version: 66.11
glider: 187
mission: 2
dive: 255
start: 11 11 112 7 13 3
data:
$ID,187
$MISSION,2
$DIVE,255
$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,-1588076.8
$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,43
$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
$GPS1,111112,070606,4716.833,-12621.825,42,1.1,42,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-76.6
$GPS2,111112,071231,4716.899,-12621.883,12,1.8,12,18.6
$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,212.4,57423,-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,-146.0,0.0,0.0,0,91,0.00,0.00,-71.60,0.000,2,0.000,0.000,111,2189,2725,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.48,-146.0,3.2,-3.2,12,129,11.60,2.17,-14.35,0.000,4,0.223,0.063,3031,801,3391,0,0,0,0,0,0,24.96,25.47,26.00
$GC,303,-0.48,-146.0,44.3,-13.9,49,310,0.00,2.20,0.00,0.000,6,0.000,0.050,3023,2205,3394,0,0,0,0,0,0,28.83,25.52,28.83
$GC,623,-0.48,-146.0,88.5,-12.5,110,630,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2205,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,942,-0.48,-146.0,125.4,-11.3,166,947,0.00,2.17,0.00,0.000,4,0.000,0.048,3023,797,3397,0,0,0,0,0,0,28.83,25.67,28.83
$GC,990,-0.48,-146.0,130.2,-10.8,169,994,0.00,2.20,0.00,0.000,6,0.000,0.050,3013,2202,3397,0,0,0,0,0,0,28.83,25.70,28.83
$GC,1303,-0.48,-146.0,165.8,-11.8,190,1309,0.00,2.25,0.00,0.000,4,0.000,0.062,3003,3611,3397,0,0,0,0,0,0,28.83,25.63,28.83
$GC,1356,-0.48,-146.0,171.3,-12.2,193,1363,0.12,2.20,0.00,0.000,6,0.135,0.043,3037,2190,3397,0,0,0,0,0,0,25.65,25.83,28.83
$GC,1668,-0.48,-146.0,202.2,-8.7,214,1672,0.00,2.15,0.00,0.000,4,0.000,0.050,3038,797,3397,0,0,0,0,0,0,28.83,25.74,28.83
$GC,1693,-0.48,-146.0,204.2,-8.7,215,1697,0.00,2.17,0.00,0.000,6,0.000,0.050,3031,2200,3396,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2005,-0.48,-146.0,232.2,-8.8,231,2011,0.00,2.22,0.00,0.000,4,0.000,0.063,3021,3610,3397,0,0,0,0,0,0,28.83,25.66,28.83
$GC,2038,-0.48,-146.0,234.0,-8.9,232,2046,0.00,2.17,0.00,0.000,6,0.000,0.044,3021,2185,3397,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2345,-0.48,-146.0,265.0,-9.7,248,2346,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2185,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2645,-0.48,-146.0,292.7,-9.0,263,2651,0.00,2.28,0.00,0.000,4,0.000,0.063,3011,3609,3396,0,0,0,0,0,0,28.83,25.68,28.83
$GC,2674,-0.48,-146.0,294.6,-9.1,264,2678,0.00,2.15,0.00,0.000,6,0.000,0.044,3011,2203,3396,0,0,0,0,0,0,28.83,25.90,28.83
$GC,2982,-0.48,-146.0,325.9,-10.4,279,2988,0.12,2.15,0.00,0.000,4,0.148,0.050,3052,806,3396,0,0,0,0,0,0,26.00,25.77,28.83
$GC,3024,-0.48,-146.0,329.5,-9.6,281,3028,0.00,2.20,0.00,0.000,6,0.000,0.052,3045,2205,3396,0,0,0,0,0,0,28.83,25.78,28.83
$GC,3337,-0.48,-146.0,353.7,-7.7,297,3342,0.00,2.22,0.00,0.000,4,0.000,0.064,3034,3605,3394,0,0,0,0,0,0,28.83,25.68,28.83
$GC,3399,-0.48,-146.0,358.7,-8.1,300,3403,0.00,2.17,0.00,0.000,6,0.000,0.045,3034,2189,3395,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3712,-0.48,-146.0,385.5,-8.4,316,3713,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2187,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4011,-0.48,-146.0,412.1,-9.0,329,4017,0.00,2.30,0.00,0.000,4,0.000,0.064,3025,3614,3393,0,0,0,0,0,0,28.83,25.67,28.83
$GC,4049,-0.48,-146.0,414.9,-9.0,330,4053,0.00,2.17,0.00,0.000,6,0.000,0.046,3024,2201,3394,0,0,0,0,0,0,28.83,25.91,28.83
