version: 66.11
glider: 187
mission: 2
dive: 240
start: 11 7 112 4 12 56
data:
$ID,187
$MISSION,2
$DIVE,240
$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,-1588056.8
$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,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
$GPS1,071112,040536,4740.824,-12525.098,47,1.2,47,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-73.0
$GPS2,071112,041225,4740.778,-12525.062,13,1.4,13,18.7
$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,233.7,141712,-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,-146.0,0.0,0.0,0,74,0.00,0.00,-55.90,0.000,2,0.000,0.000,108,2166,2626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-0.48,-146.0,3.0,-4.0,9,118,11.50,2.35,-18.42,0.000,4,0.222,0.075,3026,3584,3393,0,0,0,0,0,0,25.03,25.47,26.00
$GC,183,-0.48,-146.0,23.7,-22.4,27,191,0.00,2.17,0.00,0.000,6,0.000,0.044,3026,2185,3395,0,0,0,0,0,0,28.83,25.58,28.83
$GC,499,-0.48,-146.0,71.1,-15.5,88,507,0.00,2.22,0.00,0.000,4,0.000,0.050,3025,773,3397,0,0,0,0,0,0,28.83,25.65,28.83
$GC,555,-0.48,-146.0,78.9,-13.8,98,561,0.00,2.17,0.00,0.000,6,0.000,0.050,3016,2175,3397,0,0,0,0,0,0,28.83,25.68,28.83
$GC,866,-0.48,-146.0,119.2,-12.6,159,873,0.00,2.25,0.00,0.000,4,0.000,0.061,3005,3592,3397,0,0,0,0,0,0,28.83,25.67,28.83
$GC,918,-0.48,-146.0,125.4,-12.4,163,924,0.10,2.17,0.00,0.000,6,0.110,0.043,3041,2165,3397,0,0,0,0,0,0,25.63,25.84,28.83
$GC,1234,-0.48,-146.0,158.4,-10.3,184,1240,0.00,2.12,0.00,0.000,4,0.000,0.050,3041,774,3397,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1286,-0.48,-146.0,163.1,-10.3,187,1293,0.00,2.20,0.00,0.000,6,0.000,0.050,3034,2183,3397,0,0,0,0,0,0,28.83,25.81,28.83
$GC,1594,-0.48,-146.0,194.4,-9.6,208,1599,0.00,2.22,0.00,0.000,4,0.000,0.062,3023,3584,3397,0,0,0,0,0,0,28.83,25.76,28.83
$GC,1640,-0.48,-146.0,198.8,-9.9,211,1644,0.00,2.17,0.00,0.000,6,0.000,0.044,3023,2165,3397,0,0,0,0,0,0,28.83,25.93,28.83
$GC,1963,-0.48,-146.0,231.4,-10.1,227,1964,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2162,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2263,-0.48,-146.0,260.6,-9.9,242,2268,0.00,2.28,0.00,0.000,4,0.000,0.062,3013,3591,3398,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2296,-0.48,-146.0,262.6,-10.0,243,2303,0.00,2.17,0.00,0.000,6,0.000,0.044,3013,2163,3397,0,0,0,0,0,0,28.83,25.97,28.83
$GC,2603,-0.48,-146.0,297.7,-11.4,259,2604,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2163,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2904,-0.48,-146.0,333.8,-11.9,274,2910,0.00,2.12,0.00,0.000,4,0.000,0.051,3013,772,3397,0,0,0,0,0,0,28.83,25.88,28.83
$GC,2931,-0.48,-146.0,336.3,-12.1,275,2935,0.12,2.20,0.00,0.000,6,0.143,0.052,3039,2182,3397,0,0,0,0,0,0,25.75,25.89,28.83
$GC,3238,-0.48,-146.0,367.1,-9.3,290,3242,0.00,2.22,0.00,0.000,4,0.000,0.063,3031,3585,3396,0,0,0,0,0,0,28.83,25.80,28.83
$GC,3301,-0.48,-146.0,373.1,-9.5,293,3306,0.00,2.15,0.00,0.000,6,0.000,0.045,3030,2173,3396,0,0,0,0,0,0,28.83,25.99,28.83
$GC,3631,-0.48,-146.0,404.5,-9.5,309,3632,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2170,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3931,-0.48,-146.0,431.4,-8.8,319,3937,0.00,2.28,0.00,0.000,4,0.000,0.063,3020,3595,3395,0,0,0,0,0,0,28.83,25.80,28.83
