version: 66.11
glider: 187
mission: 2
dive: 242
start: 11 7 112 17 7 39
data:
$ID,187
$MISSION,2
$DIVE,242
$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,-1588059.4
$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,33
$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
$GPS1,071112,170029,4737.748,-12532.399,58,1.2,58,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-77.6
$GPS2,071112,170707,4737.765,-12532.322,11,1.7,11,18.7
$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,249.3,130979,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.48,-146.0,0.0,0.0,0,80,0.00,0.00,-60.50,0.000,2,0.000,0.000,112,2171,2712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.48,-146.0,3.1,-2.8,10,118,11.45,2.22,-15.43,0.000,4,0.221,0.063,3031,758,3393,0,0,0,0,0,0,25.01,25.50,25.99
$GC,157,-0.48,-146.0,18.9,-17.9,22,165,0.00,2.28,0.00,0.000,6,0.000,0.050,3023,2180,3395,0,0,0,0,0,0,28.83,25.51,28.83
$GC,483,-0.48,-146.0,66.0,-13.3,83,489,0.00,2.20,0.00,0.000,4,0.000,0.050,3023,765,3397,0,0,0,0,0,0,28.83,25.63,28.83
$GC,616,-0.48,-146.0,82.1,-11.3,108,624,0.00,2.25,0.00,0.000,6,0.000,0.050,3013,2179,3397,0,0,0,0,0,0,28.83,25.70,28.83
$GC,948,-0.48,-146.0,122.0,-12.0,169,950,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2179,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1249,-0.48,-146.0,155.5,-10.9,189,1254,0.00,2.15,0.00,0.000,4,0.000,0.049,3013,768,3397,0,0,0,0,0,0,28.83,25.78,28.83
$GC,1309,-0.48,-146.0,162.4,-11.3,193,1315,0.10,2.15,0.00,0.000,6,0.121,0.050,3040,2175,3397,0,0,0,0,0,0,25.60,25.80,28.83
$GC,1627,-0.48,-146.0,189.9,-8.3,214,1632,0.00,2.22,0.00,0.000,4,0.000,0.062,3031,3591,3397,0,0,0,0,0,0,28.83,25.74,28.83
$GC,1689,-0.48,-146.0,195.4,-8.8,218,1693,0.00,2.17,0.00,0.000,6,0.000,0.043,3031,2166,3397,0,0,0,0,0,0,28.83,25.92,28.83
$GC,2001,-0.48,-146.0,224.9,-9.5,234,2005,0.00,2.15,0.00,0.000,4,0.000,0.050,3031,771,3397,0,0,0,0,0,0,28.83,25.83,28.83
$GC,2032,-0.48,-146.0,227.0,-9.4,235,2036,0.00,2.17,0.00,0.000,6,0.000,0.050,3023,2180,3397,0,0,0,0,0,0,28.83,25.85,28.83
$GC,2338,-0.48,-146.0,259.4,-10.3,250,2344,0.00,2.22,0.00,0.000,4,0.000,0.062,3012,3584,3397,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2401,-0.48,-146.0,266.1,-11.0,253,2405,0.00,2.15,0.00,0.000,6,0.000,0.043,3012,2177,3397,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2714,-0.48,-146.0,301.1,-10.8,269,2715,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2170,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3013,-0.48,-146.0,332.1,-10.3,284,3017,0.00,2.17,0.00,0.000,4,0.000,0.051,3012,773,3397,0,0,0,0,0,0,28.83,25.86,28.83
$GC,3048,-0.48,-146.0,334.5,-10.5,285,3056,0.12,2.17,0.00,0.000,6,0.145,0.050,3039,2181,3397,0,0,0,0,0,0,25.73,25.87,28.83
$GC,3357,-0.48,-146.0,363.5,-9.0,301,3362,0.00,2.20,0.00,0.000,4,0.000,0.063,3031,3577,3397,0,0,0,0,0,0,28.83,25.79,28.83
$GC,3395,-0.48,-146.0,367.1,-9.0,303,3401,0.00,2.15,0.00,0.000,6,0.000,0.045,3031,2168,3396,0,0,0,0,0,0,28.83,25.97,28.83
$GC,3716,-0.48,-146.0,397.6,-9.6,319,3717,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2165,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4025,-0.48,-146.0,427.8,-9.6,330,4031,0.00,2.28,0.00,0.000,4,0.000,0.063,3021,3588,3395,0,0,0,0,0,0,28.83,25.78,28.83
$GC,4048,-0.48,-146.0,427.8,-9.6,330,4055,0.00,2.17,0.00,0.000,6,0.000,0.045,3021,2168,3395,0,0,0,0,0,0,28.83,25.97,28.83
