version: 66.11
glider: 187
mission: 2
dive: 248
start: 11 9 112 8 33 9
data:
$ID,187
$MISSION,2
$DIVE,248
$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,-1588067.4
$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,2200
$C_ROLL_CLIMB,2325
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,24
$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
$GPS1,091112,082559,4730.158,-12557.602,43,1.0,43,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-74.1
$GPS2,091112,083236,4730.133,-12557.700,15,1.0,20,18.7
$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,181.7,96469,-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,-146.0,0.0,0.0,0,90,0.00,0.00,-71.35,0.000,2,0.000,0.000,120,2197,2770,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.48,-146.0,3.1,-2.5,12,128,11.45,2.35,-13.73,0.000,4,0.221,0.076,3025,3613,3393,0,0,0,0,0,0,25.03,25.48,26.02
$GC,250,-0.48,-146.0,35.7,-15.2,39,257,0.00,2.20,0.00,0.000,6,0.000,0.044,3025,2196,3397,0,0,0,0,0,0,28.83,25.62,28.83
$GC,570,-0.48,-146.0,81.6,-13.6,100,578,0.00,2.20,0.00,0.000,4,0.000,0.050,3024,803,3398,0,0,0,0,0,0,28.83,25.65,28.83
$GC,622,-0.48,-146.0,87.8,-10.9,109,629,0.00,2.17,0.00,0.000,6,0.000,0.050,3015,2203,3398,0,0,0,0,0,0,28.83,25.66,28.83
$GC,936,-0.48,-146.0,125.5,-12.2,164,941,0.00,2.25,0.00,0.000,4,0.000,0.062,3005,3612,3398,0,0,0,0,0,0,28.83,25.64,28.83
$GC,990,-0.48,-146.0,131.5,-12.9,167,997,0.12,2.17,0.00,0.000,6,0.136,0.043,3039,2193,3398,0,0,0,0,0,0,25.64,25.82,28.83
$GC,1298,-0.48,-146.0,161.9,-8.8,188,1300,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2190,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1597,-0.48,-146.0,188.2,-9.1,208,1598,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2190,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1912,-0.48,-146.0,217.9,-9.6,226,1913,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2189,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2213,-0.48,-146.0,246.9,-9.4,241,2218,0.00,2.25,0.00,0.000,4,0.000,0.063,3031,3605,3398,0,0,0,0,0,0,28.83,25.73,28.83
$GC,2245,-0.48,-146.0,248.9,-9.4,242,2253,0.00,2.15,0.00,0.000,6,0.000,0.044,3031,2195,3398,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2552,-0.48,-146.0,280.9,-10.1,258,2553,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2194,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2852,-0.48,-146.0,310.5,-9.6,273,2857,0.00,2.28,0.00,0.000,4,0.000,0.063,3021,3606,3398,0,0,0,0,0,0,28.83,25.74,28.83
$GC,2905,-0.48,-146.0,314.5,-9.7,275,2912,0.00,2.15,0.00,0.000,6,0.000,0.044,3021,2200,3397,0,0,0,0,0,0,28.83,25.95,28.83
$GC,3212,-0.48,-146.0,347.9,-10.5,291,3217,0.00,2.15,0.00,0.000,4,0.000,0.051,3021,803,3397,0,0,0,0,0,0,28.83,25.83,28.83
$GC,3240,-0.48,-146.0,350.1,-10.4,292,3244,0.00,2.17,0.00,0.000,6,0.000,0.052,3011,2205,3397,0,0,0,0,0,0,28.83,25.84,28.83
$GC,3547,-0.48,-146.0,383.0,-10.3,307,3553,0.00,2.20,0.00,0.000,4,0.000,0.063,3001,3602,3396,0,0,0,0,0,0,28.83,25.75,28.83
$GC,3575,-0.48,-146.0,385.2,-10.3,308,3580,0.15,2.15,0.00,0.000,6,0.127,0.045,3045,2199,3396,0,0,0,0,0,0,25.74,25.95,28.83
$GC,3882,-0.48,-146.0,410.2,-7.6,321,3888,0.00,2.28,0.00,0.000,4,0.000,0.064,3036,3613,3396,0,0,0,0,0,0,28.83,25.73,28.83
$GC,3905,-0.48,-146.0,410.2,-7.6,321,3912,0.00,2.17,0.00,0.000,6,0.000,0.045,3036,2193,3396,0,0,0,0,0,0,28.83,25.95,28.83
