version: 66.11
glider: 187
mission: 2
dive: 326
start: 11 28 112 5 28 2
data:
$ID,187
$MISSION,2
$DIVE,326
$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,-1588172.9
$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,36
$R_STBD_OVSHOOT,23
$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
$GPS1,281112,051606,4728.532,-12604.885,35,0.9,35,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-72.6
$GPS2,281112,052732,4728.631,-12604.934,18,1.0,18,18.7
$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,204.7,87459,-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,-146.0,0.0,0.0,0,86,0.00,0.00,-66.93,0.000,2,0.000,0.000,130,2196,2757,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.48,-146.0,3.3,-3.6,11,124,11.43,2.20,-13.80,0.000,4,0.218,0.063,3033,792,3392,0,0,0,0,0,0,24.87,25.49,26.05
$GC,269,-0.48,-146.0,38.5,-13.7,44,276,0.00,2.25,0.00,0.000,6,0.000,0.051,3025,2199,3395,0,0,0,0,0,0,28.83,25.52,28.83
$GC,585,-0.48,-146.0,80.7,-10.7,105,591,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2199,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,898,-0.48,-146.0,117.6,-12.2,166,904,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2199,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1209,-0.48,-146.0,155.0,-12.3,189,1214,0.00,2.22,0.00,0.000,4,0.000,0.062,3014,3610,3396,0,0,0,0,0,0,28.83,25.60,28.83
$GC,1238,-0.48,-146.0,158.8,-12.5,191,1243,0.00,2.15,0.00,0.000,6,0.000,0.042,3014,2191,3396,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1552,-0.48,-146.0,196.3,-11.3,212,1553,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2186,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1858,-0.48,-146.0,228.0,-10.1,228,1859,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2187,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2157,-0.48,-146.0,259.8,-10.8,243,2163,0.00,2.28,0.00,0.000,4,0.000,0.061,3004,3610,3396,0,0,0,0,0,0,28.83,25.64,28.83
$GC,2218,-0.48,-146.0,266.7,-11.4,246,2224,0.12,2.17,0.00,0.000,6,0.135,0.043,3039,2190,3396,0,0,0,0,0,0,25.70,25.89,28.83
$GC,2538,-0.48,-146.0,296.7,-8.9,262,2544,0.00,2.12,0.00,0.000,4,0.000,0.050,3039,801,3396,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2580,-0.48,-146.0,300.2,-8.8,264,2584,0.00,2.17,0.00,0.000,6,0.000,0.050,3032,2205,3396,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2893,-0.48,-146.0,325.9,-7.8,280,2898,0.00,2.20,0.00,0.000,4,0.000,0.063,3022,3603,3396,0,0,0,0,0,0,28.83,25.63,28.83
$GC,2940,-0.48,-146.0,329.2,-8.1,282,2944,0.00,2.15,0.00,0.000,6,0.000,0.044,3022,2197,3396,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3247,-0.48,-146.0,356.6,-8.7,297,3249,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2194,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3548,-0.48,-146.0,385.1,-10.0,312,3553,0.00,2.12,0.00,0.000,4,0.000,0.051,3022,804,3395,0,0,0,0,0,0,28.83,25.73,28.83
$GC,3595,-0.48,-146.0,389.0,-10.2,314,3599,0.00,2.17,0.00,0.000,6,0.000,0.051,3014,2203,3395,0,0,0,0,0,0,28.83,25.74,28.83
$GC,3913,-0.48,-146.0,422.4,-10.2,326,3918,0.00,2.22,0.00,0.000,4,0.000,0.063,3004,3611,3394,0,0,0,0,0,0,28.83,25.61,28.83
$GC,3961,-0.48,-146.0,425.5,-10.2,327,3966,0.12,2.17,0.00,0.000,6,0.135,0.044,3039,2190,3394,0,0,0,0,0,0,25.69,25.88,28.83
$GC,4267,-0.48,-146.0,451.7,-7.9,337,4273,0.00,2.30,0.00,0.000,4,0.000,0.064,3031,3611,3394,0,0,0,0,0,0,28.83,25.59,28.83
$GC,4300,-0.48,-146.0,454.0,-7.8,338,4304,0.00,2.17,0.00,0.000,6,0.000,0.044,3031,2202,3394,0,0,0,0,0,0,28.83,25.88,28.83
