version: 66.11
glider: 187
mission: 2
dive: 327
start: 11 28 112 12 7 19
data:
$ID,187
$MISSION,2
$DIVE,327
$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,-1588174.1
$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,38
$R_STBD_OVSHOOT,24
$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
$GPS1,281112,115906,4727.350,-12608.855,50,1.2,50,18.7
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-73.1
$GPS2,281112,120649,4727.384,-12608.873,16,1.2,16,18.7
$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,185.2,82111,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-0.48,-146.0,0.0,0.0,0,88,0.00,0.00,-67.75,0.000,2,0.000,0.000,130,2184,2864,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.48,-146.0,3.6,-4.0,11,120,11.55,2.28,-10.70,0.000,4,0.222,0.064,3036,788,3392,0,0,0,0,0,0,24.88,25.52,26.10
$GC,188,-0.48,-146.0,27.5,-16.7,27,194,0.00,2.22,0.00,0.000,6,0.000,0.052,3027,2201,3395,0,0,0,0,0,0,28.83,25.49,28.83
$GC,512,-0.48,-146.0,75.1,-13.3,88,519,0.00,2.30,0.00,0.000,4,0.000,0.062,3017,3608,3396,0,0,0,0,0,0,28.83,25.51,28.83
$GC,574,-0.48,-146.0,83.0,-13.2,99,580,0.00,2.17,0.00,0.000,6,0.000,0.043,3017,2194,3397,0,0,0,0,0,0,28.83,25.74,28.83
$GC,897,-0.48,-146.0,125.4,-11.9,156,903,0.00,2.15,0.00,0.000,4,0.000,0.050,3017,801,3397,0,0,0,0,0,0,28.83,25.66,28.83
$GC,952,-0.48,-146.0,130.9,-12.0,159,959,0.12,2.17,0.00,0.000,6,0.140,0.050,3042,2202,3396,0,0,0,0,0,0,25.54,25.67,28.83
$GC,1260,-0.48,-146.0,160.9,-9.2,180,1266,0.00,2.22,0.00,0.000,4,0.000,0.063,3033,3606,3397,0,0,0,0,0,0,28.83,25.59,28.83
$GC,1291,-0.48,-146.0,163.7,-9.3,182,1295,0.00,2.17,0.00,0.000,6,0.000,0.043,3033,2191,3397,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1599,-0.48,-146.0,191.7,-8.6,202,1600,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2187,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1904,-0.48,-146.0,219.5,-9.1,219,1905,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2187,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2204,-0.48,-146.0,246.8,-9.1,234,2209,0.00,2.28,0.00,0.000,4,0.000,0.062,3023,3608,3397,0,0,0,0,0,0,28.83,25.63,28.83
$GC,2237,-0.48,-146.0,248.7,-9.2,235,2243,0.00,2.17,0.00,0.000,6,0.000,0.044,3023,2186,3397,0,0,0,0,0,0,28.83,25.88,28.83
$GC,2544,-0.48,-146.0,280.4,-10.0,251,2550,0.00,2.12,0.00,0.000,4,0.000,0.050,3023,801,3396,0,0,0,0,0,0,28.83,25.73,28.83
$GC,2607,-0.48,-146.0,286.6,-10.2,254,2611,0.00,2.17,0.00,0.000,6,0.000,0.051,3013,2202,3397,0,0,0,0,0,0,28.83,25.73,28.83
$GC,2919,-0.48,-146.0,318.0,-9.9,270,2925,0.00,2.25,0.00,0.000,4,0.000,0.063,3003,3613,3396,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2972,-0.48,-146.0,322.0,-10.0,272,2979,0.12,2.17,0.00,0.000,6,0.135,0.044,3039,2190,3396,0,0,0,0,0,0,25.67,25.87,28.83
$GC,3279,-0.48,-146.0,347.1,-7.5,288,3281,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2188,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3579,-0.48,-146.0,370.5,-7.8,303,3580,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2188,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3879,-0.48,-146.0,394.5,-7.8,318,3880,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2188,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4199,-0.48,-146.0,418.7,-7.5,330,4205,0.00,2.28,0.00,0.000,4,0.000,0.063,3031,3608,3395,0,0,0,0,0,0,28.83,25.58,28.83
$GC,4229,-0.48,-146.0,421.0,-7.5,331,4235,0.00,2.17,0.00,0.000,6,0.000,0.045,3030,2199,3395,0,0,0,0,0,0,28.83,25.86,28.83
