version: 66.11
glider: 187
mission: 2
dive: 250
start: 11 9 112 21 59 16
data:
$ID,187
$MISSION,2
$DIVE,250
$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,-1588070
$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,34
$R_STBD_OVSHOOT,26
$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
$GPS1,091112,215149,4725.290,-12603.905,47,2.8,66,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-76.7
$GPS2,091112,215844,4725.237,-12603.978,11,2.8,30,18.6
$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,211.3,84802,-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,-146.0,0.0,0.0,0,80,0.00,0.00,-60.72,0.000,2,0.000,0.000,108,2183,2728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.48,-146.0,3.3,-3.7,10,118,11.50,2.33,-14.07,0.000,4,0.220,0.073,3025,3617,3391,0,0,0,0,0,0,25.01,25.46,26.02
$GC,303,-0.48,-146.0,47.3,-13.6,49,310,0.00,2.20,0.00,0.000,6,0.000,0.043,3025,2192,3394,0,0,0,0,0,0,28.83,25.65,28.83
$GC,625,-0.48,-146.0,92.3,-13.1,110,631,0.00,2.15,0.00,0.000,4,0.000,0.049,3024,793,3396,0,0,0,0,0,0,28.83,25.66,28.83
$GC,708,-0.48,-146.0,101.9,-11.9,125,714,0.00,2.22,0.00,0.000,6,0.000,0.050,3015,2211,3396,0,0,0,0,0,0,28.83,25.68,28.83
$GC,1021,-0.48,-146.0,140.3,-12.1,164,1027,0.00,2.22,0.00,0.000,4,0.000,0.062,3004,3609,3396,0,0,0,0,0,0,28.83,25.65,28.83
$GC,1068,-0.48,-146.0,146.0,-12.6,167,1074,0.10,2.12,0.00,0.000,6,0.114,0.043,3040,2202,3396,0,0,0,0,0,0,25.61,25.84,28.83
$GC,1386,-0.48,-146.0,175.8,-8.6,188,1387,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2199,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1688,-0.48,-146.0,202.3,-8.7,208,1689,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2199,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1987,-0.48,-146.0,229.6,-9.3,223,1988,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2199,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2287,-0.48,-146.0,255.0,-8.1,238,2293,0.00,2.25,0.00,0.000,4,0.000,0.063,3031,3607,3396,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2368,-0.48,-146.0,261.7,-8.5,242,2373,0.00,2.12,0.00,0.000,6,0.000,0.044,3031,2200,3396,0,0,0,0,0,0,28.83,25.95,28.83
$GC,2687,-0.48,-146.0,291.9,-9.3,258,2693,0.00,2.15,0.00,0.000,4,0.000,0.050,3031,797,3395,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2750,-0.48,-146.0,297.6,-9.4,261,2754,0.00,2.20,0.00,0.000,6,0.000,0.051,3022,2208,3395,0,0,0,0,0,0,28.83,25.84,28.83
$GC,3069,-0.48,-146.0,330.0,-10.5,277,3070,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2208,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3367,-0.48,-146.0,361.0,-10.2,292,3368,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2208,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3668,-0.48,-146.0,390.9,-9.5,307,3669,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2208,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3977,-0.48,-146.0,419.8,-9.2,319,3978,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2208,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4278,-0.48,-146.0,447.4,-8.9,329,4283,0.00,2.22,0.00,0.000,4,0.000,0.065,3011,3610,3393,0,0,0,0,0,0,28.83,25.73,28.83
$GC,4300,-0.48,-146.0,447.4,-8.9,329,4307,0.00,2.17,0.00,0.000,6,0.000,0.045,3011,2188,3393,0,0,0,0,0,0,28.83,25.96,28.83
$GC,4608,-0.48,-146.0,481.5,-10.4,340,4613,0.00,2.12,0.00,0.000,4,0.000,0.052,3011,803,3393,0,0,0,0,0,0,28.83,25.83,28.83