$GC,3974,-0.48,-146.0,434.1,-8.7,320,3978,0.00,2.17,0.00,0.000,6,0.000,0.044,3020,2170,3395,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4291,-0.48,-146.0,464.1,-9.1,331,4296,0.00,2.28,0.00,0.000,4,0.000,0.063,3011,3592,3395,0,0,0,0,0,0,28.83,25.80,28.83
$GC,4314,-0.48,-146.0,464.1,-9.1,331,4322,0.00,2.17,0.00,0.000,6,0.000,0.045,3011,2167,3394,0,0,0,0,0,0,28.83,25.99,28.83
$GC,4621,-0.48,-146.0,494.7,-9.1,342,4622,0.12,0.00,0.00,0.000,6,0.145,0.000,3046,2166,3395,0,0,0,0,0,0,26.10,28.83,28.83
$GC,4922,-0.48,-146.0,515.5,-6.9,352,4927,0.00,2.25,0.00,0.000,4,0.000,0.065,3037,3581,3394,0,0,0,0,0,0,28.83,25.79,28.83
$GC,4981,-0.48,-146.0,519.6,-6.9,354,4987,0.00,2.15,0.00,0.000,6,0.000,0.046,3037,2170,3393,0,0,0,0,0,0,28.83,26.00,28.83
$GC,5311,-0.48,-146.0,542.7,-6.8,365,5312,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2168,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5611,-0.48,-146.0,564.1,-7.1,375,5617,0.00,2.25,0.00,0.000,4,0.000,0.065,3027,3587,3392,0,0,0,0,0,0,28.83,25.79,28.83
$GC,5649,-0.48,-146.0,566.5,-7.3,376,5653,0.00,2.17,0.00,0.000,6,0.000,0.047,3026,2168,3392,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5966,-0.48,-146.0,591.7,-8.1,387,5967,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2164,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6266,-0.48,-146.0,616.3,-8.1,397,6271,0.00,2.28,0.00,0.000,4,0.000,0.065,3017,3585,3391,0,0,0,0,0,0,28.83,25.77,28.83
$GC,6304,-0.48,-146.0,619.0,-8.2,398,6308,0.00,2.17,0.00,0.000,6,0.000,0.047,3017,2168,3391,0,0,0,0,0,0,28.83,25.98,28.83
$GC,6621,-0.48,-146.0,646.8,-8.4,409,6622,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2165,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6921,-0.48,-146.0,673.6,-9.1,419,6927,0.00,2.28,0.00,0.000,4,0.000,0.066,3007,3582,3390,0,0,0,0,0,0,28.83,25.75,28.83
$GC,6965,-0.48,-146.0,676.5,-9.2,420,6970,0.12,2.17,0.00,0.000,6,0.133,0.047,3043,2168,3390,0,0,0,0,0,0,25.80,25.97,28.83
$GC,7278,-0.48,-146.0,702.3,-7.6,431,7284,0.00,2.28,0.00,0.000,4,0.000,0.067,3034,3583,3390,0,0,0,0,0,0,28.83,25.74,28.83
$GC,7311,-0.48,-146.0,704.7,-7.7,432,7315,0.00,2.17,0.00,0.000,6,0.000,0.047,3034,2167,3390,0,0,0,0,0,0,28.83,25.96,28.83
$GC,7634,-0.48,-146.0,731.8,-8.4,443,7635,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2166,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7933,-0.48,-146.0,755.5,-7.9,453,7939,0.00,2.30,0.00,0.000,4,0.000,0.067,3024,3584,3389,0,0,0,0,0,0,28.83,25.73,28.83
$GC,8006,-0.48,-146.0,760.2,-7.7,455,8010,0.00,2.17,0.00,0.000,6,0.000,0.048,3025,2170,3389,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8319,-0.48,-146.0,785.8,-7.8,466,8320,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2168,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8618,-0.48,-146.0,808.9,-7.5,476,8624,0.00,2.25,0.00,0.000,4,0.000,0.067,3015,3578,3388,0,0,0,0,0,0,28.83,25.72,28.83
$GC,8661,-0.48,-146.0,811.3,-7.5,477,8665,0.00,2.17,0.00,0.000,6,0.000,0.048,3014,2166,3388,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8975,-0.48,-146.0,837.2,-7.9,488,8980,0.00,2.28,0.00,0.000,4,0.000,0.067,3005,3585,3388,0,0,0,0,0,0,28.83,25.71,28.83
$GC,9016,-0.48,-146.0,839.7,-8.1,489,9021,0.12,2.17,0.00,0.000,6,0.131,0.048,3040,2171,3387,0,0,0,0,0,0,25.77,25.94,28.83
$GC,9330,-0.48,-146.0,860.6,-6.2,500,9331,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2168,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9629,-0.48,-146.0,879.2,-6.3,510,9635,0.00,2.30,0.00,0.000,4,0.000,0.067,3033,3585,3387,0,0,0,0,0,0,28.83,25.68,28.83
