version: 66.11
glider: 187
mission: 2
dive: 319
start: 11 26 112 6 38 13
data:
$ID,187
$MISSION,2
$DIVE,319
$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,-1588163.8
$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,45
$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
$GPS1,261112,063100,4738.334,-12535.105,38,1.9,38,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-75.2
$GPS2,261112,063743,4738.362,-12535.095,13,1.5,13,18.7
$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,253.6,128639,-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,14,begin dive
$GC,17,-0.48,-146.0,0.0,0.0,0,97,0.00,0.00,-77.62,0.000,2,0.000,0.000,109,2196,2846,0,0,0,0,0,0,28.83,28.83,28.83
$GC,101,-0.48,-146.0,3.2,-2.1,13,130,11.48,2.38,-11.80,0.000,4,0.220,0.074,3023,3619,3392,0,0,0,0,0,0,24.97,25.49,26.08
$GC,318,-0.48,-146.0,44.2,-16.2,53,325,0.00,2.20,0.00,0.000,6,0.000,0.041,3023,2200,3395,0,0,0,0,0,0,28.83,25.71,28.83
$GC,634,-0.48,-146.0,89.6,-14.0,114,641,0.00,2.15,0.00,0.000,4,0.000,0.048,3023,800,3396,0,0,0,0,0,0,28.83,25.70,28.83
$GC,685,-0.48,-146.0,96.1,-11.6,123,693,0.00,2.17,0.00,0.000,6,0.000,0.050,3014,2202,3396,0,0,0,0,0,0,28.83,25.70,28.83
$GC,997,-0.48,-146.0,131.9,-11.1,170,1001,0.00,2.20,0.00,0.000,4,0.000,0.048,3013,789,3396,0,0,0,0,0,0,28.83,25.76,28.83
$GC,1069,-0.48,-146.0,139.0,-11.4,174,1077,0.08,2.22,0.00,0.000,6,0.119,0.050,3043,2193,3396,0,0,0,0,0,0,25.58,25.76,28.83
$GC,1376,-0.48,-146.0,166.8,-8.3,195,1382,0.00,2.22,0.00,0.000,4,0.000,0.063,3034,3605,3396,0,0,0,0,0,0,28.83,25.68,28.83
$GC,1437,-0.48,-146.0,171.9,-8.6,199,1442,0.00,2.12,0.00,0.000,6,0.000,0.043,3034,2197,3396,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1751,-0.48,-146.0,199.0,-8.6,220,1752,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2193,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2067,-0.48,-146.0,226.3,-8.7,236,2068,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2192,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2366,-0.48,-146.0,252.2,-8.5,251,2367,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2192,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2665,-0.48,-146.0,278.1,-8.8,266,2671,0.00,2.17,0.00,0.000,4,0.000,0.050,3034,793,3396,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2688,-0.48,-146.0,280.1,-9.1,267,2692,0.00,2.17,0.00,0.000,6,0.000,0.051,3026,2200,3396,0,0,0,0,0,0,28.83,25.82,28.83
$GC,3001,-0.48,-146.0,309.7,-9.2,283,3006,0.00,2.20,0.00,0.000,4,0.000,0.063,3016,3607,3396,0,0,0,0,0,0,28.83,25.70,28.83
$GC,3053,-0.48,-146.0,313.5,-9.4,285,3060,0.00,2.17,0.00,0.000,6,0.000,0.043,3015,2190,3396,0,0,0,0,0,0,28.83,25.96,28.83
$GC,3361,-0.48,-146.0,344.8,-9.3,301,3366,0.00,2.10,0.00,0.000,4,0.000,0.050,3015,807,3395,0,0,0,0,0,0,28.83,25.81,28.83
$GC,3383,-0.48,-146.0,346.6,-9.2,302,3388,0.12,2.15,0.00,0.000,6,0.137,0.051,3043,2200,3395,0,0,0,0,0,0,25.70,25.81,28.83
$GC,3696,-0.48,-146.0,369.6,-7.1,318,3702,0.00,2.20,0.00,0.000,4,0.000,0.063,3034,3604,3395,0,0,0,0,0,0,28.83,25.69,28.83
$GC,3779,-0.48,-146.0,375.8,-7.8,322,3783,0.00,2.15,0.00,0.000,6,0.000,0.043,3034,2190,3395,0,0,0,0,0,0,28.83,25.95,28.83
$GC,4091,-0.48,-146.0,401.2,-7.8,338,4093,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2188,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4392,-0.48,-146.0,426.5,-8.5,348,4397,0.00,2.25,0.00,0.000,4,0.000,0.063,3023,3601,3394,0,0,0,0,0,0,28.83,25.67,28.83
