version: 66.11
glider: 187
mission: 2
dive: 241
start: 11 7 112 10 39 28
data:
$ID,187
$MISSION,2
$DIVE,241
$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,-1588058.1
$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,39
$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
$GPS1,071112,103229,4738.763,-12528.650,39,1.3,39,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-76.6
$GPS2,071112,103855,4738.767,-12528.713,14,1.3,14,18.7
$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,251.9,135828,-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,-146.0,0.0,0.0,0,84,0.00,0.00,-65.78,0.000,2,0.000,0.000,114,2170,2708,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.48,-146.0,3.1,-3.1,11,121,11.38,0.00,-15.20,0.000,6,0.220,0.000,3031,2168,3391,0,0,0,0,0,0,25.03,28.83,26.01
$GC,429,-0.48,-146.0,65.2,-11.8,76,436,0.00,2.22,0.00,0.000,4,0.000,0.050,3031,765,3395,0,0,0,0,0,0,28.83,25.63,28.83
$GC,541,-0.48,-146.0,79.5,-12.8,97,548,0.00,2.20,0.00,0.000,6,0.000,0.050,3024,2181,3395,0,0,0,0,0,0,28.83,25.67,28.83
$GC,854,-0.48,-146.0,118.4,-11.5,158,860,0.00,2.22,0.00,0.000,4,0.000,0.061,3013,3582,3396,0,0,0,0,0,0,28.83,25.67,28.83
$GC,891,-0.48,-146.0,122.7,-12.2,162,895,0.00,2.17,0.00,0.000,6,0.000,0.043,3012,2167,3396,0,0,0,0,0,0,28.83,25.83,28.83
$GC,1199,-0.48,-146.0,161.0,-12.8,182,1200,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2161,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1499,-0.48,-146.0,197.8,-12.2,202,1500,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2161,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1809,-0.48,-146.0,233.7,-11.1,218,1810,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2161,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2110,-0.48,-146.0,267.3,-11.2,233,2115,0.00,2.25,0.00,0.000,4,0.000,0.063,3003,3581,3396,0,0,0,0,0,0,28.83,25.78,28.83
$GC,2142,-0.48,-146.0,269.5,-11.1,234,2150,0.12,2.15,0.00,0.000,6,0.137,0.044,3038,2170,3396,0,0,0,0,0,0,25.77,25.95,28.83
$GC,2449,-0.48,-146.0,300.5,-9.7,250,2450,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2168,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2748,-0.48,-146.0,330.2,-9.8,265,2752,0.00,2.17,0.00,0.000,4,0.000,0.052,3038,767,3396,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2783,-0.48,-146.0,332.3,-9.8,266,2790,0.00,2.20,0.00,0.000,6,0.000,0.051,3031,2184,3396,0,0,0,0,0,0,28.83,25.88,28.83
$GC,3091,-0.48,-146.0,364.3,-9.8,282,3097,0.00,2.25,0.00,0.000,4,0.000,0.063,3021,3590,3394,0,0,0,0,0,0,28.83,25.79,28.83
$GC,3158,-0.48,-146.0,370.0,-9.6,285,3162,0.00,2.17,0.00,0.000,6,0.000,0.044,3021,2166,3395,0,0,0,0,0,0,28.83,25.99,28.83
$GC,3465,-0.48,-146.0,401.0,-10.1,300,3466,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2164,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3766,-0.48,-146.0,430.8,-9.8,310,3771,0.00,2.25,0.00,0.000,4,0.000,0.063,3010,3578,3394,0,0,0,0,0,0,28.83,25.80,28.83
$GC,3803,-0.48,-146.0,433.9,-9.8,311,3807,0.00,2.15,0.00,0.000,6,0.000,0.045,3011,2174,3394,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4121,-0.48,-146.0,466.7,-10.3,322,4122,0.12,0.00,0.00,0.000,6,0.146,0.000,3046,2170,3394,0,0,0,0,0,0,26.09,28.83,28.83
$GC,4420,-0.48,-146.0,489.8,-7.6,332,4426,0.00,2.22,0.00,0.000,4,0.000,0.065,3038,3576,3392,0,0,0,0,0,0,28.83,25.79,28.83
$GC,4473,-0.48,-146.0,492.2,-7.7,333,4480,0.00,2.15,0.00,0.000,6,0.000,0.046,3037,2170,3392,0,0,0,0,0,0,28.83,25.99,28.83
