version: 66.11
glider: 187
mission: 2
dive: 245
start: 11 8 112 12 52 54
data:
$ID,187
$MISSION,2
$DIVE,245
$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,-1588063.4
$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,44
$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
$GPS1,081112,124536,4734.674,-12547.235,35,1.7,35,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-76.4
$GPS2,081112,125221,4734.661,-12547.238,10,2.1,29,18.7
$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,206.9,112101,-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,-60.42,0.000,2,0.000,0.000,121,2158,2762,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.48,-146.0,3.1,-3.1,10,117,11.43,2.35,-13.95,0.000,4,0.220,0.074,3023,3582,3392,0,0,0,0,0,0,25.01,25.47,26.01
$GC,295,-0.48,-146.0,43.9,-12.2,48,304,0.00,2.22,0.00,0.000,6,0.000,0.043,3023,2167,3395,0,0,0,0,0,0,28.83,25.65,28.83
$GC,621,-0.48,-146.0,83.1,-12.1,109,628,0.00,2.15,0.00,0.000,4,0.000,0.050,3023,777,3396,0,0,0,0,0,0,28.83,25.66,28.83
$GC,648,-0.48,-146.0,86.2,-11.9,113,655,0.00,2.17,0.00,0.000,6,0.000,0.050,3013,2179,3396,0,0,0,0,0,0,28.83,25.68,28.83
$GC,973,-0.48,-146.0,126.0,-12.3,169,979,0.00,2.20,0.00,0.000,4,0.000,0.061,3003,3581,3397,0,0,0,0,0,0,28.83,25.66,28.83
$GC,1025,-0.48,-146.0,132.0,-13.3,172,1034,0.10,2.20,0.00,0.000,6,0.112,0.043,3049,2168,3396,0,0,0,0,0,0,25.58,25.84,28.83
$GC,1333,-0.48,-146.0,162.0,-8.7,193,1339,0.00,2.12,0.00,0.000,4,0.000,0.050,3050,781,3397,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1363,-0.48,-146.0,164.6,-8.7,195,1368,0.00,2.12,0.00,0.000,6,0.000,0.050,3043,2172,3397,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1677,-0.48,-146.0,194.5,-9.6,216,1683,0.00,2.22,0.00,0.000,4,0.000,0.063,3032,3581,3396,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1758,-0.48,-146.0,202.2,-9.7,221,1764,0.00,2.12,0.00,0.000,6,0.000,0.043,3032,2176,3397,0,0,0,0,0,0,28.83,25.92,28.83
$GC,2080,-0.48,-146.0,233.0,-9.6,237,2086,0.00,2.22,0.00,0.000,4,0.000,0.062,3021,3581,3397,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2139,-0.48,-146.0,239.1,-9.8,240,2144,0.00,2.15,0.00,0.000,6,0.000,0.043,3021,2171,3397,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2459,-0.48,-146.0,271.8,-10.5,256,2460,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2167,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2759,-0.48,-146.0,305.1,-11.3,271,2760,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2167,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3059,-0.48,-146.0,337.3,-10.1,286,3060,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2167,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3360,-0.48,-146.0,366.7,-9.8,301,3364,0.00,2.17,0.00,0.000,4,0.000,0.051,3021,764,3396,0,0,0,0,0,0,28.83,25.85,28.83
$GC,3395,-0.48,-146.0,368.9,-9.8,302,3402,0.00,2.20,0.00,0.000,6,0.000,0.051,3013,2180,3396,0,0,0,0,0,0,28.83,25.86,28.83
$GC,3702,-0.48,-146.0,401.8,-9.9,318,3707,0.00,2.22,0.00,0.000,4,0.000,0.063,3002,3582,3395,0,0,0,0,0,0,28.83,25.77,28.83
$GC,3732,-0.48,-146.0,404.8,-9.8,319,3738,0.10,2.15,0.00,0.000,6,0.111,0.044,3038,2171,3395,0,0,0,0,0,0,25.75,25.98,28.83
$GC,4062,-0.48,-146.0,430.7,-7.8,330,4063,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2169,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4362,-0.48,-146.0,454.7,-8.3,340,4368,0.00,2.28,0.00,0.000,4,0.000,0.063,3030,3592,3394,0,0,0,0,0,0,28.83,25.76,28.83
