version: 66.11
glider: 187
mission: 2
dive: 324
start: 11 27 112 15 56 10
data:
$ID,187
$MISSION,2
$DIVE,324
$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,-1588170.4
$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,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
$GPS1,271112,154824,4732.566,-12557.819,40,1.5,40,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-76.7
$GPS2,271112,155537,4732.603,-12557.823,12,1.2,12,18.7
$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,202.7,99061,-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,-146.0,0.0,0.0,0,100,0.00,0.00,-81.07,0.000,2,0.000,0.000,109,2193,2774,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.48,-146.0,3.2,-2.9,13,138,11.48,2.25,-13.38,0.000,4,0.219,0.065,3032,794,3393,0,0,0,0,0,0,24.95,25.54,26.08
$GC,229,-0.48,-146.0,30.0,-16.3,35,237,0.00,2.20,0.00,0.000,6,0.000,0.051,3024,2200,3395,0,0,0,0,0,0,28.83,25.56,28.83
$GC,547,-0.48,-146.0,73.5,-12.3,96,554,0.00,2.28,0.00,0.000,4,0.000,0.061,3013,3607,3396,0,0,0,0,0,0,28.83,25.58,28.83
$GC,619,-0.48,-146.0,81.9,-12.1,109,626,0.00,2.17,0.00,0.000,6,0.000,0.042,3013,2184,3396,0,0,0,0,0,0,28.83,25.79,28.83
$GC,931,-0.48,-146.0,118.9,-11.9,170,937,0.00,2.12,0.00,0.000,4,0.000,0.049,3013,800,3396,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1012,-0.48,-146.0,128.2,-11.4,177,1019,0.12,2.20,0.00,0.000,6,0.145,0.050,3039,2210,3396,0,0,0,0,0,0,25.58,25.74,28.83
$GC,1330,-0.48,-146.0,158.6,-9.4,198,1336,0.00,2.22,0.00,0.000,4,0.000,0.062,3031,3608,3396,0,0,0,0,0,0,28.83,25.66,28.83
$GC,1407,-0.48,-146.0,166.2,-10.0,203,1411,0.00,2.17,0.00,0.000,6,0.000,0.042,3030,2189,3396,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1719,-0.48,-146.0,196.4,-9.6,224,1723,0.00,2.15,0.00,0.000,4,0.000,0.049,3030,798,3396,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1774,-0.48,-146.0,201.0,-9.8,227,1782,0.00,2.20,0.00,0.000,6,0.000,0.050,3022,2206,3396,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2082,-0.48,-146.0,232.1,-10.2,243,2083,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2206,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2381,-0.48,-146.0,263.5,-10.7,258,2387,0.00,2.22,0.00,0.000,4,0.000,0.062,3012,3608,3396,0,0,0,0,0,0,28.83,25.68,28.83
$GC,2403,-0.48,-146.0,265.7,-10.7,259,2408,0.00,2.15,0.00,0.000,6,0.000,0.044,3011,2198,3396,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2717,-0.48,-146.0,300.1,-10.6,275,2718,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2192,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3016,-0.48,-146.0,331.1,-10.0,290,3017,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2192,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3317,-0.48,-146.0,363.0,-10.8,305,3318,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2192,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3617,-0.48,-146.0,392.9,-9.7,320,3618,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2192,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3937,-0.48,-146.0,421.8,-9.0,332,3938,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2192,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4237,-0.48,-146.0,448.9,-9.0,342,4242,0.00,2.25,0.00,0.000,4,0.000,0.063,3001,3599,3394,0,0,0,0,0,0,28.83,25.65,28.83
$GC,4289,-0.48,-146.0,451.6,-9.1,343,4297,0.15,2.17,0.00,0.000,6,0.126,0.044,3045,2187,3395,0,0,0,0,0,0,25.70,25.91,28.83
