version: 66.11
glider: 187
mission: 2
dive: 325
start: 11 27 112 22 56 24
data:
$ID,187
$MISSION,2
$DIVE,325
$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,-1588171.6
$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,33
$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
$GPS1,271112,224423,4731.027,-12601.888,27,1.0,44,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-75.0
$GPS2,271112,225554,4731.047,-12601.994,10,1.1,15,18.7
$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,188.2,93134,-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,-146.0,0.0,0.0,0,85,0.00,0.00,-65.68,0.000,2,0.000,0.000,106,2194,2759,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.48,-146.0,3.1,-2.8,11,122,11.50,2.20,-14.02,0.000,4,0.217,0.063,3036,792,3392,0,0,0,0,0,0,24.87,25.46,26.04
$GC,185,-0.48,-146.0,23.7,-16.8,27,191,0.00,2.22,0.00,0.000,6,0.000,0.051,3028,2206,3393,0,0,0,0,0,0,28.83,25.48,28.83
$GC,509,-0.48,-146.0,73.1,-12.6,88,516,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2206,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,822,-0.48,-146.0,109.4,-11.0,149,829,0.00,2.25,0.00,0.000,4,0.000,0.061,3017,3608,3395,0,0,0,0,0,0,28.83,25.58,28.83
$GC,908,-0.48,-146.0,119.8,-12.0,165,915,0.00,2.17,0.00,0.000,6,0.000,0.042,3017,2180,3395,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1213,-0.48,-146.0,157.0,-11.8,186,1218,0.00,2.10,0.00,0.000,4,0.000,0.049,3017,796,3395,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1273,-0.48,-146.0,164.1,-11.6,190,1280,0.12,2.17,0.00,0.000,6,0.136,0.050,3043,2203,3395,0,0,0,0,0,0,25.60,25.72,28.83
$GC,1592,-0.48,-146.0,192.5,-9.1,211,1597,0.00,2.22,0.00,0.000,4,0.000,0.061,3034,3613,3396,0,0,0,0,0,0,28.83,25.64,28.83
$GC,1638,-0.48,-146.0,197.2,-9.8,214,1642,0.00,2.17,0.00,0.000,6,0.000,0.042,3034,2198,3395,0,0,0,0,0,0,28.83,25.88,28.83
$GC,1946,-0.48,-146.0,228.1,-9.1,230,1947,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2194,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2246,-0.48,-146.0,255.0,-9.2,245,2247,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2194,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2546,-0.48,-146.0,282.2,-8.9,260,2547,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2194,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2846,-0.48,-146.0,308.4,-9.0,275,2851,0.00,2.25,0.00,0.000,4,0.000,0.063,3024,3610,3395,0,0,0,0,0,0,28.83,25.65,28.83
$GC,2888,-0.48,-146.0,312.2,-9.1,277,2893,0.00,2.15,0.00,0.000,6,0.000,0.044,3024,2198,3395,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3201,-0.48,-146.0,342.5,-9.9,293,3202,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2195,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3501,-0.48,-146.0,371.4,-9.2,308,3506,0.00,2.22,0.00,0.000,4,0.000,0.063,3013,3600,3394,0,0,0,0,0,0,28.83,25.63,28.83
$GC,3529,-0.48,-146.0,373.1,-9.0,309,3533,0.00,2.15,0.00,0.000,6,0.000,0.044,3013,2196,3394,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3837,-0.48,-146.0,400.1,-8.5,324,3842,0.00,2.12,0.00,0.000,4,0.000,0.051,3013,803,3394,0,0,0,0,0,0,28.83,25.74,28.83
$GC,3865,-0.48,-146.0,402.8,-8.6,325,3872,0.12,2.17,0.00,0.000,6,0.137,0.052,3041,2200,3394,0,0,0,0,0,0,25.62,25.74,28.83
$GC,4196,-0.48,-146.0,428.5,-8.3,336,4202,0.00,2.22,0.00,0.000,4,0.000,0.064,3032,3606,3393,0,0,0,0,0,0,28.83,25.60,28.83
