version: 66.11
glider: 187
mission: 2
dive: 258
start: 11 12 112 3 37 7
data:
$ID,187
$MISSION,2
$DIVE,258
$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,-1588080.6
$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,39
$R_STBD_OVSHOOT,23
$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
$GPS1,121112,032935,4711.874,-12632.154,61,1.4,61,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-70.8
$GPS2,121112,033637,4711.864,-12632.174,10,1.7,10,18.6
$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,221.1,41449,-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,-146.0,0.0,0.0,0,86,0.00,0.00,-67.10,0.000,2,0.000,0.000,106,2196,2728,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.48,-146.0,3.0,-2.6,11,124,11.45,2.30,-14.68,0.000,4,0.219,0.073,3023,3613,3391,0,0,0,0,0,0,24.98,25.43,25.98
$GC,187,-0.48,-146.0,24.7,-19.0,28,194,0.00,2.25,0.00,0.000,6,0.000,0.044,3023,2201,3393,0,0,0,0,0,0,28.83,25.56,28.83
$GC,505,-0.48,-146.0,72.2,-12.6,89,513,0.00,2.20,0.00,0.000,4,0.000,0.050,3023,784,3395,0,0,0,0,0,0,28.83,25.60,28.83
$GC,581,-0.48,-146.0,82.5,-13.2,103,588,0.00,2.22,0.00,0.000,6,0.000,0.050,3013,2212,3395,0,0,0,0,0,0,28.83,25.64,28.83
$GC,895,-0.48,-146.0,123.8,-12.7,160,900,0.00,2.22,0.00,0.000,4,0.000,0.050,3013,782,3395,0,0,0,0,0,0,28.83,25.69,28.83
$GC,941,-0.48,-146.0,129.3,-12.4,163,947,0.10,2.20,0.00,0.000,6,0.119,0.050,3040,2201,3395,0,0,0,0,0,0,25.51,25.72,28.83
$GC,1257,-0.48,-146.0,158.9,-9.4,184,1262,0.00,2.22,0.00,0.000,4,0.000,0.062,3031,3606,3395,0,0,0,0,0,0,28.83,25.66,28.83
$GC,1302,-0.48,-146.0,163.2,-9.5,187,1308,0.00,2.15,0.00,0.000,6,0.000,0.044,3031,2192,3396,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1616,-0.48,-146.0,192.6,-9.0,208,1620,0.00,2.15,0.00,0.000,4,0.000,0.050,3031,800,3396,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1665,-0.48,-146.0,196.9,-9.1,211,1669,0.00,2.17,0.00,0.000,6,0.000,0.050,3022,2201,3395,0,0,0,0,0,0,28.83,25.78,28.83
$GC,1985,-0.48,-146.0,228.3,-10.2,227,1990,0.00,2.22,0.00,0.000,4,0.000,0.063,3011,3609,3395,0,0,0,0,0,0,28.83,25.71,28.83
$GC,2044,-0.48,-146.0,234.7,-10.5,230,2050,0.00,2.15,0.00,0.000,6,0.000,0.044,3011,2196,3395,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2363,-0.48,-146.0,269.3,-10.9,246,2367,0.00,2.17,0.00,0.000,4,0.000,0.051,3011,790,3395,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2434,-0.48,-146.0,275.9,-10.8,249,2439,0.15,2.22,0.00,0.000,6,0.137,0.051,3045,2208,3395,0,0,0,0,0,0,25.65,25.81,28.83
$GC,2740,-0.48,-146.0,301.9,-8.0,264,2746,0.00,2.25,0.00,0.000,4,0.000,0.063,3036,3617,3395,0,0,0,0,0,0,28.83,25.71,28.83
$GC,2783,-0.48,-146.0,305.2,-8.1,266,2787,0.00,2.17,0.00,0.000,6,0.000,0.045,3036,2196,3395,0,0,0,0,0,0,28.83,25.93,28.83
$GC,3096,-0.48,-146.0,332.3,-8.7,282,3097,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2191,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3395,-0.48,-146.0,359.3,-8.9,297,3401,0.00,2.28,0.00,0.000,4,0.000,0.064,3026,3609,3394,0,0,0,0,0,0,28.83,25.70,28.83
$GC,3423,-0.48,-146.0,361.4,-9.2,298,3428,0.00,2.17,0.00,0.000,6,0.000,0.045,3026,2196,3394,0,0,0,0,0,0,28.83,25.92,28.83
$GC,3730,-0.48,-146.0,391.3,-9.3,313,3736,0.00,2.17,0.00,0.000,4,0.000,0.053,3025,788,3393,0,0,0,0,0,0,28.83,25.79,28.83
$GC,3758,-0.48,-146.0,393.3,-9.3,314,3762,0.00,2.20,0.00,0.000,6,0.000,0.053,3017,2202,3393,0,0,0,0,0,0,28.83,25.81,28.83
$GC,4066,-0.48,-146.0,423.4,-9.5,325,4071,0.00,2.22,0.00,0.000,4,0.000,0.065,3007,3606,3392,0,0,0,0,0,0,28.83,25.70,28.83