$GC,4367,-0.48,-146.0,445.1,-9.0,341,4368,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2198,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4667,-0.48,-146.0,471.3,-8.5,351,4668,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2198,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4966,-0.48,-146.0,496.5,-8.3,361,4967,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2198,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5267,-0.48,-146.0,522.5,-8.6,371,5268,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2198,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5566,-0.48,-146.0,549.5,-9.0,381,5567,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2198,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5867,-0.48,-146.0,576.2,-8.9,391,5868,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2198,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6166,-0.48,-146.0,601.4,-8.3,401,6167,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2198,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6467,-0.48,-146.0,625.5,-7.8,411,6473,0.00,2.28,0.00,0.000,4,0.000,0.067,3014,3614,3389,0,0,0,0,0,0,28.83,25.63,28.83
$GC,6489,-0.48,-146.0,625.5,-7.8,411,6496,0.00,2.20,0.00,0.000,6,0.000,0.047,3013,2192,3389,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6796,-0.48,-146.0,652.4,-8.2,422,6797,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2191,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7097,-0.48,-146.0,676.7,-8.1,432,7102,0.00,2.30,0.00,0.000,4,0.000,0.067,3004,3608,3388,0,0,0,0,0,0,28.83,25.60,28.83
$GC,7129,-0.48,-146.0,679.4,-8.2,433,7134,0.12,2.20,0.00,0.000,6,0.133,0.047,3039,2195,3387,0,0,0,0,0,0,25.71,25.88,28.83
$GC,7453,-0.48,-146.0,701.3,-6.6,444,7454,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2192,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7753,-0.48,-146.0,720.7,-6.5,454,7759,0.00,2.28,0.00,0.000,4,0.000,0.067,3031,3606,3387,0,0,0,0,0,0,28.83,25.59,28.83
$GC,7812,-0.48,-146.0,724.7,-6.6,456,7818,0.00,2.17,0.00,0.000,6,0.000,0.047,3031,2202,3387,0,0,0,0,0,0,28.83,25.87,28.83
$GC,8143,-0.48,-146.0,747.1,-6.8,467,8144,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2200,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8443,-0.48,-146.0,767.4,-6.6,477,8449,0.00,2.28,0.00,0.000,4,0.000,0.067,3021,3609,3386,0,0,0,0,0,0,28.83,25.58,28.83
$GC,8486,-0.48,-146.0,769.6,-6.7,478,8490,0.00,2.17,0.00,0.000,6,0.000,0.048,3022,2201,3386,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8798,-0.48,-146.0,793.3,-7.3,489,8799,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2199,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9099,-0.48,-146.0,815.1,-7.2,499,9104,0.00,2.28,0.00,0.000,4,0.000,0.068,3012,3607,3385,0,0,0,0,0,0,28.83,25.56,28.83
$GC,9127,-0.48,-146.0,817.7,-7.5,500,9133,0.00,2.20,0.00,0.000,6,0.000,0.048,3012,2194,3385,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9459,-0.48,-146.0,843.5,-7.7,511,9460,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2191,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9758,-0.48,-146.0,865.2,-7.2,521,9764,0.00,2.30,0.00,0.000,4,0.000,0.068,3003,3609,3384,0,0,0,0,0,0,28.83,25.56,28.83
$GC,9796,-0.48,-146.0,867.5,-7.3,522,9801,0.15,2.20,0.00,0.000,6,0.123,0.048,3046,2193,3384,0,0,0,0,0,0,25.65,25.84,28.83
$GC,10114,-0.48,-146.0,884.6,-5.1,533,10120,0.00,2.30,0.00,0.000,4,0.000,0.068,3038,3610,3384,0,0,0,0,0,0,28.83,25.55,28.83
$GC,10163,-0.48,-146.0,886.2,-5.2,534,10167,0.00,2.20,0.00,0.000,6,0.000,0.049,3039,2196,3384,0,0,0,0,0,0,28.83,25.84,28.83
