version: 66.11
glider: 187
mission: 2
dive: 247
start: 11 9 112 2 4 50
data:
$ID,187
$MISSION,2
$DIVE,247
$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,-1588066
$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,41
$R_STBD_OVSHOOT,28
$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
$GPS1,091112,015735,4732.041,-12554.744,39,0.9,39,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-76.3
$GPS2,091112,020419,4732.026,-12554.698,8,1.6,8,18.7
$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,182.7,101592,-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,-146.0,0.0,0.0,0,88,0.00,0.00,-69.82,0.000,2,0.000,0.000,130,2191,2799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.48,-146.0,3.2,-3.0,11,126,11.40,2.22,-12.60,0.000,4,0.222,0.063,3033,802,3393,0,0,0,0,0,0,25.02,25.53,26.01
$GC,359,-0.48,-146.0,53.6,-11.8,61,366,0.00,2.20,0.00,0.000,6,0.000,0.050,3025,2199,3396,0,0,0,0,0,0,28.83,25.61,28.83
$GC,674,-0.48,-146.0,91.5,-11.3,122,681,0.00,2.17,0.00,0.000,4,0.000,0.049,3025,793,3397,0,0,0,0,0,0,28.83,25.70,28.83
$GC,724,-0.48,-146.0,97.3,-10.9,131,731,0.00,2.20,0.00,0.000,6,0.000,0.050,3015,2207,3397,0,0,0,0,0,0,28.83,25.71,28.83
$GC,1047,-0.48,-146.0,135.7,-11.3,176,1053,0.00,2.22,0.00,0.000,4,0.000,0.061,3004,3608,3397,0,0,0,0,0,0,28.83,25.69,28.83
$GC,1100,-0.48,-146.0,141.1,-12.0,179,1108,0.12,2.15,0.00,0.000,6,0.136,0.043,3039,2195,3397,0,0,0,0,0,0,25.69,25.86,28.83
$GC,1409,-0.48,-146.0,172.3,-9.3,200,1414,0.00,2.12,0.00,0.000,4,0.000,0.050,3039,804,3397,0,0,0,0,0,0,28.83,25.80,28.83
$GC,1468,-0.48,-146.0,178.1,-9.8,204,1473,0.00,2.15,0.00,0.000,6,0.000,0.050,3032,2203,3397,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1787,-0.48,-146.0,208.8,-10.1,224,1789,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2203,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2087,-0.48,-146.0,239.6,-10.1,239,2093,0.00,2.22,0.00,0.000,4,0.000,0.063,3021,3610,3397,0,0,0,0,0,0,28.83,25.76,28.83
$GC,2128,-0.48,-146.0,243.8,-10.2,241,2133,0.00,2.15,0.00,0.000,6,0.000,0.043,3021,2188,3397,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2447,-0.48,-146.0,276.2,-9.9,257,2453,0.00,2.28,0.00,0.000,4,0.000,0.063,3011,3614,3397,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2475,-0.48,-146.0,278.2,-9.9,258,2479,0.00,2.15,0.00,0.000,6,0.000,0.044,3011,2201,3397,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2783,-0.48,-146.0,311.9,-10.7,273,2784,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2195,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3084,-0.48,-146.0,342.2,-10.1,288,3085,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2194,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3383,-0.48,-146.0,374.0,-10.4,303,3387,0.00,2.25,0.00,0.000,4,0.000,0.063,3001,3608,3396,0,0,0,0,0,0,28.83,25.78,28.83
$GC,3445,-0.48,-146.0,380.6,-10.6,306,3451,0.10,2.12,0.00,0.000,6,0.111,0.044,3037,2195,3396,0,0,0,0,0,0,25.75,25.98,28.83
$GC,3765,-0.48,-146.0,405.2,-7.4,321,3770,0.00,2.25,0.00,0.000,4,0.000,0.063,3029,3607,3396,0,0,0,0,0,0,28.83,25.77,28.83
$GC,3803,-0.48,-146.0,407.5,-7.5,322,3807,0.00,2.15,0.00,0.000,6,0.000,0.045,3029,2195,3395,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4120,-0.48,-146.0,433.0,-7.9,333,4121,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2191,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4420,-0.48,-146.0,456.6,-7.8,343,4426,0.00,2.28,0.00,0.000,4,0.000,0.064,3019,3614,3395,0,0,0,0,0,0,28.83,25.77,28.83