$GC,4655,-0.48,-146.0,484.6,-10.5,341,4660,0.12,2.17,0.00,0.000,6,0.146,0.052,3038,2203,3392,0,0,0,0,0,0,25.69,25.84,28.83
$GC,4963,-0.48,-146.0,510.7,-8.0,351,4966,0.00,2.25,0.00,0.000,4,0.000,0.065,3029,3607,3391,0,0,0,0,0,0,28.83,25.72,28.83
$GC,5027,-0.48,-146.0,515.8,-8.1,353,5031,0.00,2.17,0.00,0.000,6,0.000,0.046,3029,2188,3391,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5349,-0.48,-146.0,544.0,-9.1,364,5351,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2187,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5650,-0.48,-146.0,569.4,-8.4,374,5655,0.00,2.28,0.00,0.000,4,0.000,0.065,3019,3610,3390,0,0,0,0,0,0,28.83,25.70,28.83
$GC,5672,-0.48,-146.0,569.4,-8.4,374,5679,0.00,2.17,0.00,0.000,6,0.000,0.046,3019,2190,3390,0,0,0,0,0,0,28.83,25.94,28.83
$GC,5980,-0.48,-146.0,598.4,-8.8,385,5985,0.00,2.25,0.00,0.000,4,0.000,0.065,3009,3600,3389,0,0,0,0,0,0,28.83,25.70,28.83
$GC,6042,-0.48,-146.0,603.8,-8.8,387,6047,0.12,2.15,0.00,0.000,6,0.132,0.046,3045,2201,3389,0,0,0,0,0,0,25.76,25.93,28.83
$GC,6366,-0.48,-146.0,626.8,-7.1,398,6372,0.00,2.25,0.00,0.000,4,0.000,0.067,3036,3603,3389,0,0,0,0,0,0,28.83,25.67,28.83
$GC,6395,-0.48,-146.0,629.1,-7.2,399,6401,0.00,2.17,0.00,0.000,6,0.000,0.047,3036,2193,3389,0,0,0,0,0,0,28.83,25.93,28.83
$GC,6726,-0.48,-146.0,655.0,-7.8,410,6727,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2191,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7025,-0.48,-146.0,678.0,-7.7,420,7026,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2191,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7325,-0.48,-146.0,700.4,-7.3,430,7331,0.00,2.28,0.00,0.000,4,0.000,0.067,3026,3608,3387,0,0,0,0,0,0,28.83,25.65,28.83
$GC,7359,-0.48,-146.0,702.6,-7.2,431,7363,0.00,2.17,0.00,0.000,6,0.000,0.047,3026,2195,3387,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7681,-0.48,-146.0,731.4,-9.0,442,7682,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2192,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7981,-0.48,-146.0,757.4,-8.4,452,7987,0.00,2.30,0.00,0.000,4,0.000,0.067,3017,3614,3386,0,0,0,0,0,0,28.83,25.63,28.83
$GC,8019,-0.48,-146.0,760.0,-8.4,453,8023,0.00,2.20,0.00,0.000,6,0.000,0.047,3017,2191,3386,0,0,0,0,0,0,28.83,25.90,28.83
$GC,8337,-0.48,-146.0,788.1,-8.4,464,8342,0.00,2.28,0.00,0.000,4,0.000,0.067,3007,3607,3386,0,0,0,0,0,0,28.83,25.64,28.83
$GC,8366,-0.48,-146.0,790.6,-8.3,465,8373,0.08,2.15,0.00,0.000,6,0.109,0.047,3036,2209,3386,0,0,0,0,0,0,25.72,25.90,28.83
$GC,8696,-0.48,-146.0,813.4,-6.7,476,8698,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2207,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8996,-0.48,-146.0,833.5,-6.6,486,9002,0.00,2.28,0.00,0.000,4,0.000,0.067,3028,3607,3385,0,0,0,0,0,0,28.83,25.61,28.83
$GC,9040,-0.48,-146.0,835.5,-6.7,487,9044,0.00,2.17,0.00,0.000,6,0.000,0.048,3028,2197,3385,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9352,-0.48,-146.0,859.2,-7.6,498,9358,0.00,2.28,0.00,0.000,4,0.000,0.067,3018,3609,3385,0,0,0,0,0,0,28.83,25.60,28.83
$GC,9390,-0.48,-146.0,861.6,-7.8,499,9394,0.00,2.17,0.00,0.000,6,0.000,0.048,3018,2202,3384,0,0,0,0,0,0,28.83,25.88,28.83
$GC,9707,-0.48,-146.0,887.9,-8.2,510,9708,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2199,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10007,-0.48,-146.0,911.4,-7.7,520,10013,0.00,2.28,0.00,0.000,4,0.000,0.067,3008,3609,3384,0,0,0,0,0,0,28.83,25.59,28.83
$GC,10037,-0.48,-146.0,913.7,-7.7,521,10044,0.08,2.20,0.00,0.000,6,0.108,0.047,3037,2182,3384,0,0,0,0,0,0,25.68,25.86,28.83
