version: 66.11
glider: 187
mission: 2
dive: 328
start: 11 28 112 19 2 19
data:
$ID,187
$MISSION,2
$DIVE,328
$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,470
$T_MISSION,520
$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,140
$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,-1588175.4
$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,43
$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
$GPS1,281112,185423,4725.593,-12610.897,43,1.2,43,18.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-74.2
$GPS2,281112,190148,4725.692,-12610.989,10,1.2,14,18.7
$SPEED_LIMITS,0.122,0.210
$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,188.1,78078,-13.3,-7.021,-18.50
$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,-0.47,-136.3,0.0,0.0,0,90,0.00,0.00,-70.72,0.000,2,0.000,0.000,118,2181,2704,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.47,-136.3,3.3,-4.4,12,127,11.35,2.17,-14.95,0.000,4,0.215,0.063,3039,800,3351,0,0,0,0,0,0,24.94,25.53,26.12
$GC,228,-0.47,-136.3,27.8,-16.6,36,235,0.00,2.22,0.00,0.000,6,0.000,0.050,3030,2196,3353,0,0,0,0,0,0,28.83,25.58,28.83
$GC,544,-0.47,-136.3,71.7,-14.1,97,550,0.00,2.17,0.00,0.000,4,0.000,0.050,3030,797,3355,0,0,0,0,0,0,28.83,25.67,28.83
$GC,599,-0.47,-136.3,79.0,-12.4,107,606,0.00,2.17,0.00,0.000,6,0.000,0.050,3021,2201,3356,0,0,0,0,0,0,28.83,25.70,28.83
$GC,912,-0.47,-136.3,119.4,-11.5,168,918,0.00,2.25,0.00,0.000,4,0.000,0.062,3010,3615,3356,0,0,0,0,0,0,28.83,25.65,28.83
$GC,949,-0.47,-136.3,123.4,-11.4,171,953,0.12,2.17,0.00,0.000,6,0.134,0.043,3045,2198,3356,0,0,0,0,0,0,25.67,25.85,28.83
$GC,1259,-0.47,-136.3,149.9,-8.4,191,1264,0.00,2.12,0.00,0.000,4,0.000,0.050,3045,803,3356,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1348,-0.47,-136.3,157.8,-8.5,197,1354,0.00,2.17,0.00,0.000,6,0.000,0.050,3038,2205,3356,0,0,0,0,0,0,28.83,25.78,28.83
$GC,1663,-0.47,-136.3,184.7,-8.7,218,1668,0.00,2.22,0.00,0.000,4,0.000,0.063,3028,3609,3356,0,0,0,0,0,0,28.83,25.70,28.83
$GC,1716,-0.47,-136.3,189.0,-9.2,221,1723,0.00,2.15,0.00,0.000,6,0.000,0.043,3028,2194,3356,0,0,0,0,0,0,28.83,25.92,28.83
$GC,2028,-0.47,-136.3,219.4,-9.4,239,2034,0.00,2.12,0.00,0.000,4,0.000,0.050,3027,799,3356,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2070,-0.47,-136.3,223.4,-9.7,241,2074,0.00,2.17,0.00,0.000,6,0.000,0.050,3018,2205,3356,0,0,0,0,0,0,28.83,25.80,28.83
$GC,2383,-0.47,-136.3,255.5,-10.4,257,2389,0.00,2.20,0.00,0.000,4,0.000,0.063,3008,3602,3356,0,0,0,0,0,0,28.83,25.70,28.83
$GC,2416,-0.47,-136.3,257.6,-10.2,258,2424,0.12,2.15,0.00,0.000,6,0.136,0.044,3043,2189,3356,0,0,0,0,0,0,25.74,25.93,28.83
$GC,2723,-0.47,-136.3,285.1,-8.1,274,2728,0.00,2.15,0.00,0.000,4,0.000,0.050,3043,797,3356,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2771,-0.47,-136.3,288.4,-8.3,276,2775,0.00,2.17,0.00,0.000,6,0.000,0.051,3037,2201,3355,0,0,0,0,0,0,28.83,25.80,28.83
$GC,3078,-0.47,-136.3,315.1,-8.4,291,3084,0.00,2.25,0.00,0.000,4,0.000,0.063,3026,3608,3354,0,0,0,0,0,0,28.83,25.68,28.83
$GC,3138,-0.47,-136.3,320.7,-8.9,294,3143,0.00,2.15,0.00,0.000,6,0.000,0.044,3026,2202,3354,0,0,0,0,0,0,28.83,25.93,28.83
$GC,3458,-0.47,-136.3,350.2,-9.6,310,3463,0.00,2.12,0.00,0.000,4,0.000,0.051,3026,803,3354,0,0,0,0,0,0,28.83,25.78,28.83
$GC,3486,-0.47,-136.3,352.2,-9.6,311,3490,0.00,2.17,0.00,0.000,6,0.000,0.051,3017,2205,3354,0,0,0,0,0,0,28.83,25.79,28.83
$GC,3793,-0.47,-136.3,383.7,-10.0,326,3798,0.00,2.22,0.00,0.000,4,0.000,0.063,3007,3609,3353,0,0,0,0,0,0,28.83,25.67,28.83
