version: 66.11
glider: 187
mission: 2
dive: 252
start: 11 10 112 11 2 20
data:
$ID,187
$MISSION,2
$DIVE,252
$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,-1588072.8
$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,2200
$C_ROLL_CLIMB,2325
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$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
$GPS1,101112,105459,4721.834,-12611.398,71,0.9,71,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-77.0
$GPS2,101112,110148,4721.771,-12611.357,12,1.1,17,18.6
$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,211.4,73487,-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,-146.0,0.0,0.0,0,79,0.00,0.00,-60.62,0.000,2,0.000,0.000,106,2195,2787,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.48,-146.0,3.3,-2.9,10,118,11.52,2.35,-12.62,0.000,4,0.220,0.075,3025,3612,3393,0,0,0,0,0,0,24.98,25.46,26.04
$GC,302,-0.48,-146.0,47.7,-14.7,49,309,0.00,2.20,0.00,0.000,6,0.000,0.043,3025,2192,3396,0,0,0,0,0,0,28.83,25.63,28.83
$GC,627,-0.48,-146.0,96.8,-13.5,110,633,0.00,2.15,0.00,0.000,4,0.000,0.050,3024,796,3398,0,0,0,0,0,0,28.83,25.62,28.83
$GC,682,-0.48,-146.0,104.3,-13.1,120,691,0.00,2.22,0.00,0.000,6,0.000,0.050,3015,2199,3398,0,0,0,0,0,0,28.83,25.65,28.83
$GC,1002,-0.48,-146.0,143.1,-11.9,156,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2199,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1303,-0.48,-146.0,178.3,-11.4,176,1304,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2199,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1617,-0.48,-146.0,213.7,-10.8,195,1618,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2199,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1917,-0.48,-146.0,245.3,-10.4,210,1923,0.00,2.28,0.00,0.000,4,0.000,0.063,3004,3616,3398,0,0,0,0,0,0,28.83,25.66,28.83
$GC,1946,-0.48,-146.0,247.5,-10.5,211,1951,0.12,2.17,0.00,0.000,6,0.136,0.044,3039,2197,3398,0,0,0,0,0,0,25.69,25.88,28.83
$GC,2252,-0.48,-146.0,274.8,-8.5,226,2253,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2190,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2553,-0.48,-146.0,301.1,-9.0,241,2559,0.00,2.25,0.00,0.000,4,0.000,0.063,3031,3605,3398,0,0,0,0,0,0,28.83,25.67,28.83
$GC,2592,-0.48,-146.0,304.8,-9.2,243,2598,0.00,2.17,0.00,0.000,6,0.000,0.044,3031,2189,3398,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2912,-0.48,-146.0,336.2,-9.6,259,2913,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2187,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3213,-0.48,-146.0,365.4,-9.7,274,3214,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2187,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3513,-0.48,-146.0,393.9,-9.3,289,3518,0.00,2.25,0.00,0.000,4,0.000,0.064,3020,3605,3396,0,0,0,0,0,0,28.83,25.67,28.83
$GC,3560,-0.48,-146.0,397.6,-9.1,291,3564,0.00,2.17,0.00,0.000,6,0.000,0.045,3020,2202,3396,0,0,0,0,0,0,28.83,25.92,28.83
$GC,3888,-0.48,-146.0,428.2,-8.7,302,3889,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2198,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4187,-0.48,-146.0,454.1,-8.6,312,4188,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2198,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4487,-0.48,-146.0,479.6,-8.4,322,4488,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2198,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4788,-0.48,-146.0,504.8,-8.4,332,4793,0.00,2.30,0.00,0.000,4,0.000,0.065,3011,3613,3394,0,0,0,0,0,0,28.83,25.65,28.83
