version: 66.11
glider: 187
mission: 2
dive: 114
start: 10 6 112 0 13 34
data:
$ID,187
$MISSION,2
$DIVE,114
$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,-1587761.6
$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,34
$R_STBD_OVSHOOT,26
$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
$GPS1,061012,000636,4731.004,-12553.852,41,0.8,41,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-78.0
$GPS2,061012,001301,4731.043,-12553.893,14,1.4,14,18.7
$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,214.5,101376,-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,-146.0,0.0,0.0,0,86,0.00,0.00,-66.82,0.000,2,0.000,0.000,113,2177,2856,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.48,-146.0,3.1,-3.0,11,118,11.23,2.28,-10.98,0.000,4,0.221,0.061,3031,764,3393,0,0,0,0,0,0,25.31,25.63,25.96
$GC,320,-0.48,-146.0,47.4,-12.7,53,326,0.00,2.20,0.00,0.000,6,0.000,0.049,3023,2176,3397,0,0,0,0,0,0,28.83,25.76,28.83
$GC,640,-0.48,-146.0,93.8,-13.9,114,648,0.00,2.22,0.00,0.000,4,0.000,0.061,3012,3591,3399,0,0,0,0,0,0,28.83,25.85,28.83
$GC,675,-0.48,-146.0,98.5,-13.8,120,683,0.00,2.20,0.00,0.000,6,0.000,0.041,3012,2169,3400,0,0,0,0,0,0,28.83,25.94,28.83
$GC,992,-0.48,-146.0,138.8,-12.3,162,998,0.00,2.28,0.00,0.000,4,0.000,0.061,3002,3595,3400,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1016,-0.48,-146.0,140.6,-12.4,163,1023,0.15,2.15,0.00,0.000,6,0.138,0.041,3044,2171,3400,0,0,0,0,0,0,25.87,26.03,28.83
$GC,1325,-0.48,-146.0,173.3,-10.1,184,1330,0.00,2.10,0.00,0.000,4,0.000,0.048,3044,779,3400,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1371,-0.48,-146.0,177.9,-10.5,187,1377,0.00,2.10,0.00,0.000,6,0.000,0.049,3036,2169,3400,0,0,0,0,0,0,28.83,26.05,28.83
$GC,1695,-0.48,-146.0,210.8,-10.3,207,1701,0.00,2.20,0.00,0.000,4,0.000,0.063,3026,3581,3400,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1757,-0.48,-146.0,217.5,-11.0,210,1761,0.00,2.12,0.00,0.000,6,0.000,0.041,3026,2172,3400,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2069,-0.48,-146.0,253.6,-11.3,226,2075,0.00,2.22,0.00,0.000,4,0.000,0.062,3015,3583,3399,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2103,-0.48,-146.0,255.7,-11.3,227,2109,0.00,2.12,0.00,0.000,6,0.000,0.041,3015,2169,3399,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2410,-0.48,-146.0,293.2,-11.5,243,2411,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2167,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2710,-0.48,-146.0,326.2,-10.6,258,2711,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2167,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3009,-0.48,-146.0,355.2,-9.5,273,3015,0.00,2.25,0.00,0.000,4,0.000,0.064,3005,3583,3397,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3037,-0.48,-146.0,357.1,-9.4,274,3042,0.12,2.12,0.00,0.000,6,0.143,0.044,3039,2171,3397,0,0,0,0,0,0,26.09,26.24,28.83
$GC,3345,-0.48,-146.0,382.2,-7.9,289,3350,0.00,2.12,0.00,0.000,4,0.000,0.050,3039,774,3397,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3372,-0.48,-146.0,383.9,-8.0,290,3376,0.00,2.15,0.00,0.000,6,0.000,0.051,3032,2183,3397,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3680,-0.48,-146.0,409.5,-7.7,303,3685,0.00,2.17,0.00,0.000,4,0.000,0.063,3022,3586,3396,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3748,-0.48,-146.0,413.9,-7.4,305,3752,0.00,2.15,0.00,0.000,6,0.000,0.044,3022,2169,3396,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4070,-0.48,-146.0,438.8,-7.4,316,4075,0.00,2.25,0.00,0.000,4,0.000,0.065,3011,3593,3395,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4102,-0.48,-146.0,441.3,-7.6,317,4106,0.00,2.15,0.00,0.000,6,0.000,0.045,3011,2172,3395,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4425,-0.48,-146.0,469.3,-9.0,328,4430,0.00,2.12,0.00,0.000,4,0.000,0.051,3011,762,3395,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4457,-0.48,-146.0,472.1,-9.1,329,4462,0.15,2.17,0.00,0.000,6,0.138,0.052,3045,2185,3395,0,0,0,0,0,0,26.13,26.22,28.83
