version: 66.11
glider: 187
mission: 2
dive: 261
start: 11 12 112 23 29 14
data:
$ID,187
$MISSION,2
$DIVE,261
$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,-1588084.6
$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,38
$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
$GPS1,121112,232200,4707.061,-12642.988,47,1.5,47,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-77.0
$GPS2,121112,232842,4707.022,-12642.886,12,1.5,17,18.6
$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,225.3,25227,-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,-146.0,0.0,0.0,0,80,0.00,0.00,-61.12,0.000,2,0.000,0.000,116,2189,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.48,-146.0,3.3,-4.2,10,119,11.50,2.28,-16.42,0.000,4,0.220,0.064,3035,786,3392,0,0,0,0,0,0,24.95,25.49,26.02
$GC,223,-0.48,-146.0,31.0,-17.6,34,230,0.00,2.28,0.00,0.000,6,0.000,0.052,3027,2201,3395,0,0,0,0,0,0,28.83,25.50,28.83
$GC,549,-0.48,-146.0,77.4,-13.9,95,556,0.00,2.25,0.00,0.000,4,0.000,0.062,3016,3609,3397,0,0,0,0,0,0,28.83,25.52,28.83
$GC,589,-0.48,-146.0,82.7,-13.0,102,595,0.00,2.17,0.00,0.000,6,0.000,0.043,3016,2196,3397,0,0,0,0,0,0,28.83,25.71,28.83
$GC,909,-0.48,-146.0,123.8,-11.2,159,914,0.00,2.12,0.00,0.000,4,0.000,0.050,3015,806,3397,0,0,0,0,0,0,28.83,25.67,28.83
$GC,977,-0.48,-146.0,130.8,-11.6,163,984,0.12,2.17,0.00,0.000,6,0.142,0.050,3042,2204,3397,0,0,0,0,0,0,25.55,25.69,28.83
$GC,1284,-0.48,-146.0,159.0,-8.8,184,1289,0.00,2.25,0.00,0.000,4,0.000,0.062,3033,3613,3397,0,0,0,0,0,0,28.83,25.63,28.83
$GC,1332,-0.48,-146.0,163.0,-8.8,187,1336,0.00,2.17,0.00,0.000,6,0.000,0.043,3033,2195,3397,0,0,0,0,0,0,28.83,25.83,28.83
$GC,1641,-0.48,-146.0,194.0,-10.4,207,1642,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2192,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1940,-0.48,-146.0,225.2,-10.0,223,1941,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2191,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2240,-0.48,-146.0,254.4,-9.7,238,2241,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2191,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2540,-0.48,-146.0,283.5,-9.5,253,2541,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2192,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2840,-0.48,-146.0,311.6,-9.2,268,2845,0.00,2.28,0.00,0.000,4,0.000,0.063,3023,3609,3397,0,0,0,0,0,0,28.83,25.67,28.83
$GC,2864,-0.48,-146.0,313.6,-9.3,269,2870,0.00,2.17,0.00,0.000,6,0.000,0.045,3023,2193,3397,0,0,0,0,0,0,28.83,25.90,28.83
$GC,3180,-0.48,-146.0,344.4,-9.6,285,3181,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2189,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3479,-0.48,-146.0,372.6,-9.3,300,3481,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2188,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3780,-0.48,-146.0,400.0,-9.2,315,3781,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2188,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4100,-0.48,-146.0,429.9,-9.3,326,4101,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2189,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4400,-0.48,-146.0,456.7,-8.8,336,4401,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2188,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4700,-0.48,-146.0,482.9,-8.8,346,4706,0.00,2.30,0.00,0.000,4,0.000,0.065,3012,3608,3394,0,0,0,0,0,0,28.83,25.65,28.83
$GC,4729,-0.48,-146.0,485.6,-8.9,347,4736,0.00,2.17,0.00,0.000,6,0.000,0.047,3012,2202,3394,0,0,0,0,0,0,28.83,25.90,28.83