$GC,4628,-0.48,-146.0,481.5,-8.4,349,4629,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2200,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4927,-0.48,-146.0,507.6,-8.5,359,4929,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2200,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5227,-0.48,-146.0,531.5,-7.9,369,5231,0.00,2.17,0.00,0.000,4,0.000,0.053,3031,801,3392,0,0,0,0,0,0,28.83,25.68,28.83
$GC,5260,-0.48,-146.0,534.1,-8.0,370,5266,0.00,2.17,0.00,0.000,6,0.000,0.053,3027,2198,3392,0,0,0,0,0,0,28.83,25.70,28.83
$GC,5589,-0.48,-146.0,560.4,-8.0,381,5595,0.00,2.28,0.00,0.000,4,0.000,0.066,3017,3614,3391,0,0,0,0,0,0,28.83,25.55,28.83
$GC,5657,-0.48,-146.0,565.4,-8.1,383,5661,0.00,2.20,0.00,0.000,6,0.000,0.046,3017,2190,3391,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5976,-0.48,-146.0,591.4,-8.0,394,5981,0.00,2.30,0.00,0.000,4,0.000,0.065,3007,3618,3391,0,0,0,0,0,0,28.83,25.53,28.83
$GC,6007,-0.48,-146.0,594.1,-8.1,395,6012,0.12,2.20,0.00,0.000,6,0.130,0.044,3043,2194,3391,0,0,0,0,0,0,25.67,25.85,28.83
$GC,6330,-0.48,-146.0,617.2,-7.1,406,6332,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2190,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6631,-0.48,-146.0,637.7,-6.7,416,6636,0.00,2.30,0.00,0.000,4,0.000,0.066,3034,3617,3390,0,0,0,0,0,0,28.83,25.51,28.83
$GC,6683,-0.48,-146.0,639.8,-6.8,417,6690,0.00,2.20,0.00,0.000,6,0.000,0.047,3034,2193,3390,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6990,-0.48,-146.0,664.0,-7.3,428,6995,0.00,2.28,0.00,0.000,4,0.000,0.066,3025,3607,3389,0,0,0,0,0,0,28.83,25.51,28.83
$GC,7020,-0.48,-146.0,666.4,-7.5,429,7026,0.00,2.15,0.00,0.000,6,0.000,0.046,3025,2211,3389,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7350,-0.48,-146.0,692.7,-8.0,440,7351,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2209,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7650,-0.48,-146.0,716.8,-8.1,450,7651,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2209,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7950,-0.48,-146.0,739.5,-7.3,460,7956,0.00,2.25,0.00,0.000,4,0.000,0.066,3014,3607,3387,0,0,0,0,0,0,28.83,25.48,28.83
$GC,7983,-0.48,-146.0,741.7,-7.3,461,7987,0.00,2.20,0.00,0.000,6,0.000,0.047,3014,2187,3387,0,0,0,0,0,0,28.83,25.80,28.83
$GC,8305,-0.48,-146.0,766.2,-7.6,472,8306,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2185,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8606,-0.48,-146.0,788.8,-7.6,482,8611,0.00,2.30,0.00,0.000,4,0.000,0.067,3004,3611,3387,0,0,0,0,0,0,28.83,25.46,28.83
$GC,8643,-0.48,-146.0,791.3,-7.8,483,8648,0.12,2.20,0.00,0.000,6,0.130,0.047,3040,2191,3387,0,0,0,0,0,0,25.60,25.77,28.83
$GC,8961,-0.48,-146.0,810.0,-5.4,494,8967,0.00,2.28,0.00,0.000,4,0.000,0.067,3032,3606,3387,0,0,0,0,0,0,28.83,25.45,28.83
$GC,8992,-0.48,-146.0,811.7,-5.5,495,8997,0.00,2.17,0.00,0.000,6,0.000,0.047,3032,2199,3386,0,0,0,0,0,0,28.83,25.77,28.83
$GC,9321,-0.48,-146.0,832.0,-6.3,506,9323,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2196,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9621,-0.48,-146.0,852.6,-7.1,516,9622,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2196,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9922,-0.48,-146.0,874.0,-7.1,526,9928,0.00,2.33,0.00,0.000,4,0.000,0.067,3022,3619,3386,0,0,0,0,0,0,28.83,25.41,28.83
$GC,9954,-0.48,-146.0,876.1,-7.1,527,9958,0.00,2.22,0.00,0.000,6,0.000,0.046,3022,2191,3385,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10282,-0.48,-146.0,900.2,-7.2,538,10287,0.00,2.30,0.00,0.000,4,0.000,0.067,3012,3611,3385,0,0,0,0,0,0,28.83,25.41,28.83
