version: 66.11
glider: 187
mission: 2
dive: 28
start: 9 18 112 0 44 1
data:
$ID,187
$MISSION,2
$DIVE,28
$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,1
$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,-1587653.6
$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,2175
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,26
$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
$GPS1,180912,003605,4730.218,-12558.990,38,1.2,38,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-77.5
$GPS2,180912,004255,4730.256,-12558.985,12,2.0,12,18.7
$SPEED_LIMITS,0.127,0.220
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.038,-0.217
$KALMAN_X,30241.4,-232.0,-11.9,-96559.6,2431.7
$KALMAN_Y,12316.2,1119.0,-1966.4,-46224.4,6884.8
$MHEAD_RNG_PITCHd_Wd,196.4,95284,-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,-61.67,0.000,2,0.000,0.000,125,2187,2860,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.48,-146.0,3.2,-5.3,10,112,11.35,2.30,-10.23,0.000,4,0.230,0.075,3026,3584,3393,0,0,0,0,0,0,25.44,25.65,25.97
$GC,218,-0.48,-146.0,35.7,-16.0,33,225,0.00,2.20,0.00,0.000,6,0.000,0.044,3026,2159,3397,0,0,0,0,0,0,28.83,25.77,28.83
$GC,542,-0.48,-146.0,77.6,-13.8,94,549,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2154,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,868,-0.48,-146.0,122.0,-11.2,153,869,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2154,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1168,-0.48,-146.0,149.7,-8.9,173,1169,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2154,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1468,-0.48,-146.0,179.8,-10.2,193,1474,0.00,2.22,0.00,0.000,4,0.000,0.063,3016,3585,3400,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1497,-0.48,-146.0,183.0,-10.5,195,1503,0.00,2.12,0.00,0.000,6,0.000,0.044,3016,2169,3400,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1812,-0.48,-146.0,218.0,-11.1,216,1813,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2166,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2112,-0.48,-146.0,251.5,-11.1,236,2113,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2166,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2412,-0.48,-146.0,284.6,-11.1,256,2417,0.00,2.20,0.00,0.000,4,0.000,0.063,3006,3582,3399,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2445,-0.48,-146.0,288.1,-11.1,258,2450,0.12,2.15,0.00,0.000,6,0.142,0.044,3041,2167,3398,0,0,0,0,0,0,26.17,26.26,28.83
$GC,2756,-0.48,-146.0,314.7,-8.0,278,2757,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2164,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3053,-0.48,-146.0,336.3,-7.0,298,3058,0.00,2.20,0.00,0.000,4,0.000,0.064,3032,3580,3397,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3091,-0.48,-146.0,338.5,-7.2,300,3099,0.00,2.17,0.00,0.000,6,0.000,0.046,3032,2174,3396,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3399,-0.48,-146.0,364.3,-8.9,321,3400,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2174,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3699,-0.48,-146.0,392.2,-9.4,341,3700,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2174,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3999,-0.48,-146.0,420.0,-9.0,361,4000,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2174,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4299,-0.48,-146.0,445.2,-8.1,381,4305,0.00,2.20,0.00,0.000,4,0.000,0.066,3022,3583,3394,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4345,-0.48,-146.0,449.0,-8.2,384,4349,0.00,2.15,0.00,0.000,6,0.000,0.046,3021,2178,3394,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4653,-0.48,-146.0,474.8,-8.1,404,4654,