version: 66.11
glider: 187
mission: 2
dive: 116
start: 10 6 112 13 3 45
data:
$ID,187
$MISSION,2
$DIVE,116
$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,-1587764.1
$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,2175
$C_ROLL_CLIMB,2300
$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
$GPS1,061012,125705,4727.724,-12600.485,29,0.8,29,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-77.2
$GPS2,061012,130313,4727.748,-12600.536,14,1.9,14,18.7
$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,219.9,91005,-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,14,begin dive
$GC,17,-0.48,-146.0,0.0,0.0,0,92,0.00,0.00,-73.32,0.000,2,0.000,0.000,115,2166,2989,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.48,-146.0,3.8,-5.9,12,124,11.32,2.20,-7.40,0.000,4,0.224,0.060,3032,759,3393,0,0,0,0,0,0,25.29,25.62,25.95
$GC,342,-0.48,-146.0,57.7,-14.4,58,349,0.00,2.25,0.00,0.000,6,0.000,0.050,3024,2179,3397,0,0,0,0,0,0,28.83,25.77,28.83
$GC,657,-0.48,-146.0,100.0,-11.6,119,665,0.00,2.22,0.00,0.000,4,0.000,0.062,3013,3594,3399,0,0,0,0,0,0,28.83,25.84,28.83
$GC,753,-0.48,-146.0,111.3,-11.8,137,760,0.00,2.20,0.00,0.000,6,0.000,0.042,3013,2159,3399,0,0,0,0,0,0,28.83,25.95,28.83
$GC,1071,-0.48,-146.0,148.8,-11.9,167,1077,0.00,2.10,0.00,0.000,4,0.000,0.050,3013,767,3399,0,0,0,0,0,0,28.83,25.99,28.83
$GC,1131,-0.48,-146.0,156.5,-12.7,171,1137,0.12,2.17,0.00,0.000,6,0.149,0.050,3038,2181,3399,0,0,0,0,0,0,25.90,26.01,28.83
$GC,1448,-0.48,-146.0,186.8,-8.3,192,1453,0.00,2.17,0.00,0.000,4,0.000,0.063,3030,3584,3399,0,0,0,0,0,0,28.83,26.02,28.83
$GC,1499,-0.48,-146.0,190.8,-8.7,195,1507,0.00,2.12,0.00,0.000,6,0.000,0.043,3029,2170,3399,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1817,-0.48,-146.0,222.5,-10.1,213,1818,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2170,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2117,-0.48,-146.0,249.8,-8.3,228,2118,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2170,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2417,-0.48,-146.0,275.8,-8.9,243,2422,0.00,2.20,0.00,0.000,4,0.000,0.064,3019,3576,3398,0,0,0,0,0,0,28.83,26.12,28.83
$GC,2478,-0.48,-146.0,281.5,-9.3,246,2483,0.00,2.08,0.00,0.000,6,0.000,0.044,3019,2183,3398,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2796,-0.48,-146.0,313.0,-10.1,262,2797,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2181,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3098,-0.48,-146.0,344.6,-10.8,277,3099,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2181,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3397,-0.48,-146.0,376.7,-10.7,292,3400,0.00,2.22,0.00,0.000,4,0.000,0.065,3009,3581,3396,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3431,-0.48,-146.0,379.1,-10.7,293,3439,0.12,2.12,0.00,0.000,6,0.140,0.045,3044,2172,3396,0,0,0,0,0,0,26.11,26.25,28.83
$GC,3739,-0.48,-146.0,405.9,-7.9,308,3743,0.00,2.25,0.00,0.000,4,0.000,0.066,3035,3587,3395,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3774,-0.48,-146.0,408.7,-8.1,309,3778,0.00,2.15,0.00,0.000,6,0.000,0.045,3035,2177,3395,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4102,-0.48,-146.0,438.6,-8.9,320,4103,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2174,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4401,-0.48,-146.0,463.6,-8.2,330,4407,0.00,2.20,0.00,0.000,4,0.000,0.066,3025,3580,3394,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4454,-0.48,-146.0,466.1,-8.2,331,4462,0.00,2.15,0.00,0.000,6,0.000,0.046,3025,2171,3394,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