version: 66.11
glider: 187
mission: 2
dive: 239
start: 11 6 112 21 39 21
data:
$ID,187
$MISSION,2
$DIVE,239
$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,-1588055.5
$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,43
$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
$GPS1,061112,213153,4743.067,-12521.855,26,1.0,43,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-76.3
$GPS2,061112,213849,4743.067,-12521.890,16,1.0,16,18.7
$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,217.1,147369,-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,-146.0,0.0,0.0,0,81,0.00,0.00,-62.30,0.000,2,0.000,0.000,107,2169,2839,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.48,-146.0,3.4,-4.1,10,114,11.48,2.28,-11.25,0.000,4,0.221,0.065,3033,765,3393,0,0,0,0,0,0,25.02,25.53,26.01
$GC,173,-0.48,-146.0,26.0,-19.8,25,181,0.00,2.25,0.00,0.000,6,0.000,0.050,3024,2187,3395,0,0,0,0,0,0,28.83,25.53,28.83
$GC,491,-0.48,-146.0,76.2,-12.3,86,497,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2187,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,802,-0.48,-146.0,114.5,-10.7,147,808,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2187,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1111,-0.48,-146.0,149.1,-11.2,174,1115,0.00,2.22,0.00,0.000,4,0.000,0.062,3014,3584,3398,0,0,0,0,0,0,28.83,25.69,28.83
$GC,1160,-0.48,-146.0,154.5,-11.2,177,1165,0.00,2.12,0.00,0.000,6,0.000,0.043,3014,2179,3398,0,0,0,0,0,0,28.83,25.87,28.83
$GC,1474,-0.48,-146.0,191.8,-11.9,198,1479,0.00,2.15,0.00,0.000,4,0.000,0.050,3014,768,3398,0,0,0,0,0,0,28.83,25.80,28.83
$GC,1535,-0.48,-146.0,199.0,-11.9,202,1541,0.10,2.15,0.00,0.000,6,0.116,0.050,3040,2172,3398,0,0,0,0,0,0,25.63,25.82,28.83
$GC,1850,-0.48,-146.0,228.4,-8.9,218,1855,0.00,2.22,0.00,0.000,4,0.000,0.063,3032,3590,3398,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1942,-0.48,-146.0,235.7,-9.1,222,1949,0.00,2.17,0.00,0.000,6,0.000,0.044,3032,2163,3398,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2250,-0.48,-146.0,266.0,-9.3,238,2255,0.00,2.12,0.00,0.000,4,0.000,0.050,3032,771,3398,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2297,-0.48,-146.0,269.9,-9.7,240,2301,0.00,2.17,0.00,0.000,6,0.000,0.051,3022,2180,3398,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2604,-0.48,-146.0,301.6,-10.3,255,2610,0.00,2.22,0.00,0.000,4,0.000,0.063,3012,3587,3398,0,0,0,0,0,0,28.83,25.78,28.83
$GC,2667,-0.48,-146.0,308.4,-11.0,258,2672,0.00,2.15,0.00,0.000,6,0.000,0.044,3012,2177,3397,0,0,0,0,0,0,28.83,25.97,28.83
$GC,2980,-0.48,-146.0,343.7,-11.1,274,2981,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2172,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3280,-0.48,-146.0,375.2,-10.3,289,3284,0.00,2.17,0.00,0.000,4,0.000,0.052,3012,771,3397,0,0,0,0,0,0,28.83,25.86,28.83
$GC,3315,-0.48,-146.0,377.5,-10.4,290,3323,0.12,2.20,0.00,0.000,6,0.148,0.052,3037,2180,3396,0,0,0,0,0,0,25.73,25.88,28.83
$GC,3643,-0.48,-146.0,404.6,-7.3,306,3648,0.00,2.20,0.00,0.000,4,0.000,0.064,3029,3578,3396,0,0,0,0,0,0,28.83,25.79,28.83
$GC,3705,-0.48,-146.0,409.6,-7.9,308,3709,0.00,2.15,0.00,0.000,6,0.000,0.045,3029,2168,3396,0,0,0,0,0,0,28.83,25.99,28.83
$GC,4027,-0.48,-146.0,437.3,-8.6,319,4029,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2166,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4327,-0.48,-146.0,463.0,-8.4,329,4333,0.00,2.28,0.00,0.000,4,0.000,0.064,3019,3591,3395,0,0,0,0,0,0,28.83,25.78,28.83
