version: 66.11
glider: 187
mission: 2
dive: 263
start: 11 13 112 12 39 57
data:
$ID,187
$MISSION,2
$DIVE,263
$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,-1588087.2
$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,37
$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
$GPS1,131112,123229,4704.444,-12649.831,40,1.3,40,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-76.9
$GPS2,131112,123925,4704.461,-12649.748,15,1.5,15,18.6
$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,230.5,15360,-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,-146.0,0.0,0.0,0,79,0.00,0.00,-59.88,0.000,2,0.000,0.000,108,2208,2669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.48,-146.0,3.3,-3.3,10,118,11.50,2.28,-16.17,0.000,4,0.220,0.073,3026,3607,3392,0,0,0,0,0,0,25.01,25.46,26.04
$GC,228,-0.48,-146.0,32.4,-18.3,35,235,0.00,2.20,0.00,0.000,6,0.000,0.043,3026,2193,3394,0,0,0,0,0,0,28.83,25.62,28.83
$GC,553,-0.48,-146.0,77.8,-13.8,96,561,0.00,2.20,0.00,0.000,4,0.000,0.050,3026,801,3396,0,0,0,0,0,0,28.83,25.65,28.83
$GC,637,-0.48,-146.0,89.3,-12.5,111,643,0.00,2.17,0.00,0.000,6,0.000,0.050,3016,2201,3397,0,0,0,0,0,0,28.83,25.68,28.83
$GC,954,-0.48,-146.0,128.4,-11.1,162,959,0.00,2.25,0.00,0.000,4,0.000,0.062,3006,3607,3397,0,0,0,0,0,0,28.83,25.65,28.83
$GC,984,-0.48,-146.0,131.8,-11.1,164,990,0.08,2.15,0.00,0.000,6,0.116,0.043,3034,2192,3397,0,0,0,0,0,0,25.63,25.84,28.83
$GC,1302,-0.48,-146.0,165.1,-10.7,185,1303,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2189,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1601,-0.48,-146.0,194.4,-9.3,205,1602,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2189,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1899,-0.48,-146.0,221.7,-8.9,221,1900,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2189,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2199,-0.48,-146.0,247.8,-8.5,236,2200,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2189,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2499,-0.48,-146.0,271.9,-8.0,251,2500,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2189,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2799,-0.48,-146.0,296.6,-8.4,266,2800,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2189,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3099,-0.48,-146.0,322.9,-8.9,281,3100,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2189,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3399,-0.48,-146.0,349.4,-8.6,296,3400,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2190,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3699,-0.48,-146.0,374.1,-8.2,311,3704,0.00,2.30,0.00,0.000,4,0.000,0.064,3026,3611,3394,0,0,0,0,0,0,28.83,25.72,28.83
$GC,3739,-0.48,-146.0,377.6,-8.3,313,3745,0.00,2.17,0.00,0.000,6,0.000,0.046,3026,2199,3394,0,0,0,0,0,0,28.83,25.95,28.83
$GC,4059,-0.48,-146.0,405.4,-8.7,328,4060,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2196,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4359,-0.48,-146.0,432.3,-9.1,338,4362,0.00,2.20,0.00,0.000,4,0.000,0.054,3026,799,3394,0,0,0,0,0,0,28.83,25.79,28.83
$GC,4383,-0.48,-146.0,432.3,-9.1,338,4390,0.00,2.17,0.00,0.000,6,0.000,0.053,3017,2199,3394,0,0,0,0,0,0,28.83,25.82,28.83
$GC,4691,-0.48,-146.0,464.4,-9.7,349,4697,0.00,2.28,0.00,0.000,4,0.000,0.066,3006,3623,3393,0,0,0,0,0,0,28.83,25.70,28.83
$GC,4734,-0.48,-146.0,467.5,-9.8,350,4739,0.12,2.20,0.00,0.000,6,0.132,0.046,3042,2197,3392,0,0,0,0,0,0,25.76,25.93,28.83
