version: 66.11
glider: 187
mission: 2
dive: 196
start: 10 27 112 23 29 14
data:
$ID,187
$MISSION,2
$DIVE,196
$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,-1587995.6
$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,27
$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
$GPS1,271012,232200,4704.523,-12650.756,44,1.6,44,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-75.1
$GPS2,271012,232842,4704.496,-12650.698,12,1.1,17,18.6
$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,206.6,14400,-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,-146.0,0.0,0.0,0,83,0.00,0.00,-63.60,0.000,2,0.000,0.000,129,2178,2829,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.48,-146.0,3.6,-4.9,10,115,11.43,2.28,-11.07,0.000,4,0.224,0.062,3033,759,3393,0,0,0,0,0,0,25.10,25.56,25.97
$GC,148,-0.48,-146.0,22.7,-25.4,20,155,0.00,2.25,0.00,0.000,6,0.000,0.050,3024,2169,3395,0,0,0,0,0,0,28.83,25.56,28.83
$GC,463,-0.48,-146.0,75.4,-14.8,81,471,0.00,2.25,0.00,0.000,4,0.000,0.061,3014,3582,3398,0,0,0,0,0,0,28.83,25.65,28.83
$GC,519,-0.48,-146.0,83.7,-14.3,91,526,0.00,2.17,0.00,0.000,6,0.000,0.042,3014,2160,3399,0,0,0,0,0,0,28.83,25.79,28.83
$GC,841,-0.48,-146.0,124.5,-13.0,150,842,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2155,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1141,-0.48,-146.0,161.7,-12.0,170,1143,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2155,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1441,-0.48,-146.0,197.9,-12.0,190,1442,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2155,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1751,-0.48,-146.0,233.4,-11.1,206,1752,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2155,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2052,-0.48,-146.0,268.7,-11.8,221,2058,0.00,2.25,0.00,0.000,4,0.000,0.063,3003,3587,3399,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2084,-0.48,-146.0,271.2,-11.9,222,2092,0.12,2.15,0.00,0.000,6,0.138,0.044,3038,2170,3398,0,0,0,0,0,0,25.86,26.03,28.83
$GC,2391,-0.48,-146.0,302.7,-9.1,238,2392,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2166,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2691,-0.48,-146.0,328.8,-8.1,253,2697,0.00,2.28,0.00,0.000,4,0.000,0.064,3030,3592,3398,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2719,-0.48,-146.0,330.4,-8.2,254,2723,0.00,2.15,0.00,0.000,6,0.000,0.044,3029,2176,3398,0,0,0,0,0,0,28.83,26.07,28.83
$GC,3026,-0.48,-146.0,356.4,-8.0,269,3027,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2172,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3326,-0.48,-146.0,380.6,-8.1,284,3331,0.00,2.25,0.00,0.000,4,0.000,0.065,3019,3589,3396,0,0,0,0,0,0,28.83,25.92,28.83
$GC,3379,-0.48,-146.0,384.0,-8.3,286,3385,0.00,2.15,0.00,0.000,6,0.000,0.045,3019,2172,3397,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3696,-0.48,-146.0,413.5,-8.9,300,3697,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2170,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3996,-0.48,-146.0,441.3,-9.3,310,3997,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2169,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4296,-0.48,-146.0,468.8,-9.1,320,4297,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2169,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4596,-0.48,-146.0,495.4,-8.7,330,4602,0.00,2.28,0.00,0.000,4,0.000,0.066,3009,3588,3394,0,0,0,0,0,0,28.83,25.93,28.83