4761,-0.48,-146.0,494.0,-8.3,342,4762,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2170,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5062,-0.48,-146.0,519.1,-8.3,352,5063,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2170,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5361,-0.48,-146.0,545.2,-8.9,362,5365,0.00,2.25,0.00,0.000,4,0.000,0.067,3015,3583,3392,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5395,-0.48,-146.0,548.1,-8.8,363,5399,0.00,2.15,0.00,0.000,6,0.000,0.047,3015,2175,3392,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5723,-0.48,-146.0,577.0,-8.4,374,5728,0.00,2.22,0.00,0.000,4,0.000,0.067,3004,3587,3391,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5761,-0.48,-146.0,579.6,-8.7,375,5765,0.12,2.15,0.00,0.000,6,0.140,0.047,3040,2167,3391,0,0,0,0,0,0,26.15,26.29,28.83
$GC,6079,-0.48,-146.0,603.0,-7.0,386,6084,0.00,2.22,0.00,0.000,4,0.000,0.067,3031,3584,3391,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6112,-0.48,-146.0,605.3,-7.1,387,6116,0.00,2.15,0.00,0.000,6,0.000,0.047,3031,2167,3391,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6434,-0.48,-146.0,629.2,-7.2,398,6435,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2165,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6734,-0.48,-146.0,651.6,-7.4,408,6739,0.00,2.28,0.00,0.000,4,0.000,0.068,3021,3592,3390,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6764,-0.48,-146.0,653.9,-7.5,409,6770,0.00,2.17,0.00,0.000,6,0.000,0.047,3021,2165,3390,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7094,-0.48,-146.0,682.0,-8.5,420,7099,0.00,2.22,0.00,0.000,4,0.000,0.068,3010,3580,3390,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7126,-0.48,-146.0,684.6,-8.6,421,7130,0.00,2.15,0.00,0.000,6,0.000,0.047,3011,2169,3389,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7449,-0.48,-146.0,711.5,-7.9,432,7451,0.12,0.00,0.00,0.000,6,0.147,0.000,3046,2165,3389,0,0,0,0,0,0,26.25,28.83,28.83
$GC,7749,-0.48,-146.0,727.7,-5.3,442,7754,0.00,2.22,0.00,0.000,4,0.000,0.069,3037,3577,3389,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7781,-0.48,-146.0,729.5,-5.5,443,7785,0.00,2.12,0.00,0.000,6,0.000,0.048,3037,2174,3389,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8104,-0.48,-146.0,751.1,-6.9,454,8110,0.00,2.22,0.00,0.000,4,0.000,0.069,3027,3583,3387,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8164,-0.48,-146.0,755.7,-7.3,456,8170,0.00,2.12,0.00,0.000,6,0.000,0.048,3027,2177,3388,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8494,-0.48,-146.0,780.9,-7.5,467,8495,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2174,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8793,-0.48,-146.0,803.5,-7.7,477,8800,0.00,2.25,0.00,0.000,4,0.000,0.069,3017,3592,3387,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8836,-0.48,-146.0,805.8,-7.8,478,8840,0.00,2.17,0.00,0.000,6,0.000,0.049,3017,2169,3387,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9154,-0.48,-146.0,831.8,-7.4,489,9159,0.00,2.25,0.00,0.000,4,0.000,0.069,3007,3584,3387,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9184,-0.48,-146.0,834.3,-7.4,490,9190,0.12,2.15,0.00,0.000,6,0.136,0.048,3046,2176,3386,0,0,0,0,0,0,26.16,26.29,28.83