$GC,10315,-0.48,-146.0,902.4,-7.0,539,10319,0.00,2.20,0.00,0.000,6,0.000,0.048,3012,2198,3385,0,0,0,0,0,0,28.83,25.74,28.83
$GC,10638,-0.48,-146.0,923.8,-6.0,550,10643,0.00,2.30,0.00,0.000,4,0.000,0.067,3002,3614,3384,0,0,0,0,0,0,28.83,25.39,28.83
$GC,10676,-0.48,-146.0,925.8,-6.0,551,10683,0.15,2.20,0.00,0.000,6,0.122,0.049,3045,2200,3384,0,0,0,0,0,0,25.53,25.72,28.83
$GC,10998,-0.48,-146.0,940.9,-4.6,562,10999,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2199,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11298,-0.48,-146.0,955.2,-4.7,572,11303,0.00,2.30,0.00,0.000,4,0.000,0.068,3037,3614,3384,0,0,0,0,0,0,28.83,25.37,28.83
$GC,11341,-0.48,-146.0,956.6,-4.7,573,11345,0.00,2.20,0.00,0.000,6,0.000,0.049,3038,2202,3383,0,0,0,0,0,0,28.83,25.72,28.83
$GC,11654,-0.48,-146.0,972.7,-4.7,584,11655,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2199,3383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11954,-0.48,-146.0,986.1,-4.6,594,11960,0.00,2.30,0.00,0.000,4,0.000,0.068,3028,3614,3383,0,0,0,0,0,0,28.83,25.35,28.83
$GC,11992,-0.48,-146.0,987.6,-4.8,595,11996,0.00,2.22,0.00,0.000,6,0.000,0.049,3027,2191,3383,0,0,0,0,0,0,28.83,25.70,28.83
$STATE,12037,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12037,begin apogee
$GC,12044,-0.22,0.0,990.7,-5.3,597,12180,0.28,0.00,129.20,1.177,6,0.109,0.000,3123,2344,2794,0,0,0,0,0,0,25.71,28.83,23.19
$STATE,12181,end apogee,CONTROL_FINISHED_OK
$STATE,12181,begin climb
$GC,12184,0.48,146.0,993.5,0.0,601,12338,0.65,2.58,137.88,1.138,4,0.075,0.066,3347,3728,2196,0,0,0,0,0,0,24.41,23.34,22.24
$GC,12354,0.49,182.0,986.4,5.9,607,12394,0.00,2.40,34.45,1.086,6,0.000,0.048,3357,2328,2052,0,0,0,0,0,0,28.83,23.79,22.34
$GC,12697,0.49,182.0,951.3,9.6,618,12702,0.00,2.28,0.00,0.000,4,0.000,0.057,3367,928,2042,0,0,0,0,0,0,28.83,24.94,28.83
$GC,12734,0.49,182.0,948.3,9.6,619,12738,0.00,2.28,0.00,0.000,6,0.000,0.057,3367,2318,2042,0,0,0,0,0,0,28.83,25.02,28.83
$GC,13052,0.49,182.0,915.1,10.7,630,13057,0.00,2.30,0.00,0.000,4,0.000,0.068,3368,3735,2040,0,0,0,0,0,0,28.83,25.37,28.83
$GC,13104,0.49,182.0,911.5,11.1,631,13111,0.00,2.25,0.00,0.000,6,0.000,0.050,3378,2322,2040,0,0,0,0,0,0,28.83,25.53,28.83
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$STATE,23276,end climb,SURFACE_DEPTH_REACHED
$STATE,23276,begin surface coast
$FINISH,2.6,1.024675
$STATE,23294,end surface coast,CONTROL_FINISHED_OK
$STATE,23294,begin surface
$SM_CCo,23376,0.00,0.000,0,0,1361,351.51
$SM_GC,1.94,8.35,2.50,0.00,0.028,0.045,0.000,139,2188,1361,-9.45,0.88,351.51,0,0,0,0,0,0,25.72,25.59,28.83
$IRIDIUM_FIX,4716.56,-12601.17,271112,222228
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.60
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,15.40
$XPDR_PINGS,1
$24V_AH,22.2,45.360
$10V_AH,10.0,37.412
$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,21.975,193.275,444.675,0.000,0.000,25.325,47.547,472.096,0.250,0.000,19.148,3347.159,16583.568,544.210,3106.641,469.479,0.000,1966.540,0.000,2587.785,0.000,0.535,0.000
$DEVICE_MAMPS,218.025,80.325,1176.570,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,879.073,736.579,500.449,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296724
$DATA_FILE_SIZE,73528,1277
$CAP_FILE_SIZE,195815,0
$CFSIZE,260165632,230973440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.113,346.1,1
$GPS,281112,115906,4727.350,-12608.855,50,1.2,50,18.7