$GC,4781,-0.48,-146.0,495.4,-7.1,340,4786,0.00,2.17,0.00,0.000,4,0.000,0.065,3037,3582,3394,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4883,-0.48,-146.0,502.1,-7.5,343,4887,0.00,2.12,0.00,0.000,6,0.000,0.044,3037,2169,3394,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5195,-0.48,-146.0,527.7,-8.0,354,5196,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2167,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5495,-0.48,-146.0,552.4,-8.3,364,5501,0.00,2.28,0.00,0.000,4,0.000,0.067,3026,3592,3392,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5539,-0.48,-146.0,554.8,-8.3,365,5543,0.00,2.15,0.00,0.000,6,0.000,0.047,3026,2172,3392,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5850,-0.48,-146.0,582.5,-8.5,376,5852,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2169,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6150,-0.48,-146.0,607.3,-8.3,386,6156,0.00,2.25,0.00,0.000,4,0.000,0.067,3016,3593,3391,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6189,-0.48,-146.0,610.0,-8.4,387,6193,0.00,2.15,0.00,0.000,6,0.000,0.047,3016,2173,3391,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6506,-0.48,-146.0,638.3,-8.8,398,6507,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2171,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6806,-0.48,-146.0,662.8,-7.9,408,6811,0.00,2.25,0.00,0.000,4,0.000,0.067,3007,3593,3391,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6849,-0.48,-146.0,665.2,-7.8,409,6854,0.12,2.15,0.00,0.000,6,0.138,0.047,3042,2176,3391,0,0,0,0,0,0,26.17,26.30,28.83
$GC,7162,-0.48,-146.0,685.9,-6.2,420,7168,0.00,2.22,0.00,0.000,4,0.000,0.068,3034,3586,3390,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7200,-0.48,-146.0,687.8,-6.2,421,7204,0.00,2.15,0.00,0.000,6,0.000,0.047,3034,2168,3390,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7518,-0.48,-146.0,709.4,-6.6,432,7524,0.00,2.28,0.00,0.000,4,0.000,0.068,3023,3592,3389,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7571,-0.48,-146.0,711.6,-6.7,433,7577,0.00,2.15,0.00,0.000,6,0.000,0.047,3024,2171,3389,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7877,-0.48,-146.0,737.0,-7.9,444,7883,0.00,2.25,0.00,0.000,4,0.000,0.067,3014,3582,3389,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7911,-0.48,-146.0,739.5,-8.0,445,7915,0.00,2.12,0.00,0.000,6,0.000,0.047,3013,2180,3389,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8233,-0.48,-146.0,767.7,-8.7,456,8238,0.00,2.22,0.00,0.000,4,0.000,0.068,3004,3581,3388,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8276,-0.48,-146.0,770.3,-8.5,457,8280,0.12,2.15,0.00,0.000,6,0.139,0.047,3039,2166,3388,0,0,0,0,0,0,26.16,26.29,28.83