$GC,4108,-0.48,-146.0,426.4,-9.7,326,4113,0.12,2.20,0.00,0.000,6,0.133,0.046,3043,2193,3392,0,0,0,0,0,0,25.75,25.93,28.83
$GC,4421,-0.48,-146.0,453.1,-8.0,337,4422,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2188,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4721,-0.48,-146.0,476.5,-7.6,347,4722,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2188,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5021,-0.48,-146.0,498.8,-7.4,357,5022,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2188,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5321,-0.48,-146.0,520.5,-7.4,367,5322,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2188,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5622,-0.48,-146.0,542.3,-7.2,377,5627,0.00,2.28,0.00,0.000,4,0.000,0.066,3034,3603,3389,0,0,0,0,0,0,28.83,25.67,28.83
$GC,5659,-0.48,-146.0,544.7,-7.3,378,5663,0.00,2.17,0.00,0.000,6,0.000,0.047,3034,2195,3389,0,0,0,0,0,0,28.83,25.91,28.83
$GC,5976,-0.48,-146.0,570.1,-7.9,389,5977,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2192,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6276,-0.48,-146.0,593.5,-7.7,399,6278,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2192,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6576,-0.48,-146.0,615.3,-7.2,409,6578,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2192,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6876,-0.48,-146.0,635.7,-6.5,419,6882,0.00,2.28,0.00,0.000,4,0.000,0.067,3024,3607,3387,0,0,0,0,0,0,28.83,25.64,28.83
$GC,6919,-0.48,-146.0,637.8,-6.6,420,6923,0.00,2.20,0.00,0.000,6,0.000,0.048,3025,2194,3387,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7232,-0.48,-146.0,661.3,-7.3,431,7238,0.00,2.15,0.00,0.000,4,0.000,0.054,3025,805,3386,0,0,0,0,0,0,28.83,25.73,28.83
$GC,7270,-0.48,-146.0,663.5,-7.3,432,7274,0.00,2.20,0.00,0.000,6,0.000,0.054,3017,2209,3386,0,0,0,0,0,0,28.83,25.75,28.83
$GC,7587,-0.48,-146.0,689.3,-8.0,443,7593,0.00,2.25,0.00,0.000,4,0.000,0.067,3006,3610,3386,0,0,0,0,0,0,28.83,25.61,28.83
$GC,7625,-0.48,-146.0,691.8,-8.2,444,7630,0.12,2.20,0.00,0.000,6,0.130,0.047,3042,2204,3386,0,0,0,0,0,0,25.72,25.88,28.83
$GC,7943,-0.48,-146.0,714.2,-6.8,455,7944,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2200,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8244,-0.48,-146.0,734.8,-6.8,465,8249,0.00,2.20,0.00,0.000,4,0.000,0.055,3043,797,3385,0,0,0,0,0,0,28.83,25.70,28.83
$GC,8273,-0.48,-146.0,736.9,-6.7,466,8279,0.00,2.17,0.00,0.000,6,0.000,0.054,3036,2191,3385,0,0,0,0,0,0,28.83,25.73,28.83
$GC,8603,-0.48,-146.0,759.3,-6.5,477,8609,0.00,2.28,0.00,0.000,4,0.000,0.067,3026,3609,3385,0,0,0,0,0,0,28.83,25.58,28.83
$GC,8694,-0.48,-146.0,765.7,-6.9,480,8699,0.00,2.17,0.00,0.000,6,0.000,0.048,3026,2198,3384,0,0,0,0,0,0,28.83,25.86,28.83
$GC,9023,-0.48,-146.0,787.4,-6.4,491,9029,0.00,2.17,0.00,0.000,4,0.000,0.055,3025,797,3384,0,0,0,0,0,0,28.83,25.70,28.83
$GC,9056,-0.48,-146.0,789.4,-6.4,492,9060,0.00,2.20,0.00,0.000,6,0.000,0.055,3020,2202,3384,0,0,0,0,0,0,28.83,25.70,28.83
$GC,9379,-0.48,-146.0,811.8,-7.0,503,9385,0.00,2.30,0.00,0.000,4,0.000,0.068,3010,3620,3384,0,0,0,0,0,0,28.83,25.57,28.83
$GC,9432,-0.48,-146.0,814.0,-7.1,504,9439,0.12,2.20,0.00,0.000,6,0.129,0.046,3045,2189,3383,0,0,0,0,0,0,25.70,25.87,28.83
$GC,9739,-0.48,-146.0,833.5,-5.7,515,9745,0.00,2.30,0.00,0.000,4,0.000,0.068,3037,3607,3384,0,0,0,0,0,0,28.83,25.56,28.83