$GC,4780,-0.48,-146.0,518.3,-7.9,344,4786,0.00,2.28,0.00,0.000,4,0.000,0.064,3027,3581,3392,0,0,0,0,0,0,28.83,25.78,28.83
$GC,4803,-0.48,-146.0,518.3,-7.9,344,4810,0.00,2.15,0.00,0.000,6,0.000,0.046,3027,2176,3392,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5110,-0.48,-146.0,544.4,-7.7,355,5116,0.00,2.17,0.00,0.000,4,0.000,0.054,3027,777,3391,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5140,-0.48,-146.0,546.7,-7.7,356,5146,0.00,2.17,0.00,0.000,6,0.000,0.053,3018,2174,3391,0,0,0,0,0,0,28.83,25.88,28.83
$GC,5470,-0.48,-146.0,574.2,-8.6,367,5471,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2174,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5770,-0.48,-146.0,600.6,-9.1,377,5776,0.00,2.25,0.00,0.000,4,0.000,0.067,3007,3582,3390,0,0,0,0,0,0,28.83,25.76,28.83
$GC,5813,-0.48,-146.0,603.6,-9.2,378,5818,0.12,2.17,0.00,0.000,6,0.133,0.047,3043,2174,3390,0,0,0,0,0,0,25.81,25.97,28.83
$GC,6127,-0.48,-146.0,627.3,-7.0,389,6132,0.00,2.25,0.00,0.000,4,0.000,0.066,3035,3580,3390,0,0,0,0,0,0,28.83,25.76,28.83
$GC,6157,-0.48,-146.0,629.4,-7.0,390,6162,0.00,2.15,0.00,0.000,6,0.000,0.047,3035,2177,3390,0,0,0,0,0,0,28.83,25.97,28.83
$GC,6486,-0.48,-146.0,652.3,-6.9,401,6492,0.00,2.25,0.00,0.000,4,0.000,0.067,3025,3581,3389,0,0,0,0,0,0,28.83,25.75,28.83
$GC,6535,-0.48,-146.0,654.5,-7.0,402,6539,0.00,2.17,0.00,0.000,6,0.000,0.047,3025,2169,3389,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6841,-0.48,-146.0,679.9,-8.1,412,6842,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2167,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7141,-0.48,-146.0,704.3,-8.1,422,7142,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2167,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7441,-0.48,-146.0,730.5,-8.9,432,7447,0.00,2.30,0.00,0.000,4,0.000,0.067,3015,3583,3387,0,0,0,0,0,0,28.83,25.72,28.83
$GC,7509,-0.48,-146.0,736.1,-9.1,434,7513,0.00,2.17,0.00,0.000,6,0.000,0.047,3015,2170,3387,0,0,0,0,0,0,28.83,25.96,28.83
$GC,7826,-0.48,-146.0,766.1,-9.0,445,7832,0.00,2.28,0.00,0.000,4,0.000,0.067,3006,3583,3387,0,0,0,0,0,0,28.83,25.72,28.83
$GC,7864,-0.48,-146.0,768.9,-9.0,446,7869,0.12,2.17,0.00,0.000,6,0.131,0.047,3042,2172,3387,0,0,0,0,0,0,25.79,25.94,28.83
$GC,8183,-0.48,-146.0,791.9,-6.8,457,8188,0.00,2.30,0.00,0.000,4,0.000,0.067,3034,3600,3387,0,0,0,0,0,0,28.83,25.70,28.83
$GC,8226,-0.48,-146.0,794.0,-6.8,458,8230,0.00,2.20,0.00,0.000,6,0.000,0.048,3034,2177,3387,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8539,-0.48,-146.0,816.7,-6.9,469,8540,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2174,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8838,-0.48,-146.0,836.8,-6.7,479,8839,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2175,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9138,-0.48,-146.0,855.5,-6.3,489,9144,0.00,2.30,0.00,0.000,4,0.000,0.068,3024,3601,3385,0,0,0,0,0,0,28.83,25.68,28.83
$GC,9217,-0.48,-146.0,859.4,-6.4,491,9221,0.00,2.22,0.00,0.000,6,0.000,0.048,3024,2166,3385,0,0,0,0,0,0,28.83,25.92,28.83
$GC,9523,-0.48,-146.0,880.0,-6.3,501,9529,0.00,2.30,0.00,0.000,4,0.000,0.067,3014,3588,3385,0,0,0,0,0,0,28.83,25.68,28.83
$GC,9584,-0.48,-146.0,884.0,-6.5,503,9589,0.00,2.17,0.00,0.000,6,0.000,0.048,3014,2176,3385,0,0,0,0,0,0,28.83,25.92,28.83
$GC,9914,-0.48,-146.0,907.5,-7.0,514,9919,0.00,2.17,0.00,0.000,4,0.000,0.055,3014,768,3384,0,0,0,0,0,0,28.83,25.77,28.83