$GC,3861,-0.47,-136.3,389.9,-10.4,329,3865,0.12,2.15,0.00,0.000,6,0.135,0.044,3042,2200,3353,0,0,0,0,0,0,25.73,25.92,28.83
$GC,4168,-0.47,-136.3,416.9,-8.4,341,4169,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2198,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4469,-0.47,-136.3,440.9,-7.8,351,4470,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2198,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4768,-0.47,-136.3,463.3,-7.2,361,4769,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2198,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5068,-0.47,-136.3,486.1,-7.4,371,5072,0.00,2.20,0.00,0.000,4,0.000,0.054,3042,796,3352,0,0,0,0,0,0,28.83,25.74,28.83
$GC,5115,-0.47,-136.3,488.6,-7.3,372,5120,0.00,2.20,0.00,0.000,6,0.000,0.053,3036,2207,3352,0,0,0,0,0,0,28.83,25.75,28.83
$GC,5430,-0.47,-136.3,513.3,-7.5,383,5435,0.00,2.22,0.00,0.000,4,0.000,0.065,3025,3607,3352,0,0,0,0,0,0,28.83,25.62,28.83
$GC,5508,-0.47,-136.3,518.3,-7.8,385,5512,0.00,2.17,0.00,0.000,6,0.000,0.046,3025,2190,3351,0,0,0,0,0,0,28.83,25.89,28.83
$GC,5816,-0.47,-136.3,544.0,-7.9,395,5817,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2188,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6115,-0.47,-136.3,567.1,-7.6,405,6116,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2188,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6415,-0.47,-136.3,590.7,-8.0,415,6421,0.00,2.30,0.00,0.000,4,0.000,0.065,3015,3610,3351,0,0,0,0,0,0,28.83,25.59,28.83
$GC,6453,-0.47,-136.3,593.3,-8.1,416,6457,0.00,2.17,0.00,0.000,6,0.000,0.046,3015,2202,3350,0,0,0,0,0,0,28.83,25.87,28.83
$GC,6771,-0.47,-136.3,621.0,-8.6,427,6772,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2200,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7070,-0.47,-136.3,646.5,-8.4,437,7071,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2200,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7371,-0.47,-136.3,671.3,-8.3,447,7376,0.00,2.17,0.00,0.000,4,0.000,0.054,3015,797,3349,0,0,0,0,0,0,28.83,25.67,28.83
$GC,7408,-0.47,-136.3,673.8,-8.2,448,7413,0.12,2.20,0.00,0.000,6,0.135,0.054,3042,2204,3349,0,0,0,0,0,0,25.58,25.69,28.83
$GC,7727,-0.47,-136.3,696.4,-7.0,459,7732,0.00,2.22,0.00,0.000,4,0.000,0.067,3033,3600,3348,0,0,0,0,0,0,28.83,25.54,28.83
$GC,7774,-0.47,-136.3,698.7,-7.2,460,7778,0.00,2.17,0.00,0.000,6,0.000,0.047,3033,2192,3348,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8082,-0.47,-136.3,725.2,-8.1,470,8087,0.00,2.30,0.00,0.000,4,0.000,0.067,3023,3619,3348,0,0,0,0,0,0,28.83,25.53,28.83
$GC,8114,-0.47,-136.3,727.8,-8.2,471,8118,0.00,2.22,0.00,0.000,6,0.000,0.045,3023,2189,3348,0,0,0,0,0,0,28.83,25.85,28.83
$GC,8436,-0.47,-136.3,755.4,-8.6,482,8442,0.00,2.15,0.00,0.000,4,0.000,0.053,3023,802,3348,0,0,0,0,0,0,28.83,25.65,28.83
$GC,8460,-0.47,-136.3,755.4,-8.6,482,8467,0.00,2.20,0.00,0.000,6,0.000,0.054,3014,2207,3347,0,0,0,0,0,0,28.83,25.65,28.83
$GC,8766,-0.47,-136.3,784.3,-8.5,493,8772,0.00,2.25,0.00,0.000,4,0.000,0.066,3004,3607,3347,0,0,0,0,0,0,28.83,25.51,28.83
$GC,8859,-0.47,-136.3,792.1,-8.6,496,8864,0.15,2.20,0.00,0.000,6,0.125,0.047,3048,2192,3347,0,0,0,0,0,0,25.60,25.81,28.83
$GC,9183,-0.47,-136.3,811.9,-5.9,507,9184,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2189,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9482,-0.47,-136.3,829.9,-6.0,517,9488,0.00,2.28,0.00,0.000,4,0.000,0.067,3040,3606,3346,0,0,0,0,0,0,28.83,25.49,28.83