$GC,4394,-0.48,-146.0,457.4,-8.4,341,4398,0.00,2.17,0.00,0.000,6,0.000,0.045,3030,2171,3394,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4717,-0.48,-146.0,489.4,-10.1,352,4718,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2167,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5017,-0.48,-146.0,518.8,-9.8,362,5022,0.00,2.28,0.00,0.000,4,0.000,0.064,3020,3589,3394,0,0,0,0,0,0,28.83,25.75,28.83
$GC,5080,-0.48,-146.0,524.9,-10.0,364,5084,0.00,2.17,0.00,0.000,6,0.000,0.045,3020,2167,3393,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5402,-0.48,-146.0,555.0,-8.9,375,5403,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2164,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5702,-0.48,-146.0,579.9,-7.8,385,5708,0.00,2.28,0.00,0.000,4,0.000,0.064,3011,3581,3393,0,0,0,0,0,0,28.83,25.75,28.83
$GC,5732,-0.48,-146.0,582.4,-7.8,386,5739,0.12,2.17,0.00,0.000,6,0.128,0.046,3046,2171,3392,0,0,0,0,0,0,25.80,25.96,28.83
$GC,6063,-0.48,-146.0,602.5,-6.6,397,6064,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2167,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6362,-0.48,-146.0,623.7,-7.4,407,6368,0.00,2.28,0.00,0.000,4,0.000,0.065,3038,3584,3391,0,0,0,0,0,0,28.83,25.72,28.83
$GC,6425,-0.48,-146.0,628.3,-7.6,409,6429,0.00,2.17,0.00,0.000,6,0.000,0.046,3038,2167,3391,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6747,-0.48,-146.0,655.0,-8.2,420,6749,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2164,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7047,-0.48,-146.0,679.4,-7.8,430,7049,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2164,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7348,-0.48,-146.0,703.3,-8.0,440,7349,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2164,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7648,-0.48,-146.0,725.3,-7.1,450,7653,0.00,2.25,0.00,0.000,4,0.000,0.066,3028,3576,3389,0,0,0,0,0,0,28.83,25.70,28.83
$GC,7725,-0.48,-146.0,729.9,-7.4,452,7730,0.00,2.17,0.00,0.000,6,0.000,0.047,3028,2166,3389,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8033,-0.48,-146.0,752.7,-7.0,462,8039,0.00,2.25,0.00,0.000,4,0.000,0.065,3018,3580,3389,0,0,0,0,0,0,28.83,25.70,28.83
$GC,8101,-0.48,-146.0,757.2,-7.3,464,8105,0.00,2.17,0.00,0.000,6,0.000,0.047,3018,2167,3389,0,0,0,0,0,0,28.83,25.93,28.83
$GC,8418,-0.48,-146.0,781.2,-7.3,475,8424,0.00,2.25,0.00,0.000,4,0.000,0.067,3009,3574,3388,0,0,0,0,0,0,28.83,25.68,28.83
$GC,8457,-0.48,-146.0,783.5,-7.1,476,8461,0.12,2.17,0.00,0.000,6,0.129,0.048,3044,2164,3388,0,0,0,0,0,0,25.77,25.92,28.83
$GC,8775,-0.48,-146.0,801.3,-5.2,487,8776,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2162,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9075,-0.48,-146.0,816.7,-5.0,497,9081,0.00,2.30,0.00,0.000,4,0.000,0.067,3036,3582,3388,0,0,0,0,0,0,28.83,25.66,28.83
$GC,9108,-0.48,-146.0,818.2,-5.0,498,9112,0.00,2.17,0.00,0.000,6,0.000,0.048,3036,2176,3387,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9431,-0.48,-146.0,837.7,-6.0,509,9432,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2173,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9731,-0.48,-146.0,856.0,-6.1,519,9737,0.00,2.25,0.00,0.000,4,0.000,0.067,3027,3574,3387,0,0,0,0,0,0,28.83,25.64,28.83
$GC,9784,-0.48,-146.0,857.9,-6.1,520,9791,0.00,2.17,0.00,0.000,6,0.000,0.048,3027,2166,3387,0,0,0,0,0,0,28.83,25.90,28.83