$GC,4850,-0.48,-146.0,510.2,-8.8,334,4854,0.00,2.17,0.00,0.000,6,0.000,0.046,3011,2201,3393,0,0,0,0,0,0,28.83,25.91,28.83
$GC,5173,-0.48,-146.0,540.2,-9.4,345,5175,0.12,0.00,0.00,0.000,6,0.144,0.000,3046,2196,3393,0,0,0,0,0,0,26.11,28.83,28.83
$GC,5473,-0.48,-146.0,562.1,-7.1,355,5479,0.00,2.25,0.00,0.000,4,0.000,0.066,3038,3600,3392,0,0,0,0,0,0,28.83,25.65,28.83
$GC,5506,-0.48,-146.0,564.2,-7.0,356,5510,0.00,2.17,0.00,0.000,6,0.000,0.047,3037,2190,3392,0,0,0,0,0,0,28.83,25.90,28.83
$GC,5828,-0.48,-146.0,587.7,-7.1,367,5834,0.00,2.28,0.00,0.000,4,0.000,0.066,3027,3612,3392,0,0,0,0,0,0,28.83,25.64,28.83
$GC,5859,-0.48,-146.0,590.0,-7.1,368,5864,0.00,2.15,0.00,0.000,6,0.000,0.047,3027,2208,3392,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6188,-0.48,-146.0,614.1,-7.4,379,6189,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2206,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6489,-0.48,-146.0,635.7,-7.2,389,6492,0.00,2.28,0.00,0.000,4,0.000,0.067,3017,3612,3391,0,0,0,0,0,0,28.83,25.63,28.83
$GC,6524,-0.48,-146.0,637.9,-7.2,390,6528,0.00,2.20,0.00,0.000,6,0.000,0.047,3017,2192,3390,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6847,-0.48,-146.0,660.4,-7.0,401,6852,0.00,2.28,0.00,0.000,4,0.000,0.067,3008,3605,3390,0,0,0,0,0,0,28.83,25.62,28.83
$GC,6877,-0.48,-146.0,662.6,-7.1,402,6883,0.08,2.17,0.00,0.000,6,0.116,0.047,3037,2202,3390,0,0,0,0,0,0,25.72,25.90,28.83
$GC,7207,-0.48,-146.0,685.1,-6.7,413,7208,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2200,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7507,-0.48,-146.0,705.8,-7.0,423,7512,0.00,2.28,0.00,0.000,4,0.000,0.067,3028,3610,3389,0,0,0,0,0,0,28.83,25.60,28.83
$GC,7537,-0.48,-146.0,707.8,-7.0,424,7542,0.00,2.20,0.00,0.000,6,0.000,0.047,3029,2187,3389,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7867,-0.48,-146.0,732.5,-7.5,435,7868,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2184,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8167,-0.48,-146.0,754.6,-7.3,445,8172,0.00,2.28,0.00,0.000,4,0.000,0.067,3019,3599,3389,0,0,0,0,0,0,28.83,25.59,28.83
$GC,8230,-0.48,-146.0,759.3,-7.5,447,8234,0.00,2.17,0.00,0.000,6,0.000,0.048,3019,2195,3388,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8552,-0.48,-146.0,784.8,-7.9,458,8558,0.00,2.28,0.00,0.000,4,0.000,0.067,3010,3605,3388,0,0,0,0,0,0,28.83,25.58,28.83
$GC,8595,-0.48,-146.0,787.1,-7.9,459,8600,0.12,2.20,0.00,0.000,6,0.129,0.048,3045,2192,3387,0,0,0,0,0,0,25.71,25.86,28.83
$GC,8908,-0.48,-146.0,808.6,-6.5,470,8914,0.00,2.28,0.00,0.000,4,0.000,0.068,3037,3602,3387,0,0,0,0,0,0,28.83,25.58,28.83
$GC,8951,-0.48,-146.0,810.6,-6.6,471,8955,0.00,2.17,0.00,0.000,6,0.000,0.048,3037,2198,3387,0,0,0,0,0,0,28.83,25.86,28.83
$GC,9263,-0.48,-146.0,832.0,-6.2,482,9269,0.00,2.28,0.00,0.000,4,0.000,0.068,3028,3606,3387,0,0,0,0,0,0,28.83,25.57,28.83
$GC,9302,-0.48,-146.0,834.0,-6.3,483,9306,0.00,2.17,0.00,0.000,6,0.000,0.048,3028,2201,3387,0,0,0,0,0,0,28.83,25.86,28.83
$GC,9619,-0.48,-146.0,855.8,-6.7,494,9620,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2199,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9919,-0.48,-146.0,875.7,-6.6,504,9925,0.00,2.30,0.00,0.000,4,0.000,0.068,3019,3606,3386,0,0,0,0,0,0,28.83,25.56,28.83
$GC,9968,-0.48,-146.0,877.7,-6.7,505,9972,0.00,2.17,0.00,0.000,6,0.000,0.049,3018,2201,3386,0,0,0,0,0,0,28.83,25.84,28.83
$GC,10274,-0.48,-146.0,900.6,-6.9,515,10280,0.00,2.28,0.00,0.000,4,0.000,0.068,3009,3607,3385,0,0,0,0,0,0,28.83,25.56,28.83
