version: 66.11
glider: 187
mission: 2
dive: 253
start: 11 10 112 17 42 20
data:
$ID,187
$MISSION,2
$DIVE,253
$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,-1588074.1
$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,2200
$C_ROLL_CLIMB,2325
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$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
$GPS1,101112,173500,4720.667,-12615.368,43,0.9,43,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-76.9
$GPS2,101112,174148,4720.745,-12615.477,12,0.9,17,18.6
$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,196.7,68107,-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,-146.0,0.0,0.0,0,87,0.00,0.00,-68.00,0.000,2,0.000,0.000,105,2188,2694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.48,-146.0,3.0,-2.3,11,125,11.50,2.25,-15.57,0.000,4,0.221,0.065,3031,802,3393,0,0,0,0,0,0,25.02,25.52,26.03
$GC,307,-0.48,-146.0,43.0,-12.8,51,314,0.00,2.20,0.00,0.000,6,0.000,0.050,3024,2206,3395,0,0,0,0,0,0,28.83,25.57,28.83
$GC,623,-0.48,-146.0,83.9,-12.5,112,630,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2206,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,935,-0.48,-146.0,120.3,-11.1,173,939,0.00,2.25,0.00,0.000,4,0.000,0.062,3013,3611,3398,0,0,0,0,0,0,28.83,25.64,28.83
$GC,982,-0.48,-146.0,126.0,-11.8,176,988,0.00,2.17,0.00,0.000,6,0.000,0.044,3013,2191,3398,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1299,-0.48,-146.0,163.1,-11.5,197,1300,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2185,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1598,-0.48,-146.0,195.6,-10.7,217,1603,0.00,2.12,0.00,0.000,4,0.000,0.050,3013,800,3397,0,0,0,0,0,0,28.83,25.78,28.83
$GC,1628,-0.48,-146.0,198.9,-10.6,219,1635,0.10,2.15,0.00,0.000,6,0.117,0.050,3040,2200,3397,0,0,0,0,0,0,25.60,25.80,28.83
$GC,1944,-0.48,-146.0,225.9,-8.4,235,1950,0.00,2.22,0.00,0.000,4,0.000,0.063,3031,3610,3397,0,0,0,0,0,0,28.83,25.71,28.83
$GC,1991,-0.48,-146.0,229.5,-8.7,237,1995,0.00,2.17,0.00,0.000,6,0.000,0.044,3031,2188,3397,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2298,-0.48,-146.0,258.6,-9.3,252,2299,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2184,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2599,-0.48,-146.0,284.8,-8.5,267,2600,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2184,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2899,-0.48,-146.0,310.3,-8.6,282,2903,0.00,2.17,0.00,0.000,4,0.000,0.051,3031,795,3396,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2934,-0.48,-146.0,312.3,-8.9,283,2941,0.00,2.20,0.00,0.000,6,0.000,0.052,3022,2202,3396,0,0,0,0,0,0,28.83,25.83,28.83
$GC,3241,-0.48,-146.0,342.4,-9.4,299,3246,0.00,2.28,0.00,0.000,4,0.000,0.064,3012,3616,3396,0,0,0,0,0,0,28.83,25.72,28.83
$GC,3289,-0.48,-146.0,346.4,-9.7,301,3293,0.00,2.20,0.00,0.000,6,0.000,0.044,3012,2191,3396,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3596,-0.48,-146.0,377.5,-9.7,316,3597,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2186,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3896,-0.48,-146.0,407.9,-10.2,330,3897,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2186,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4196,-0.48,-146.0,439.0,-10.4,340,4200,0.00,2.17,0.00,0.000,4,0.000,0.052,3012,791,3394,0,0,0,0,0,0,28.83,25.81,28.83
$GC,4236,-0.48,-146.0,442.5,-10.3,341,4241,0.15,2.20,0.00,0.000,6,0.134,0.054,3046,2201,3394,0,0,0,0,0,0,25.67,25.82,28.83
$GC,4554,-0.48,-146.0,468.7,-7.8,352,4560,0.00,2.25,0.00,0.000,4,0.000,0.065,3037,3607,3394,0,0,0,0,0,0,28.83,25.70,28.83