$GC,10469,-0.48,-146.0,904.8,-5.7,544,10470,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2194,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10769,-0.48,-146.0,921.9,-5.7,554,10775,0.00,2.30,0.00,0.000,4,0.000,0.069,3029,3607,3383,0,0,0,0,0,0,28.83,25.53,28.83
$GC,10803,-0.48,-146.0,923.6,-5.8,555,10807,0.00,2.20,0.00,0.000,6,0.000,0.048,3029,2194,3383,0,0,0,0,0,0,28.83,25.84,28.83
$GC,11125,-0.48,-146.0,944.2,-6.4,566,11126,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2191,3383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11425,-0.48,-146.0,963.3,-6.4,576,11427,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2191,3383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11725,-0.48,-146.0,982.6,-6.5,586,11726,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2191,3383,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11842,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11842,begin apogee
$GC,11849,-0.22,0.0,990.3,-6.4,590,11981,0.28,0.00,128.00,1.180,6,0.110,0.000,3124,2333,2794,0,0,0,0,0,0,25.76,28.83,23.40
$STATE,11984,end apogee,CONTROL_FINISHED_OK
$STATE,11985,begin climb
$GC,11987,0.48,146.0,993.4,0.0,594,12128,0.65,0.00,137.62,1.143,6,0.078,0.000,3346,2333,2198,0,0,0,0,0,0,24.44,28.83,22.51
$GC,12415,0.48,146.0,959.3,9.4,609,12416,0.00,0.00,0.00,0.000,6,0.000,0.000,3346,2333,2188,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12715,0.48,146.0,931.2,9.4,619,12716,0.00,0.00,0.00,0.000,6,0.000,0.000,3346,2333,2186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13015,0.48,146.0,903.2,9.3,629,13016,0.00,0.00,0.00,0.000,6,0.000,0.000,3346,2333,2186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13315,0.48,146.0,876.6,8.8,639,13316,0.00,0.00,0.00,0.000,6,0.000,0.000,3346,2333,2185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13615,0.48,146.0,850.3,8.9,649,13620,0.00,2.33,0.00,0.000,4,0.000,0.070,3346,3735,2185,0,0,0,0,0,0,28.83,25.47,28.83
$GC,13653,0.48,146.0,847.4,8.9,650,13657,0.00,2.25,0.00,0.000,6,0.000,0.051,3355,2327,2184,0,0,0,0,0,0,28.83,25.66,28.83
$GC,13970,0.48,146.0,816.9,9.3,661,13971,0.00,0.00,0.00,0.000,6,0.000,0.000,3356,2323,2184,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14270,0.48,146.0,788.4,9.7,671,14276,0.00,2.30,0.00,0.000,4,0.000,0.070,3356,3727,2184,0,0,0,0,0,0,28.83,25.53,28.83
$GC,14301,0.48,146.0,785.2,9.9,672,14306,0.00,2.22,0.00,0.000,6,0.000,0.051,3365,2322,2183,0,0,0,0,0,0,28.83,25.72,28.83
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$STATE,23813,end climb,SURFACE_DEPTH_REACHED
$STATE,23813,begin surface coast
$FINISH,1.4,1.024356
$STATE,23860,end surface coast,CONTROL_FINISHED_OK
$STATE,23860,begin surface
$SM_CCo,23940,0.00,0.000,0,0,1187,394.20
$SM_GC,2.17,8.38,0.20,0.00,0.025,0.073,0.000,110,2201,1187,-9.46,1.22,394.20,0,0,0,0,0,0,25.60,25.51,28.83
$IRIDIUM_FIX,4703.87,-12619.16,111112,000027
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.32
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,19.10
$XPDR_PINGS,1
$24V_AH,22.5,35.975
$10V_AH,10.1,29.986
$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,21.950,156.850,468.300,0.000,0.000,28.126,34.944,189.338,0.250,0.000,13.200,3428.134,17116.977,582.145,2797.459,391.248,0.000,1923.358,0.000,2525.838,0.000,0.535,0.000
$DEVICE_MAMPS,223.380,83.385,1179.630,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,918.077,767.190,540.168,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73581,1334
$CAP_FILE_SIZE,182903,0
$CFSIZE,260165632,236601344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.058, 33.6,1
$GPS,111112,135323,4715.363,-12625.274,42,1.0,42,18.6