$GC,4356,-0.48,-146.0,461.8,-10.3,341,4360,0.00,2.15,0.00,0.000,4,0.000,0.053,3021,774,3395,0,0,0,0,0,0,28.83,25.86,28.83
$GC,4388,-0.48,-146.0,465.2,-10.3,342,4394,0.00,2.17,0.00,0.000,6,0.000,0.052,3012,2174,3395,0,0,0,0,0,0,28.83,25.87,28.83
$GC,4719,-0.48,-146.0,498.4,-9.8,353,4724,0.00,2.22,0.00,0.000,4,0.000,0.064,3002,3585,3395,0,0,0,0,0,0,28.83,25.77,28.83
$GC,4756,-0.48,-146.0,501.5,-9.8,354,4761,0.15,2.17,0.00,0.000,6,0.125,0.045,3046,2166,3394,0,0,0,0,0,0,25.77,25.97,28.83
$GC,5075,-0.48,-146.0,526.5,-7.3,365,5076,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2160,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5375,-0.48,-146.0,548.3,-7.3,375,5376,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2159,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5676,-0.48,-146.0,570.2,-7.1,385,5681,0.00,2.25,0.00,0.000,4,0.000,0.064,3037,3577,3392,0,0,0,0,0,0,28.83,25.76,28.83
$GC,5723,-0.48,-146.0,572.4,-7.0,386,5727,0.00,2.15,0.00,0.000,6,0.000,0.047,3037,2171,3393,0,0,0,0,0,0,28.83,25.97,28.83
$GC,6029,-0.48,-146.0,597.0,-7.6,396,6031,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2169,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6330,-0.48,-146.0,620.1,-7.7,406,6336,0.00,2.30,0.00,0.000,4,0.000,0.066,3027,3591,3391,0,0,0,0,0,0,28.83,25.75,28.83
$GC,6377,-0.48,-146.0,622.6,-7.8,407,6382,0.00,2.17,0.00,0.000,6,0.000,0.047,3028,2170,3391,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6685,-0.48,-146.0,649.4,-8.3,417,6690,0.00,2.25,0.00,0.000,4,0.000,0.065,3018,3581,3391,0,0,0,0,0,0,28.83,25.74,28.83
$GC,6745,-0.48,-146.0,654.8,-8.6,419,6749,0.00,2.17,0.00,0.000,6,0.000,0.047,3018,2177,3391,0,0,0,0,0,0,28.83,25.96,28.83
$GC,7077,-0.48,-146.0,683.7,-8.5,430,7078,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2175,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7377,-0.48,-146.0,709.2,-8.6,440,7382,0.00,2.28,0.00,0.000,4,0.000,0.067,3008,3585,3390,0,0,0,0,0,0,28.83,25.72,28.83
$GC,7417,-0.48,-146.0,711.9,-8.7,441,7423,0.12,2.17,0.00,0.000,6,0.132,0.047,3044,2170,3390,0,0,0,0,0,0,25.79,25.95,28.83
$GC,7737,-0.48,-146.0,734.9,-6.6,452,7738,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2166,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8037,-0.48,-146.0,755.7,-7.2,462,8043,0.00,2.30,0.00,0.000,4,0.000,0.067,3036,3582,3390,0,0,0,0,0,0,28.83,25.71,28.83
$GC,8076,-0.48,-146.0,757.8,-7.3,463,8079,0.00,2.17,0.00,0.000,6,0.000,0.047,3036,2176,3390,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8398,-0.48,-146.0,781.9,-7.0,474,8399,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2174,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8698,-0.48,-146.0,802.9,-6.9,484,8699,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2174,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8998,-0.48,-146.0,822.0,-5.8,494,8999,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2175,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9298,-0.48,-146.0,838.6,-5.4,504,9303,0.00,2.30,0.00,0.000,4,0.000,0.067,3027,3587,3388,0,0,0,0,0,0,28.83,25.67,28.83
$GC,9321,-0.48,-146.0,838.6,-5.4,504,9328,0.00,2.20,0.00,0.000,6,0.000,0.048,3027,2173,3387,0,0,0,0,0,0,28.83,25.92,28.83
$GC,9628,-0.48,-146.0,857.7,-5.8,515,9629,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2173,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9928,-0.48,-146.0,876.6,-6.6,525,9934,0.00,2.30,0.00,0.000,4,0.000,0.067,3018,3592,3387,0,0,0,0,0,0,28.83,25.66,28.83