$GC,9768,-0.48,-146.0,835.4,-5.9,516,9774,0.00,2.20,0.00,0.000,6,0.000,0.047,3037,2189,3383,0,0,0,0,0,0,28.83,25.85,28.83
$GC,10099,-0.48,-146.0,857.3,-6.6,527,10100,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2187,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10399,-0.48,-146.0,877.8,-6.9,537,10404,0.00,2.30,0.00,0.000,4,0.000,0.067,3027,3606,3383,0,0,0,0,0,0,28.83,25.55,28.83
$GC,10446,-0.48,-146.0,879.9,-7.0,538,10451,0.00,2.20,0.00,0.000,6,0.000,0.049,3028,2192,3383,0,0,0,0,0,0,28.83,25.83,28.83
$GC,10753,-0.48,-146.0,903.4,-7.2,548,10759,0.00,2.33,0.00,0.000,4,0.000,0.068,3018,3608,3382,0,0,0,0,0,0,28.83,25.53,28.83
$GC,10793,-0.48,-146.0,905.8,-7.4,549,10799,0.00,2.20,0.00,0.000,6,0.000,0.048,3018,2193,3383,0,0,0,0,0,0,28.83,25.82,28.83
$GC,11113,-0.48,-146.0,932.0,-7.9,560,11114,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2191,3383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11413,-0.48,-146.0,955.8,-7.9,570,11415,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2191,3382,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11714,-0.48,-146.0,979.1,-7.7,580,11715,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2191,3382,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11860,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11861,begin apogee
$GC,11868,-0.22,0.0,990.4,-7.4,585,12000,0.30,0.00,127.25,1.180,6,0.112,0.000,3120,2334,2793,0,0,0,0,0,0,25.69,28.83,23.43
$STATE,12003,end apogee,CONTROL_FINISHED_OK
$STATE,12003,begin climb
$GC,12006,0.48,146.0,994.0,0.0,589,12147,0.68,0.00,137.10,1.144,6,0.080,0.000,3348,2334,2198,0,0,0,0,0,0,24.46,28.83,22.53
$GC,12437,0.48,146.0,958.9,9.9,604,12438,0.00,0.00,0.00,0.000,6,0.000,0.000,3348,2334,2188,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12733,0.48,146.0,929.6,9.8,614,12739,0.00,2.33,0.00,0.000,4,0.000,0.069,3348,3727,2186,0,0,0,0,0,0,28.83,25.18,28.83
$GC,12764,0.48,146.0,926.5,10.0,615,12769,0.00,2.25,0.00,0.000,6,0.000,0.050,3358,2332,2186,0,0,0,0,0,0,28.83,25.36,28.83
$GC,13093,0.48,146.0,892.5,10.1,626,13094,0.00,0.00,0.00,0.000,6,0.000,0.000,3359,2327,2185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13393,0.48,146.0,862.8,9.7,636,13399,0.00,2.33,0.00,0.000,4,0.000,0.069,3358,3726,2185,0,0,0,0,0,0,28.83,25.46,28.83
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$STATE,23927,end climb,SURFACE_DEPTH_REACHED
$STATE,23927,begin surface coast
$FINISH,1.1,1.012574
$STATE,23970,end surface coast,CONTROL_FINISHED_OK
$STATE,23970,begin surface
$SM_CCo,24051,0.00,0.000,0,0,1106,414.31
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$IRIDIUM_FIX,4657.54,-12633.81,111112,202053
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.13
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,19.60
$XPDR_PINGS,0
$24V_AH,22.5,36.388
$10V_AH,10.1,30.335
$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,21.975,174.600,486.200,0.000,0.000,27.352,41.364,221.373,0.000,0.000,13.430,3468.708,17065.176,589.981,2929.029,408.957,0.000,1990.091,0.000,2622.273,0.000,0.535,0.000
$DEVICE_MAMPS,218.790,82.620,1180.395,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,922.417,777.628,553.085,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,76696,1340
$CAP_FILE_SIZE,190409,0
$CFSIZE,260165632,236331008
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.037, 67.4,1
$GPS,121112,101906,4710.359,-12635.890,30,1.3,30,18.6