$GC,9521,-0.47,-136.3,831.7,-6.0,518,9525,0.00,2.17,0.00,0.000,6,0.000,0.047,3040,2200,3347,0,0,0,0,0,0,28.83,25.80,28.83
$GC,9838,-0.47,-136.3,852.3,-6.3,529,9840,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2198,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10139,-0.47,-136.3,871.3,-6.3,539,10144,0.00,2.28,0.00,0.000,4,0.000,0.067,3030,3606,3346,0,0,0,0,0,0,28.83,25.47,28.83
$GC,10177,-0.47,-136.3,873.0,-6.1,540,10181,0.00,2.17,0.00,0.000,6,0.000,0.048,3030,2201,3345,0,0,0,0,0,0,28.83,25.78,28.83
$GC,10495,-0.47,-136.3,894.0,-6.1,551,10500,0.00,2.17,0.00,0.000,4,0.000,0.054,3030,801,3345,0,0,0,0,0,0,28.83,25.60,28.83
$GC,10517,-0.47,-136.3,894.0,-6.1,551,10524,0.00,2.20,0.00,0.000,6,0.000,0.055,3021,2200,3346,0,0,0,0,0,0,28.83,25.60,28.83
$GC,10825,-0.47,-136.3,916.4,-6.8,562,10830,0.00,2.25,0.00,0.000,4,0.000,0.067,3011,3601,3345,0,0,0,0,0,0,28.83,25.45,28.83
$GC,10857,-0.47,-136.3,918.5,-6.7,563,10862,0.12,2.17,0.00,0.000,6,0.127,0.048,3047,2200,3345,0,0,0,0,0,0,25.61,25.77,28.83
$GC,11181,-0.47,-136.3,935.1,-4.9,574,11182,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2198,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11481,-0.47,-136.3,950.2,-5.0,584,11486,0.00,2.28,0.00,0.000,4,0.000,0.069,3039,3600,3345,0,0,0,0,0,0,28.83,25.41,28.83
$GC,11529,-0.47,-136.3,951.7,-5.1,585,11533,0.00,2.17,0.00,0.000,6,0.000,0.049,3039,2201,3345,0,0,0,0,0,0,28.83,25.75,28.83
$GC,11836,-0.47,-136.3,969.3,-5.4,595,11837,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2199,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12136,-0.47,-136.3,985.3,-5.2,605,12142,0.00,2.30,0.00,0.000,4,0.000,0.069,3029,3608,3345,0,0,0,0,0,0,28.83,25.40,28.83
$GC,12169,-0.47,-136.3,986.9,-5.3,606,12173,0.00,2.20,0.00,0.000,6,0.000,0.049,3029,2197,3344,0,0,0,0,0,0,28.83,25.74,28.83
$STATE,12248,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12248,begin apogee
$GC,12256,-0.22,0.0,991.8,-5.6,609,12382,0.28,0.00,121.45,1.177,6,0.109,0.000,3125,2336,2793,0,0,0,0,0,0,25.72,28.83,23.25
$STATE,12385,end apogee,CONTROL_FINISHED_OK
$STATE,12385,begin climb
$GC,12388,0.47,136.3,994.4,0.0,613,12527,0.62,2.53,129.05,1.141,4,0.074,0.066,3342,3731,2236,0,0,0,0,0,0,24.47,23.36,22.28
$GC,12544,0.48,155.6,987.7,6.3,618,12568,0.00,2.40,19.02,1.047,6,0.000,0.047,3353,2331,2159,0,0,0,0,0,0,28.83,23.75,22.43
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$STATE,24340,end climb,SURFACE_DEPTH_REACHED
$STATE,24340,begin surface coast
$FINISH,2.3,1.024702
$STATE,24357,end surface coast,CONTROL_FINISHED_OK
$STATE,24357,begin surface
$SM_CCo,24438,0.00,0.000,0,0,1015,435.90
$SM_GC,1.87,8.57,0.17,0.00,0.039,0.074,0.000,128,2209,1015,-9.46,1.24,435.90,0,0,0,0,0,0,25.56,25.55,28.83
$IRIDIUM_FIX,4710.21,-12611.47,281112,121209
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.56
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,15.70
$XPDR_PINGS,2
$24V_AH,22.3,45.652
$10V_AH,10.0,37.647
$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
$DEVICE_SECS,22.150,191.725,501.375,0.000,0.000,24.831,35.493,248.377,0.500,0.000,14.896,3601.103,17166.334,591.543,3084.523,427.086,0.000,2110.448,0.000,2738.405,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,957.403,747.875,409.897,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296780
$DATA_FILE_SIZE,76774,1393
$CAP_FILE_SIZE,202333,0
$CFSIZE,260165632,230785024
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.073, 42.3,1
$GPS,291112,015124,4723.246,-12612.864,69,1.9,69,18.6