version: 66.11
glider: 187
mission: 2
dive: 48
start: 9 23 112 11 9 24
data:
$ID,187
$MISSION,2
$DIVE,48
$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,-1587678.6
$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,2175
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$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
$GPS1,230912,110205,4702.469,-12656.072,28,1.0,28,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-78.7
$GPS2,230912,110855,4702.447,-12656.095,15,1.0,15,18.6
$SPEED_LIMITS,0.127,0.220
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$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,25.3,179986,-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,-146.0,0.0,0.0,0,90,0.00,0.00,-71.05,0.000,2,0.000,0.000,121,2162,2945,0,0,0,0,0,0,28.83,28.83,28.83
$GC,93,-0.48,-146.0,4.0,-8.6,12,122,11.32,2.28,-7.90,0.000,4,0.228,0.069,3023,3588,3392,0,0,0,0,0,0,25.44,25.66,25.98
$GC,181,-0.48,-146.0,33.3,-17.1,27,189,0.00,2.17,0.00,0.000,6,0.000,0.043,3023,2170,3396,0,0,0,0,0,0,28.83,25.75,28.83
$GC,497,-0.48,-146.0,78.3,-13.1,88,505,0.00,2.20,0.00,0.000,4,0.000,0.050,3022,768,3399,0,0,0,0,0,0,28.83,25.89,28.83
$GC,519,-0.48,-146.0,81.0,-12.8,91,526,0.00,2.17,0.00,0.000,6,0.000,0.048,3013,2182,3400,0,0,0,0,0,0,28.83,25.90,28.83
$GC,846,-0.48,-146.0,122.2,-11.5,152,852,0.00,2.17,0.00,0.000,4,0.000,0.050,3013,775,3400,0,0,0,0,0,0,28.83,26.00,28.83
$GC,877,-0.48,-146.0,125.7,-11.6,154,883,0.10,2.12,0.00,0.000,6,0.124,0.049,3039,2173,3400,0,0,0,0,0,0,25.94,26.01,28.83
$GC,1194,-0.48,-146.0,154.3,-9.1,175,1199,0.00,2.17,0.00,0.000,4,0.000,0.062,3030,3579,3400,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1230,-0.48,-146.0,157.3,-9.3,177,1237,0.00,2.12,0.00,0.000,6,0.000,0.043,3030,2171,3400,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1537,-0.48,-146.0,189.5,-10.1,198,1541,0.00,2.15,0.00,0.000,4,0.000,0.050,3030,774,3400,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1572,-0.48,-146.0,192.7,-10.1,200,1576,0.00,2.15,0.00,0.000,6,0.000,0.050,3021,2180,3400,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1879,-0.48,-146.0,224.2,-10.0,220,1881,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2180,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2179,-0.48,-146.0,252.2,-9.2,240,2180,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2181,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2479,-0.48,-146.0,279.1,-9.1,260,2481,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2181,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2779,-0.48,-146.0,307.6,-10.0,280,2780,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2180,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3079,-0.48,-146.0,337.9,-10.1,300,3080,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2180,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3379,-0.48,-146.0,368.0,-10.1,320,3385,0.00,2.22,0.00,0.000,4,0.000,0.064,3010,3593,3395,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3412,-0.48,-146.0,371.1,-10.1,322,3417,0.12,2.15,0.00,0.000,6,0.137,0.046,3046,2177,3395,0,0,0,0,0,0,26.24,26.32,28.83