$GC,4626,-0.48,-146.0,498.0,-8.7,331,4632,0.08,2.17,0.00,0.000,6,0.114,0.046,3037,2169,3394,0,0,0,0,0,0,25.94,26.10,28.83
$GC,4956,-0.48,-146.0,522.5,-7.2,342,4962,0.00,2.25,0.00,0.000,4,0.000,0.067,3029,3586,3393,0,0,0,0,0,0,28.83,25.93,28.83
$GC,4989,-0.48,-146.0,524.7,-7.3,343,4993,0.00,2.15,0.00,0.000,6,0.000,0.047,3029,2176,3393,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5312,-0.48,-146.0,551.3,-8.3,354,5317,0.00,2.22,0.00,0.000,4,0.000,0.067,3019,3578,3392,0,0,0,0,0,0,28.83,25.91,28.83
$GC,5364,-0.48,-146.0,553.8,-8.4,355,5370,0.00,2.15,0.00,0.000,6,0.000,0.047,3019,2169,3392,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5671,-0.48,-146.0,582.4,-8.6,366,5672,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2167,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5971,-0.48,-146.0,607.3,-8.2,376,5972,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2167,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6271,-0.48,-146.0,631.5,-7.9,386,6277,0.00,2.28,0.00,0.000,4,0.000,0.067,3010,3581,3391,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6334,-0.48,-146.0,636.6,-8.3,388,6338,0.12,2.15,0.00,0.000,6,0.132,0.047,3046,2174,3391,0,0,0,0,0,0,25.94,26.09,28.83
$GC,6657,-0.48,-146.0,658.9,-6.9,399,6658,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2172,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6956,-0.48,-146.0,680.5,-7.5,409,6962,0.00,2.25,0.00,0.000,4,0.000,0.068,3037,3581,3390,0,0,0,0,0,0,28.83,25.90,28.83
$GC,7029,-0.48,-146.0,685.4,-7.7,411,7033,0.00,2.15,0.00,0.000,6,0.000,0.047,3037,2173,3390,0,0,0,0,0,0,28.83,26.09,28.83
$GC,7342,-0.48,-146.0,712.0,-8.2,422,7348,0.00,2.25,0.00,0.000,4,0.000,0.068,3028,3585,3390,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7371,-0.48,-146.0,714.4,-8.1,423,7377,0.00,2.17,0.00,0.000,6,0.000,0.048,3027,2170,3389,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7702,-0.48,-146.0,741.4,-8.0,434,7707,0.00,2.22,0.00,0.000,4,0.000,0.068,3017,3574,3389,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7744,-0.48,-146.0,743.8,-8.0,435,7748,0.00,2.15,0.00,0.000,6,0.000,0.048,3017,2168,3389,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8057,-0.48,-146.0,769.4,-7.7,446,8063,0.00,2.25,0.00,0.000,4,0.000,0.068,3007,3581,3388,0,0,0,0,0,0,28.83,25.88,28.83
$GC,8109,-0.48,-146.0,771.9,-7.8,447,8117,0.12,2.15,0.00,0.000,6,0.132,0.047,3043,2172,3388,0,0,0,0,0,0,25.91,26.08,28.83
$GC,8418,-0.48,-146.0,793.6,-6.5,458,8419,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2171,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8717,-0.48,-146.0,814.0,-6.9,468,8722,0.00,2.28,0.00,0.000,4,0.000,0.070,3035,3587,3387,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8770,-0.48,-146.0,816.3,-7.0,469,8777,0.00,2.17,0.00,0.000,6,0.000,0.048,3035,2165,3387,0,0,0,0,0,0,28.83,26.07,28.83
$GC,9076,-0.48,-146.0,841.0,-7.4,480,9083,0.00,2.28,0.00,0.000,4,0.000,0.069,3026,3582,3387,0,0,0,0,0,0,28.83,25.86,28.83
$GC,9115,-0.48,-146.0,843.3,-7.3,481,9119,0.00,2.17,0.00,0.000,6,0.000,0.048,3025,2170,3386,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9432,-0.48,-146.0,867.3,-7.2,492,9438,0.00,2.25,0.00,0.000,4,0.000,0.069,3016,3584,3386,0,0,0,0,0,0,28.83,25.86,28.83
$GC,9485,-0.48,-146.0,869.5,-7.3,493,9492,0.00,2.17,0.00,0.000,6,0.000,0.048,3016,2165,3386,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9792,-0.48,-146.0,894.4,-7.4,504,9797,0.00,2.28,0.00,0.000,4,0.000,0.069,3006,3579,3386,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9825,-0.48,-146.0,896.8,-7.6,505,9830,0.12,2.17,0.00,0.000,6,0.132,0.049,3042,2176,3386,0,0,0,0,0,0,25.89,26.05,28.83
