985.6,-7.0,542,11014,0.00,2.25,0.00,0.000,4,0.000,0.068,3012,3585,3384,0,0,0,0,0,0,28.83,25.84,28.83
$GC,11039,-0.48,-146.0,987.8,-7.0,543,11045,0.00,2.15,0.00,0.000,6,0.000,0.047,3011,2174,3384,0,0,0,0,0,0,28.83,26.06,28.83
$STATE,11066,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11066,begin apogee
$GC,11073,-0.22,0.0,990.2,-7.1,544,11205,0.32,0.00,126.60,1.186,6,0.114,0.000,3121,2317,2795,0,0,0,0,0,0,25.82,28.83,23.61
$STATE,11208,end apogee,CONTROL_FINISHED_OK
$STATE,11208,begin climb
$GC,11211,0.48,146.0,993.9,0.0,548,11355,0.65,2.55,134.98,1.154,4,0.081,0.067,3342,3699,2197,0,0,0,0,0,0,24.51,23.54,22.80
$GC,11377,0.48,157.8,985.0,6.9,554,11400,0.00,2.35,12.27,1.011,6,0.000,0.047,3353,2306,2148,0,0,0,0,0,0,28.83,23.94,23.02
$GC,11699,0.48,157.8,950.6,10.5,565,11700,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,2306,2141,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11999,0.48,157.8,919.0,10.7,575,12005,0.00,2.28,0.00,0.000,4,0.000,0.068,3353,3694,2139,0,0,0,0,0,0,28.83,25.29,28.83
$GC,12028,0.48,157.8,915.3,11.0,576,12035,0.00,2.22,0.00,0.000,6,0.000,0.048,3364,2298,2138,0,0,0,0,0,0,28.83,25.42,28.83
$GC,12359,0.48,157.8,877.1,11.7,587,12364,0.00,2.28,0.00,0.000,4,0.000,0.069,3364,3695,2138,0,0,0,0,0,0,28.83,25.51,28.83
$GC,12397,0.48,157.8,873.4,11.8,588,12401,0.00,2.22,0.00,0.000,6,0.000,0.049,3374,2297,2138,0,0,0,0,0,0,28.83,25.64,28.83
$GC,12714,0.48,157.8,832.9,12.3,599,12719,0.00,2.28,0.00,0.000,4,0.000,0.069,3374,3699,2138,0,0,0,0,0,0,28.83,25.62,28.83
$GC,12752,0.48,157.8,828.9,12.4,600,12756,0.12,2.20,0.00,0.000,6,0.164,0.049,3354,2297,2137,0,0,0,0,0,0,25.55,25.76,28.83
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$STATE,22246,end climb,SURFACE_DEPTH_REACHED
$STATE,22247,begin surface coast
$FINISH,1.2,1.023974
$STATE,22315,end surface coast,CONTROL_FINISHED_OK
$STATE,22315,begin surface
$SM_CCo,22395,0.00,0.000,0,0,1292,368.20
$SM_GC,2.00,8.43,0.17,0.00,0.027,0.078,0.000,125,2169,1292,-9.46,1.33,368.20,0,0,0,0,0,0,25.69,25.66,28.83
$IRIDIUM_FIX,4651.23,-12643.97,271012,030309
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.40
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,16.30
$XPDR_PINGS,0
$24V_AH,22.8,28.025
$10V_AH,10.2,23.478
$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,21.950,182.800,451.450,0.000,0.000,27.095,37.563,196.650,0.000,0.000,16.201,3300.576,15717.680,540.597,2830.143,394.839,0.000,1913.100,0.000,2545.389,0.000,0.536,0.000
$DEVICE_MAMPS,222.615,81.090,1185.750,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,866.457,732.630,525.601,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70224,1259
$CAP_FILE_SIZE,185897,0
$CFSIZE,260165632,241569792
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.054, 71.6,1
$GPS,271012,164635,4705.436,-12647.194,39,1.1,39,18.6