$GC,10091,-0.48,-146.0,881.3,-7.1,531,10092,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2166,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10391,-0.48,-146.0,901.5,-6.7,541,10397,0.00,2.28,0.00,0.000,4,0.000,0.067,3017,3576,3386,0,0,0,0,0,0,28.83,25.63,28.83
$GC,10439,-0.48,-146.0,903.6,-6.6,542,10443,0.00,2.17,0.00,0.000,6,0.000,0.049,3017,2171,3386,0,0,0,0,0,0,28.83,25.89,28.83
$GC,10746,-0.48,-146.0,925.1,-6.5,552,10747,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2170,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11046,-0.48,-146.0,945.3,-6.9,562,11052,0.00,2.28,0.00,0.000,4,0.000,0.067,3007,3581,3385,0,0,0,0,0,0,28.83,25.62,28.83
$GC,11079,-0.48,-146.0,947.4,-7.0,563,11084,0.12,2.17,0.00,0.000,6,0.129,0.048,3044,2177,3385,0,0,0,0,0,0,25.72,25.88,28.83
$GC,11402,-0.48,-146.0,966.0,-5.7,574,11407,0.00,2.25,0.00,0.000,4,0.000,0.068,3036,3577,3385,0,0,0,0,0,0,28.83,25.60,28.83
$GC,11450,-0.48,-146.0,967.8,-5.7,575,11455,0.00,2.17,0.00,0.000,6,0.000,0.050,3036,2176,3385,0,0,0,0,0,0,28.83,25.87,28.83
$GC,11757,-0.48,-146.0,987.7,-6.1,585,11763,0.00,2.25,0.00,0.000,4,0.000,0.067,3026,3573,3385,0,0,0,0,0,0,28.83,25.60,28.83
$GC,11789,-0.48,-146.0,989.5,-6.1,586,11794,0.00,2.17,0.00,0.000,6,0.000,0.049,3026,2172,3385,0,0,0,0,0,0,28.83,25.86,28.83
$STATE,11809,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11809,begin apogee
$GC,11817,-0.22,0.0,991.0,-6.1,587,11950,0.28,0.00,127.57,1.184,6,0.109,0.000,3122,2312,2794,0,0,0,0,0,0,25.78,28.83,23.46
$STATE,11951,end apogee,CONTROL_FINISHED_OK
$STATE,11952,begin climb
$GC,11954,0.48,146.0,993.8,0.0,591,12101,0.65,2.55,135.93,1.147,4,0.078,0.067,3344,3694,2197,0,0,0,0,0,0,24.46,23.44,22.60
$GC,12117,0.48,153.8,984.4,7.0,597,12131,0.00,2.38,8.32,0.937,6,0.000,0.048,3355,2307,2167,0,0,0,0,0,0,28.83,23.82,22.86
$GC,12440,0.48,153.8,950.2,10.1,608,12445,0.00,2.33,0.00,0.000,4,0.000,0.067,3355,3694,2159,0,0,0,0,0,0,28.83,24.86,28.83
$GC,12492,0.48,153.8,946.9,10.4,609,12499,0.00,2.28,0.00,0.000,6,0.000,0.049,3366,2305,2158,0,0,0,0,0,0,28.83,25.07,28.83
$GC,12799,0.48,153.8,909.3,11.4,620,12800,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,2298,2158,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13100,0.48,153.8,876.1,11.0,630,13101,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,2298,2157,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13399,0.48,153.8,845.5,9.8,640,13405,0.00,2.33,0.00,0.000,4,0.000,0.067,3366,3706,2156,0,0,0,0,0,0,28.83,25.51,28.83
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$STATE,23243,end climb,SURFACE_DEPTH_REACHED
$STATE,23243,begin surface coast
$FINISH,1.3,1.023305
$STATE,23287,end surface coast,CONTROL_FINISHED_OK
$STATE,23287,begin surface
$SM_CCo,23368,0.00,0.000,0,0,1394,343.42
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$TT8_MAMPS,0.026964,0.026964
$HUMID,43.73
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$TCM_TEMP,15.90
$XPDR_PINGS,1
$24V_AH,22.6,34.595
$10V_AH,10.1,28.845
$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
$DEVICE_SECS,21.900,174.175,434.025,0.000,0.000,25.723,40.638,187.612,0.250,0.000,31.626,3356.988,16582.324,540.826,2884.878,399.102,0.000,1936.299,0.000,2591.354,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296768
$DATA_FILE_SIZE,73685,1283
$CAP_FILE_SIZE,187933,0
$CFSIZE,260165632,237469696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.121,329.3,1
$GPS,081112,192335,4733.856,-12552.037,35,1.2,35,18.7