$GC,4212,-0.48,-146.0,435.9,-7.8,332,4213,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2191,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4512,-0.48,-146.0,459.6,-8.0,342,4517,0.00,2.30,0.00,0.000,4,0.000,0.065,3026,3612,3395,0,0,0,0,0,0,28.83,25.72,28.83
$GC,4550,-0.48,-146.0,462.1,-8.1,343,4554,0.00,2.17,0.00,0.000,6,0.000,0.046,3026,2202,3394,0,0,0,0,0,0,28.83,25.96,28.83
$GC,4872,-0.48,-146.0,491.3,-8.7,354,4878,0.00,2.12,0.00,0.000,4,0.000,0.053,3026,808,3394,0,0,0,0,0,0,28.83,25.82,28.83
$GC,4920,-0.48,-146.0,494.1,-8.9,355,4924,0.00,2.17,0.00,0.000,6,0.000,0.053,3017,2208,3394,0,0,0,0,0,0,28.83,25.82,28.83
$GC,5227,-0.48,-146.0,524.1,-9.3,365,5233,0.00,2.25,0.00,0.000,4,0.000,0.065,3007,3613,3394,0,0,0,0,0,0,28.83,25.71,28.83
$GC,5270,-0.48,-146.0,527.2,-9.4,366,5275,0.12,2.17,0.00,0.000,6,0.132,0.046,3042,2196,3394,0,0,0,0,0,0,25.77,25.94,28.83
$GC,5583,-0.48,-146.0,554.0,-8.0,377,5584,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2190,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5884,-0.48,-146.0,577.5,-7.8,387,5890,0.00,2.25,0.00,0.000,4,0.000,0.066,3034,3599,3393,0,0,0,0,0,0,28.83,25.70,28.83
$GC,5916,-0.48,-146.0,579.9,-7.8,388,5920,0.00,2.15,0.00,0.000,6,0.000,0.047,3034,2198,3393,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6239,-0.48,-146.0,605.6,-7.8,399,6240,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2196,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6539,-0.48,-146.0,627.3,-7.2,409,6544,0.00,2.25,0.00,0.000,4,0.000,0.067,3025,3606,3392,0,0,0,0,0,0,28.83,25.68,28.83
$GC,6586,-0.48,-146.0,629.6,-7.3,410,6590,0.00,2.17,0.00,0.000,6,0.000,0.047,3025,2190,3392,0,0,0,0,0,0,28.83,25.93,28.83
$GC,6894,-0.48,-146.0,653.9,-7.3,420,6899,0.00,2.30,0.00,0.000,4,0.000,0.066,3014,3616,3391,0,0,0,0,0,0,28.83,25.68,28.83
$GC,6932,-0.48,-146.0,656.2,-7.3,421,6936,0.00,2.20,0.00,0.000,6,0.000,0.047,3014,2193,3391,0,0,0,0,0,0,28.83,25.92,28.83
$GC,7250,-0.48,-146.0,682.2,-8.1,432,7255,0.00,2.30,0.00,0.000,4,0.000,0.066,3005,3618,3390,0,0,0,0,0,0,28.83,25.67,28.83
$GC,7279,-0.48,-146.0,684.6,-8.1,433,7286,0.12,2.20,0.00,0.000,6,0.132,0.047,3040,2195,3390,0,0,0,0,0,0,25.75,25.91,28.83
$GC,7610,-0.48,-146.0,706.7,-6.7,444,7616,0.00,2.28,0.00,0.000,4,0.000,0.067,3032,3610,3390,0,0,0,0,0,0,28.83,25.65,28.83
$GC,7642,-0.48,-146.0,708.8,-6.8,445,7646,0.00,2.17,0.00,0.000,6,0.000,0.047,3032,2195,3390,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7965,-0.48,-146.0,733.4,-7.7,456,7966,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2193,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8265,-0.48,-146.0,756.1,-7.7,466,8270,0.00,2.28,0.00,0.000,4,0.000,0.067,3022,3611,3390,0,0,0,0,0,0,28.83,25.65,28.83
$GC,8295,-0.48,-146.0,758.6,-7.8,467,8300,0.00,2.20,0.00,0.000,6,0.000,0.047,3022,2192,3390,0,0,0,0,0,0,28.83,25.90,28.83
$GC,8625,-0.48,-146.0,786.1,-8.3,478,8630,0.00,2.30,0.00,0.000,4,0.000,0.067,3012,3615,3389,0,0,0,0,0,0,28.83,25.63,28.83
$GC,8678,-0.48,-146.0,788.8,-8.4,479,8685,0.00,2.20,0.00,0.000,6,0.000,0.047,3012,2189,3389,0,0,0,0,0,0,28.83,25.89,28.83
$GC,8985,-0.48,-146.0,817.2,-8.6,490,8986,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2188,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9285,-0.48,-146.0,842.2,-8.1,500,9290,0.00,2.33,0.00,0.000,4,0.000,0.067,3003,3617,3389,0,0,0,0,0,0,28.83,25.63,28.83
$GC,9323,-0.48,-146.0,844.7,-8.2,501,9328,0.12,2.20,0.00,0.000,6,0.132,0.047,3039,2198,3388,0,0,0,0,0,0,25.72,25.89,28.83