$GC,5047,-0.48,-146.0,493.7,-7.9,361,5048,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2193,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5347,-0.48,-146.0,517.4,-7.9,371,5353,0.00,2.28,0.00,0.000,4,0.000,0.066,3034,3606,3391,0,0,0,0,0,0,28.83,25.67,28.83
$GC,5376,-0.48,-146.0,519.9,-8.0,372,5382,0.00,2.20,0.00,0.000,6,0.000,0.047,3034,2188,3391,0,0,0,0,0,0,28.83,25.93,28.83
$GC,5706,-0.48,-146.0,547.7,-8.3,383,5708,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2186,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6007,-0.48,-146.0,570.7,-7.4,393,6008,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2186,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6307,-0.48,-146.0,591.8,-6.8,403,6312,0.00,2.28,0.00,0.000,4,0.000,0.067,3024,3603,3390,0,0,0,0,0,0,28.83,25.65,28.83
$GC,6337,-0.48,-146.0,594.0,-6.9,404,6342,0.00,2.17,0.00,0.000,6,0.000,0.047,3025,2200,3389,0,0,0,0,0,0,28.83,25.90,28.83
$GC,6666,-0.48,-146.0,619.5,-8.1,415,6668,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2198,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6967,-0.48,-146.0,643.5,-7.9,425,6968,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2198,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7267,-0.48,-146.0,666.8,-7.7,435,7268,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2198,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7567,-0.48,-146.0,688.6,-7.1,445,7568,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2198,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7867,-0.48,-146.0,709.0,-6.7,455,7873,0.00,2.30,0.00,0.000,4,0.000,0.067,3014,3612,3387,0,0,0,0,0,0,28.83,25.60,28.83
$GC,7897,-0.48,-146.0,711.2,-6.7,456,7903,0.00,2.20,0.00,0.000,6,0.000,0.048,3014,2194,3387,0,0,0,0,0,0,28.83,25.87,28.83
$GC,8227,-0.48,-146.0,735.8,-7.7,467,8232,0.00,2.17,0.00,0.000,4,0.000,0.055,3014,802,3387,0,0,0,0,0,0,28.83,25.71,28.83
$GC,8250,-0.48,-146.0,735.8,-7.7,467,8257,0.12,2.20,0.00,0.000,6,0.140,0.054,3040,2207,3386,0,0,0,0,0,0,25.61,25.72,28.83
$GC,8557,-0.48,-146.0,759.2,-7.1,478,8563,0.00,2.25,0.00,0.000,4,0.000,0.067,3032,3607,3386,0,0,0,0,0,0,28.83,25.58,28.83
$GC,8605,-0.48,-146.0,761.5,-7.2,479,8609,0.00,2.17,0.00,0.000,6,0.000,0.048,3031,2201,3385,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8912,-0.48,-146.0,787.6,-8.0,489,8913,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2198,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9212,-0.48,-146.0,811.2,-7.8,499,9213,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2199,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9512,-0.48,-146.0,832.0,-6.6,509,9518,0.00,2.28,0.00,0.000,4,0.000,0.068,3022,3606,3385,0,0,0,0,0,0,28.83,25.56,28.83
$GC,9555,-0.48,-146.0,834.2,-6.7,510,9559,0.00,2.20,0.00,0.000,6,0.000,0.048,3022,2192,3386,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9868,-0.48,-146.0,855.5,-6.3,521,9869,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2190,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10168,-0.48,-146.0,875.4,-6.9,531,10169,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2190,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10468,-0.48,-146.0,896.6,-7.2,541,10470,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2190,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10767,-0.48,-146.0,918.8,-7.4,551,10773,0.00,2.33,0.00,0.000,4,0.000,0.068,3012,3608,3385,0,0,0,0,0,0,28.83,25.53,28.83
$GC,10805,-0.48,-146.0,921.3,-7.6,552,10809,0.00,2.20,0.00,0.000,6,0.000,0.049,3012,2201,3384,0,0,0,0,0,0,28.83,25.82,28.83