$GC,4450,-0.48,-146.0,459.1,-8.2,344,4456,0.00,2.15,0.00,0.000,6,0.000,0.045,3019,2203,3395,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4780,-0.48,-146.0,488.6,-9.1,355,4781,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2199,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5080,-0.48,-146.0,514.4,-8.3,365,5086,0.00,2.25,0.00,0.000,4,0.000,0.065,3009,3607,3394,0,0,0,0,0,0,28.83,25.75,28.83
$GC,5103,-0.48,-146.0,514.4,-8.3,365,5112,0.12,2.15,0.00,0.000,6,0.132,0.046,3045,2196,3394,0,0,0,0,0,0,25.81,25.98,28.83
$GC,5410,-0.48,-146.0,535.7,-6.0,376,5411,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2195,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5711,-0.48,-146.0,554.1,-6.4,386,5716,0.00,2.28,0.00,0.000,4,0.000,0.066,3037,3607,3393,0,0,0,0,0,0,28.83,25.75,28.83
$GC,5764,-0.48,-146.0,556.1,-6.5,387,5770,0.00,2.15,0.00,0.000,6,0.000,0.046,3036,2200,3393,0,0,0,0,0,0,28.83,25.98,28.83
$GC,6070,-0.48,-146.0,581.2,-7.9,398,6071,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2198,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6370,-0.48,-146.0,605.3,-7.7,408,6376,0.00,2.30,0.00,0.000,4,0.000,0.067,3026,3617,3391,0,0,0,0,0,0,28.83,25.72,28.83
$GC,6403,-0.48,-146.0,607.7,-7.7,409,6407,0.00,2.17,0.00,0.000,6,0.000,0.047,3026,2199,3392,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6730,-0.48,-146.0,634.3,-7.7,420,6736,0.00,2.28,0.00,0.000,4,0.000,0.066,3016,3610,3391,0,0,0,0,0,0,28.83,25.72,28.83
$GC,6768,-0.48,-146.0,636.5,-7.7,421,6772,0.00,2.17,0.00,0.000,6,0.000,0.047,3016,2191,3391,0,0,0,0,0,0,28.83,25.95,28.83
$GC,7086,-0.48,-146.0,661.8,-7.9,432,7087,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2188,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7386,-0.48,-146.0,685.5,-8.1,442,7391,0.00,2.25,0.00,0.000,4,0.000,0.066,3007,3602,3390,0,0,0,0,0,0,28.83,25.71,28.83
$GC,7415,-0.48,-146.0,688.1,-8.4,443,7422,0.12,2.15,0.00,0.000,6,0.132,0.047,3042,2202,3390,0,0,0,0,0,0,25.78,25.94,28.83
$GC,7747,-0.48,-146.0,711.9,-7.3,454,7748,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2197,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8046,-0.48,-146.0,732.9,-6.7,464,8051,0.00,2.25,0.00,0.000,4,0.000,0.067,3034,3607,3390,0,0,0,0,0,0,28.83,25.69,28.83
$GC,8084,-0.48,-146.0,735.0,-6.7,465,8088,0.00,2.17,0.00,0.000,6,0.000,0.047,3034,2189,3390,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8402,-0.48,-146.0,756.8,-6.6,476,8403,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2187,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8702,-0.48,-146.0,776.8,-6.9,486,8707,0.00,2.28,0.00,0.000,4,0.000,0.067,3025,3609,3389,0,0,0,0,0,0,28.83,25.67,28.83
$GC,8794,-0.48,-146.0,783.5,-7.3,489,8798,0.00,2.17,0.00,0.000,6,0.000,0.047,3025,2196,3389,0,0,0,0,0,0,28.83,25.92,28.83
$GC,9116,-0.48,-146.0,809.5,-8.0,500,9122,0.00,2.15,0.00,0.000,4,0.000,0.054,3025,798,3388,0,0,0,0,0,0,28.83,25.77,28.83
$GC,9146,-0.48,-146.0,812.0,-8.1,501,9152,0.00,2.20,0.00,0.000,6,0.000,0.054,3017,2202,3389,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9476,-0.48,-146.0,839.7,-8.5,512,9482,0.00,2.25,0.00,0.000,4,0.000,0.067,3007,3606,3388,0,0,0,0,0,0,28.83,25.65,28.83
$GC,9560,-0.48,-146.0,845.0,-8.7,514,9567,0.12,2.17,0.00,0.000,6,0.130,0.048,3043,2189,3388,0,0,0,0,0,0,25.75,25.91,28.83
$GC,9866,-0.48,-146.0,865.0,-5.6,525,9872,0.00,2.28,0.00,0.000,4,0.000,0.067,3034,3605,3388,0,0,0,0,0,0,28.83,25.65,28.83