$GC,4360,-0.48,-146.0,465.8,-8.6,330,4364,0.00,2.17,0.00,0.000,6,0.000,0.046,3019,2169,3395,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4682,-0.48,-146.0,495.8,-8.6,341,4688,0.00,2.28,0.00,0.000,4,0.000,0.064,3009,3590,3394,0,0,0,0,0,0,28.83,25.78,28.83
$GC,4705,-0.48,-146.0,495.8,-8.6,341,4714,0.12,2.17,0.00,0.000,6,0.132,0.046,3044,2166,3394,0,0,0,0,0,0,25.82,25.98,28.83
$GC,5013,-0.48,-146.0,520.7,-7.7,352,5018,0.00,2.12,0.00,0.000,4,0.000,0.053,3044,778,3394,0,0,0,0,0,0,28.83,25.85,28.83
$GC,5050,-0.48,-146.0,523.2,-7.9,353,5055,0.00,2.17,0.00,0.000,6,0.000,0.053,3037,2181,3394,0,0,0,0,0,0,28.83,25.87,28.83
$GC,5368,-0.48,-146.0,550.3,-8.3,364,5371,0.00,2.25,0.00,0.000,4,0.000,0.065,3028,3586,3393,0,0,0,0,0,0,28.83,25.77,28.83
$GC,5430,-0.48,-146.0,555.7,-8.4,366,5435,0.00,2.15,0.00,0.000,6,0.000,0.046,3027,2173,3392,0,0,0,0,0,0,28.83,25.99,28.83
$GC,5759,-0.48,-146.0,585.4,-9.1,377,5765,0.00,2.15,0.00,0.000,4,0.000,0.053,3027,775,3392,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5790,-0.48,-146.0,588.2,-9.2,378,5795,0.00,2.15,0.00,0.000,6,0.000,0.053,3018,2169,3392,0,0,0,0,0,0,28.83,25.87,28.83
$GC,6120,-0.48,-146.0,618.7,-9.0,389,6125,0.00,2.25,0.00,0.000,4,0.000,0.066,3007,3588,3392,0,0,0,0,0,0,28.83,25.76,28.83
$GC,6232,-0.48,-146.0,627.4,-9.5,392,6240,0.12,2.17,0.00,0.000,6,0.132,0.046,3043,2166,3391,0,0,0,0,0,0,25.81,25.97,28.83
$GC,6540,-0.48,-146.0,653.2,-7.7,403,6545,0.00,2.30,0.00,0.000,4,0.000,0.066,3034,3585,3391,0,0,0,0,0,0,28.83,25.75,28.83
$GC,6577,-0.48,-146.0,655.4,-7.6,404,6581,0.00,2.17,0.00,0.000,6,0.000,0.047,3034,2174,3391,0,0,0,0,0,0,28.83,25.97,28.83
$GC,6895,-0.48,-146.0,679.1,-6.9,415,6900,0.00,2.25,0.00,0.000,4,0.000,0.066,3025,3581,3391,0,0,0,0,0,0,28.83,25.75,28.83
$GC,6943,-0.48,-146.0,681.2,-6.8,416,6947,0.00,2.17,0.00,0.000,6,0.000,0.047,3025,2166,3390,0,0,0,0,0,0,28.83,25.96,28.83
$GC,7250,-0.48,-146.0,705.9,-8.0,426,7251,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2164,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7549,-0.48,-146.0,730.7,-8.2,436,7555,0.00,2.30,0.00,0.000,4,0.000,0.067,3015,3584,3390,0,0,0,0,0,0,28.83,25.73,28.83
$GC,7587,-0.48,-146.0,733.0,-8.1,437,7591,0.00,2.20,0.00,0.000,6,0.000,0.047,3015,2165,3390,0,0,0,0,0,0,28.83,25.96,28.83
$GC,7905,-0.48,-146.0,761.5,-8.8,448,7906,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2162,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8205,-0.48,-146.0,787.5,-8.6,458,8206,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2162,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8504,-0.48,-146.0,811.9,-8.0,468,8510,0.00,2.30,0.00,0.000,4,0.000,0.067,3005,3588,3388,0,0,0,0,0,0,28.83,25.71,28.83
$GC,8567,-0.48,-146.0,816.8,-8.1,470,8572,0.12,2.20,0.00,0.000,6,0.132,0.047,3040,2169,3388,0,0,0,0,0,0,25.78,25.94,28.83
$GC,8891,-0.48,-146.0,837.2,-6.1,481,8896,0.00,2.28,0.00,0.000,4,0.000,0.067,3032,3581,3388,0,0,0,0,0,0,28.83,25.71,28.83
$GC,8924,-0.48,-146.0,839.1,-6.0,482,8928,0.00,2.17,0.00,0.000,6,0.000,0.048,3032,2172,3388,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9246,-0.48,-146.0,860.6,-6.4,493,9252,0.00,2.30,0.00,0.000,4,0.000,0.067,3022,3604,3387,0,0,0,0,0,0,28.83,25.70,28.83
$GC,9284,-0.48,-146.0,862.5,-6.4,494,9288,0.00,2.22,0.00,0.000,6,0.000,0.048,3022,2171,3387,0,0,0,0,0,0,28.83,25.94,28.83
$GC,9602,-0.48,-146.0,884.6,-6.9,505,9607,0.00,2.25,0.00,0.000,4,0.000,0.068,3012,3579,3387,0,0,0,0,0,0,28.83,25.70,28.83