$GC,4435,-0.48,-146.0,429.2,-8.7,349,4439,0.00,2.15,0.00,0.000,6,0.000,0.044,3023,2193,3394,0,0,0,0,0,0,28.83,25.94,28.83
$GC,4747,-0.48,-146.0,460.7,-9.7,360,4753,0.00,2.25,0.00,0.000,4,0.000,0.064,3013,3606,3394,0,0,0,0,0,0,28.83,25.65,28.83
$GC,4777,-0.48,-146.0,463.8,-9.8,361,4783,0.00,2.17,0.00,0.000,6,0.000,0.044,3013,2183,3394,0,0,0,0,0,0,28.83,25.92,28.83
$GC,5108,-0.48,-146.0,498.1,-10.0,372,5109,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2181,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5407,-0.48,-146.0,527.6,-9.9,382,5408,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2182,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5707,-0.48,-146.0,554.9,-8.8,392,5709,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2182,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6007,-0.48,-146.0,581.2,-8.6,402,6013,0.00,2.33,0.00,0.000,4,0.000,0.065,3003,3616,3392,0,0,0,0,0,0,28.83,25.61,28.83
$GC,6045,-0.48,-146.0,583.8,-8.6,403,6050,0.12,2.20,0.00,0.000,6,0.133,0.046,3040,2193,3392,0,0,0,0,0,0,25.71,25.89,28.83
$GC,6363,-0.48,-146.0,605.3,-6.3,414,6369,0.00,2.28,0.00,0.000,4,0.000,0.066,3031,3607,3391,0,0,0,0,0,0,28.83,25.60,28.83
$GC,6412,-0.48,-146.0,607.3,-6.4,415,6416,0.00,2.17,0.00,0.000,6,0.000,0.046,3031,2192,3391,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6718,-0.48,-146.0,629.7,-6.7,425,6719,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2190,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7018,-0.48,-146.0,650.7,-7.1,435,7024,0.00,2.30,0.00,0.000,4,0.000,0.067,3021,3608,3390,0,0,0,0,0,0,28.83,25.57,28.83
$GC,7067,-0.48,-146.0,652.9,-7.0,436,7071,0.00,2.17,0.00,0.000,6,0.000,0.046,3021,2195,3390,0,0,0,0,0,0,28.83,25.88,28.83
$GC,7373,-0.48,-146.0,678.2,-8.0,446,7374,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2193,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7673,-0.48,-146.0,703.2,-8.3,456,7679,0.00,2.28,0.00,0.000,4,0.000,0.067,3011,3607,3389,0,0,0,0,0,0,28.83,25.56,28.83
$GC,7726,-0.48,-146.0,705.7,-8.2,457,7733,0.00,2.17,0.00,0.000,6,0.000,0.046,3011,2192,3389,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8034,-0.48,-146.0,733.2,-8.2,468,8035,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2192,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8333,-0.48,-146.0,758.1,-8.3,478,8334,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2192,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8634,-0.48,-146.0,783.1,-8.2,488,8640,0.00,2.30,0.00,0.000,4,0.000,0.067,3001,3609,3388,0,0,0,0,0,0,28.83,25.53,28.83
$GC,8666,-0.48,-146.0,785.6,-8.2,489,8671,0.15,2.17,0.00,0.000,6,0.123,0.047,3045,2204,3389,0,0,0,0,0,0,25.64,25.84,28.83
$GC,8990,-0.48,-146.0,805.6,-6.1,500,8991,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2201,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9290,-0.48,-146.0,823.0,-6.0,510,9295,0.00,2.28,0.00,0.000,4,0.000,0.067,3037,3609,3388,0,0,0,0,0,0,28.83,25.51,28.83
$GC,9327,-0.48,-146.0,825.0,-6.1,511,9331,0.00,2.20,0.00,0.000,6,0.000,0.047,3037,2196,3388,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9649,-0.48,-146.0,846.0,-6.3,522,9651,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2194,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9950,-0.48,-146.0,865.7,-6.9,532,9956,0.00,2.28,0.00,0.000,4,0.000,0.068,3026,3608,3387,0,0,0,0,0,0,28.83,25.48,28.83
$GC,10017,-0.48,-146.0,870.0,-7.0,534,10021,0.00,2.17,0.00,0.000,6,0.000,0.047,3026,2200,3386,0,0,0,0,0,0,28.83,25.82,28.83