$GC,4559,-0.48,-146.0,446.7,-7.6,342,4565,0.00,2.25,0.00,0.000,4,0.000,0.065,3020,3606,3395,0,0,0,0,0,0,28.83,25.56,28.83
$GC,4589,-0.48,-146.0,449.1,-7.8,343,4595,0.00,2.17,0.00,0.000,6,0.000,0.045,3020,2199,3394,0,0,0,0,0,0,28.83,25.86,28.83
$GC,4919,-0.48,-146.0,478.0,-8.9,354,4922,0.00,2.20,0.00,0.000,4,0.000,0.052,3020,793,3394,0,0,0,0,0,0,28.83,25.67,28.83
$GC,4966,-0.48,-146.0,480.9,-9.0,355,4971,0.00,2.20,0.00,0.000,6,0.000,0.053,3011,2203,3394,0,0,0,0,0,0,28.83,25.68,28.83
$GC,5280,-0.48,-146.0,511.1,-9.0,366,5287,0.00,2.25,0.00,0.000,4,0.000,0.065,3000,3607,3393,0,0,0,0,0,0,28.83,25.53,28.83
$GC,5348,-0.48,-146.0,516.7,-9.1,368,5353,0.15,2.17,0.00,0.000,6,0.130,0.045,3044,2190,3393,0,0,0,0,0,0,25.60,25.84,28.83
$GC,5668,-0.48,-146.0,539.9,-7.2,379,5669,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2188,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5967,-0.48,-146.0,561.9,-7.2,389,5968,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2188,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6267,-0.48,-146.0,582.8,-6.8,399,6273,0.00,2.28,0.00,0.000,4,0.000,0.065,3036,3606,3392,0,0,0,0,0,0,28.83,25.52,28.83
$GC,6297,-0.48,-146.0,584.9,-6.9,400,6303,0.00,2.15,0.00,0.000,6,0.000,0.046,3035,2207,3391,0,0,0,0,0,0,28.83,25.83,28.83
$GC,6627,-0.48,-146.0,606.8,-6.5,411,6628,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2204,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6927,-0.48,-146.0,625.7,-6.1,421,6928,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2203,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7228,-0.48,-146.0,645.5,-6.9,431,7229,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2204,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7527,-0.48,-146.0,667.0,-7.2,441,7533,0.00,2.30,0.00,0.000,4,0.000,0.067,3025,3612,3390,0,0,0,0,0,0,28.83,25.47,28.83
$GC,7557,-0.48,-146.0,669.3,-7.3,442,7563,0.00,2.20,0.00,0.000,6,0.000,0.047,3026,2189,3391,0,0,0,0,0,0,28.83,25.79,28.83
$GC,7887,-0.48,-146.0,695.3,-7.8,453,7892,0.00,2.30,0.00,0.000,4,0.000,0.067,3016,3612,3390,0,0,0,0,0,0,28.83,25.46,28.83
$GC,7935,-0.48,-146.0,697.6,-7.8,454,7939,0.00,2.20,0.00,0.000,6,0.000,0.047,3016,2190,3390,0,0,0,0,0,0,28.83,25.79,28.83
$GC,8242,-0.48,-146.0,723.6,-7.7,464,8243,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2188,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8542,-0.48,-146.0,745.9,-7.3,474,8543,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2187,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8842,-0.48,-146.0,768.6,-7.6,484,8847,0.00,2.33,0.00,0.000,4,0.000,0.067,3005,3609,3389,0,0,0,0,0,0,28.83,25.44,28.83
$GC,8889,-0.48,-146.0,771.0,-7.6,485,8894,0.12,2.20,0.00,0.000,6,0.129,0.047,3042,2190,3389,0,0,0,0,0,0,25.60,25.77,28.83
$GC,9198,-0.48,-146.0,789.8,-5.5,495,9199,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2188,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9497,-0.48,-146.0,806.6,-5.6,505,9503,0.00,2.30,0.00,0.000,4,0.000,0.067,3033,3609,3388,0,0,0,0,0,0,28.83,25.42,28.83
$GC,9545,-0.48,-146.0,808.5,-5.7,506,9549,0.00,2.20,0.00,0.000,6,0.000,0.047,3033,2190,3388,0,0,0,0,0,0,28.83,25.76,28.83
$GC,9852,-0.48,-146.0,828.0,-5.8,516,9854,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2188,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10152,-0.48,-146.0,845.1,-5.7,526,10157,0.00,2.28,0.00,0.000,4,0.000,0.067,3024,3598,3387,0,0,0,0,0,0,28.83,25.41,28.83
