version: 66.11
glider: 187
mission: 2
dive: 195
start: 10 27 112 16 53 51
data:
$ID,187
$MISSION,2
$DIVE,195
$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,-1587994.2
$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,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
$GPS1,271012,164635,4705.436,-12647.194,39,1.1,39,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-78.1
$GPS2,271012,165319,4705.465,-12647.186,16,1.3,16,18.6
$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,222.7,19089,-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,-146.0,0.0,0.0,0,86,0.00,0.00,-67.12,0.000,2,0.000,0.000,124,2169,2798,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.48,-146.0,3.2,-3.2,11,124,11.40,2.22,-12.32,0.000,4,0.223,0.063,3036,777,3393,0,0,0,0,0,0,25.13,25.56,25.97
$GC,209,-0.48,-146.0,30.9,-17.2,31,215,0.00,2.20,0.00,0.000,6,0.000,0.050,3027,2187,3396,0,0,0,0,0,0,28.83,25.60,28.83
$GC,532,-0.48,-146.0,77.7,-14.0,92,539,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2187,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,845,-0.48,-146.0,118.1,-12.0,153,852,0.00,2.22,0.00,0.000,4,0.000,0.062,3016,3584,3399,0,0,0,0,0,0,28.83,25.77,28.83
$GC,873,-0.48,-146.0,120.7,-12.4,156,880,0.00,2.17,0.00,0.000,6,0.000,0.042,3016,2177,3399,0,0,0,0,0,0,28.83,25.90,28.83
$GC,1181,-0.48,-146.0,156.9,-11.1,177,1182,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2176,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1481,-0.48,-146.0,191.6,-11.7,197,1486,0.00,2.22,0.00,0.000,4,0.000,0.062,3006,3579,3399,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1511,-0.48,-146.0,195.1,-11.5,199,1518,0.12,2.15,0.00,0.000,6,0.135,0.043,3041,2179,3399,0,0,0,0,0,0,25.83,26.00,28.83
$GC,1836,-0.48,-146.0,226.8,-9.1,216,1841,0.00,2.12,0.00,0.000,4,0.000,0.050,3041,766,3398,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1863,-0.48,-146.0,228.6,-9.1,217,1868,0.00,2.20,0.00,0.000,6,0.000,0.050,3034,2182,3399,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2171,-0.48,-146.0,257.9,-9.6,232,2176,0.00,2.17,0.00,0.000,4,0.000,0.062,3023,3578,3399,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2199,-0.48,-146.0,259.8,-9.6,233,2203,0.00,2.12,0.00,0.000,6,0.000,0.043,3023,2173,3398,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2506,-0.48,-146.0,292.0,-10.4,248,2507,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2169,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2807,-0.48,-146.0,322.9,-10.1,263,2810,0.00,2.25,0.00,0.000,4,0.000,0.064,3013,3582,3397,0,0,0,0,0,0,28.83,25.93,28.83
$GC,2836,-0.48,-146.0,325.3,-10.1,264,2840,0.00,2.15,0.00,0.000,6,0.000,0.044,3013,2166,3397,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3144,-0.48,-146.0,358.3,-10.3,279,3145,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2162,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3444,-0.48,-146.0,389.2,-10.2,294,3445,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2162,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3743,-0.48,-146.0,419.3,-9.9,306,3749,0.00,2.25,0.00,0.000,4,0.000,0.064,3003,3584,3396,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3781,-0.48,-146.0,422.4,-10.0,307,3786,0.12,2.15,0.00,0.000,6,0.136,0.045,3038,2166,3395,0,0,0,0,0,0,25.94,26.10,28.83
$GC,4099,-0.48,-146.0,448.6,-7.8,318,4105,0.00,2.22,0.00,0.000,4,0.000,0.065,3030,3581,3395,0,0,0,0,0,0,28.83,25.95,28.83
$GC,4130,-0.48,-146.0,451.1,-7.8,319,4135,0.00,2.12,0.00,0.000,6,0.000,0.045,3030,2176,3395,0,0,0,0,0,0,28.83,26.11,28.83