$GC,4234,-0.48,-146.0,431.0,-8.4,337,4238,0.00,2.17,0.00,0.000,6,0.000,0.044,3032,2192,3392,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4556,-0.48,-146.0,459.2,-8.3,348,4562,0.00,2.28,0.00,0.000,4,0.000,0.063,3022,3610,3392,0,0,0,0,0,0,28.83,25.60,28.83
$GC,4594,-0.48,-146.0,461.7,-8.2,349,4598,0.00,2.17,0.00,0.000,6,0.000,0.044,3022,2192,3392,0,0,0,0,0,0,28.83,25.88,28.83
$GC,4911,-0.48,-146.0,491.7,-9.3,360,4912,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2189,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5211,-0.48,-146.0,519.7,-9.2,370,5216,0.00,2.28,0.00,0.000,4,0.000,0.065,3012,3609,3390,0,0,0,0,0,0,28.83,25.58,28.83
$GC,5259,-0.48,-146.0,522.6,-9.3,371,5263,0.00,2.17,0.00,0.000,6,0.000,0.045,3012,2192,3390,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5566,-0.48,-146.0,552.9,-9.1,381,5569,0.00,2.15,0.00,0.000,4,0.000,0.053,3011,804,3390,0,0,0,0,0,0,28.83,25.69,28.83
$GC,5590,-0.48,-146.0,552.9,-9.1,381,5598,0.12,2.17,0.00,0.000,6,0.138,0.054,3039,2200,3390,0,0,0,0,0,0,25.58,25.69,28.83
$GC,5898,-0.48,-146.0,575.5,-6.5,392,5902,0.00,2.28,0.00,0.000,4,0.000,0.066,3030,3607,3390,0,0,0,0,0,0,28.83,25.54,28.83
$GC,5964,-0.48,-146.0,579.9,-6.7,394,5968,0.00,2.15,0.00,0.000,6,0.000,0.046,3030,2204,3389,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6287,-0.48,-146.0,603.3,-7.3,405,6288,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2202,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6587,-0.48,-146.0,625.4,-7.5,415,6592,0.00,2.25,0.00,0.000,4,0.000,0.066,3020,3603,3388,0,0,0,0,0,0,28.83,25.53,28.83
$GC,6618,-0.48,-146.0,627.8,-7.5,416,6622,0.00,2.17,0.00,0.000,6,0.000,0.047,3020,2199,3388,0,0,0,0,0,0,28.83,25.83,28.83
$GC,6942,-0.48,-146.0,654.5,-8.4,427,6943,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2198,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7241,-0.48,-146.0,680.6,-8.6,437,7246,0.00,2.28,0.00,0.000,4,0.000,0.066,3010,3607,3387,0,0,0,0,0,0,28.83,25.51,28.83
$GC,7294,-0.48,-146.0,683.1,-8.6,438,7302,0.12,2.17,0.00,0.000,6,0.127,0.047,3046,2195,3387,0,0,0,0,0,0,25.65,25.82,28.83
$GC,7602,-0.48,-146.0,705.5,-6.5,449,7603,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2195,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7901,-0.48,-146.0,723.6,-6.0,459,7902,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2195,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8201,-0.48,-146.0,742.0,-6.4,469,8202,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2195,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8501,-0.48,-146.0,761.3,-6.4,479,8507,0.00,2.30,0.00,0.000,4,0.000,0.067,3038,3607,3386,0,0,0,0,0,0,28.83,25.47,28.83
$GC,8533,-0.48,-146.0,763.3,-6.6,480,8538,0.00,2.17,0.00,0.000,6,0.000,0.047,3038,2205,3386,0,0,0,0,0,0,28.83,25.79,28.83
$GC,8856,-0.48,-146.0,784.3,-6.2,491,8857,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2203,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9157,-0.48,-146.0,801.8,-5.7,501,9162,0.00,2.17,0.00,0.000,4,0.000,0.054,3038,803,3385,0,0,0,0,0,0,28.83,25.59,28.83
$GC,9188,-0.48,-146.0,803.6,-5.8,502,9193,0.00,2.20,0.00,0.000,6,0.000,0.054,3030,2203,3384,0,0,0,0,0,0,28.83,25.60,28.83
$GC,9511,-0.48,-146.0,823.4,-6.3,513,9516,0.00,2.25,0.00,0.000,4,0.000,0.067,3019,3611,3384,0,0,0,0,0,0,28.83,25.44,28.83
$GC,9585,-0.48,-146.0,827.3,-6.3,515,9589,0.00,2.20,0.00,0.000,6,0.000,0.047,3020,2190,3384,0,0,0,0,0,0,28.83,25.77,28.83