$GC,10190,-0.48,-146.0,846.8,-5.7,527,10194,0.00,2.17,0.00,0.000,6,0.000,0.047,3023,2198,3387,0,0,0,0,0,0,28.83,25.75,28.83
$GC,10508,-0.48,-146.0,866.7,-6.2,538,10509,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2196,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10807,-0.48,-146.0,885.4,-6.3,548,10813,0.00,2.28,0.00,0.000,4,0.000,0.067,3013,3606,3387,0,0,0,0,0,0,28.83,25.38,28.83
$GC,10855,-0.48,-146.0,887.4,-6.5,549,10859,0.00,2.20,0.00,0.000,6,0.000,0.048,3013,2192,3387,0,0,0,0,0,0,28.83,25.72,28.83
$GC,11163,-0.48,-146.0,910.0,-7.1,559,11169,0.00,2.33,0.00,0.000,4,0.000,0.068,3004,3609,3387,0,0,0,0,0,0,28.83,25.37,28.83
$GC,11195,-0.48,-146.0,912.3,-7.1,560,11200,0.12,2.20,0.00,0.000,6,0.129,0.047,3040,2194,3386,0,0,0,0,0,0,25.56,25.72,28.83
$GC,11519,-0.48,-146.0,931.4,-5.8,571,11521,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2192,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11819,-0.48,-146.0,949.4,-6.0,581,11824,0.00,2.30,0.00,0.000,4,0.000,0.068,3032,3607,3386,0,0,0,0,0,0,28.83,25.35,28.83
$GC,11852,-0.48,-146.0,951.5,-6.2,582,11856,0.00,2.20,0.00,0.000,6,0.000,0.049,3032,2193,3386,0,0,0,0,0,0,28.83,25.71,28.83
$GC,12174,-0.48,-146.0,974.6,-7.4,593,12180,0.00,2.30,0.00,0.000,4,0.000,0.068,3022,3606,3386,0,0,0,0,0,0,28.83,25.35,28.83
$GC,12212,-0.48,-146.0,976.8,-7.4,594,12216,0.00,2.20,0.00,0.000,6,0.000,0.049,3023,2192,3385,0,0,0,0,0,0,28.83,25.70,28.83
$STATE,12376,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12376,begin apogee
$GC,12383,-0.22,0.0,990.8,-7.9,600,12519,0.30,0.00,130.15,1.175,6,0.107,0.000,3126,2333,2794,0,0,0,0,0,0,25.65,28.83,23.16
$STATE,12523,end apogee,CONTROL_FINISHED_OK
$STATE,12523,begin climb
$GC,12525,0.48,146.0,995.7,0.0,604,12669,0.62,0.00,139.57,1.140,6,0.075,0.000,3343,2333,2197,0,0,0,0,0,0,24.40,28.83,22.21
$GC,12953,0.48,146.0,968.5,8.4,619,12958,0.00,2.33,0.00,0.000,4,0.000,0.068,3342,3728,2188,0,0,0,0,0,0,28.83,24.83,28.83
$GC,12981,0.48,146.0,965.6,8.6,620,12987,0.00,2.28,0.00,0.000,6,0.000,0.050,3353,2335,2187,0,0,0,0,0,0,28.83,25.01,28.83
$GC,13312,0.48,146.0,935.0,9.5,631,13317,0.00,2.25,0.00,0.000,4,0.000,0.057,3363,919,2185,0,0,0,0,0,0,28.83,25.39,28.83
$GC,13344,0.48,146.0,932.2,9.5,632,13348,0.00,2.25,0.00,0.000,6,0.000,0.057,3363,2325,2185,0,0,0,0,0,0,28.83,25.41,28.83
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$STATE,24199,end climb,SURFACE_DEPTH_REACHED
$STATE,24199,begin surface coast
$FINISH,1.4,1.024460
$STATE,24263,end surface coast,CONTROL_FINISHED_OK
$STATE,24263,begin surface
$SM_CCo,24343,0.00,0.000,0,0,1158,401.31
$SM_GC,2.19,8.40,0.22,0.00,0.030,0.070,0.000,119,2184,1158,-9.46,0.93,401.31,0,0,0,0,0,0,25.94,25.86,28.83
$IRIDIUM_FIX,4710.21,-12600.00,281112,050507
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.88
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,15.70
$XPDR_PINGS,4
$24V_AH,22.2,45.507
$10V_AH,10.0,37.531
$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,22.125,197.325,494.850,0.000,0.000,28.796,40.286,232.293,1.000,0.000,17.273,3505.981,17205.719,605.942,3037.138,439.885,0.000,2063.995,0.000,2696.090,0.000,0.536,0.000
$DEVICE_MAMPS,221.850,82.620,1175.040,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,924.630,783.762,544.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296772
$DATA_FILE_SIZE,76829,1343
$CAP_FILE_SIZE,200876,0
$CFSIZE,260165632,230875136
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.125,  5.8,1
$GPS,281112,185423,4725.593,-12610.897,43,1.2,43,18.7