version: 66.11
glider: 187
mission: 2
dive: 264
start: 11 13 112 19 26 45
data:
$ID,187
$MISSION,2
$DIVE,264
$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,-1588088.6
$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,23
$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
$GPS1,131112,191936,4702.940,-12653.387,42,1.0,42,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-76.4
$GPS2,131112,192613,4702.845,-12653.299,14,1.4,14,18.6
$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,228.1,9970,-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,17,-0.48,-146.0,0.0,0.0,0,86,0.00,0.00,-67.07,0.000,2,0.000,0.000,110,2201,2805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.48,-146.0,3.3,-3.5,11,124,11.45,2.35,-12.25,0.000,4,0.220,0.076,3027,3609,3393,0,0,0,0,0,0,25.03,25.48,26.04
$GC,177,-0.48,-146.0,25.8,-20.3,26,185,0.00,2.25,0.00,0.000,6,0.000,0.044,3027,2199,3395,0,0,0,0,0,0,28.83,25.60,28.83
$GC,494,-0.48,-146.0,77.9,-15.0,87,500,0.00,2.28,0.00,0.000,4,0.000,0.060,3016,3610,3397,0,0,0,0,0,0,28.83,25.56,28.83
$GC,558,-0.48,-146.0,87.1,-13.6,99,565,0.00,2.17,0.00,0.000,6,0.000,0.043,3016,2194,3397,0,0,0,0,0,0,28.83,25.75,28.83
$GC,876,-0.48,-146.0,128.1,-12.8,153,877,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2187,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1177,-0.48,-146.0,166.3,-12.5,173,1178,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2187,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1476,-0.48,-146.0,200.8,-11.1,193,1481,0.00,2.12,0.00,0.000,4,0.000,0.050,3016,792,3398,0,0,0,0,0,0,28.83,25.78,28.83
$GC,1523,-0.48,-146.0,205.1,-11.0,195,1528,0.12,2.20,0.00,0.000,6,0.140,0.050,3042,2214,3398,0,0,0,0,0,0,25.66,25.79,28.83
$GC,1831,-0.48,-146.0,233.2,-8.8,210,1836,0.00,2.20,0.00,0.000,4,0.000,0.063,3033,3608,3398,0,0,0,0,0,0,28.83,25.71,28.83
$GC,1870,-0.48,-146.0,237.0,-9.0,212,1876,0.00,2.17,0.00,0.000,6,0.000,0.043,3033,2194,3398,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2190,-0.48,-146.0,268.7,-10.0,228,2192,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2190,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2490,-0.48,-146.0,296.2,-8.6,243,2491,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2190,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2790,-0.48,-146.0,321.2,-8.2,258,2796,0.00,2.12,0.00,0.000,4,0.000,0.051,3033,803,3397,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2819,-0.48,-146.0,322.9,-8.4,259,2823,0.00,2.17,0.00,0.000,6,0.000,0.051,3026,2206,3397,0,0,0,0,0,0,28.83,25.83,28.83
$GC,3127,-0.48,-146.0,350.8,-8.9,274,3132,0.00,2.22,0.00,0.000,4,0.000,0.063,3016,3613,3396,0,0,0,0,0,0,28.83,25.72,28.83
$GC,3173,-0.48,-146.0,354.3,-8.7,276,3177,0.00,2.17,0.00,0.000,6,0.000,0.044,3015,2193,3396,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3481,-0.48,-146.0,384.0,-9.5,291,3486,0.00,2.25,0.00,0.000,4,0.000,0.063,3005,3602,3395,0,0,0,0,0,0,28.83,25.72,28.83
$GC,3520,-0.48,-146.0,388.0,-9.6,293,3527,0.12,2.15,0.00,0.000,6,0.134,0.044,3041,2202,3395,0,0,0,0,0,0,25.76,25.94,28.83
$GC,3831,-0.48,-146.0,412.6,-7.8,306,3836,0.00,2.25,0.00,0.000,4,0.000,0.064,3033,3609,3395,0,0,0,0,0,0,28.83,25.71,28.83
$GC,3854,-0.48,-146.0,412.6,-7.8,306,3861,0.00,2.17,0.00,0.000,6,0.000,0.045,3033,2190,3395,0,0,0,0,0,0,28.83,25.94,28.83