$GC,4459,-0.48,-146.0,478.8,-8.3,330,4460,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2173,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4759,-0.48,-146.0,504.5,-8.5,340,4765,0.00,2.25,0.00,0.000,4,0.000,0.067,3020,3582,3393,0,0,0,0,0,0,28.83,25.94,28.83
$GC,4797,-0.48,-146.0,507.2,-8.7,341,4801,0.00,2.15,0.00,0.000,6,0.000,0.046,3020,2173,3393,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5119,-0.48,-146.0,537.6,-9.2,352,5125,0.00,2.15,0.00,0.000,4,0.000,0.052,3020,766,3392,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5149,-0.48,-146.0,540.4,-9.2,353,5155,0.00,2.20,0.00,0.000,6,0.000,0.053,3011,2185,3392,0,0,0,0,0,0,28.83,26.02,28.83
$GC,5479,-0.48,-146.0,570.7,-8.8,364,5485,0.12,2.20,0.00,0.000,4,0.150,0.064,3043,3586,3391,0,0,0,0,0,0,26.10,25.94,28.83
$GC,5527,-0.48,-146.0,572.9,-8.5,365,5531,0.00,2.15,0.00,0.000,6,0.000,0.045,3043,2168,3391,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5835,-0.48,-146.0,593.6,-6.2,375,5836,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2166,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6134,-0.48,-146.0,612.6,-6.4,385,6140,0.00,2.28,0.00,0.000,4,0.000,0.067,3032,3585,3391,0,0,0,0,0,0,28.83,25.93,28.83
$GC,6207,-0.48,-146.0,616.7,-6.7,387,6211,0.00,2.15,0.00,0.000,6,0.000,0.047,3032,2170,3390,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6520,-0.48,-146.0,640.7,-7.5,398,6525,0.00,2.22,0.00,0.000,4,0.000,0.067,3022,3575,3390,0,0,0,0,0,0,28.83,25.92,28.83
$GC,6552,-0.48,-146.0,643.1,-7.6,399,6556,0.00,2.12,0.00,0.000,6,0.000,0.047,3022,2176,3390,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6874,-0.48,-146.0,669.7,-8.3,410,6880,0.00,2.25,0.00,0.000,4,0.000,0.067,3012,3582,3390,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6905,-0.48,-146.0,672.3,-8.4,411,6911,0.00,2.15,0.00,0.000,6,0.000,0.047,3012,2171,3390,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7234,-0.48,-146.0,701.9,-8.9,422,7236,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2168,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7534,-0.48,-146.0,728.5,-8.8,432,7540,0.00,2.28,0.00,0.000,4,0.000,0.068,3003,3591,3389,0,0,0,0,0,0,28.83,25.90,28.83
$GC,7588,-0.48,-146.0,731.4,-9.0,433,7595,0.12,2.17,0.00,0.000,6,0.135,0.047,3038,2165,3388,0,0,0,0,0,0,25.93,26.09,28.83
$GC,7895,-0.48,-146.0,756.2,-7.2,444,7896,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2165,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8195,-0.48,-146.0,776.7,-6.7,454,8201,0.00,2.30,0.00,0.000,4,0.000,0.068,3029,3592,3388,0,0,0,0,0,0,28.83,25.89,28.83
$GC,8235,-0.48,-146.0,778.9,-6.9,455,8240,0.00,2.15,0.00,0.000,6,0.000,0.047,3030,2178,3387,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8555,-0.48,-146.0,802.2,-7.1,466,8561,0.00,2.22,0.00,0.000,4,0.000,0.069,3020,3579,3387,0,0,0,0,0,0,28.83,25.89,28.83
$GC,8608,-0.48,-146.0,804.4,-7.0,467,8615,0.00,2.17,0.00,0.000,6,0.000,0.047,3020,2171,3387,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8915,-0.48,-146.0,828.5,-7.1,478,8920,0.00,2.28,0.00,0.000,4,0.000,0.069,3010,3583,3386,0,0,0,0,0,0,28.83,25.89,28.83
$GC,8945,-0.48,-146.0,830.8,-7.2,479,8950,0.00,2.15,0.00,0.000,6,0.000,0.048,3010,2176,3386,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9274,-0.48,-146.0,855.8,-7.5,490,9276,0.12,0.00,0.00,0.000,6,0.143,0.000,3045,2173,3386,0,0,0,0,0,0,26.16,28.83,28.83
$GC,9575,-0.48,-146.0,873.0,-5.5,500,9581,0.00,2.25,0.00,0.000,4,0.000,0.070,3037,3586,3386,0,0,0,0,0,0,28.83,25.86,28.83
