version: 66.11
glider: 187
mission: 2
dive: 320
start: 11 26 112 13 21 44
data:
$ID,187
$MISSION,2
$DIVE,320
$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,-1588165
$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,47
$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
$GPS1,261112,131430,4737.693,-12539.149,37,1.9,37,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-78.2
$GPS2,261112,132113,4737.655,-12539.184,12,1.7,12,18.7
$SPEED_LIMITS,0.127,0.220
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.160,-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,242.1,123624,-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,-146.0,0.0,0.0,0,91,0.00,0.00,-71.60,0.000,2,0.000,0.000,130,2186,2822,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.48,-146.0,3.5,-3.8,12,129,11.52,2.35,-12.27,0.000,4,0.223,0.076,3025,3604,3393,0,0,0,0,0,0,24.91,25.46,26.08
$GC,366,-0.48,-146.0,51.0,-14.0,61,373,0.00,2.15,0.00,0.000,6,0.000,0.041,3024,2207,3395,0,0,0,0,0,0,28.83,25.70,28.83
$GC,684,-0.48,-146.0,90.7,-12.5,122,692,0.00,2.17,0.00,0.000,4,0.000,0.049,3024,788,3396,0,0,0,0,0,0,28.83,25.67,28.83
$GC,800,-0.48,-146.0,104.3,-11.3,144,807,0.00,2.22,0.00,0.000,6,0.000,0.050,3015,2193,3396,0,0,0,0,0,0,28.83,25.69,28.83
$GC,1123,-0.48,-146.0,139.9,-10.9,183,1128,0.00,2.22,0.00,0.000,4,0.000,0.062,3004,3608,3396,0,0,0,0,0,0,28.83,25.63,28.83
$GC,1200,-0.48,-146.0,148.6,-11.5,188,1205,0.12,2.15,0.00,0.000,6,0.136,0.042,3039,2196,3396,0,0,0,0,0,0,25.66,25.86,28.83
$GC,1511,-0.48,-146.0,177.0,-8.6,208,1516,0.00,2.25,0.00,0.000,4,0.000,0.062,3030,3610,3396,0,0,0,0,0,0,28.83,25.65,28.83
$GC,1539,-0.48,-146.0,179.9,-9.2,210,1545,0.00,2.15,0.00,0.000,6,0.000,0.043,3030,2197,3396,0,0,0,0,0,0,28.83,25.88,28.83
$GC,1849,-0.48,-146.0,209.7,-9.7,229,1850,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2192,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2150,-0.48,-146.0,239.0,-9.9,244,2155,0.00,2.30,0.00,0.000,4,0.000,0.063,3020,3617,3396,0,0,0,0,0,0,28.83,25.66,28.83
$GC,2177,-0.48,-146.0,241.0,-9.8,245,2181,0.00,2.17,0.00,0.000,6,0.000,0.042,3020,2189,3396,0,0,0,0,0,0,28.83,25.92,28.83
$GC,2484,-0.48,-146.0,274.4,-11.0,260,2485,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2185,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2785,-0.48,-146.0,305.0,-9.6,275,2786,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2184,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3084,-0.48,-146.0,333.2,-9.4,290,3085,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2184,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3384,-0.48,-146.0,362.9,-10.2,305,3390,0.00,2.28,0.00,0.000,4,0.000,0.063,3010,3610,3395,0,0,0,0,0,0,28.83,25.65,28.83
$GC,3413,-0.48,-146.0,364.9,-10.2,306,3418,0.12,2.15,0.00,0.000,6,0.131,0.043,3045,2197,3395,0,0,0,0,0,0,25.74,25.93,28.83
$GC,3719,-0.48,-146.0,392.8,-8.5,321,3720,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2192,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4029,-0.48,-146.0,418.3,-8.1,333,4030,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2192,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4330,-0.48,-146.0,440.9,-7.3,343,4332,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2192,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4630,-0.48,-146.0,461.6,-7.0,353,4635,0.00,2.28,0.00,0.000,4,0.000,0.064,3037,3607,3394,0,0,0,0,0,0,28.83,25.61,28.83
