version: 66.11
glider: 187
mission: 2
dive: 265
start: 11 14 112 2 8 3
data:
$ID,187
$MISSION,2
$DIVE,265
$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,-1588090
$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,25
$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
$GPS1,141112,020054,4700.787,-12656.372,42,0.9,42,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-79.0
$GPS2,141112,020731,4700.772,-12656.391,14,1.9,14,18.6
$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,253.9,4778,-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,-146.0,0.0,0.0,0,81,0.00,0.00,-62.30,0.000,2,0.000,0.000,109,2194,2590,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.48,-146.0,3.1,-2.6,10,125,11.50,2.25,-18.62,0.000,4,0.221,0.064,3033,792,3393,0,0,0,0,0,0,25.01,25.53,26.04
$GC,188,-0.48,-146.0,24.5,-19.7,28,195,0.00,2.25,0.00,0.000,6,0.000,0.051,3024,2195,3395,0,0,0,0,0,0,28.83,25.53,28.83
$GC,505,-0.48,-146.0,77.7,-14.2,89,511,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2194,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,817,-0.48,-146.0,120.2,-13.5,150,822,0.00,2.20,0.00,0.000,4,0.000,0.050,3024,781,3398,0,0,0,0,0,0,28.83,25.71,28.83
$GC,855,-0.48,-146.0,124.1,-12.7,152,862,0.00,2.25,0.00,0.000,6,0.000,0.050,3014,2200,3398,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1163,-0.48,-146.0,161.3,-11.6,173,1164,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2200,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1463,-0.48,-146.0,195.4,-11.1,193,1468,0.00,2.22,0.00,0.000,4,0.000,0.063,3004,3607,3398,0,0,0,0,0,0,28.83,25.70,28.83
$GC,1507,-0.48,-146.0,200.6,-11.4,196,1513,0.12,2.17,0.00,0.000,6,0.136,0.043,3039,2189,3398,0,0,0,0,0,0,25.70,25.89,28.83
$GC,1824,-0.48,-146.0,230.3,-9.5,212,1825,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2186,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2122,-0.48,-146.0,258.3,-9.1,227,2123,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2185,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2423,-0.48,-146.0,284.0,-8.2,242,2428,0.00,2.25,0.00,0.000,4,0.000,0.062,3030,3602,3397,0,0,0,0,0,0,28.83,25.73,28.83
$GC,2484,-0.48,-146.0,289.0,-8.4,245,2488,0.00,2.15,0.00,0.000,6,0.000,0.044,3030,2197,3397,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2797,-0.48,-146.0,316.0,-8.5,261,2798,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2191,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3097,-0.48,-146.0,340.6,-8.0,276,3101,0.00,2.17,0.00,0.000,4,0.000,0.052,3030,794,3396,0,0,0,0,0,0,28.83,25.82,28.83
$GC,3139,-0.48,-146.0,344.1,-7.9,278,3145,0.00,2.20,0.00,0.000,6,0.000,0.052,3021,2204,3396,0,0,0,0,0,0,28.83,25.83,28.83
$GC,3459,-0.48,-146.0,371.4,-8.6,294,3465,0.00,2.22,0.00,0.000,4,0.000,0.063,3011,3608,3395,0,0,0,0,0,0,28.83,25.72,28.83
$GC,3493,-0.48,-146.0,373.2,-8.7,295,3500,0.10,2.15,0.00,0.000,6,0.142,0.044,3038,2197,3395,0,0,0,0,0,0,25.80,25.94,28.83
$GC,3800,-0.48,-146.0,396.7,-7.0,311,3801,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2196,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4100,-0.48,-146.0,417.6,-7.0,322,4105,0.00,2.25,0.00,0.000,4,0.000,0.065,3030,3609,3394,0,0,0,0,0,0,28.83,25.71,28.83
$GC,4130,-0.48,-146.0,420.1,-7.3,323,4135,0.00,2.17,0.00,0.000,6,0.000,0.045,3030,2202,3394,0,0,0,0,0,0,28.83,25.94,28.83
$GC,4460,-0.48,-146.0,447.5,-8.3,334,4465,0.00,2.15,0.00,0.000,4,0.000,0.053,3030,802,3393,0,0,0,0,0,0,28.83,25.79,28.83