$GC,10367,-0.48,-146.0,934.6,-6.0,532,10373,0.00,2.30,0.00,0.000,4,0.000,0.067,3030,3609,3384,0,0,0,0,0,0,28.83,25.58,28.83
$GC,10401,-0.48,-146.0,936.6,-6.0,533,10405,0.00,2.20,0.00,0.000,6,0.000,0.048,3029,2189,3384,0,0,0,0,0,0,28.83,25.86,28.83
$GC,10723,-0.48,-146.0,955.4,-5.5,544,10729,0.00,2.33,0.00,0.000,4,0.000,0.068,3020,3610,3384,0,0,0,0,0,0,28.83,25.57,28.83
$GC,10767,-0.48,-146.0,957.2,-5.6,545,10771,0.00,2.20,0.00,0.000,6,0.000,0.049,3020,2190,3383,0,0,0,0,0,0,28.83,25.84,28.83
$GC,11080,-0.48,-146.0,976.2,-5.7,556,11081,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2188,3383,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11316,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11316,begin apogee
$GC,11323,-0.22,0.0,991.0,-6.4,564,11455,0.30,0.00,127.38,1.178,6,0.111,0.000,3123,2332,2795,0,0,0,0,0,0,25.72,28.83,23.46
$STATE,11459,end apogee,CONTROL_FINISHED_OK
$STATE,11459,begin climb
$GC,11461,0.48,146.0,994.0,0.0,568,11603,0.65,0.00,137.70,1.143,6,0.078,0.000,3346,2332,2198,0,0,0,0,0,0,24.49,28.83,22.58
$GC,11889,0.48,146.0,962.0,8.6,583,11890,0.00,0.00,0.00,0.000,6,0.000,0.000,3346,2332,2188,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12189,0.48,146.0,935.0,9.0,593,12195,0.00,2.35,0.00,0.000,4,0.000,0.069,3346,3730,2186,0,0,0,0,0,0,28.83,25.20,28.83
$GC,12229,0.48,146.0,932.1,9.3,594,12235,0.00,2.22,0.00,0.000,6,0.000,0.050,3356,2336,2186,0,0,0,0,0,0,28.83,25.37,28.83
$GC,12549,0.48,146.0,897.5,10.4,605,12555,0.00,2.30,0.00,0.000,4,0.000,0.069,3356,3726,2185,0,0,0,0,0,0,28.83,25.40,28.83
$GC,12580,0.48,146.0,894.0,10.6,606,12586,0.00,2.22,0.00,0.000,6,0.000,0.050,3366,2321,2185,0,0,0,0,0,0,28.83,25.57,28.83
$GC,12909,0.48,146.0,858.9,10.4,617,12915,0.00,2.22,0.00,0.000,4,0.000,0.058,3377,915,2184,0,0,0,0,0,0,28.83,25.55,28.83
$GC,12933,0.48,146.0,858.9,10.4,617,12940,0.00,2.25,0.00,0.000,6,0.000,0.058,3376,2325,2184,0,0,0,0,0,0,28.83,25.56,28.83
$GC,13240,0.48,146.0,823.4,10.8,628,13245,0.00,2.28,0.00,0.000,4,0.000,0.069,3377,3737,2184,0,0,0,0,0,0,28.83,25.53,28.83
$GC,13300,0.48,146.0,816.1,11.6,630,13306,0.10,2.25,0.00,0.000,6,0.140,0.050,3355,2322,2183,0,0,0,0,0,0,25.45,25.70,28.83
$GC,13629,0.48,146.0,783.0,10.0,641,13631,0.00,0.00,0.00,0.000,6,0.000,0.000,3355,2316,2183,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,23071,end climb,SURFACE_DEPTH_REACHED
$STATE,23071,begin surface coast
$FINISH,1.2,1.024409
$STATE,23106,end surface coast,CONTROL_FINISHED_OK
$STATE,23106,begin surface
$SM_CCo,23185,0.00,0.000,0,0,1071,422.65
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$IRIDIUM_FIX,4710.21,-12548.54,091112,151551
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.68
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,19.30
$XPDR_PINGS,3
$24V_AH,22.6,35.294
$10V_AH,10.1,29.422
$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,21.875,170.450,497.300,0.000,0.000,26.195,37.824,199.651,0.750,0.000,32.069,3353.206,16375.873,613.435,2857.567,390.940,0.000,1974.916,0.000,2554.002,0.000,0.536,0.000
$DEVICE_MAMPS,220.320,83.385,1178.100,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,890.093,757.298,531.851,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296792
$DATA_FILE_SIZE,73476,1294
$CAP_FILE_SIZE,184085,0
$CFSIZE,260165632,237027328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.059,337.1,1
$GPS,101112,042705,4723.877,-12608.042,40,1.4,46,18.6