$GC,4659,-0.48,-146.0,463.8,-7.1,354,4665,0.00,2.17,0.00,0.000,6,0.000,0.044,3037,2178,3393,0,0,0,0,0,0,28.83,25.92,28.83
$GC,4990,-0.48,-146.0,490.4,-8.3,365,4995,0.00,2.28,0.00,0.000,4,0.000,0.065,3027,3608,3393,0,0,0,0,0,0,28.83,25.60,28.83
$GC,5032,-0.48,-146.0,492.9,-8.2,366,5036,0.00,2.15,0.00,0.000,6,0.000,0.044,3026,2197,3393,0,0,0,0,0,0,28.83,25.90,28.83
$GC,5344,-0.48,-146.0,521.6,-8.8,377,5345,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2194,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5645,-0.48,-146.0,546.7,-8.3,387,5646,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2194,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5944,-0.48,-146.0,570.7,-7.8,397,5950,0.00,2.28,0.00,0.000,4,0.000,0.065,3016,3607,3392,0,0,0,0,0,0,28.83,25.58,28.83
$GC,5987,-0.48,-146.0,573.2,-7.7,398,5991,0.00,2.17,0.00,0.000,6,0.000,0.044,3016,2189,3392,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6300,-0.48,-146.0,598.7,-7.5,409,6305,0.00,2.28,0.00,0.000,4,0.000,0.065,3006,3606,3391,0,0,0,0,0,0,28.83,25.56,28.83
$GC,6342,-0.48,-146.0,600.9,-7.4,410,6347,0.12,2.17,0.00,0.000,6,0.130,0.045,3042,2190,3391,0,0,0,0,0,0,25.69,25.86,28.83
$GC,6655,-0.48,-146.0,619.9,-5.8,421,6661,0.00,2.30,0.00,0.000,4,0.000,0.064,3034,3612,3391,0,0,0,0,0,0,28.83,25.56,28.83
$GC,6686,-0.48,-146.0,621.8,-5.8,422,6692,0.00,2.15,0.00,0.000,6,0.000,0.045,3034,2207,3391,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7015,-0.48,-146.0,643.7,-6.6,433,7017,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2204,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7316,-0.48,-146.0,665.1,-7.3,443,7321,0.00,2.25,0.00,0.000,4,0.000,0.065,3025,3606,3390,0,0,0,0,0,0,28.83,25.54,28.83
$GC,7369,-0.48,-146.0,667.4,-7.4,444,7375,0.00,2.17,0.00,0.000,6,0.000,0.045,3024,2190,3390,0,0,0,0,0,0,28.83,25.85,28.83
$GC,7675,-0.48,-146.0,695.0,-8.4,455,7677,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2189,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7975,-0.48,-146.0,720.2,-8.3,465,7981,0.00,2.30,0.00,0.000,4,0.000,0.067,3014,3609,3390,0,0,0,0,0,0,28.83,25.51,28.83
$GC,8018,-0.48,-146.0,722.7,-8.3,466,8023,0.00,2.17,0.00,0.000,6,0.000,0.046,3014,2200,3389,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8331,-0.48,-146.0,750.5,-8.3,477,8336,0.00,2.30,0.00,0.000,4,0.000,0.066,3004,3613,3389,0,0,0,0,0,0,28.83,25.50,28.83
$GC,8361,-0.48,-146.0,753.0,-8.2,478,8367,0.12,2.20,0.00,0.000,6,0.131,0.046,3040,2192,3389,0,0,0,0,0,0,25.65,25.82,28.83
$GC,8692,-0.48,-146.0,774.6,-6.2,489,8693,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2190,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8991,-0.48,-146.0,791.7,-5.5,499,8997,0.00,2.28,0.00,0.000,4,0.000,0.067,3032,3604,3388,0,0,0,0,0,0,28.83,25.47,28.83
$GC,9055,-0.48,-146.0,795.0,-5.7,501,9061,0.00,2.17,0.00,0.000,6,0.000,0.046,3032,2192,3388,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9381,-0.48,-146.0,814.0,-5.8,512,9387,0.00,2.30,0.00,0.000,4,0.000,0.067,3022,3606,3388,0,0,0,0,0,0,28.83,25.46,28.83
$GC,9434,-0.48,-146.0,815.9,-6.0,513,9441,0.00,2.17,0.00,0.000,6,0.000,0.046,3022,2193,3387,0,0,0,0,0,0,28.83,25.80,28.83
$GC,9741,-0.48,-146.0,840.8,-8.2,524,9742,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2193,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10041,-0.48,-146.0,865.6,-8.2,534,10047,0.00,2.30,0.00,0.000,4,0.000,0.067,3012,3607,3387,0,0,0,0,0,0,28.83,25.44,28.83
$GC,10109,-0.48,-146.0,870.9,-8.6,536,10113,0.00,2.17,0.00,0.000,6,0.000,0.046,3011,2193,3386,0,0,0,0,0,0,28.83,25.80,28.83