$GC,4492,-0.48,-146.0,450.1,-8.4,335,4496,0.00,2.17,0.00,0.000,6,0.000,0.052,3021,2202,3394,0,0,0,0,0,0,28.83,25.81,28.83
$GC,4815,-0.48,-146.0,477.3,-8.2,346,4821,0.00,2.22,0.00,0.000,4,0.000,0.065,3011,3605,3392,0,0,0,0,0,0,28.83,25.69,28.83
$GC,4857,-0.48,-146.0,479.8,-8.2,347,4861,0.00,2.17,0.00,0.000,6,0.000,0.046,3010,2199,3392,0,0,0,0,0,0,28.83,25.93,28.83
$GC,5175,-0.48,-146.0,509.7,-9.3,358,5181,0.12,2.15,0.00,0.000,4,0.146,0.051,3052,803,3392,0,0,0,0,0,0,26.06,25.78,28.83
$GC,5208,-0.48,-146.0,512.2,-9.0,359,5212,0.00,2.17,0.00,0.000,6,0.000,0.053,3045,2199,3391,0,0,0,0,0,0,28.83,25.79,28.83
$GC,5531,-0.48,-146.0,534.8,-6.9,370,5536,0.00,2.28,0.00,0.000,4,0.000,0.066,3035,3612,3391,0,0,0,0,0,0,28.83,25.66,28.83
$GC,5599,-0.48,-146.0,539.2,-7.0,372,5603,0.00,2.17,0.00,0.000,6,0.000,0.047,3035,2196,3391,0,0,0,0,0,0,28.83,25.91,28.83
$GC,5916,-0.48,-146.0,563.4,-7.6,383,5922,0.00,2.28,0.00,0.000,4,0.000,0.066,3025,3606,3390,0,0,0,0,0,0,28.83,25.65,28.83
$GC,5949,-0.48,-146.0,565.8,-7.8,384,5953,0.00,2.17,0.00,0.000,6,0.000,0.046,3025,2191,3391,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6271,-0.48,-146.0,592.8,-8.3,395,6273,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2189,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6571,-0.48,-146.0,618.3,-8.5,405,6577,0.00,2.33,0.00,0.000,4,0.000,0.066,3015,3611,3390,0,0,0,0,0,0,28.83,25.64,28.83
$GC,6634,-0.48,-146.0,623.5,-8.6,407,6638,0.00,2.20,0.00,0.000,6,0.000,0.047,3015,2194,3390,0,0,0,0,0,0,28.83,25.90,28.83
$GC,6957,-0.48,-146.0,651.6,-8.5,418,6958,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2192,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7256,-0.48,-146.0,677.3,-8.5,428,7257,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2192,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7556,-0.48,-146.0,702.4,-8.3,438,7562,0.00,2.28,0.00,0.000,4,0.000,0.066,3005,3603,3387,0,0,0,0,0,0,28.83,25.62,28.83
$GC,7586,-0.48,-146.0,704.9,-8.2,439,7592,0.10,2.17,0.00,0.000,6,0.106,0.047,3041,2206,3387,0,0,0,0,0,0,25.66,25.88,28.83
$GC,7917,-0.48,-146.0,725.6,-6.0,450,7918,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2204,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8216,-0.48,-146.0,743.5,-5.8,460,8222,0.00,2.28,0.00,0.000,4,0.000,0.067,3034,3607,3387,0,0,0,0,0,0,28.83,25.60,28.83
$GC,8255,-0.48,-146.0,745.3,-5.9,461,8259,0.00,2.20,0.00,0.000,6,0.000,0.047,3034,2195,3387,0,0,0,0,0,0,28.83,25.87,28.83
$GC,8572,-0.48,-146.0,766.2,-6.4,472,8578,0.00,2.28,0.00,0.000,4,0.000,0.067,3024,3600,3387,0,0,0,0,0,0,28.83,25.59,28.83
$GC,8605,-0.48,-146.0,768.4,-6.6,473,8609,0.00,2.17,0.00,0.000,6,0.000,0.048,3024,2202,3387,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8928,-0.48,-146.0,790.7,-6.9,484,8934,0.00,2.30,0.00,0.000,4,0.000,0.067,3014,3608,3386,0,0,0,0,0,0,28.83,25.57,28.83
$GC,8960,-0.48,-146.0,792.9,-7.0,485,8964,0.00,2.20,0.00,0.000,6,0.000,0.047,3014,2199,3386,0,0,0,0,0,0,28.83,25.85,28.83
$GC,9282,-0.48,-146.0,818.2,-7.8,496,9288,0.00,2.30,0.00,0.000,4,0.000,0.067,3004,3608,3386,0,0,0,0,0,0,28.83,25.56,28.83
$GC,9331,-0.48,-146.0,820.6,-7.8,497,9336,0.12,2.20,0.00,0.000,6,0.132,0.047,3040,2195,3385,0,0,0,0,0,0,25.67,25.84,28.83
$GC,9638,-0.48,-146.0,841.2,-6.1,507,9639,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2193,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9938,-0.48,-146.0,859.8,-6.3,517,9944,0.00,2.33,0.00,0.000,4,0.000,0.067,3032,3611,3385,0,0,0,0,0,0,28.83,25.54,28.83