$GC,5060,-0.48,-146.0,516.0,-9.3,358,5061,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2199,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5360,-0.48,-146.0,543.7,-9.1,368,5366,0.00,2.25,0.00,0.000,4,0.000,0.067,3002,3606,3392,0,0,0,0,0,0,28.83,25.63,28.83
$GC,5390,-0.48,-146.0,546.3,-9.1,369,5396,0.10,2.15,0.00,0.000,6,0.108,0.047,3039,2206,3392,0,0,0,0,0,0,25.66,25.89,28.83
$GC,5720,-0.48,-146.0,571.2,-7.5,380,5721,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2204,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6020,-0.48,-146.0,593.0,-7.1,390,6026,0.00,2.25,0.00,0.000,4,0.000,0.067,3031,3606,3391,0,0,0,0,0,0,28.83,25.60,28.83
$GC,6063,-0.48,-146.0,595.2,-7.1,391,6067,0.00,2.17,0.00,0.000,6,0.000,0.047,3031,2196,3391,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6375,-0.48,-146.0,619.8,-7.5,402,6376,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2194,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6676,-0.48,-146.0,641.5,-7.1,412,6677,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2194,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6975,-0.48,-146.0,661.7,-6.7,422,6977,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2194,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7275,-0.48,-146.0,682.5,-7.0,432,7281,0.00,2.28,0.00,0.000,4,0.000,0.067,3021,3606,3389,0,0,0,0,0,0,28.83,25.58,28.83
$GC,7314,-0.48,-146.0,684.6,-7.0,433,7318,0.00,2.17,0.00,0.000,6,0.000,0.048,3021,2199,3389,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7631,-0.48,-146.0,708.9,-7.4,444,7636,0.00,2.17,0.00,0.000,4,0.000,0.055,3020,803,3389,0,0,0,0,0,0,28.83,25.69,28.83
$GC,7663,-0.48,-146.0,711.2,-7.5,445,7668,0.00,2.17,0.00,0.000,6,0.000,0.055,3012,2199,3388,0,0,0,0,0,0,28.83,25.71,28.83
$GC,7991,-0.48,-146.0,736.5,-7.6,456,7997,0.00,2.30,0.00,0.000,4,0.000,0.067,3002,3611,3388,0,0,0,0,0,0,28.83,25.56,28.83
$GC,8051,-0.48,-146.0,741.3,-7.7,458,8057,0.15,2.20,0.00,0.000,6,0.126,0.048,3045,2196,3388,0,0,0,0,0,0,25.64,25.84,28.83
$GC,8381,-0.48,-146.0,758.8,-5.0,469,8383,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2193,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8682,-0.48,-146.0,774.1,-5.1,479,8687,0.00,2.28,0.00,0.000,4,0.000,0.067,3037,3605,3387,0,0,0,0,0,0,28.83,25.55,28.83
$GC,8724,-0.48,-146.0,775.9,-5.2,480,8728,0.00,2.17,0.00,0.000,6,0.000,0.048,3037,2203,3387,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9037,-0.48,-146.0,796.1,-6.5,491,9042,0.00,2.28,0.00,0.000,4,0.000,0.067,3027,3609,3387,0,0,0,0,0,0,28.83,25.56,28.83
$GC,9067,-0.48,-146.0,798.2,-6.5,492,9072,0.00,2.17,0.00,0.000,6,0.000,0.048,3027,2204,3387,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9396,-0.48,-146.0,823.1,-7.7,503,9397,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2203,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9697,-0.48,-146.0,846.8,-8.0,513,9702,0.00,2.30,0.00,0.000,4,0.000,0.068,3018,3607,3387,0,0,0,0,0,0,28.83,25.52,28.83
$GC,9757,-0.48,-146.0,851.9,-8.3,515,9762,0.00,2.20,0.00,0.000,6,0.000,0.049,3018,2191,3387,0,0,0,0,0,0,28.83,25.82,28.83
$GC,10086,-0.48,-146.0,879.4,-8.3,526,10087,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2189,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10386,-0.48,-146.0,903.9,-8.1,536,10392,0.00,2.30,0.00,0.000,4,0.000,0.068,3008,3607,3385,0,0,0,0,0,0,28.83,25.51,28.83
$GC,10447,-0.48,-146.0,909.2,-8.4,538,10453,0.12,2.22,0.00,0.000,6,0.131,0.049,3043,2192,3386,0,0,0,0,0,0,25.64,25.80,28.83