$GC,10148,-0.48,-146.0,915.9,-5.8,516,10154,0.00,2.25,0.00,0.000,4,0.000,0.070,3035,3584,3386,0,0,0,0,0,0,28.83,25.84,28.83
$GC,10181,-0.48,-146.0,917.8,-5.8,517,10185,0.00,2.17,0.00,0.000,6,0.000,0.049,3034,2171,3385,0,0,0,0,0,0,28.83,26.05,28.83
$GC,10504,-0.48,-146.0,938.4,-6.4,528,10509,0.00,2.25,0.00,0.000,4,0.000,0.069,3025,3578,3385,0,0,0,0,0,0,28.83,25.84,28.83
$GC,10557,-0.48,-146.0,940.3,-6.4,529,10564,0.00,2.17,0.00,0.000,6,0.000,0.049,3025,2164,3385,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10864,-0.48,-146.0,963.8,-7.2,540,10869,0.00,2.30,0.00,0.000,4,0.000,0.070,3015,3582,3385,0,0,0,0,0,0,28.83,25.82,28.83
$GC,10903,-0.48,-146.0,965.9,-7.3,541,10909,0.00,2.17,0.00,0.000,6,0.000,0.049,3015,2167,3385,0,0,0,0,0,0,28.83,26.03,28.83
$STATE,11221,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11221,begin apogee
$GC,11228,-0.22,0.0,991.7,-7.9,552,11360,0.30,0.00,127.03,1.187,6,0.117,0.000,3117,2309,2793,0,0,0,0,0,0,25.82,28.83,23.60
$STATE,11363,end apogee,CONTROL_FINISHED_OK
$STATE,11363,begin climb
$GC,11366,0.48,146.0,996.0,0.0,556,11512,0.68,2.55,134.35,1.154,4,0.083,0.055,3357,897,2197,0,0,0,0,0,0,24.51,23.55,22.78
$GC,11526,0.49,169.7,987.8,6.4,562,11555,0.00,2.38,23.08,1.078,6,0.000,0.054,3357,2286,2102,0,0,0,0,0,0,28.83,23.86,22.88
$GC,11855,0.49,169.7,955.0,10.0,573,11861,0.00,2.40,0.00,0.000,4,0.000,0.070,3356,3714,2091,0,0,0,0,0,0,28.83,24.86,28.83
$GC,11915,0.49,169.7,948.0,10.9,575,11921,0.00,2.30,0.00,0.000,6,0.000,0.050,3367,2303,2091,0,0,0,0,0,0,28.83,25.06,28.83
$GC,12246,0.49,169.7,912.6,10.6,586,12251,0.00,2.30,0.00,0.000,4,0.000,0.069,3367,3705,2090,0,0,0,0,0,0,28.83,25.35,28.83
$GC,12268,0.49,169.7,912.6,10.6,586,12275,0.00,2.25,0.00,0.000,6,0.000,0.050,3377,2290,2089,0,0,0,0,0,0,28.83,25.47,28.83
$GC,12575,0.49,169.7,874.5,11.6,597,12576,0.00,0.00,0.00,0.000,6,0.000,0.000,3378,2284,2089,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12875,0.49,169.7,840.2,11.6,607,12881,0.00,2.30,0.00,0.000,4,0.000,0.070,3378,3706,2088,0,0,0,0,0,0,28.83,25.63,28.83
$GC,12918,0.49,169.7,836.3,11.9,608,12923,0.15,2.22,0.00,0.000,6,0.159,0.050,3350,2296,2088,0,0,0,0,0,0,25.51,25.75,28.83
$GC,13231,0.49,169.7,804.3,9.6,619,13237,0.00,2.33,0.00,0.000,4,0.000,0.070,3349,3717,2088,0,0,0,0,0,0,28.83,25.68,28.83
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$STATE,22657,end climb,SURFACE_DEPTH_REACHED
$STATE,22657,begin surface coast
$FINISH,1.0,1.019570
$STATE,22700,end surface coast,CONTROL_FINISHED_OK
$STATE,22700,begin surface
$SM_CCo,22779,0.00,0.000,0,0,1422,336.55
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$IRIDIUM_FIX,4648.08,-12642.08,271012,161631
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.72
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.10
$XPDR_PINGS,0
$24V_AH,22.8,28.291
$10V_AH,10.1,23.702
$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,22.000,188.075,422.650,0.000,0.000,26.955,36.824,199.980,0.000,0.000,17.953,3343.180,16036.661,530.179,2870.945,391.536,0.000,1925.135,0.000,2574.776,0.000,0.535,0.000
$DEVICE_MAMPS,224.145,83.385,1187.280,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,881.016,742.363,515.015,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73612,1280
$CAP_FILE_SIZE,187955,0
$CFSIZE,260165632,241397760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.073, 69.3,1
$GPS,281012,055035,4702.290,-12653.149,64,2.0,64,18.6