$GC,9946,-0.48,-146.0,909.5,-7.0,515,9951,0.12,2.20,0.00,0.000,6,0.141,0.055,3041,2177,3385,0,0,0,0,0,0,25.67,25.79,28.83
$GC,10270,-0.48,-146.0,927.5,-5.4,526,10276,0.00,2.28,0.00,0.000,4,0.000,0.068,3033,3591,3384,0,0,0,0,0,0,28.83,25.65,28.83
$GC,10338,-0.48,-146.0,931.0,-5.5,528,10342,0.00,2.20,0.00,0.000,6,0.000,0.049,3033,2168,3384,0,0,0,0,0,0,28.83,25.91,28.83
$GC,10655,-0.48,-146.0,951.8,-7.0,539,10661,0.00,2.28,0.00,0.000,4,0.000,0.067,3024,3581,3384,0,0,0,0,0,0,28.83,25.65,28.83
$GC,10717,-0.48,-146.0,956.2,-7.2,541,10721,0.00,2.20,0.00,0.000,6,0.000,0.049,3024,2166,3383,0,0,0,0,0,0,28.83,25.90,28.83
$GC,11040,-0.48,-146.0,980.2,-7.0,552,11045,0.00,2.28,0.00,0.000,4,0.000,0.067,3014,3580,3383,0,0,0,0,0,0,28.83,25.65,28.83
$GC,11083,-0.48,-146.0,982.4,-7.1,553,11087,0.00,2.17,0.00,0.000,6,0.000,0.049,3013,2175,3383,0,0,0,0,0,0,28.83,25.89,28.83
$STATE,11183,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11183,begin apogee
$GC,11190,-0.22,0.0,991.2,-7.6,557,11322,0.32,0.00,127.60,1.182,6,0.112,0.000,3125,2316,2793,0,0,0,0,0,0,25.70,28.83,23.49
$STATE,11325,end apogee,CONTROL_FINISHED_OK
$STATE,11325,begin climb
$GC,11328,0.48,146.0,994.5,0.0,561,11474,0.65,2.55,135.40,1.145,4,0.079,0.067,3347,3697,2197,0,0,0,0,0,0,24.48,23.46,22.63
$GC,11496,0.48,155.7,985.4,7.0,567,11511,0.00,2.38,10.00,0.971,6,0.000,0.048,3357,2304,2159,0,0,0,0,0,0,28.83,23.88,22.92
$GC,11813,0.48,155.7,952.7,10.1,577,11819,0.00,2.38,0.00,0.000,4,0.000,0.067,3357,3712,2152,0,0,0,0,0,0,28.83,24.87,28.83
$GC,11836,0.48,155.7,952.7,10.1,577,11843,0.00,2.33,0.00,0.000,6,0.000,0.050,3368,2298,2151,0,0,0,0,0,0,28.83,25.01,28.83
$GC,12143,0.48,155.7,916.2,11.1,588,12148,0.00,2.35,0.00,0.000,4,0.000,0.068,3368,3721,2150,0,0,0,0,0,0,28.83,25.27,28.83
$GC,12183,0.48,155.7,912.4,11.5,589,12188,0.00,2.28,0.00,0.000,6,0.000,0.050,3378,2297,2150,0,0,0,0,0,0,28.83,25.42,28.83
$GC,12503,0.48,155.7,871.9,12.1,600,12509,0.00,2.33,0.00,0.000,4,0.000,0.069,3378,3705,2149,0,0,0,0,0,0,28.83,25.45,28.83
$GC,12533,0.48,155.7,868.0,12.2,601,12539,0.15,2.25,0.00,0.000,6,0.161,0.050,3351,2293,2149,0,0,0,0,0,0,25.34,25.60,28.83
$GC,12863,0.48,155.7,835.8,9.3,612,12864,0.00,0.00,0.00,0.000,6,0.000,0.000,3351,2288,2148,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,22640,end climb,SURFACE_DEPTH_REACHED
$STATE,22640,begin surface coast
$FINISH,1.3,1.024477
$STATE,22686,end surface coast,CONTROL_FINISHED_OK
$STATE,22686,begin surface
$SM_CCo,22765,0.00,0.000,0,0,1366,350.29
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$IRIDIUM_FIX,4726.11,-12522.59,071112,040437
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.29
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,16.30
$XPDR_PINGS,0
$24V_AH,22.6,34.067
$10V_AH,10.1,28.384
$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,22.125,206.625,434.500,0.000,0.000,28.999,39.548,185.268,0.000,0.000,15.389,3394.031,15814.994,548.743,2988.444,397.692,0.000,2022.525,0.000,2694.743,0.000,0.535,0.000
$DEVICE_MAMPS,219.555,82.620,1181.925,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,886.421,756.406,538.217,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296768
$DATA_FILE_SIZE,73635,1289
$CAP_FILE_SIZE,195706,0
$CFSIZE,260165632,237821952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.111,146.9,1
$GPS,071112,170029,4737.748,-12532.399,58,1.2,58,18.7