$GC,9682,-0.48,-146.0,881.1,-6.2,511,9690,0.00,2.17,0.00,0.000,6,0.000,0.048,3033,2173,3387,0,0,0,0,0,0,28.83,25.93,28.83
$GC,9990,-0.48,-146.0,904.2,-7.1,522,9991,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2173,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10291,-0.48,-146.0,925.5,-7.1,532,10294,0.00,2.28,0.00,0.000,4,0.000,0.068,3023,3582,3387,0,0,0,0,0,0,28.83,25.67,28.83
$GC,10383,-0.48,-146.0,932.4,-7.3,535,10386,0.00,2.20,0.00,0.000,6,0.000,0.049,3023,2172,3386,0,0,0,0,0,0,28.83,25.91,28.83
$GC,10715,-0.48,-146.0,957.5,-7.6,546,10721,0.00,2.28,0.00,0.000,4,0.000,0.068,3013,3587,3386,0,0,0,0,0,0,28.83,25.67,28.83
$GC,10775,-0.48,-146.0,962.4,-7.7,548,10780,0.00,2.20,0.00,0.000,6,0.000,0.048,3013,2168,3386,0,0,0,0,0,0,28.83,25.91,28.83
$GC,11104,-0.48,-146.0,988.4,-7.8,559,11110,0.00,2.30,0.00,0.000,4,0.000,0.068,3003,3591,3385,0,0,0,0,0,0,28.83,25.65,28.83
$STATE,11132,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11132,begin apogee
$GC,11141,-0.22,0.0,990.7,-7.8,560,11275,0.35,0.00,127.65,1.183,6,0.112,0.000,3123,2300,2794,0,0,0,0,0,0,25.67,28.83,23.48
$STATE,11278,end apogee,CONTROL_FINISHED_OK
$STATE,11278,begin climb
$GC,11281,0.48,146.0,994.9,0.0,564,11426,0.65,2.62,135.73,1.147,4,0.080,0.067,3345,3711,2197,0,0,0,0,0,0,24.49,23.44,22.63
$GC,11466,0.48,146.0,984.0,7.6,571,11473,0.00,2.40,0.00,0.000,6,0.000,0.048,3356,2305,2193,0,0,0,0,0,0,28.83,24.02,28.83
$GC,11797,0.48,146.0,952.1,10.0,582,11798,0.00,0.00,0.00,0.000,6,0.000,0.000,3356,2298,2188,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12097,0.48,146.0,921.9,9.9,592,12102,0.00,2.30,0.00,0.000,4,0.000,0.067,3356,3699,2187,0,0,0,0,0,0,28.83,25.29,28.83
$GC,12159,0.48,146.0,915.5,10.1,594,12163,0.00,2.25,0.00,0.000,6,0.000,0.050,3366,2286,2186,0,0,0,0,0,0,28.83,25.45,28.83
$GC,12482,0.48,146.0,882.5,9.8,605,12487,0.00,2.33,0.00,0.000,4,0.000,0.068,3366,3701,2185,0,0,0,0,0,0,28.83,25.47,28.83
$GC,12534,0.48,146.0,879.3,10.0,606,12541,0.00,2.22,0.00,0.000,6,0.000,0.050,3377,2295,2185,0,0,0,0,0,0,28.83,25.61,28.83
$GC,12841,0.48,146.0,842.5,11.3,617,12847,0.00,2.35,0.00,0.000,4,0.000,0.068,3377,3717,2185,0,0,0,0,0,0,28.83,25.54,28.83
$GC,12872,0.48,146.0,838.9,11.4,618,12878,0.10,2.25,0.00,0.000,6,0.138,0.051,3356,2293,2184,0,0,0,0,0,0,25.41,25.69,28.83
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$STATE,22572,end climb,SURFACE_DEPTH_REACHED
$STATE,22573,begin surface coast
$FINISH,1.2,1.000836
$STATE,22616,end surface coast,CONTROL_FINISHED_OK
$STATE,22616,begin surface
$SM_CCo,22696,0.00,0.000,0,0,1225,385.12
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$TT8_MAMPS,0.026964,0.026964
$HUMID,44.84
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,15.80
$XPDR_PINGS,3
$24V_AH,22.6,33.934
$10V_AH,10.1,28.270
$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
$DEVICE_SECS,22.200,210.625,464.075,0.000,0.000,29.013,38.374,206.734,0.750,0.000,16.518,3335.499,15800.399,585.448,2970.158,402.448,0.000,2046.081,0.000,2662.569,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,872.227,735.945,521.113,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296772
$DATA_FILE_SIZE,73651,1269
$CAP_FILE_SIZE,194503,0
$CFSIZE,260165632,237912064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.119,143.1,1
$GPS,071112,103229,4738.763,-12528.650,39,1.3,39,18.7