$GC,4160,-0.48,-146.0,439.3,-8.1,317,4162,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2189,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4460,-0.48,-146.0,463.8,-8.2,327,4466,0.00,2.33,0.00,0.000,4,0.000,0.064,3023,3616,3394,0,0,0,0,0,0,28.83,25.70,28.83
$GC,4504,-0.48,-146.0,466.2,-8.2,328,4509,0.00,2.20,0.00,0.000,6,0.000,0.046,3023,2192,3393,0,0,0,0,0,0,28.83,25.94,28.83
$GC,4816,-0.48,-146.0,493.9,-8.3,339,4818,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2189,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5117,-0.48,-146.0,518.8,-8.3,349,5123,0.00,2.30,0.00,0.000,4,0.000,0.065,3013,3614,3392,0,0,0,0,0,0,28.83,25.68,28.83
$GC,5170,-0.48,-146.0,521.4,-8.2,350,5177,0.00,2.17,0.00,0.000,6,0.000,0.046,3012,2200,3392,0,0,0,0,0,0,28.83,25.93,28.83
$GC,5476,-0.48,-146.0,550.3,-8.8,361,5478,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2198,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5776,-0.48,-146.0,576.9,-8.9,371,5778,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2198,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6077,-0.48,-146.0,603.0,-8.6,381,6083,0.00,2.30,0.00,0.000,4,0.000,0.066,3003,3617,3390,0,0,0,0,0,0,28.83,25.66,28.83
$GC,6109,-0.48,-146.0,605.7,-8.6,382,6114,0.15,2.22,0.00,0.000,6,0.125,0.047,3046,2192,3390,0,0,0,0,0,0,25.71,25.90,28.83
$GC,6432,-0.48,-146.0,627.0,-6.5,393,6438,0.00,2.28,0.00,0.000,4,0.000,0.066,3038,3609,3390,0,0,0,0,0,0,28.83,25.65,28.83
$GC,6471,-0.48,-146.0,628.9,-6.5,394,6475,0.00,2.17,0.00,0.000,6,0.000,0.047,3038,2195,3390,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6788,-0.48,-146.0,651.8,-6.9,405,6794,0.00,2.28,0.00,0.000,4,0.000,0.067,3028,3609,3390,0,0,0,0,0,0,28.83,25.63,28.83
$GC,6819,-0.48,-146.0,654.1,-7.1,406,6824,0.00,2.17,0.00,0.000,6,0.000,0.047,3028,2195,3389,0,0,0,0,0,0,28.83,25.90,28.83
$GC,7148,-0.48,-146.0,679.1,-7.6,417,7149,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2193,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7448,-0.48,-146.0,702.3,-7.9,427,7453,0.00,2.33,0.00,0.000,4,0.000,0.067,3018,3616,3389,0,0,0,0,0,0,28.83,25.62,28.83
$GC,7516,-0.48,-146.0,707.3,-8.2,429,7520,0.00,2.20,0.00,0.000,6,0.000,0.047,3018,2194,3388,0,0,0,0,0,0,28.83,25.88,28.83
$GC,7833,-0.48,-146.0,735.4,-8.6,440,7839,0.00,2.28,0.00,0.000,4,0.000,0.067,3008,3603,3388,0,0,0,0,0,0,28.83,25.61,28.83
$GC,7863,-0.48,-146.0,738.0,-8.6,441,7869,0.12,2.20,0.00,0.000,6,0.131,0.047,3044,2191,3387,0,0,0,0,0,0,25.71,25.87,28.83
$GC,8193,-0.48,-146.0,760.6,-6.4,452,8194,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2188,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8494,-0.48,-146.0,779.6,-6.2,462,8500,0.00,2.33,0.00,0.000,4,0.000,0.067,3036,3611,3387,0,0,0,0,0,0,28.83,25.59,28.83
$GC,8523,-0.48,-146.0,781.5,-6.4,463,8529,0.00,2.20,0.00,0.000,6,0.000,0.048,3035,2201,3386,0,0,0,0,0,0,28.83,25.87,28.83
$GC,8854,-0.48,-146.0,803.1,-6.4,474,8855,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2198,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9154,-0.48,-146.0,821.7,-6.0,484,9159,0.00,2.28,0.00,0.000,4,0.000,0.068,3026,3601,3386,0,0,0,0,0,0,28.83,25.57,28.83
$GC,9213,-0.48,-146.0,825.5,-6.1,486,9219,0.00,2.17,0.00,0.000,6,0.000,0.049,3026,2195,3385,0,0,0,0,0,0,28.83,25.85,28.83
$GC,9544,-0.48,-146.0,845.3,-6.0,497,9545,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2192,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9843,-0.48,-146.0,863.6,-6.0,507,9849,0.00,2.30,0.00,0.000,4,0.000,0.067,3017,3612,3385,0,0,0,0,0,0,28.83,25.56,28.83