$GC,9897,-0.48,-146.0,850.2,-7.2,526,9898,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2188,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10197,-0.48,-146.0,872.5,-7.4,536,10202,0.00,2.33,0.00,0.000,4,0.000,0.067,3010,3611,3383,0,0,0,0,0,0,28.83,25.42,28.83
$GC,10265,-0.48,-146.0,877.6,-7.8,538,10270,0.12,2.20,0.00,0.000,6,0.126,0.047,3046,2192,3384,0,0,0,0,0,0,25.60,25.75,28.83
$GC,10584,-0.48,-146.0,899.0,-6.7,549,10589,0.00,2.30,0.00,0.000,4,0.000,0.067,3038,3612,3383,0,0,0,0,0,0,28.83,25.41,28.83
$GC,10607,-0.48,-146.0,899.0,-6.7,549,10613,0.00,2.20,0.00,0.000,6,0.000,0.048,3038,2192,3383,0,0,0,0,0,0,28.83,25.74,28.83
$GC,10914,-0.48,-146.0,920.1,-6.0,560,10920,0.00,2.30,0.00,0.000,4,0.000,0.067,3028,3613,3383,0,0,0,0,0,0,28.83,25.39,28.83
$GC,10952,-0.48,-146.0,921.8,-5.9,561,10956,0.00,2.20,0.00,0.000,6,0.000,0.049,3028,2198,3382,0,0,0,0,0,0,28.83,25.72,28.83
$GC,11270,-0.48,-146.0,941.8,-6.3,572,11275,0.00,2.30,0.00,0.000,4,0.000,0.067,3017,3612,3382,0,0,0,0,0,0,28.83,25.39,28.83
$GC,11299,-0.48,-146.0,943.7,-6.2,573,11305,0.00,2.20,0.00,0.000,6,0.000,0.048,3018,2194,3382,0,0,0,0,0,0,28.83,25.72,28.83
$GC,11629,-0.48,-146.0,964.8,-6.2,584,11635,0.00,2.33,0.00,0.000,4,0.000,0.067,3007,3608,3382,0,0,0,0,0,0,28.83,25.37,28.83
$GC,11693,-0.48,-146.0,968.9,-6.5,586,11698,0.12,2.20,0.00,0.000,6,0.126,0.048,3044,2192,3382,0,0,0,0,0,0,25.56,25.72,28.83
$GC,12016,-0.48,-146.0,986.1,-5.4,597,12017,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2190,3382,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12103,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12103,begin apogee
$GC,12111,-0.22,0.0,991.3,-5.7,600,12246,0.22,0.00,129.00,1.178,6,0.111,0.000,3126,2333,2794,0,0,0,0,0,0,25.84,28.83,23.19
$STATE,12247,end apogee,CONTROL_FINISHED_OK
$STATE,12247,begin climb
$GC,12250,0.48,146.0,995.9,0.0,604,12403,0.62,2.55,138.05,1.139,4,0.073,0.054,3354,932,2196,0,0,0,0,0,0,24.41,23.36,22.25
$GC,12419,0.50,211.5,990.8,4.8,610,12488,0.00,2.40,61.20,1.110,6,0.000,0.054,3354,2321,1932,0,0,0,0,0,0,28.83,23.75,22.25
$GC,12797,0.50,211.5,956.4,9.1,623,12802,0.00,2.33,0.00,0.000,4,0.000,0.068,3354,3724,1923,0,0,0,0,0,0,28.83,24.91,28.83
$GC,12835,0.50,211.5,953.3,9.3,624,12839,0.00,2.25,0.00,0.000,6,0.000,0.049,3364,2332,1922,0,0,0,0,0,0,28.83,25.11,28.83
$GC,13152,0.50,211.5,918.3,11.0,635,13158,0.00,2.28,0.00,0.000,4,0.000,0.058,3374,919,1921,0,0,0,0,0,0,28.83,25.43,28.83
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$STATE,22584,end climb,SURFACE_DEPTH_REACHED
$STATE,22584,begin surface coast
$FINISH,1.4,1.024627
$STATE,22629,end surface coast,CONTROL_FINISHED_OK
$STATE,22629,begin surface
$SM_CCo,22709,0.00,0.000,0,0,1255,377.52
$SM_GC,2.21,8.57,0.17,0.00,0.035,0.076,0.000,136,2204,1255,-9.47,1.24,377.52,0,0,0,0,0,0,25.65,25.75,28.83
$IRIDIUM_FIX,4713.38,-12554.85,271112,151525
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.29
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,19.70
$XPDR_PINGS,0
$24V_AH,22.2,45.205
$10V_AH,10.1,37.297
$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
$DEVICE_SECS,22.250,197.075,464.750,0.000,0.000,28.072,46.944,476.433,0.000,0.000,16.674,3313.771,15939.008,562.825,3103.157,469.281,0.000,1980.992,0.000,2579.366,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,872.213,744.297,521.728,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296756
$DATA_FILE_SIZE,70188,1268
$CAP_FILE_SIZE,194989,0
$CFSIZE,260165632,231059456
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.037,336.9,1
$GPS,281112,051606,4728.532,-12604.885,35,0.9,35,18.7