$GC,3721,-0.48,-146.0,396.8,-8.0,342,3722,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2175,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4034,-0.48,-146.0,421.2,-7.5,354,4035,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2175,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4334,-0.48,-146.0,443.8,-7.7,364,4335,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2175,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4634,-0.48,-146.0,466.5,-7.4,374,4639,0.00,2.20,0.00,0.000,4,0.000,0.066,3037,3582,3392,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4664,-0.48,-146.0,468.8,-7.4,375,4669,0.00,2.15,0.00,0.000,6,0.000,0.047,3037,2168,3392,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4994,-0.48,-146.0,493.5,-7.4,386,4995,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2165,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5294,-0.48,-146.0,514.8,-7.1,396,5296,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2165,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5594,-0.48,-146.0,536.1,-7.3,406,5600,0.00,2.20,0.00,0.000,4,0.000,0.067,3027,3579,3390,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5642,-0.48,-146.0,538.6,-7.6,407,5646,0.00,2.12,0.00,0.000,6,0.000,0.047,3027,2178,3390,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5949,-0.48,-146.0,565.8,-8.6,417,5954,0.00,2.15,0.00,0.000,4,0.000,0.055,3027,768,3389,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5972,-0.48,-146.0,565.8,-8.6,417,5979,0.00,2.15,0.00,0.000,6,0.000,0.054,3018,2173,3389,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6279,-0.48,-146.0,595.2,-8.7,428,6284,0.00,2.17,0.00,0.000,4,0.000,0.067,3008,3579,3388,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6322,-0.48,-146.0,597.8,-8.7,429,6327,0.12,2.15,0.00,0.000,6,0.139,0.048,3043,2166,3388,0,0,0,0,0,0,26.30,26.39,28.83
$GC,6635,-0.48,-146.0,620.4,-6.8,440,6641,0.00,2.22,0.00,0.000,4,0.000,0.067,3035,3586,3387,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6665,-0.48,-146.0,622.6,-6.8,441,6670,0.00,2.15,0.00,0.000,6,0.000,0.048,3035,2171,3387,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6995,-0.48,-146.0,646.4,-7.3,452,6996,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2169,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7295,-0.48,-146.0,667.5,-6.8,462,7296,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2169,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7595,-0.48,-146.0,688.1,-6.9,472,7601,0.00,2.25,0.00,0.000,4,0.000,0.068,3025,3585,3386,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7625,-0.48,-146.0,690.4,-7.1,473,7631,0.00,2.15,0.00,0.000,6,0.000,0.049,3025,2170,3385,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7955,-0.48,-146.0,716.6,-8.2,484,7960,0.00,2.20,0.00,0.000,4,0.000,0.068,3015,3578,3385,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7977,-0.48,-146.0,716.6,-8.2,484,7984,0.00,2.15,0.00,0.000,6,0.000,0.049,3015,2164,3385,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8284,-0.48,-146.0,746.3,-9.0,495,8286,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2163,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8585,-0.48,-146.0,772.2,-8.5,505,8586,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2163,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8884,-0.48,-146.0,796.0,-7.6,515,8886,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2163,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9185,-0.48,-146.0,818.1,-7.3,525,9190,0.00,2.25,0.00,0.000,4,0.000,0.069,3005,3583,3383,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9222,-0.48,-146.0,820.3,-7.4,526,9227,0.12,2.17,0.00,0.000,6,0.139,0.050,3040,2167,3383,0,0,0,0,0,0,26.32,26.41,28.83