$GC,9991,-0.48,-146.0,861.9,-6.5,518,9998,0.00,2.20,0.00,0.000,6,0.000,0.049,3032,2197,3385,0,0,0,0,0,0,28.83,25.83,28.83
$GC,10299,-0.48,-146.0,884.1,-6.8,529,10300,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2197,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10598,-0.48,-146.0,904.7,-6.7,539,10603,0.00,2.30,0.00,0.000,4,0.000,0.069,3022,3606,3384,0,0,0,0,0,0,28.83,25.53,28.83
$GC,10631,-0.48,-146.0,906.8,-6.8,540,10635,0.00,2.20,0.00,0.000,6,0.000,0.049,3022,2199,3384,0,0,0,0,0,0,28.83,25.82,28.83
$GC,10953,-0.48,-146.0,930.9,-7.3,551,10954,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2197,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11254,-0.48,-146.0,952.6,-7.2,561,11260,0.00,2.28,0.00,0.000,4,0.000,0.068,3012,3604,3383,0,0,0,0,0,0,28.83,25.51,28.83
$GC,11306,-0.48,-146.0,954.9,-7.4,562,11313,0.00,2.20,0.00,0.000,6,0.000,0.048,3012,2189,3383,0,0,0,0,0,0,28.83,25.80,28.83
$GC,11613,-0.48,-146.0,981.3,-7.9,573,11614,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2189,3383,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11730,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11730,begin apogee
$GC,11738,-0.22,0.0,990.5,-7.8,577,11872,0.32,0.00,127.75,1.180,6,0.115,0.000,3122,2332,2793,0,0,0,0,0,0,25.62,28.83,23.42
$STATE,11873,end apogee,CONTROL_FINISHED_OK
$STATE,11873,begin climb
$GC,11876,0.48,146.0,994.4,0.0,581,12017,0.65,0.00,137.02,1.141,6,0.078,0.000,3345,2332,2198,0,0,0,0,0,0,24.46,28.83,22.51
$GC,12298,0.48,146.0,963.9,8.6,596,12299,0.00,0.00,0.00,0.000,6,0.000,0.000,3345,2332,2188,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12598,0.48,146.0,938.7,8.4,606,12604,0.00,2.33,0.00,0.000,4,0.000,0.069,3345,3726,2187,0,0,0,0,0,0,28.83,25.21,28.83
$GC,12621,0.48,146.0,938.7,8.4,606,12629,0.00,2.22,0.00,0.000,6,0.000,0.050,3355,2335,2186,0,0,0,0,0,0,28.83,25.37,28.83
$GC,12928,0.48,146.0,906.7,9.8,617,12934,0.00,2.28,0.00,0.000,4,0.000,0.058,3365,919,2185,0,0,0,0,0,0,28.83,25.46,28.83
$GC,12951,0.48,146.0,906.7,9.8,617,12958,0.00,2.25,0.00,0.000,6,0.000,0.057,3366,2325,2186,0,0,0,0,0,0,28.83,25.47,28.83
$GC,13258,0.48,146.0,871.4,10.9,628,13264,0.00,2.30,0.00,0.000,4,0.000,0.069,3366,3735,2185,0,0,0,0,0,0,28.83,25.48,28.83
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$STATE,23451,end climb,SURFACE_DEPTH_REACHED
$STATE,23451,begin surface coast
$FINISH,1.2,1.021375
$STATE,23490,end surface coast,CONTROL_FINISHED_OK
$STATE,23490,begin surface
$SM_CCo,23570,0.00,0.000,0,0,1210,388.56
$SM_GC,2.12,8.32,0.20,0.00,0.029,0.073,0.000,114,2192,1210,-9.46,1.16,388.56,0,0,0,0,0,0,25.91,25.87,28.83
$IRIDIUM_FIX,4648.08,-12651.56,131112,191933
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.95
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,15.30
$XPDR_PINGS,2
$24V_AH,22.5,37.358
$10V_AH,10.1,31.113
$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,21.875,184.125,463.575,0.000,0.000,26.281,37.563,198.049,0.500,0.000,15.410,3323.731,16833.871,583.375,2814.346,402.496,0.000,1974.557,0.000,2525.922,0.000,0.536,0.000
$DEVICE_MAMPS,221.085,83.385,1179.630,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,877.744,723.441,468.631,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73573,1277
$CAP_FILE_SIZE,189159,0
$CFSIZE,260165632,235737088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.101,106.4,1
$GPS,141112,084206,4700.768,-12659.858,35,1.0,35,18.6