$GC,4596,-0.48,-146.0,473.5,-6.3,354,4598,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2186,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4897,-0.48,-146.0,493.1,-7.0,364,4898,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2186,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5196,-0.48,-146.0,514.5,-7.3,374,5197,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2186,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5496,-0.48,-146.0,536.5,-7.4,384,5502,0.00,2.28,0.00,0.000,4,0.000,0.064,3037,3604,3392,0,0,0,0,0,0,28.83,25.61,28.83
$GC,5529,-0.48,-146.0,538.8,-7.5,385,5533,0.00,2.17,0.00,0.000,6,0.000,0.046,3037,2201,3392,0,0,0,0,0,0,28.83,25.89,28.83
$GC,5852,-0.48,-146.0,564.5,-7.6,396,5853,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2199,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6151,-0.48,-146.0,586.9,-7.4,406,6157,0.00,2.28,0.00,0.000,4,0.000,0.066,3027,3607,3391,0,0,0,0,0,0,28.83,25.57,28.83
$GC,6184,-0.48,-146.0,589.1,-7.5,407,6188,0.00,2.17,0.00,0.000,6,0.000,0.047,3027,2195,3391,0,0,0,0,0,0,28.83,25.86,28.83
$GC,6507,-0.48,-146.0,614.7,-7.8,418,6512,0.00,2.28,0.00,0.000,4,0.000,0.066,3017,3607,3391,0,0,0,0,0,0,28.83,25.57,28.83
$GC,6529,-0.48,-146.0,614.7,-7.8,418,6536,0.00,2.17,0.00,0.000,6,0.000,0.046,3017,2192,3391,0,0,0,0,0,0,28.83,25.86,28.83
$GC,6836,-0.48,-146.0,641.4,-7.9,429,6842,0.00,2.17,0.00,0.000,4,0.000,0.054,3016,793,3390,0,0,0,0,0,0,28.83,25.68,28.83
$GC,6875,-0.48,-146.0,644.0,-8.0,430,6880,0.12,2.20,0.00,0.000,6,0.134,0.054,3044,2201,3390,0,0,0,0,0,0,25.59,25.69,28.83
$GC,7193,-0.48,-146.0,664.2,-5.8,441,7198,0.00,2.25,0.00,0.000,4,0.000,0.067,3035,3607,3389,0,0,0,0,0,0,28.83,25.54,28.83
$GC,7272,-0.48,-146.0,667.9,-6.1,443,7281,0.00,2.17,0.00,0.000,6,0.000,0.047,3035,2195,3389,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7583,-0.48,-146.0,689.5,-6.7,454,7584,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2195,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7883,-0.48,-146.0,710.1,-6.9,464,7889,0.00,2.30,0.00,0.000,4,0.000,0.066,3025,3608,3388,0,0,0,0,0,0,28.83,25.52,28.83
$GC,7932,-0.48,-146.0,712.1,-6.9,465,7936,0.00,2.17,0.00,0.000,6,0.000,0.047,3025,2200,3388,0,0,0,0,0,0,28.83,25.83,28.83
$GC,8238,-0.48,-146.0,735.4,-7.1,475,8239,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2198,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8538,-0.48,-146.0,756.7,-7.3,485,8544,0.00,2.28,0.00,0.000,4,0.000,0.067,3015,3607,3388,0,0,0,0,0,0,28.83,25.50,28.83
$GC,8598,-0.48,-146.0,761.4,-7.6,487,8603,0.00,2.17,0.00,0.000,6,0.000,0.047,3015,2194,3387,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8928,-0.48,-146.0,788.7,-8.4,498,8933,0.00,2.30,0.00,0.000,4,0.000,0.066,3004,3611,3387,0,0,0,0,0,0,28.83,25.49,28.83
$GC,8988,-0.48,-146.0,794.1,-8.7,500,8995,0.10,2.17,0.00,0.000,6,0.103,0.047,3042,2202,3387,0,0,0,0,0,0,25.58,25.80,28.83
$GC,9319,-0.48,-146.0,815.2,-6.1,511,9320,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2201,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9618,-0.48,-146.0,833.7,-6.2,521,9624,0.00,2.28,0.00,0.000,4,0.000,0.067,3034,3606,3386,0,0,0,0,0,0,28.83,25.46,28.83
$GC,9661,-0.48,-146.0,835.7,-6.2,522,9665,0.00,2.20,0.00,0.000,6,0.000,0.048,3034,2198,3386,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9979,-0.48,-146.0,855.5,-5.6,533,9984,0.00,2.28,0.00,0.000,4,0.000,0.068,3024,3603,3386,0,0,0,0,0,0,28.83,25.45,28.83
$GC,10016,-0.48,-146.0,857.3,-5.7,534,10021,0.00,2.17,0.00,0.000,6,0.000,0.048,3024,2202,3385,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10335,-0.48,-146.0,877.3,-6.1,545,10340,0.00,2.25,0.00,0.000,4,0.000,0.067,3014,3603,3385,0,0,0,0,0,0,28.83,25.44,28.83