$GC,9886,-0.48,-146.0,865.7,-6.2,508,9890,0.00,2.20,0.00,0.000,6,0.000,0.049,3016,2197,3385,0,0,0,0,0,0,28.83,25.84,28.83
$GC,10199,-0.48,-146.0,887.9,-7.1,519,10200,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2194,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10498,-0.48,-146.0,910.1,-7.5,529,10504,0.00,2.30,0.00,0.000,4,0.000,0.068,3007,3607,3385,0,0,0,0,0,0,28.83,25.54,28.83
$GC,10551,-0.48,-146.0,912.5,-7.5,530,10559,0.12,2.20,0.00,0.000,6,0.129,0.049,3044,2191,3384,0,0,0,0,0,0,25.67,25.82,28.83
$GC,10859,-0.48,-146.0,933.2,-6.0,541,10865,0.00,2.33,0.00,0.000,4,0.000,0.069,3035,3607,3384,0,0,0,0,0,0,28.83,25.52,28.83
$GC,10897,-0.48,-146.0,935.1,-6.1,542,10901,0.00,2.20,0.00,0.000,6,0.000,0.049,3035,2203,3384,0,0,0,0,0,0,28.83,25.82,28.83
$GC,11219,-0.48,-146.0,955.4,-6.2,553,11224,0.00,2.28,0.00,0.000,4,0.000,0.068,3026,3608,3384,0,0,0,0,0,0,28.83,25.51,28.83
$GC,11257,-0.48,-146.0,957.6,-6.4,554,11261,0.00,2.20,0.00,0.000,6,0.000,0.048,3025,2195,3384,0,0,0,0,0,0,28.83,25.81,28.83
$GC,11575,-0.48,-146.0,978.5,-6.4,565,11580,0.00,2.28,0.00,0.000,4,0.000,0.068,3016,3599,3384,0,0,0,0,0,0,28.83,25.51,28.83
$GC,11605,-0.48,-146.0,980.5,-6.4,566,11610,0.00,2.17,0.00,0.000,6,0.000,0.050,3015,2197,3384,0,0,0,0,0,0,28.83,25.80,28.83
$STATE,11752,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11752,begin apogee
$GC,11759,-0.22,0.0,990.9,-6.9,571,11893,0.30,0.00,127.95,1.180,6,0.115,0.000,3119,2337,2794,0,0,0,0,0,0,25.66,28.83,23.40
$STATE,11894,end apogee,CONTROL_FINISHED_OK
$STATE,11894,begin climb
$GC,11897,0.48,146.0,994.3,0.0,575,12038,0.68,0.00,137.85,1.145,6,0.079,0.000,3348,2337,2198,0,0,0,0,0,0,24.44,28.83,22.49
$GC,12320,0.48,146.0,961.8,9.1,590,12326,0.00,2.35,0.00,0.000,4,0.000,0.068,3348,3728,2188,0,0,0,0,0,0,28.83,24.75,28.83
$GC,12342,0.48,146.0,961.8,9.1,590,12349,0.00,2.28,0.00,0.000,6,0.000,0.050,3358,2337,2187,0,0,0,0,0,0,28.83,24.91,28.83
$GC,12649,0.48,146.0,929.2,9.8,601,12650,0.00,0.00,0.00,0.000,6,0.000,0.000,3358,2331,2186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12950,0.48,146.0,899.1,10.1,611,12955,0.00,2.33,0.00,0.000,4,0.000,0.068,3358,3744,2185,0,0,0,0,0,0,28.83,25.39,28.83
$GC,12972,0.48,146.0,899.1,10.1,611,12979,0.00,2.30,0.00,0.000,6,0.000,0.050,3369,2312,2185,0,0,0,0,0,0,28.83,25.55,28.83
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$STATE,23451,end climb,SURFACE_DEPTH_REACHED
$STATE,23451,begin surface coast
$FINISH,1.3,0.999971
$STATE,23490,end surface coast,CONTROL_FINISHED_OK
$STATE,23490,begin surface
$SM_CCo,23569,0.00,0.000,0,0,1172,397.88
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$IRIDIUM_FIX,4644.93,-12651.56,131112,121230
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.88
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,19.30
$XPDR_PINGS,0
$24V_AH,22.5,37.220
$10V_AH,10.1,31.003
$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,22.150,207.325,474.750,0.000,0.000,24.999,36.209,199.269,0.000,0.000,15.769,3396.769,16602.494,611.645,2938.936,409.056,0.000,2063.459,0.000,2643.467,0.000,0.535,0.000
$DEVICE_MAMPS,219.555,83.385,1179.630,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,892.762,740.808,508.546,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73527,1298
$CAP_FILE_SIZE,196638,0
$CFSIZE,260165632,235819008
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.106,117.7,1
$GPS,141112,020054,4700.787,-12656.372,42,0.9,42,18.6