$GC,10335,-0.48,-146.0,891.2,-6.2,545,10336,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2198,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10635,-0.48,-146.0,908.7,-5.4,555,10641,0.00,2.28,0.00,0.000,4,0.000,0.068,3017,3605,3386,0,0,0,0,0,0,28.83,25.47,28.83
$GC,10695,-0.48,-146.0,912.2,-5.7,557,10699,0.00,2.20,0.00,0.000,6,0.000,0.047,3017,2201,3386,0,0,0,0,0,0,28.83,25.79,28.83
$GC,11028,-0.48,-146.0,931.8,-5.9,568,11029,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2198,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11327,-0.48,-146.0,950.4,-6.2,578,11328,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2199,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11627,-0.48,-146.0,968.7,-6.3,588,11633,0.00,2.33,0.00,0.000,4,0.000,0.069,3007,3615,3385,0,0,0,0,0,0,28.83,25.44,28.83
$GC,11671,-0.48,-146.0,970.8,-6.6,589,11678,0.12,2.20,0.00,0.000,6,0.126,0.047,3043,2191,3385,0,0,0,0,0,0,25.63,25.79,28.83
$GC,11987,-0.48,-146.0,988.5,-5.1,600,11989,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2190,3385,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12044,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12044,begin apogee
$GC,12051,-0.22,0.0,991.5,-5.1,602,12187,0.22,0.00,129.35,1.180,6,0.109,0.000,3124,2336,2794,0,0,0,0,0,0,25.86,28.83,23.24
$STATE,12188,end apogee,CONTROL_FINISHED_OK
$STATE,12188,begin climb
$GC,12191,0.48,146.0,995.2,0.0,606,12343,0.65,2.60,138.65,1.141,4,0.073,0.067,3349,3733,2197,0,0,0,0,0,0,24.41,23.34,22.30
$GC,12372,0.49,178.7,987.9,6.1,612,12410,0.00,2.40,31.60,1.092,6,0.000,0.047,3359,2328,2064,0,0,0,0,0,0,28.83,23.89,22.45
$GC,12740,0.49,178.7,946.6,10.6,625,12746,0.00,2.25,0.00,0.000,4,0.000,0.055,3369,926,2055,0,0,0,0,0,0,28.83,25.02,28.83
$GC,12769,0.49,178.7,943.4,10.7,626,12775,0.00,2.28,0.00,0.000,6,0.000,0.056,3370,2320,2054,0,0,0,0,0,0,28.83,25.07,28.83
$GC,13099,0.49,178.7,906.3,11.5,637,13105,0.00,2.30,0.00,0.000,4,0.000,0.069,3369,3736,2053,0,0,0,0,0,0,28.83,25.37,28.83
$GC,13132,0.49,178.7,902.4,11.7,638,13136,0.00,2.22,0.00,0.000,6,0.000,0.048,3380,2331,2053,0,0,0,0,0,0,28.83,25.55,28.83
$GC,13455,0.49,178.7,862.6,12.2,649,13456,0.00,0.00,0.00,0.000,6,0.000,0.000,3380,2325,2052,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13754,0.49,178.7,827.3,11.7,659,13760,0.00,2.30,0.00,0.000,4,0.000,0.067,3380,3737,2052,0,0,0,0,0,0,28.83,25.56,28.83
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$STATE,23556,end climb,SURFACE_DEPTH_REACHED
$STATE,23556,begin surface coast
$FINISH,1.2,1.014238
$STATE,23622,end surface coast,CONTROL_FINISHED_OK
$STATE,23622,begin surface
$SM_CCo,23702,0.00,0.000,0,0,1219,386.35
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$IRIDIUM_FIX,4722.92,-12536.72,251112,232348
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.68
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,16.20
$XPDR_PINGS,1
$24V_AH,22.3,44.308
$10V_AH,10.1,36.601
$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,21.850,165.875,475.675,0.000,0.000,25.041,36.218,204.825,0.250,0.000,14.131,3444.053,16761.594,576.254,2903.960,406.470,0.000,1974.903,0.000,2616.649,0.000,0.536,0.000
$DEVICE_MAMPS,219.555,80.325,1179.630,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,913.588,774.471,550.629,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73406,1327
$CAP_FILE_SIZE,187731,0
$CFSIZE,260165632,231591936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.094,151.0,1
$GPS,261112,131430,4737.693,-12539.149,37,1.9,37,18.7