$GC,9541,-0.48,-146.0,839.8,-6.0,537,9546,0.00,2.22,0.00,0.000,4,0.000,0.069,3031,3583,3383,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9573,-0.48,-146.0,841.9,-6.1,538,9577,0.00,2.15,0.00,0.000,6,0.000,0.050,3031,2174,3383,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9896,-0.48,-146.0,863.8,-6.8,549,9897,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2172,3382,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10196,-0.48,-146.0,883.9,-6.6,559,10197,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2171,3382,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10496,-0.48,-146.0,903.3,-6.3,569,10497,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2171,3382,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10796,-0.48,-146.0,922.1,-6.0,579,10802,0.00,2.20,0.00,0.000,4,0.000,0.070,3022,3577,3381,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10839,-0.48,-146.0,923.9,-6.0,580,10843,0.00,2.15,0.00,0.000,6,0.000,0.050,3022,2175,3381,0,0,0,0,0,0,28.83,26.41,28.83
$GC,11156,-0.48,-146.0,944.8,-6.4,591,11161,0.00,2.20,0.00,0.000,4,0.000,0.070,3012,3577,3381,0,0,0,0,0,0,28.83,26.35,28.83
$GC,11188,-0.48,-146.0,946.8,-6.5,592,11192,0.00,2.15,0.00,0.000,6,0.000,0.050,3012,2167,3381,0,0,0,0,0,0,28.83,26.41,28.83
$GC,11511,-0.48,-146.0,970.1,-7.3,603,11512,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2166,3381,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11778,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11778,begin apogee
$GC,11785,-0.22,0.0,990.5,-7.6,612,11917,0.32,0.00,125.40,1.204,6,0.119,0.000,3123,2311,2794,0,0,0,0,0,0,26.32,28.83,23.65
$STATE,11920,end apogee,CONTROL_FINISHED_OK
$STATE,11920,begin climb
$GC,11922,0.48,146.0,994.4,0.0,616,12060,0.65,0.00,134.27,1.171,6,0.083,0.000,3343,2311,2198,0,0,0,0,0,0,24.57,28.83,23.34
$GC,12351,0.48,146.0,962.0,8.9,631,12356,0.00,2.33,0.00,0.000,4,0.000,0.070,3343,3709,2187,0,0,0,0,0,0,28.83,25.27,28.83
$GC,12374,0.48,146.0,962.0,8.9,631,12382,0.00,2.25,0.00,0.000,6,0.000,0.051,3352,2304,2186,0,0,0,0,0,0,28.83,25.33,28.83
$GC,12680,0.48,146.0,930.3,9.6,642,12686,0.00,2.30,0.00,0.000,4,0.000,0.070,3353,3704,2186,0,0,0,0,0,0,28.83,25.60,28.83
$GC,12724,0.48,146.0,927.1,9.8,643,12728,0.00,2.22,0.00,0.000,6,0.000,0.052,3363,2304,2184,0,0,0,0,0,0,28.83,25.66,28.83
$GC,13036,0.48,146.0,893.3,10.4,654,13042,0.00,2.28,0.00,0.000,4,0.000,0.070,3363,3702,2184,0,0,0,0,0,0,28.83,25.79,28.83
$GC,13069,0.48,146.0,889.7,10.7,655,13073,0.00,2.22,0.00,0.000,6,0.000,0.051,3373,2292,2184,0,0,0,0,0,0,28.83,25.84,28.83
$GC,13391,0.48,146.0,853.6,11.2,666,13392,0.00,0.00,0.00,0.000,6,0.000,0.000,3374,2285,2183,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13692,0.48,146.0,819.6,11.4,676,13697,0.00,2.25,0.00,0.000,4,0.000,0.070,3373,3696,2183,0,0,0,0,0,0,28.83,25.99,28.83
$GC,13769,0.48,146.0,811.9,12.2,678,13774,0.12,2.20,0.00,0.000,6,0.168,0.051,3353,2288,2182,0,0,0,0,0,0,25.94,26.03,28.83
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$STATE,23306,end climb,SURFACE_DEPTH_REACHED
$STATE,23306,begin surface coast
$FINISH,0.7,0.999492
$STATE,23349,end surface coast,CONTROL_FINISHED_OK
$STATE,23349,begin surface
$SM_CCo,23429,0.00,0.000,0,0,1239,381.20
$SM_GC,1.81,8.60,0.17,0.00,0.036,0.073,0.000,122,2176,1239,-9.46,1.07,381.20,0,0,0,0,0,0,25.61,25.58,28.83
$IRIDIUM_FIX,4644.93,-12658.51,230912,040404
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.91
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,16.50
$XPDR_PINGS,1
$24V_AH,23.3,9.121
$10V_AH,10.2,8.174
$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,21.975,185.425,450.750,0.000,0.000,27.429,36.581,215.945,0.250,0.000,16.319,3540.426,16324.137,575.787,3008.725,380.004,0.000,1996.888,0.000,2699.252,0.000,0.536,0.000
$DEVICE_MAMPS,227.970,83.385,1204.110,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,950.047,1118.550,636.652,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297100
$DATA_FILE_SIZE,76924,1379
$CAP_FILE_SIZE,192703,0
$CFSIZE,260165632,253063168
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.015,285.7,1
$GPS,230912,174106,4705.070,-12652.772,35,0.9,35,18.6