$GC,4615,-0.48,-146.0,473.5,-7.8,354,4619,0.00,2.20,0.00,0.000,6,0.000,0.046,3037,2190,3393,0,0,0,0,0,0,28.83,25.94,28.83
$GC,4946,-0.48,-146.0,501.1,-8.4,365,4948,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2188,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5246,-0.48,-146.0,525.1,-7.8,375,5248,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2188,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5547,-0.48,-146.0,547.7,-7.5,385,5553,0.00,2.30,0.00,0.000,4,0.000,0.065,3027,3608,3391,0,0,0,0,0,0,28.83,25.69,28.83
$GC,5599,-0.48,-146.0,550.2,-7.5,386,5606,0.00,2.17,0.00,0.000,6,0.000,0.046,3026,2193,3391,0,0,0,0,0,0,28.83,25.93,28.83
$GC,5906,-0.48,-146.0,576.0,-7.9,397,5908,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2192,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6207,-0.48,-146.0,600.7,-8.4,407,6213,0.00,2.30,0.00,0.000,4,0.000,0.067,3016,3610,3391,0,0,0,0,0,0,28.83,25.67,28.83
$GC,6236,-0.48,-146.0,603.5,-8.5,408,6243,0.00,2.17,0.00,0.000,6,0.000,0.047,3016,2204,3391,0,0,0,0,0,0,28.83,25.92,28.83
$GC,6566,-0.48,-146.0,633.9,-9.3,419,6572,0.00,2.17,0.00,0.000,4,0.000,0.054,3016,803,3390,0,0,0,0,0,0,28.83,25.76,28.83
$GC,6589,-0.48,-146.0,633.9,-9.3,419,6597,0.12,2.20,0.00,0.000,6,0.138,0.054,3043,2210,3390,0,0,0,0,0,0,25.66,25.78,28.83
$GC,6898,-0.48,-146.0,658.8,-7.2,430,6903,0.00,2.22,0.00,0.000,4,0.000,0.067,3034,3606,3390,0,0,0,0,0,0,28.83,25.65,28.83
$GC,6935,-0.48,-146.0,660.8,-7.2,431,6939,0.00,2.20,0.00,0.000,6,0.000,0.047,3034,2192,3389,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7258,-0.48,-146.0,683.9,-6.7,442,7263,0.00,2.28,0.00,0.000,4,0.000,0.067,3025,3604,3389,0,0,0,0,0,0,28.83,25.65,28.83
$GC,7300,-0.48,-146.0,686.0,-6.7,443,7304,0.00,2.17,0.00,0.000,6,0.000,0.047,3025,2194,3389,0,0,0,0,0,0,28.83,25.90,28.83
$GC,7613,-0.48,-146.0,708.1,-6.6,454,7618,0.00,2.28,0.00,0.000,4,0.000,0.067,3015,3612,3388,0,0,0,0,0,0,28.83,25.63,28.83
$GC,7651,-0.48,-146.0,710.3,-6.7,455,7655,0.00,2.17,0.00,0.000,6,0.000,0.047,3015,2201,3388,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7969,-0.48,-146.0,734.1,-7.5,466,7970,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2198,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8268,-0.48,-146.0,757.8,-8.0,476,8274,0.00,2.30,0.00,0.000,4,0.000,0.067,3005,3613,3387,0,0,0,0,0,0,28.83,25.61,28.83
$GC,8292,-0.48,-146.0,757.8,-8.0,476,8299,0.12,2.20,0.00,0.000,6,0.132,0.048,3040,2190,3387,0,0,0,0,0,0,25.72,25.88,28.83
$GC,8599,-0.48,-146.0,780.2,-6.7,487,8600,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2188,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8899,-0.48,-146.0,800.7,-7.0,497,8900,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2188,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9199,-0.48,-146.0,821.4,-6.9,507,9205,0.00,2.33,0.00,0.000,4,0.000,0.068,3033,3616,3387,0,0,0,0,0,0,28.83,25.59,28.83
$GC,9262,-0.48,-146.0,825.8,-7.1,509,9266,0.00,2.20,0.00,0.000,6,0.000,0.049,3033,2195,3386,0,0,0,0,0,0,28.83,25.87,28.83
$GC,9584,-0.48,-146.0,848.8,-6.8,520,9585,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2193,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9885,-0.48,-146.0,869.5,-6.7,530,9890,0.00,2.28,0.00,0.000,4,0.000,0.068,3023,3605,3385,0,0,0,0,0,0,28.83,25.61,28.83
$GC,9944,-0.48,-146.0,873.8,-7.0,532,9948,0.00,2.20,0.00,0.000,6,0.000,0.048,3023,2199,3385,0,0,0,0,0,0,28.83,25.86,28.83