$GC,9961,-0.48,-146.0,878.7,-6.6,526,9965,0.00,2.20,0.00,0.000,6,0.000,0.048,3017,2174,3387,0,0,0,0,0,0,28.83,25.91,28.83
$GC,10284,-0.48,-146.0,901.3,-6.7,537,10290,0.00,2.17,0.00,0.000,4,0.000,0.056,3017,768,3387,0,0,0,0,0,0,28.83,25.76,28.83
$GC,10331,-0.48,-146.0,903.4,-6.7,538,10336,0.12,2.20,0.00,0.000,6,0.138,0.055,3044,2177,3387,0,0,0,0,0,0,25.67,25.78,28.83
$GC,10638,-0.48,-146.0,920.6,-5.0,548,10644,0.00,2.28,0.00,0.000,4,0.000,0.067,3035,3582,3387,0,0,0,0,0,0,28.83,25.65,28.83
$GC,10687,-0.48,-146.0,922.1,-5.1,549,10691,0.00,2.17,0.00,0.000,6,0.000,0.048,3035,2173,3386,0,0,0,0,0,0,28.83,25.90,28.83
$GC,10993,-0.48,-146.0,938.7,-5.2,559,10994,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2172,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11293,-0.48,-146.0,955.3,-5.6,569,11295,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2172,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11594,-0.48,-146.0,973.3,-5.9,579,11599,0.00,2.30,0.00,0.000,4,0.000,0.068,3026,3583,3385,0,0,0,0,0,0,28.83,25.63,28.83
$GC,11626,-0.48,-146.0,975.2,-6.0,580,11630,0.00,2.20,0.00,0.000,6,0.000,0.050,3026,2172,3385,0,0,0,0,0,0,28.83,25.89,28.83
$STATE,11860,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11860,begin apogee
$GC,11868,-0.22,0.0,991.8,-7.1,588,12002,0.28,0.00,127.72,1.184,6,0.109,0.000,3121,2314,2794,0,0,0,0,0,0,25.80,28.83,23.49
$STATE,12003,end apogee,CONTROL_FINISHED_OK
$STATE,12003,begin climb
$GC,12006,0.48,146.0,995.7,0.0,592,12146,0.65,0.00,137.00,1.148,6,0.079,0.000,3344,2314,2198,0,0,0,0,0,0,24.46,28.83,22.62
$GC,12428,0.48,146.0,964.5,8.7,607,12434,0.00,2.33,0.00,0.000,4,0.000,0.068,3344,3702,2188,0,0,0,0,0,0,28.83,24.78,28.83
$GC,12471,0.48,146.0,961.4,9.1,608,12476,0.00,2.28,0.00,0.000,6,0.000,0.049,3354,2306,2187,0,0,0,0,0,0,28.83,24.98,28.83
$GC,12783,0.48,146.0,928.5,10.0,619,12785,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,2299,2186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13084,0.48,146.0,897.8,10.2,629,13090,0.00,2.28,0.00,0.000,4,0.000,0.068,3354,3694,2185,0,0,0,0,0,0,28.83,25.42,28.83
$GC,13114,0.48,146.0,894.5,10.5,630,13119,0.00,2.20,0.00,0.000,6,0.000,0.050,3364,2299,2185,0,0,0,0,0,0,28.83,25.57,28.83
$GC,13443,0.48,146.0,857.9,10.9,641,13445,0.00,0.00,0.00,0.000,6,0.000,0.000,3364,2293,2185,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,23883,end climb,SURFACE_DEPTH_REACHED
$STATE,23883,begin surface coast
$FINISH,1.2,1.024429
$STATE,23927,end surface coast,CONTROL_FINISHED_OK
$STATE,23927,begin surface
$SM_CCo,24008,0.00,0.000,0,0,1444,331.15
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$IRIDIUM_FIX,4719.74,-12528.55,071112,101030
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.48
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,15.20
$XPDR_PINGS,2
$24V_AH,22.6,34.201
$10V_AH,10.1,28.502
$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,22.025,182.400,427.525,0.000,0.000,28.551,39.896,198.268,0.500,0.000,13.980,3499.709,16899.711,558.173,3027.517,410.898,0.000,2000.757,0.000,2738.524,0.000,0.535,0.000
$DEVICE_MAMPS,221.085,82.620,1184.220,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,919.593,790.129,554.935,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296744
$DATA_FILE_SIZE,77007,1335
$CAP_FILE_SIZE,195054,0
$CFSIZE,260165632,237727744
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.122,164.8,1
$GPS,071112,234930,4736.282,-12536.535,65,1.4,65,18.7