$GC,11123,-0.48,-146.0,946.7,-7.7,563,11124,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2198,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11423,-0.48,-146.0,969.9,-7.6,573,11428,0.00,2.28,0.00,0.000,4,0.000,0.069,3003,3604,3384,0,0,0,0,0,0,28.83,25.51,28.83
$GC,11452,-0.48,-146.0,972.3,-7.6,574,11459,0.12,2.20,0.00,0.000,6,0.129,0.049,3039,2202,3384,0,0,0,0,0,0,25.65,25.80,28.83
$STATE,11780,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11780,begin apogee
$GC,11788,-0.22,0.0,991.3,-5.6,585,11922,0.22,0.00,127.97,1.179,6,0.112,0.000,3120,2331,2794,0,0,0,0,0,0,25.86,28.83,23.41
$STATE,11923,end apogee,CONTROL_FINISHED_OK
$STATE,11923,begin climb
$GC,11926,0.48,146.0,994.3,0.0,589,12069,0.65,0.00,137.23,1.143,6,0.080,0.000,3343,2331,2198,0,0,0,0,0,0,24.44,28.83,22.50
$GC,12378,0.48,146.0,958.8,8.9,605,12379,0.00,0.00,0.00,0.000,6,0.000,0.000,3343,2331,2188,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12677,0.48,146.0,932.8,8.6,615,12683,0.00,2.35,0.00,0.000,4,0.000,0.069,3343,3735,2187,0,0,0,0,0,0,28.83,25.22,28.83
$GC,12701,0.48,146.0,932.8,8.6,615,12707,0.00,2.25,0.00,0.000,6,0.000,0.050,3353,2334,2186,0,0,0,0,0,0,28.83,25.37,28.83
$GC,13007,0.48,146.0,902.4,9.1,626,13008,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,2328,2186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13307,0.48,146.0,874.7,9.2,636,13308,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,2328,2185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13608,0.48,146.0,846.6,9.4,646,13611,0.00,2.25,0.00,0.000,4,0.000,0.059,3363,918,2184,0,0,0,0,0,0,28.83,25.58,28.83
$GC,13632,0.48,146.0,846.6,9.4,646,13639,0.00,2.25,0.00,0.000,6,0.000,0.057,3363,2320,2184,0,0,0,0,0,0,28.83,25.60,28.83
$GC,13940,0.48,146.0,813.2,10.1,657,13946,0.00,2.28,0.00,0.000,4,0.000,0.070,3363,3730,2184,0,0,0,0,0,0,28.83,25.54,28.83
$GC,13972,0.48,146.0,809.9,10.4,658,13976,0.00,2.25,0.00,0.000,6,0.000,0.051,3373,2322,2183,0,0,0,0,0,0,28.83,25.72,28.83
$GC,14300,0.48,146.0,774.3,10.7,669,14301,0.00,0.00,0.00,0.000,6,0.000,0.000,3374,2316,2183,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14599,0.48,146.0,743.4,10.2,679,14606,0.00,2.33,0.00,0.000,4,0.000,0.069,3374,3739,2183,0,0,0,0,0,0,28.83,25.56,28.83
$GC,14632,0.48,146.0,740.0,10.5,680,14637,0.12,2.25,0.00,0.000,6,0.161,0.051,3353,2318,2183,0,0,0,0,0,0,25.53,25.76,28.83
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$STATE,23774,end climb,SURFACE_DEPTH_REACHED
$STATE,23774,begin surface coast
$FINISH,1.2,1.013770
$STATE,23820,end surface coast,CONTROL_FINISHED_OK
$STATE,23820,begin surface
$SM_CCo,23899,0.00,0.000,0,0,1274,373.10
$SM_GC,2.31,8.30,0.17,0.00,0.026,0.075,0.000,110,2198,1274,-9.46,1.07,373.10,0,0,0,0,0,0,25.83,25.81,28.83
$IRIDIUM_FIX,4651.23,-12648.40,131112,050556
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.39
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,19.20
$XPDR_PINGS,4
$24V_AH,22.5,37.079
$10V_AH,10.1,30.889
$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,21.675,148.400,460.175,0.000,0.000,25.975,43.508,211.356,1.000,0.000,16.318,3368.939,17229.006,578.396,2740.908,390.342,0.000,1875.362,0.000,2436.504,0.000,0.536,0.000
$DEVICE_MAMPS,220.320,88.740,1178.865,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,902.029,746.956,515.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296768
$DATA_FILE_SIZE,73426,1310
$CAP_FILE_SIZE,177937,0
$CFSIZE,260165632,235921408
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.063, 89.8,1
$GPS,131112,191936,4702.940,-12653.387,42,1.0,42,18.6