$GC,9641,-0.48,-146.0,864.5,-5.8,512,9647,0.00,2.28,0.00,0.000,4,0.000,0.067,3030,3607,3388,0,0,0,0,0,0,28.83,25.61,28.83
$GC,9689,-0.48,-146.0,866.2,-5.8,513,9693,0.00,2.17,0.00,0.000,6,0.000,0.048,3030,2200,3388,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9997,-0.48,-146.0,887.5,-6.6,523,9998,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2198,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10296,-0.48,-146.0,906.9,-6.4,533,10302,0.00,2.30,0.00,0.000,4,0.000,0.068,3020,3607,3387,0,0,0,0,0,0,28.83,25.60,28.83
$GC,10359,-0.48,-146.0,911.0,-6.7,535,10363,0.00,2.17,0.00,0.000,6,0.000,0.048,3021,2202,3387,0,0,0,0,0,0,28.83,25.87,28.83
$GC,10682,-0.48,-146.0,933.5,-6.9,546,10683,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2199,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10982,-0.48,-146.0,953.9,-6.8,556,10987,0.00,2.28,0.00,0.000,4,0.000,0.068,3011,3609,3386,0,0,0,0,0,0,28.83,25.59,28.83
$GC,11012,-0.48,-146.0,956.0,-6.9,557,11017,0.00,2.17,0.00,0.000,6,0.000,0.048,3011,2204,3386,0,0,0,0,0,0,28.83,25.86,28.83
$GC,11341,-0.48,-146.0,980.8,-7.5,568,11347,0.00,2.30,0.00,0.000,4,0.000,0.068,3002,3614,3386,0,0,0,0,0,0,28.83,25.57,28.83
$GC,11379,-0.48,-146.0,983.2,-7.6,569,11384,0.15,2.20,0.00,0.000,6,0.122,0.049,3045,2195,3386,0,0,0,0,0,0,25.67,25.85,28.83
$STATE,11485,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11485,begin apogee
$GC,11492,-0.22,0.0,990.7,-6.4,573,11626,0.22,0.00,127.85,1.182,6,0.111,0.000,3126,2336,2794,0,0,0,0,0,0,25.89,28.83,23.46
$STATE,11627,end apogee,CONTROL_FINISHED_OK
$STATE,11627,begin climb
$GC,11630,0.48,146.0,994.6,0.0,577,11771,0.62,0.00,137.12,1.141,6,0.076,0.000,3343,2337,2198,0,0,0,0,0,0,24.47,28.83,22.59
$GC,12053,0.48,146.0,963.5,9.1,592,12058,0.00,2.35,0.00,0.000,4,0.000,0.068,3343,3731,2188,0,0,0,0,0,0,28.83,24.77,28.83
$GC,12105,0.48,146.0,960.5,9.3,593,12112,0.00,2.28,0.00,0.000,6,0.000,0.049,3353,2333,2187,0,0,0,0,0,0,28.83,24.99,28.83
$GC,12413,0.48,146.0,928.1,9.7,604,12418,0.00,2.25,0.00,0.000,4,0.000,0.057,3364,920,2186,0,0,0,0,0,0,28.83,25.30,28.83
$GC,12435,0.48,146.0,928.1,9.7,604,12442,0.00,2.25,0.00,0.000,6,0.000,0.057,3364,2319,2186,0,0,0,0,0,0,28.83,25.33,28.83
$GC,12743,0.48,146.0,894.6,10.3,615,12748,0.00,2.33,0.00,0.000,4,0.000,0.069,3364,3733,2185,0,0,0,0,0,0,28.83,25.42,28.83
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$STATE,23422,end climb,SURFACE_DEPTH_REACHED
$STATE,23422,begin surface coast
$FINISH,1.1,1.006896
$STATE,23455,end surface coast,CONTROL_FINISHED_OK
$STATE,23455,begin surface
$SM_CCo,23536,0.00,0.000,0,0,1050,427.80
$SM_GC,1.95,8.60,0.20,0.00,0.035,0.070,0.000,135,2198,1050,-9.46,0.93,427.80,0,0,0,0,0,0,25.51,25.48,28.83
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$TT8_MAMPS,0.026964,0.026964
$HUMID,43.50
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,15.90
$XPDR_PINGS,1
$24V_AH,22.6,35.019
$10V_AH,10.1,29.191
$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,22.425,210.725,498.600,0.000,0.000,25.141,37.309,193.415,0.250,0.000,21.513,3433.861,16478.045,639.234,2974.134,400.419,0.000,2095.656,0.000,2670.143,0.000,0.536,0.000
$DEVICE_MAMPS,221.085,83.385,1181.925,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,902.225,766.891,542.181,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73499,1313
$CAP_FILE_SIZE,198524,0
$CFSIZE,260165632,237191168
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.063,328.2,1
$GPS,091112,150636,4727.648,-12559.969,33,1.5,33,18.7