$GC,9514,-0.48,-146.0,852.0,-5.3,501,9519,0.00,2.22,0.00,0.000,4,0.000,0.070,3039,3580,3386,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9557,-0.48,-146.0,853.8,-5.3,502,9561,0.00,2.15,0.00,0.000,6,0.000,0.049,3038,2168,3386,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9870,-0.48,-146.0,871.6,-5.4,513,9875,0.00,2.28,0.00,0.000,4,0.000,0.070,3028,3592,3386,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9908,-0.48,-146.0,873.3,-5.6,514,9911,0.00,2.17,0.00,0.000,6,0.000,0.049,3028,2173,3386,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10230,-0.48,-146.0,895.9,-7.1,525,10231,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2170,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10529,-0.48,-146.0,918.5,-7.3,535,10535,0.00,2.25,0.00,0.000,4,0.000,0.069,3018,3584,3385,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10572,-0.48,-146.0,920.8,-7.3,536,10576,0.00,2.17,0.00,0.000,6,0.000,0.049,3019,2168,3385,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10890,-0.48,-146.0,945.5,-7.2,547,10895,0.00,2.22,0.00,0.000,4,0.000,0.070,3008,3580,3385,0,0,0,0,0,0,28.83,26.18,28.83
$GC,10922,-0.48,-146.0,947.8,-7.3,548,10927,0.12,2.15,0.00,0.000,6,0.135,0.049,3044,2167,3385,0,0,0,0,0,0,26.15,26.28,28.83
$GC,11245,-0.48,-146.0,965.8,-5.3,559,11251,0.00,2.22,0.00,0.000,4,0.000,0.070,3036,3579,3384,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11294,-0.48,-146.0,967.6,-5.3,560,11298,0.00,2.15,0.00,0.000,6,0.000,0.050,3035,2169,3384,0,0,0,0,0,0,28.83,26.28,28.83
$GC,11600,-0.48,-146.0,986.3,-5.9,570,11606,0.00,2.28,0.00,0.000,4,0.000,0.070,3026,3588,3384,0,0,0,0,0,0,28.83,26.17,28.83
$STATE,11658,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11658,begin apogee
$GC,11667,-0.22,0.0,990.2,-6.3,572,11796,0.28,0.00,125.50,1.198,6,0.113,0.000,3121,2298,2794,0,0,0,0,0,0,26.13,28.83,23.73
$STATE,11799,end apogee,CONTROL_FINISHED_OK
$STATE,11799,begin climb
$GC,11802,0.48,146.0,993.5,0.0,576,11943,0.68,2.50,132.88,1.164,4,0.082,0.069,3348,3709,2197,0,0,0,0,0,0,24.56,23.96,23.27
$GC,11971,0.48,147.1,984.0,7.3,582,11975,0.00,2.35,0.00,0.000,6,0.000,0.049,3358,2305,2193,0,0,0,0,0,0,28.83,24.35,28.83
$GC,12283,0.48,147.1,951.0,10.0,593,12289,0.00,2.35,0.00,0.000,4,0.000,0.070,3358,3720,2187,0,0,0,0,0,0,28.83,25.22,28.83
$GC,12327,0.48,147.1,947.5,10.4,594,12331,0.00,2.28,0.00,0.000,6,0.000,0.050,3369,2298,2186,0,0,0,0,0,0,28.83,25.32,28.83
$GC,12639,0.48,147.1,913.1,10.5,605,12645,0.00,2.33,0.00,0.000,4,0.000,0.070,3369,3705,2185,0,0,0,0,0,0,28.83,25.55,28.83
$GC,12672,0.48,147.1,909.6,10.6,606,12676,0.00,2.22,0.00,0.000,6,0.000,0.050,3380,2298,2185,0,0,0,0,0,0,28.83,25.62,28.83
$GC,12994,0.48,147.1,872.5,11.8,617,13000,0.00,2.28,0.00,0.000,4,0.000,0.070,3380,3698,2185,0,0,0,0,0,0,28.83,25.73,28.83
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$STATE,22993,end climb,SURFACE_DEPTH_REACHED
$STATE,22994,begin surface coast
$FINISH,1.0,1.023987
$STATE,23037,end surface coast,CONTROL_FINISHED_OK
$STATE,23037,begin surface
$SM_CCo,23118,0.00,0.000,0,0,1350,354.21
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$IRIDIUM_FIX,4713.38,-12554.85,061012,060607
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.54
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,16.60
$XPDR_PINGS,0
$24V_AH,23.3,17.300
$10V_AH,10.2,14.682
$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,22.200,216.900,423.600,0.000,0.000,26.909,35.939,172.629,0.000,0.000,14.976,3393.436,16196.595,553.316,2926.915,406.958,0.000,2009.800,0.000,2661.981,0.000,0.535,0.000
$DEVICE_MAMPS,224.145,70.380,1197.990,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,883.315,743.650,521.388,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296904
$DATA_FILE_SIZE,73600,1283
$CAP_FILE_SIZE,195229,0
$CFSIZE,260165632,248270848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.016, 75.1,1
$GPS,061012,193023,4726.231,-12604.043,42,1.5,42,18.7