$GC,10426,-0.48,-146.0,898.4,-8.3,547,10432,0.00,2.28,0.00,0.000,4,0.000,0.067,3002,3609,3386,0,0,0,0,0,0,28.83,25.44,28.83
$GC,10449,-0.48,-146.0,898.4,-8.3,547,10457,0.15,2.20,0.00,0.000,6,0.121,0.047,3046,2195,3386,0,0,0,0,0,0,25.58,25.78,28.83
$GC,10756,-0.48,-146.0,919.5,-6.0,558,10762,0.00,2.28,0.00,0.000,4,0.000,0.068,3038,3605,3386,0,0,0,0,0,0,28.83,25.41,28.83
$GC,10789,-0.48,-146.0,921.4,-6.1,559,10793,0.00,2.17,0.00,0.000,6,0.000,0.047,3038,2195,3386,0,0,0,0,0,0,28.83,25.78,28.83
$GC,11112,-0.48,-146.0,940.5,-5.6,570,11118,0.00,2.28,0.00,0.000,4,0.000,0.068,3028,3602,3386,0,0,0,0,0,0,28.83,25.41,28.83
$GC,11155,-0.48,-146.0,942.2,-5.6,571,11159,0.00,2.17,0.00,0.000,6,0.000,0.047,3028,2194,3385,0,0,0,0,0,0,28.83,25.77,28.83
$GC,11468,-0.48,-146.0,959.9,-5.1,582,11469,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2193,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11767,-0.48,-146.0,975.9,-5.6,592,11773,0.00,2.33,0.00,0.000,4,0.000,0.068,3019,3614,3385,0,0,0,0,0,0,28.83,25.39,28.83
$GC,11807,-0.48,-146.0,977.7,-5.7,593,11812,0.00,2.20,0.00,0.000,6,0.000,0.048,3019,2195,3385,0,0,0,0,0,0,28.83,25.74,28.83
$STATE,12004,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12004,begin apogee
$GC,12012,-0.22,0.0,991.5,-6.7,600,12147,0.30,0.00,129.62,1.180,6,0.108,0.000,3122,2338,2794,0,0,0,0,0,0,25.66,28.83,23.21
$STATE,12150,end apogee,CONTROL_FINISHED_OK
$STATE,12150,begin climb
$GC,12153,0.48,146.0,995.6,0.0,604,12302,0.65,2.50,138.23,1.143,4,0.075,0.054,3356,926,2197,0,0,0,0,0,0,24.41,23.36,22.27
$GC,12313,0.50,209.5,991.0,4.9,609,12379,0.00,2.40,59.70,1.112,6,0.000,0.054,3356,2314,1940,0,0,0,0,0,0,28.83,23.65,22.26
$GC,12692,0.50,209.5,951.3,10.0,622,12697,0.00,2.38,0.00,0.000,4,0.000,0.068,3356,3739,1930,0,0,0,0,0,0,28.83,24.91,28.83
$GC,12722,0.50,209.5,948.2,10.1,623,12728,0.00,2.25,0.00,0.000,6,0.000,0.049,3366,2340,1929,0,0,0,0,0,0,28.83,25.10,28.83
$GC,13052,0.50,209.5,911.0,11.6,634,13057,0.00,2.28,0.00,0.000,4,0.000,0.057,3377,915,1928,0,0,0,0,0,0,28.83,25.44,28.83
$GC,13090,0.50,209.5,907.6,11.6,635,13095,0.00,2.28,0.00,0.000,6,0.000,0.056,3377,2337,1928,0,0,0,0,0,0,28.83,25.46,28.83
$GC,13408,0.50,209.5,866.2,13.2,646,13413,0.00,2.30,0.00,0.000,4,0.000,0.069,3377,3738,1927,0,0,0,0,0,0,28.83,25.51,28.83
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$STATE,22824,end climb,SURFACE_DEPTH_REACHED
$STATE,22824,begin surface coast
$FINISH,1.3,1.000656
$STATE,22864,end surface coast,CONTROL_FINISHED_OK
$STATE,22865,begin surface
$SM_CCo,22945,0.00,0.000,0,0,1114,411.86
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$IRIDIUM_FIX,4719.74,-12533.00,261112,060659
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.56
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,14.90
$XPDR_PINGS,0
$24V_AH,22.3,44.459
$10V_AH,10.1,36.713
$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,21.975,179.600,492.525,0.000,0.000,24.819,41.914,200.454,0.000,0.000,15.399,3311.500,16199.258,570.432,2854.561,400.514,0.000,1977.077,0.000,2560.418,0.000,0.535,0.000
$DEVICE_MAMPS,223.380,81.090,1180.395,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,879.860,743.392,514.674,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296736
$DATA_FILE_SIZE,70335,1279
$CAP_FILE_SIZE,185261,0
$CFSIZE,260165632,231505920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.070,119.8,1
$GPS,261112,194530,4736.788,-12543.822,43,0.8,43,18.7