$GC,10777,-0.48,-146.0,929.9,-5.9,549,10778,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2190,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11077,-0.48,-146.0,946.4,-5.5,559,11083,0.00,2.33,0.00,0.000,4,0.000,0.068,3035,3610,3386,0,0,0,0,0,0,28.83,25.49,28.83
$GC,11115,-0.48,-146.0,948.1,-5.5,560,11118,0.00,2.20,0.00,0.000,6,0.000,0.050,3035,2201,3385,0,0,0,0,0,0,28.83,25.80,28.83
$GC,11437,-0.48,-146.0,965.9,-5.2,571,11438,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2200,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11738,-0.48,-146.0,981.2,-5.3,581,11743,0.00,2.28,0.00,0.000,4,0.000,0.069,3025,3608,3384,0,0,0,0,0,0,28.83,25.47,28.83
$GC,11805,-0.48,-146.0,984.8,-5.7,583,11809,0.00,2.20,0.00,0.000,6,0.000,0.049,3025,2195,3384,0,0,0,0,0,0,28.83,25.78,28.83
$STATE,11879,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11879,begin apogee
$GC,11886,-0.22,0.0,990.0,-6.1,586,12022,0.28,0.00,128.48,1.178,6,0.110,0.000,3120,2336,2794,0,0,0,0,0,0,25.73,28.83,23.38
$STATE,12023,end apogee,CONTROL_FINISHED_OK
$STATE,12023,begin climb
$GC,12025,0.48,146.0,992.7,0.0,590,12172,0.65,2.53,136.85,1.141,4,0.079,0.066,3343,3730,2197,0,0,0,0,0,0,24.43,23.38,22.51
$GC,12194,0.49,178.1,986.6,6.1,595,12236,0.00,2.40,30.52,1.085,6,0.000,0.049,3353,2330,2067,0,0,0,0,0,0,28.83,23.82,22.63
$GC,12536,0.49,178.1,947.3,10.2,607,12541,0.00,2.33,0.00,0.000,4,0.000,0.058,3364,920,2058,0,0,0,0,0,0,28.83,24.82,28.83
$GC,12559,0.49,178.1,947.3,10.2,607,12565,0.00,2.30,0.00,0.000,6,0.000,0.056,3364,2322,2057,0,0,0,0,0,0,28.83,24.88,28.83
$GC,12866,0.49,178.1,912.2,10.6,618,12872,0.00,2.33,0.00,0.000,4,0.000,0.069,3364,3738,2056,0,0,0,0,0,0,28.83,25.22,28.83
$GC,12898,0.49,178.1,908.5,10.9,619,12902,0.00,2.28,0.00,0.000,6,0.000,0.050,3374,2323,2056,0,0,0,0,0,0,28.83,25.39,28.83
$GC,13221,0.49,178.1,869.7,12.0,630,13222,0.00,0.00,0.00,0.000,6,0.000,0.000,3374,2318,2055,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13521,0.49,178.1,833.3,12.2,640,13522,0.00,0.00,0.00,0.000,6,0.000,0.000,3374,2318,2055,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13821,0.49,178.1,798.7,11.3,650,13822,0.00,0.00,0.00,0.000,6,0.000,0.000,3374,2318,2055,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14121,0.49,178.1,765.7,10.9,660,14126,0.00,2.35,0.00,0.000,4,0.000,0.070,3374,3742,2054,0,0,0,0,0,0,28.83,25.53,28.83
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$STATE,23102,end climb,SURFACE_DEPTH_REACHED
$STATE,23102,begin surface coast
$FINISH,1.3,1.001007
$STATE,23158,end surface coast,CONTROL_FINISHED_OK
$STATE,23158,begin surface
$SM_CCo,23238,0.00,0.000,0,0,1568,300.74
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$IRIDIUM_FIX,4648.08,-12702.31,121112,161606
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.88
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.30
$XPDR_PINGS,0
$24V_AH,22.5,36.800
$10V_AH,10.1,30.668
$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,21.775,153.550,398.000,0.000,0.000,24.757,48.899,193.664,0.000,0.000,18.094,3388.260,16494.680,486.279,2872.650,392.889,0.000,1853.775,0.000,2583.550,0.000,0.536,0.000
$DEVICE_MAMPS,220.320,83.385,1178.100,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,899.322,757.084,551.018,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73514,1304
$CAP_FILE_SIZE,180715,0
$CFSIZE,260165632,236089344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.086,110.4,1
$GPS,131112,055759,4705.124,-12646.230,44,1.0,49,18.6