$GC,10304,-0.48,-146.0,902.8,-7.1,516,10310,0.08,2.20,0.00,0.000,6,0.109,0.049,3037,2187,3385,0,0,0,0,0,0,25.66,25.84,28.83
$GC,10635,-0.48,-146.0,922.6,-5.9,527,10640,0.00,2.30,0.00,0.000,4,0.000,0.068,3030,3606,3385,0,0,0,0,0,0,28.83,25.55,28.83
$GC,10672,-0.48,-146.0,924.7,-6.1,528,10676,0.00,2.20,0.00,0.000,6,0.000,0.049,3030,2190,3385,0,0,0,0,0,0,28.83,25.84,28.83
$GC,10990,-0.48,-146.0,946.1,-6.7,539,10996,0.00,2.30,0.00,0.000,4,0.000,0.068,3020,3609,3385,0,0,0,0,0,0,28.83,25.56,28.83
$GC,11020,-0.48,-146.0,948.2,-6.7,540,11025,0.00,2.20,0.00,0.000,6,0.000,0.049,3020,2187,3385,0,0,0,0,0,0,28.83,25.84,28.83
$GC,11349,-0.48,-146.0,972.5,-7.3,551,11355,0.00,2.33,0.00,0.000,4,0.000,0.068,3010,3606,3385,0,0,0,0,0,0,28.83,25.54,28.83
$GC,11380,-0.48,-146.0,974.8,-7.4,552,11386,0.00,2.17,0.00,0.000,6,0.000,0.049,3010,2198,3384,0,0,0,0,0,0,28.83,25.84,28.83
$STATE,11587,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11587,begin apogee
$GC,11594,-0.22,0.0,991.4,-8.0,559,11726,0.32,0.00,127.88,1.185,6,0.112,0.000,3120,2340,2794,0,0,0,0,0,0,25.66,28.83,23.41
$STATE,11729,end apogee,CONTROL_FINISHED_OK
$STATE,11729,begin climb
$GC,11732,0.48,146.0,995.8,0.0,563,11873,0.65,0.00,136.88,1.147,6,0.079,0.000,3343,2340,2198,0,0,0,0,0,0,24.44,28.83,22.53
$GC,12159,0.48,146.0,966.3,8.4,578,12165,0.00,2.35,0.00,0.000,4,0.000,0.057,3353,921,2188,0,0,0,0,0,0,28.83,24.78,28.83
$GC,12190,0.48,146.0,963.8,8.4,579,12196,0.00,2.28,0.00,0.000,6,0.000,0.056,3354,2312,2187,0,0,0,0,0,0,28.83,24.86,28.83
$GC,12519,0.48,146.0,933.2,9.3,590,12525,0.00,2.35,0.00,0.000,4,0.000,0.069,3354,3736,2186,0,0,0,0,0,0,28.83,25.21,28.83
$GC,12567,0.48,146.0,929.9,9.6,591,12572,0.00,2.28,0.00,0.000,6,0.000,0.050,3364,2330,2186,0,0,0,0,0,0,28.83,25.39,28.83
$GC,12875,0.48,146.0,896.3,10.4,601,12877,0.00,0.00,0.00,0.000,6,0.000,0.000,3364,2324,2186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13174,0.48,146.0,865.1,10.4,611,13180,0.00,2.35,0.00,0.000,4,0.000,0.069,3365,3746,2185,0,0,0,0,0,0,28.83,25.46,28.83
$GC,13212,0.48,146.0,861.5,10.7,612,13217,0.00,2.28,0.00,0.000,6,0.000,0.050,3375,2321,2184,0,0,0,0,0,0,28.83,25.63,28.83
$GC,13530,0.48,146.0,825.5,10.9,623,13531,0.00,0.00,0.00,0.000,6,0.000,0.000,3375,2315,2184,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,23361,end climb,SURFACE_DEPTH_REACHED
$STATE,23361,begin surface coast
$FINISH,1.2,1.010895
$STATE,23399,end surface coast,CONTROL_FINISHED_OK
$STATE,23399,begin surface
$SM_CCo,23479,0.00,0.000,0,0,1158,401.56
$SM_GC,2.23,8.35,0.22,0.00,0.028,0.071,0.000,105,2187,1158,-9.47,0.96,401.56,0,0,0,0,0,0,25.82,25.74,28.83
$IRIDIUM_FIX,4707.04,-12605.15,101112,040405
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.56
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,15.50
$XPDR_PINGS,0
$24V_AH,22.5,35.565
$10V_AH,10.1,29.643
$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,22.100,193.475,478.100,0.000,0.000,24.932,38.177,209.132,0.000,0.000,17.965,3339.270,16693.295,558.014,2882.619,408.876,0.000,1977.992,0.000,2578.257,0.000,0.535,0.000
$DEVICE_MAMPS,220.320,83.385,1184.985,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,878.756,732.359,483.454,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73601,1277
$CAP_FILE_SIZE,193244,0
$CFSIZE,260165632,236847104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.094,  1.0,1
$GPS,101112,173500,4720.667,-12615.368,43,0.9,43,18.6