$GC,9661,-0.48,-146.0,889.2,-7.4,507,9667,0.00,2.20,0.00,0.000,6,0.000,0.049,3012,2172,3387,0,0,0,0,0,0,28.83,25.92,28.83
$GC,9991,-0.48,-146.0,915.2,-7.6,518,9992,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2169,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10291,-0.48,-146.0,939.4,-8.2,528,10293,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2169,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10592,-0.48,-146.0,962.7,-7.4,538,10597,0.00,2.30,0.00,0.000,4,0.000,0.068,3003,3585,3386,0,0,0,0,0,0,28.83,25.67,28.83
$GC,10634,-0.48,-146.0,965.0,-7.4,539,10639,0.12,2.17,0.00,0.000,6,0.132,0.049,3038,2176,3386,0,0,0,0,0,0,25.75,25.91,28.83
$GC,10948,-0.48,-146.0,984.7,-6.0,550,10949,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2173,3386,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11034,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11035,begin apogee
$GC,11041,-0.22,0.0,990.1,-6.0,553,11174,0.22,0.00,127.97,1.185,6,0.113,0.000,3120,2307,2794,0,0,0,0,0,0,25.90,28.83,23.48
$STATE,11177,end apogee,CONTROL_FINISHED_OK
$STATE,11177,begin climb
$GC,11180,0.48,146.0,993.7,0.0,557,11320,0.65,0.00,136.43,1.149,6,0.080,0.000,3344,2307,2198,0,0,0,0,0,0,24.48,28.83,22.63
$GC,11611,0.48,146.0,960.7,8.7,572,11616,0.00,2.33,0.00,0.000,4,0.000,0.068,3343,3697,2188,0,0,0,0,0,0,28.83,24.81,28.83
$GC,11652,0.48,146.0,957.5,9.0,573,11657,0.00,2.25,0.00,0.000,6,0.000,0.050,3353,2311,2187,0,0,0,0,0,0,28.83,25.00,28.83
$GC,11965,0.48,146.0,926.6,9.4,584,11966,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,2305,2186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12265,0.48,146.0,898.6,9.5,594,12266,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,2306,2186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12565,0.48,146.0,869.1,9.9,604,12570,0.00,2.30,0.00,0.000,4,0.000,0.069,3354,3706,2185,0,0,0,0,0,0,28.83,25.53,28.83
$GC,12618,0.48,146.0,865.8,10.2,605,12625,0.00,2.25,0.00,0.000,6,0.000,0.051,3363,2297,2184,0,0,0,0,0,0,28.83,25.67,28.83
$GC,12925,0.48,146.0,830.8,10.3,616,12931,0.00,2.30,0.00,0.000,4,0.000,0.068,3363,3700,2184,0,0,0,0,0,0,28.83,25.58,28.83
$GC,12957,0.48,146.0,827.7,10.2,617,12961,0.00,2.22,0.00,0.000,6,0.000,0.050,3374,2297,2183,0,0,0,0,0,0,28.83,25.73,28.83
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$STATE,22962,end climb,SURFACE_DEPTH_REACHED
$STATE,22962,begin surface coast
$FINISH,1.2,1.012116
$STATE,23010,end surface coast,CONTROL_FINISHED_OK
$STATE,23010,begin surface
$SM_CCo,23090,0.00,0.000,0,0,1385,345.38
$SM_GC,2.10,8.38,0.20,0.00,0.025,0.071,0.000,109,2166,1385,-9.47,1.19,345.38,0,0,0,0,0,0,25.74,25.67,28.83
$IRIDIUM_FIX,4726.11,-12515.52,061112,151502
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.44
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,19.40
$XPDR_PINGS,3
$24V_AH,22.6,33.796
$10V_AH,10.1,28.156
$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,22.125,196.550,434.900,0.000,0.000,25.030,44.956,213.083,0.750,0.000,19.359,3422.767,16086.265,554.794,3036.596,400.952,0.000,2007.075,0.000,2719.280,0.000,0.535,0.000
$DEVICE_MAMPS,221.085,87.975,1184.985,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,893.791,754.893,533.712,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296728
$DATA_FILE_SIZE,73388,1298
$CAP_FILE_SIZE,194320,0
$CFSIZE,260165632,238002176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.061,123.3,1
$GPS,071112,040536,4740.824,-12525.098,47,1.2,47,18.7