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2176,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4953,-0.48,-146.0,500.1,-8.4,424,4958,0.00,2.20,0.00,0.000,4,0.000,0.066,3012,3583,3393,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5002,-0.48,-146.0,504.3,-8.9,427,5006,0.00,2.15,0.00,0.000,6,0.000,0.047,3012,2173,3393,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5310,-0.48,-146.0,532.2,-8.9,447,5311,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2171,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5609,-0.48,-146.0,557.8,-8.4,467,5610,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2170,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5909,-0.48,-146.0,581.3,-7.7,487,5915,0.00,2.20,0.00,0.000,4,0.000,0.067,3002,3579,3391,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5947,-0.48,-146.0,583.6,-7.6,489,5954,0.15,2.15,0.00,0.000,6,0.136,0.047,3044,2164,3391,0,0,0,0,0,0,26.31,26.39,28.83
$GC,6271,-0.48,-146.0,602.0,-5.3,510,6277,0.00,2.25,0.00,0.000,4,0.000,0.067,3036,3583,3390,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6308,-0.48,-146.0,603.9,-5.7,511,6313,0.00,2.17,0.00,0.000,6,0.000,0.048,3036,2171,3391,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6625,-0.48,-146.0,626.5,-7.4,522,6627,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2169,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6926,-0.48,-146.0,649.5,-7.7,532,6927,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2168,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7226,-0.48,-146.0,672.1,-7.3,542,7230,0.00,2.22,0.00,0.000,4,0.000,0.067,3026,3582,3389,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7290,-0.48,-146.0,676.7,-7.3,544,7294,0.00,2.15,0.00,0.000,6,0.000,0.048,3026,2171,3389,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7613,-0.48,-146.0,700.5,-7.0,555,7618,0.00,2.20,0.00,0.000,4,0.000,0.067,3017,3579,3388,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7651,-0.48,-146.0,702.6,-6.9,556,7655,0.00,2.15,0.00,0.000,6,0.000,0.047,3017,2166,3388,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7968,-0.48,-146.0,725.9,-6.9,567,7969,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2164,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8269,-0.48,-146.0,749.3,-8.3,577,8274,0.00,2.25,0.00,0.000,4,0.000,0.068,3007,3585,3387,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8331,-0.48,-146.0,754.9,-8.8,579,8336,0.12,2.15,0.00,0.000,6,0.140,0.049,3042,2171,3387,0,0,0,0,0,0,26.34,26.42,28.83
$GC,8654,-0.48,-146.0,779.9,-7.5,590,8659,0.00,2.22,0.00,0.000,4,0.000,0.068,3034,3582,3387,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8684,-0.48,-146.0,782.4,-7.6,591,8689,0.00,2.15,0.00,0.000,6,0.000,0.049,3034,2170,3387,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9014,-0.48,-146.0,808.4,-7.8,602,9015,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2169,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9314,-0.48,-146.0,831.3,-7.7,612,9317,0.00,2.25,0.00,0.000,4,0.000,0.069,3024,3586,3386,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9378,-0.48,-146.0,836.4,-7.9,614,9383,0.00,2.15,0.00,0.000,6,0.000,0.049,3024,2175,3386,0,0,0,0,0,0,28.83,26.42,28.83
$GC,9701,-0.48,-146.0,861.3,-7.3,625,9707,0.00,2.20,0.00,0.000,4,0.000,0.069,3014,3578,3385,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9739,-0.48,-146.0,863.5,-7.3,626,9743,0.00,2.15,0.00,0.000,6,0.000,0.050,3014,2168,3385,0,0,0,0,0,0,28.83,26.42,28.83
$GC,10056,-0.48,-146.0,889.3,-7.7,637,10062,0.00,2.25,0.00,0.000,4,0.000,0.069,3004,3586,3385,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10094,-0.48,-146.0,891.7,-7.8,638,10099,0.12,2.17,0.00,0.000,6,0.142,0.049,3039,2171,3385,0,0,0,0,0,0,26.34,26.43,28.83