$GC,10364,-0.48,-146.0,879.2,-6.1,546,10369,0.00,2.17,0.00,0.000,6,0.000,0.048,3014,2198,3385,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10694,-0.48,-146.0,901.7,-7.0,557,10695,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2196,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10995,-0.48,-146.0,922.6,-7.1,567,11000,0.00,2.33,0.00,0.000,4,0.000,0.068,3003,3615,3384,0,0,0,0,0,0,28.83,25.42,28.83
$GC,11032,-0.48,-146.0,924.8,-7.1,568,11037,0.12,2.22,0.00,0.000,6,0.129,0.049,3040,2197,3384,0,0,0,0,0,0,25.59,25.75,28.83
$GC,11350,-0.48,-146.0,944.0,-5.7,579,11351,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2195,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11651,-0.48,-146.0,960.5,-5.4,589,11657,0.00,2.30,0.00,0.000,4,0.000,0.068,3032,3610,3384,0,0,0,0,0,0,28.83,25.41,28.83
$GC,11693,-0.48,-146.0,962.1,-5.4,590,11697,0.00,2.20,0.00,0.000,6,0.000,0.049,3032,2201,3384,0,0,0,0,0,0,28.83,25.75,28.83
$GC,12006,-0.48,-146.0,979.7,-5.2,601,12007,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2198,3384,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12213,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12213,begin apogee
$GC,12221,-0.22,0.0,990.8,-5.7,608,12356,0.25,0.00,129.05,1.181,6,0.109,0.000,3120,2329,2794,0,0,0,0,0,0,25.77,28.83,23.22
$STATE,12357,end apogee,CONTROL_FINISHED_OK
$STATE,12357,begin climb
$GC,12360,0.48,146.0,993.9,0.0,612,12503,0.65,0.00,139.25,1.144,6,0.074,0.000,3344,2329,2198,0,0,0,0,0,0,24.41,28.83,22.27
$GC,12781,0.48,146.0,962.4,8.7,627,12782,0.00,0.00,0.00,0.000,6,0.000,0.000,3344,2329,2189,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13081,0.48,146.0,935.5,9.0,637,13082,0.00,0.00,0.00,0.000,6,0.000,0.000,3344,2329,2188,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13381,0.48,146.0,908.7,8.8,647,13382,0.00,0.00,0.00,0.000,6,0.000,0.000,3344,2329,2186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13681,0.48,146.0,882.5,8.5,657,13686,0.00,2.30,0.00,0.000,4,0.000,0.069,3344,3737,2186,0,0,0,0,0,0,28.83,25.53,28.83
$GC,13729,0.48,146.0,879.8,8.6,658,13733,0.00,2.22,0.00,0.000,6,0.000,0.050,3354,2325,2185,0,0,0,0,0,0,28.83,25.70,28.83
$GC,14036,0.48,146.0,850.8,8.8,668,14041,0.00,2.20,0.00,0.000,4,0.000,0.057,3364,919,2185,0,0,0,0,0,0,28.83,25.63,28.83
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$STATE,24294,end climb,SURFACE_DEPTH_REACHED
$STATE,24294,begin surface coast
$FINISH,1.1,1.024657
$STATE,24331,end surface coast,CONTROL_FINISHED_OK
$STATE,24331,begin surface
$SM_CCo,24411,0.00,0.000,0,0,1299,366.72
$SM_GC,2.18,8.38,0.22,0.00,0.027,0.081,0.000,107,2200,1299,-9.48,1.07,366.72,0,0,0,0,0,0,25.80,25.66,28.83
$IRIDIUM_FIX,4716.56,-12556.72,271112,090936
$TT8_MAMPS,0.027713,0.027713
$HUMID,44.21
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,19.50
$XPDR_PINGS,1
$24V_AH,22.3,45.042
$10V_AH,10.1,37.181
$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,21.950,174.375,453.000,0.000,0.000,25.167,38.906,229.792,0.250,0.000,14.889,3497.184,17363.514,583.175,2974.300,416.620,0.000,1991.756,0.000,2650.799,0.000,0.535,0.000
$DEVICE_MAMPS,218.790,86.445,1181.160,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,930.279,787.208,538.352,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296760
$DATA_FILE_SIZE,76935,1352
$CAP_FILE_SIZE,192195,0
$CFSIZE,260165632,231145472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.094,331.9,1
$GPS,271112,224423,4731.027,-12601.888,27,1.0,44,18.7