$GC,10276,-0.48,-146.0,896.6,-6.7,543,10277,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2198,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10577,-0.48,-146.0,917.2,-6.9,553,10582,0.00,2.30,0.00,0.000,4,0.000,0.068,3014,3608,3384,0,0,0,0,0,0,28.83,25.56,28.83
$GC,10608,-0.48,-146.0,919.4,-7.0,554,10612,0.00,2.20,0.00,0.000,6,0.000,0.049,3013,2191,3384,0,0,0,0,0,0,28.83,25.85,28.83
$GC,10931,-0.48,-146.0,943.5,-7.5,565,10932,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2188,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11231,-0.48,-146.0,966.8,-7.8,575,11237,0.00,2.30,0.00,0.000,4,0.000,0.068,3004,3611,3384,0,0,0,0,0,0,28.83,25.56,28.83
$GC,11263,-0.48,-146.0,969.4,-8.0,576,11268,0.12,2.20,0.00,0.000,6,0.132,0.050,3040,2200,3384,0,0,0,0,0,0,25.67,25.83,28.83
$STATE,11583,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11584,begin apogee
$GC,11591,-0.22,0.0,991.4,-6.6,587,11725,0.22,0.00,127.97,1.183,6,0.112,0.000,3121,2340,2793,0,0,0,0,0,0,25.86,28.83,23.42
$STATE,11726,end apogee,CONTROL_FINISHED_OK
$STATE,11726,begin climb
$GC,11729,0.48,146.0,995.5,0.0,591,11870,0.65,0.00,137.60,1.144,6,0.078,0.000,3344,2340,2198,0,0,0,0,0,0,24.44,28.83,22.54
$GC,12152,0.48,146.0,964.0,9.0,606,12153,0.00,0.00,0.00,0.000,6,0.000,0.000,3344,2340,2188,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12451,0.48,146.0,937.1,9.0,616,12452,0.00,0.00,0.00,0.000,6,0.000,0.000,3344,2340,2187,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12752,0.48,146.0,909.0,9.5,626,12757,0.00,2.28,0.00,0.000,4,0.000,0.057,3355,926,2186,0,0,0,0,0,0,28.83,25.42,28.83
$GC,12774,0.48,146.0,909.0,9.5,626,12781,0.00,2.22,0.00,0.000,6,0.000,0.057,3355,2318,2185,0,0,0,0,0,0,28.83,25.44,28.83
$GC,13081,0.48,146.0,875.4,10.4,637,13087,0.00,2.33,0.00,0.000,4,0.000,0.070,3355,3736,2185,0,0,0,0,0,0,28.83,25.45,28.83
$GC,13124,0.48,146.0,871.9,10.6,638,13129,0.00,2.22,0.00,0.000,6,0.000,0.050,3365,2331,2184,0,0,0,0,0,0,28.83,25.62,28.83
$GC,13437,0.48,146.0,836.1,10.9,649,13438,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,2326,2184,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13737,0.48,146.0,804.4,10.2,659,13738,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,2326,2184,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14036,0.48,146.0,774.2,10.1,669,14038,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,2326,2184,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,23376,end climb,SURFACE_DEPTH_REACHED
$STATE,23376,begin surface coast
$FINISH,1.2,1.012648
$STATE,23423,end surface coast,CONTROL_FINISHED_OK
$STATE,23423,begin surface
$SM_CCo,23503,0.00,0.000,0,0,1418,337.53
$SM_GC,2.01,8.43,0.17,0.00,0.025,0.076,0.000,105,2194,1418,-9.48,1.07,337.53,0,0,0,0,0,0,25.74,25.70,28.83
$IRIDIUM_FIX,4703.87,-12600.71,101112,101056
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.32
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,19.30
$XPDR_PINGS,2
$24V_AH,22.5,35.698
$10V_AH,10.1,29.756
$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,21.900,170.600,425.850,0.000,0.000,26.818,38.936,205.129,0.500,0.000,17.997,3431.391,16645.947,556.734,2875.955,393.265,0.000,1923.370,0.000,2569.319,0.000,0.537,0.000
$DEVICE_MAMPS,221.085,83.385,1182.690,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,910.248,759.508,540.267,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73481,1322
$CAP_FILE_SIZE,185175,0
$CFSIZE,260165632,236769280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.049, 25.6,1
$GPS,111112,001524,4718.516,-12618.196,43,0.9,43,18.6