$GC,9638,-0.48,-146.0,876.7,-5.9,502,9642,0.00,2.17,0.00,0.000,6,0.000,0.048,3037,2168,3386,0,0,0,0,0,0,28.83,26.07,28.83
$GC,9960,-0.48,-146.0,897.5,-6.5,513,9966,0.00,2.25,0.00,0.000,4,0.000,0.069,3027,3577,3385,0,0,0,0,0,0,28.83,25.86,28.83
$GC,10003,-0.48,-146.0,899.5,-6.6,514,10007,0.00,2.17,0.00,0.000,6,0.000,0.048,3027,2171,3385,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10320,-0.48,-146.0,923.6,-7.5,525,10326,0.00,2.28,0.00,0.000,4,0.000,0.069,3017,3587,3385,0,0,0,0,0,0,28.83,25.85,28.83
$GC,10358,-0.48,-146.0,926.1,-7.5,526,10362,0.00,2.17,0.00,0.000,6,0.000,0.048,3017,2168,3384,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10675,-0.48,-146.0,953.2,-8.5,537,10681,0.00,2.28,0.00,0.000,4,0.000,0.069,3007,3584,3385,0,0,0,0,0,0,28.83,25.85,28.83
$GC,10708,-0.48,-146.0,956.0,-8.7,538,10713,0.12,2.17,0.00,0.000,6,0.132,0.048,3044,2167,3384,0,0,0,0,0,0,25.90,26.06,28.83
$GC,11032,-0.48,-146.0,978.9,-6.6,549,11038,0.00,2.30,0.00,0.000,4,0.000,0.070,3036,3588,3384,0,0,0,0,0,0,28.83,25.84,28.83
$GC,11065,-0.48,-146.0,980.9,-6.7,550,11069,0.00,2.20,0.00,0.000,6,0.000,0.049,3035,2167,3384,0,0,0,0,0,0,28.83,26.05,28.83
$STATE,11209,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11209,begin apogee
$GC,11216,-0.22,0.0,991.1,-6.7,555,11348,0.25,0.00,126.72,1.190,6,0.112,0.000,3122,2309,2794,0,0,0,0,0,0,25.93,28.83,23.60
$STATE,11351,end apogee,CONTROL_FINISHED_OK
$STATE,11351,begin climb
$GC,11354,0.48,146.0,994.7,0.0,559,11493,0.65,0.00,135.60,1.154,6,0.080,0.000,3344,2308,2198,0,0,0,0,0,0,24.52,28.83,22.79
$GC,11782,0.48,146.0,960.5,9.4,574,11788,0.00,2.38,0.00,0.000,4,0.000,0.069,3344,3702,2188,0,0,0,0,0,0,28.83,24.84,28.83
$GC,11814,0.48,146.0,957.3,9.7,575,11818,0.00,2.28,0.00,0.000,6,0.000,0.050,3355,2310,2187,0,0,0,0,0,0,28.83,25.00,28.83
$GC,12136,0.48,146.0,924.4,10.0,586,12138,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,2303,2186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12437,0.48,146.0,895.2,9.6,596,12443,0.00,2.28,0.00,0.000,4,0.000,0.069,3354,3697,2186,0,0,0,0,0,0,28.83,25.51,28.83
$GC,12474,0.48,146.0,892.0,9.9,597,12478,0.00,2.22,0.00,0.000,6,0.000,0.050,3365,2299,2185,0,0,0,0,0,0,28.83,25.63,28.83
$GC,12796,0.48,146.0,858.4,9.9,608,12802,0.00,2.33,0.00,0.000,4,0.000,0.070,3365,3710,2185,0,0,0,0,0,0,28.83,25.61,28.83
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$STATE,23082,end climb,SURFACE_DEPTH_REACHED
$STATE,23082,begin surface coast
$FINISH,1.2,1.024170
$STATE,23128,end surface coast,CONTROL_FINISHED_OK
$STATE,23128,begin surface
$SM_CCo,23207,0.00,0.000,0,0,1375,348.08
$SM_GC,1.87,8.40,0.20,0.00,0.030,0.070,0.000,130,2178,1375,-9.47,1.30,348.08,0,0,0,0,0,0,25.72,25.67,28.83
$IRIDIUM_FIX,4648.08,-12639.54,271012,101052
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.17
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,19.20
$XPDR_PINGS,0
$24V_AH,22.8,28.157
$10V_AH,10.2,23.591
$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,22.150,200.250,429.375,0.000,0.000,24.849,43.524,201.618,0.000,0.000,17.203,3393.715,16318.448,574.190,2909.654,408.488,0.000,1991.476,0.000,2612.450,0.000,0.536,0.000
$DEVICE_MAMPS,223.380,83.385,1189.575,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,890.558,749.159,531.711,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296764
$DATA_FILE_SIZE,73469,1294
$CAP_FILE_SIZE,192884,0
$CFSIZE,260165632,241475584
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.067, 22.2,1
$GPS,271012,232200,4704.523,-12650.756,44,1.6,44,18.6