$GC,9910,-0.48,-146.0,866.9,-5.6,526,9914,0.00,2.17,0.00,0.000,6,0.000,0.048,3034,2195,3387,0,0,0,0,0,0,28.83,25.90,28.83
$GC,10222,-0.48,-146.0,886.5,-6.1,537,10228,0.00,2.28,0.00,0.000,4,0.000,0.067,3025,3609,3387,0,0,0,0,0,0,28.83,25.63,28.83
$GC,10252,-0.48,-146.0,888.3,-6.2,538,10258,0.00,2.15,0.00,0.000,6,0.000,0.047,3025,2205,3387,0,0,0,0,0,0,28.83,25.91,28.83
$GC,10583,-0.48,-146.0,910.1,-6.6,549,10586,0.00,2.20,0.00,0.000,4,0.000,0.056,3025,797,3387,0,0,0,0,0,0,28.83,25.73,28.83
$GC,10638,-0.48,-146.0,912.3,-6.7,550,10644,0.00,2.20,0.00,0.000,6,0.000,0.055,3017,2203,3386,0,0,0,0,0,0,28.83,25.75,28.83
$GC,10945,-0.48,-146.0,935.6,-7.2,561,10950,0.00,2.22,0.00,0.000,4,0.000,0.067,3007,3600,3386,0,0,0,0,0,0,28.83,25.63,28.83
$GC,11023,-0.48,-146.0,940.3,-7.6,563,11028,0.12,2.17,0.00,0.000,6,0.130,0.048,3042,2189,3386,0,0,0,0,0,0,25.72,25.88,28.83
$GC,11330,-0.48,-146.0,960.2,-5.7,573,11336,0.00,2.28,0.00,0.000,4,0.000,0.068,3035,3602,3386,0,0,0,0,0,0,28.83,25.60,28.83
$GC,11378,-0.48,-146.0,962.2,-5.9,574,11387,0.00,2.17,0.00,0.000,6,0.000,0.049,3034,2192,3386,0,0,0,0,0,0,28.83,25.86,28.83
$GC,11690,-0.48,-146.0,982.7,-6.1,585,11691,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2192,3385,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11807,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11807,begin apogee
$GC,11814,-0.22,0.0,990.3,-6.3,589,11946,0.25,0.00,127.78,1.183,6,0.111,0.000,3122,2336,2793,0,0,0,0,0,0,25.83,28.83,23.48
$STATE,11949,end apogee,CONTROL_FINISHED_OK
$STATE,11949,begin climb
$GC,11952,0.48,146.0,994.1,0.0,593,12097,0.65,2.55,135.82,1.147,4,0.079,0.067,3344,3722,2197,0,0,0,0,0,0,24.47,23.44,22.61
$GC,12110,0.49,171.2,985.9,6.4,599,12140,0.00,2.35,24.42,1.073,6,0.000,0.048,3355,2342,2096,0,0,0,0,0,0,28.83,23.77,22.72
$GC,12440,0.49,171.2,953.4,9.9,610,12446,0.00,2.30,0.00,0.000,4,0.000,0.057,3365,924,2086,0,0,0,0,0,0,28.83,24.87,28.83
$GC,12483,0.49,171.2,950.3,10.0,611,12487,0.00,2.28,0.00,0.000,6,0.000,0.057,3365,2317,2085,0,0,0,0,0,0,28.83,24.96,28.83
$GC,12796,0.49,171.2,914.9,11.4,622,12801,0.00,2.33,0.00,0.000,4,0.000,0.069,3365,3730,2084,0,0,0,0,0,0,28.83,25.29,28.83
$GC,12828,0.49,171.2,911.1,11.7,623,12832,0.00,2.25,0.00,0.000,6,0.000,0.050,3375,2324,2084,0,0,0,0,0,0,28.83,25.44,28.83
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$STATE,22669,end climb,SURFACE_DEPTH_REACHED
$STATE,22669,begin surface coast
$FINISH,1.2,1.005319
$STATE,22708,end surface coast,CONTROL_FINISHED_OK
$STATE,22708,begin surface
$SM_CCo,22788,0.00,0.000,0,0,1191,393.22
$SM_GC,2.01,8.38,0.20,0.00,0.027,0.070,0.000,121,2197,1191,-9.47,1.02,393.22,0,0,0,0,0,0,25.74,25.70,28.83
$IRIDIUM_FIX,4716.56,-12549.68,081112,191940
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.13
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,14.90
$XPDR_PINGS,0
$24V_AH,22.6,34.877
$10V_AH,10.1,29.075
$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
$DEVICE_SECS,22.175,214.150,466.350,0.000,0.000,27.841,37.666,208.202,0.000,0.000,11.036,3355.518,15863.771,590.242,2955.926,414.937,0.000,2051.700,0.000,2659.183,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,877.639,747.642,514.859,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70134,1277
$CAP_FILE_SIZE,196049,0
$CFSIZE,260165632,237285376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.124,330.6,1
$GPS,091112,082559,4730.158,-12557.602,43,1.0,43,18.7