$GC,8589,-0.48,-146.0,792.7,-6.7,468,8594,0.00,2.22,0.00,0.000,4,0.000,0.068,3031,3577,3388,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8651,-0.48,-146.0,797.0,-6.9,470,8655,0.00,2.12,0.00,0.000,6,0.000,0.047,3031,2174,3388,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8974,-0.48,-146.0,819.1,-6.7,481,8979,0.00,2.22,0.00,0.000,4,0.000,0.069,3021,3580,3387,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9012,-0.48,-146.0,821.1,-6.6,482,9016,0.00,2.15,0.00,0.000,6,0.000,0.047,3021,2166,3387,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9329,-0.48,-146.0,843.4,-6.7,493,9335,0.00,2.22,0.00,0.000,4,0.000,0.068,3011,3579,3387,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9377,-0.48,-146.0,845.5,-6.7,494,9381,0.00,2.15,0.00,0.000,6,0.000,0.048,3011,2165,3387,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9684,-0.48,-146.0,867.3,-6.8,504,9686,0.12,0.00,0.00,0.000,6,0.143,0.000,3046,2162,3387,0,0,0,0,0,0,26.25,28.83,28.83
$GC,9984,-0.48,-146.0,884.1,-5.7,514,9988,0.00,2.28,0.00,0.000,4,0.000,0.069,3037,3581,3386,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10046,-0.48,-146.0,887.8,-5.8,516,10052,0.00,2.12,0.00,0.000,6,0.000,0.048,3037,2180,3386,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10377,-0.48,-146.0,906.8,-5.4,527,10382,0.00,2.22,0.00,0.000,4,0.000,0.070,3027,3581,3386,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10437,-0.48,-146.0,910.2,-5.5,529,10441,0.00,2.17,0.00,0.000,6,0.000,0.048,3027,2163,3386,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10769,-0.48,-146.0,930.4,-6.3,540,10775,0.00,2.25,0.00,0.000,4,0.000,0.069,3017,3584,3385,0,0,0,0,0,0,28.83,26.18,28.83
$GC,10812,-0.48,-146.0,932.4,-6.4,541,10816,0.00,2.17,0.00,0.000,6,0.000,0.048,3017,2168,3385,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11130,-0.48,-146.0,952.8,-6.1,552,11135,0.00,2.25,0.00,0.000,4,0.000,0.070,3007,3587,3385,0,0,0,0,0,0,28.83,26.18,28.83
$GC,11194,-0.48,-146.0,956.7,-6.3,554,11200,0.12,2.17,0.00,0.000,6,0.136,0.048,3042,2172,3385,0,0,0,0,0,0,26.15,26.28,28.83
$GC,11520,-0.48,-146.0,972.4,-4.7,565,11523,0.00,2.28,0.00,0.000,4,0.000,0.070,3035,3583,3385,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11555,-0.48,-146.0,974.2,-4.9,566,11559,0.00,2.17,0.00,0.000,6,0.000,0.049,3034,2169,3384,0,0,0,0,0,0,28.83,26.29,28.83
$STATE,11849,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11849,begin apogee
$GC,11856,-0.22,0.0,991.7,-6.3,576,11987,0.25,0.00,125.68,1.203,6,0.116,0.000,3120,2311,2794,0,0,0,0,0,0,26.15,28.83,23.72
$STATE,11991,end apogee,CONTROL_FINISHED_OK
$STATE,11991,begin climb
$GC,11993,0.48,146.0,995.6,0.0,580,12136,0.65,2.47,132.40,1.171,4,0.082,0.057,3353,905,2197,0,0,0,0,0,0,24.58,23.97,23.27
$GC,12163,0.49,177.1,987.8,6.1,586,12197,0.00,2.35,28.48,1.115,6,0.000,0.056,3353,2301,2071,0,0,0,0,0,0,28.83,24.34,23.32
$GC,12511,0.49,177.1,951.5,10.7,598,12517,0.00,2.33,0.00,0.000,4,0.000,0.070,3353,3712,2063,0,0,0,0,0,0,28.83,25.15,28.83
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$STATE,22566,end climb,SURFACE_DEPTH_REACHED
$STATE,22566,begin surface coast
$FINISH,0.9,1.008854
$STATE,22623,end surface coast,CONTROL_FINISHED_OK
$STATE,22623,begin surface
$SM_CCo,22703,0.00,0.000,0,0,1389,344.65
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$TT8_MAMPS,0.027713,0.027713
$HUMID,43.62
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,15.90
$XPDR_PINGS,0
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$10V_AH,10.2,14.454
$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
$DEVICE_SECS,21.950,212.225,416.575,0.000,0.000,27.270,40.991,186.554,0.000,0.000,15.082,3374.734,15813.578,522.178,2977.107,393.240,0.000,1991.167,0.000,2687.939,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,878.906,751.475,531.829,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296936
$DATA_FILE_SIZE,73539,1277
$CAP_FILE_SIZE,195383,0
$CFSIZE,260165632,248446976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.055, 70.1,1
$GPS,061012,063305,4729.150,-12557.388,30,1.2,30,18.7