$GC,10413,-0.48,-146.0,911.1,-5.5,649,10418,0.00,2.20,0.00,0.000,4,0.000,0.069,3031,3577,3385,0,0,0,0,0,0,28.83,26.38,28.83
$GC,10460,-0.48,-146.0,912.7,-5.4,650,10464,0.00,2.15,0.00,0.000,6,0.000,0.050,3031,2167,3385,0,0,0,0,0,0,28.83,26.42,28.83
$GC,10767,-0.48,-146.0,931.4,-5.4,660,10771,0.00,2.15,0.00,0.000,4,0.000,0.057,3031,775,3385,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10793,-0.48,-146.0,931.4,-5.4,660,10800,0.00,2.15,0.00,0.000,6,0.000,0.056,3022,2175,3384,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11099,-0.48,-146.0,950.6,-5.7,671,11103,0.00,2.22,0.00,0.000,4,0.000,0.070,3012,3589,3384,0,0,0,0,0,0,28.83,26.37,28.83
$GC,11195,-0.48,-146.0,956.6,-6.3,674,11199,0.00,2.15,0.00,0.000,6,0.000,0.050,3012,2175,3384,0,0,0,0,0,0,28.83,26.42,28.83
$GC,11518,-0.48,-146.0,977.5,-6.5,685,11523,0.00,2.20,0.00,0.000,4,0.000,0.070,3002,3581,3384,0,0,0,0,0,0,28.83,26.38,28.83
$GC,11547,-0.48,-146.0,979.6,-6.6,686,11553,0.10,2.15,0.00,0.000,6,0.116,0.050,3038,2168,3384,0,0,0,0,0,0,26.34,26.42,28.83
$STATE,11724,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11724,begin apogee
$GC,11731,-0.22,0.0,990.0,-5.6,692,11863,0.25,0.00,126.32,1.213,6,0.116,0.000,3126,2313,2795,0,0,0,0,0,0,26.35,28.83,23.59
$STATE,11866,end apogee,CONTROL_FINISHED_OK
$STATE,11866,begin climb
$GC,11869,0.48,146.0,992.8,0.0,696,12008,0.65,0.00,135.48,1.173,6,0.081,0.000,3348,2313,2198,0,0,0,0,0,0,24.52,28.83,23.32
$GC,12297,0.48,146.0,955.4,10.1,711,12303,0.00,2.30,0.00,0.000,4,0.000,0.069,3348,3701,2187,0,0,0,0,0,0,28.83,25.29,28.83
$GC,12315,0.48,146.0,955.4,10.1,711,12319,0.00,2.25,0.00,0.000,6,0.000,0.050,3358,2300,2187,0,0,0,0,0,0,28.83,25.34,28.83
$GC,12622,0.48,146.0,921.7,10.2,721,12627,0.00,2.33,0.00,0.000,4,0.000,0.068,3358,3713,2186,0,0,0,0,0,0,28.83,25.60,28.83
$GC,12645,0.48,146.0,921.7,10.2,721,12653,0.00,2.25,0.00,0.000,6,0.000,0.050,3368,2300,2185,0,0,0,0,0,0,28.83,25.65,28.83
$GC,12952,0.48,146.0,885.6,10.7,732,12953,0.00,0.00,0.00,0.000,6,0.000,0.000,3368,2297,2185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13252,0.48,146.0,854.6,10.2,742,13258,0.00,2.28,0.00,0.000,4,0.000,0.069,3368,3702,2184,0,0,0,0,0,0,28.83,25.89,28.83
$GC,13282,0.48,146.0,851.1,10.4,743,13288,0.00,2.20,0.00,0.000,6,0.000,0.051,3378,2301,2184,0,0,0,0,0,0,28.83,25.94,28.83
$GC,13612,0.48,146.0,813.8,11.3,754,13618,0.00,2.25,0.00,0.000,4,0.000,0.069,3378,3704,2184,0,0,0,0,0,0,28.83,25.98,28.83
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$STATE,22779,end climb,SURFACE_DEPTH_REACHED
$STATE,22779,begin surface coast
$FINISH,0.5,1.000269
$STATE,22839,end surface coast,CONTROL_FINISHED_OK
$STATE,22839,begin surface
$SM_CCo,22919,0.00,0.000,0,0,1296,367.46
$SM_GC,1.39,8.43,0.22,0.00,0.029,0.067,0.000,115,2163,1296,-9.47,0.71,367.46,0,0,0,0,0,0,25.71,25.67,28.83
$IRIDIUM_FIX,4716.56,-12552.27,170912,181816
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.67
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,15.20
$XPDR_PINGS,0
$24V_AH,23.3,6.370
$10V_AH,10.2,5.580
$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,21.925,176.975,441.325,0.000,0.000,28.672,36.741,212.753,0.000,0.000,13.625,3867.711,15042.096,558.525,3449.957,400.165,33.240,2048.987,0.000,3164.616,0.000,0.535,0.000
$DEVICE_MAMPS,229.500,83.385,1212.525,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1039.269,1235.992,1250.032,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297180
$DATA_FILE_SIZE,86902,1505
$CAP_FILE_SIZE,198038,0
$CFSIZE,260165632,254832640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.083, 10.2,1
$GPS,180912,070723,4728.499,-12601.496,27,1.4,45,18.7