version: 66.11
glider: 187
mission: 2
dive: 50
start: 9 24 112 0 25 7
data:
$ID,187
$MISSION,2
$DIVE,50
$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,-1587681.1
$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,2175
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$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
$GPS1,240912,001805,4706.821,-12648.602,32,1.1,32,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-77.1
$GPS2,240912,002437,4706.807,-12648.584,15,1.2,15,18.6
$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,37.9,167733,-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,-146.0,0.0,0.0,0,85,0.00,0.00,-65.75,0.000,2,0.000,0.000,113,2170,2864,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.48,-146.0,3.5,-6.1,11,117,11.27,2.22,-9.75,0.000,4,0.224,0.062,3031,760,3392,0,0,0,0,0,0,25.41,25.65,25.96
$GC,334,-0.48,-146.0,53.7,-13.3,57,342,0.00,2.22,0.00,0.000,6,0.000,0.049,3024,2187,3398,0,0,0,0,0,0,28.83,25.81,28.83
$GC,653,-0.48,-146.0,95.3,-12.1,118,660,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2187,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,978,-0.48,-146.0,132.0,-11.2,167,979,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2187,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1278,-0.48,-146.0,165.5,-11.7,187,1283,0.00,2.17,0.00,0.000,4,0.000,0.050,3023,764,3400,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1330,-0.48,-146.0,170.7,-11.6,190,1338,0.08,2.20,0.00,0.000,6,0.125,0.050,3040,2172,3399,0,0,0,0,0,0,26.03,26.11,28.83
$GC,1639,-0.48,-146.0,202.6,-9.5,211,1640,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2172,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1937,-0.48,-146.0,229.0,-8.3,231,1942,0.00,2.20,0.00,0.000,4,0.000,0.063,3032,3584,3399,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1969,-0.48,-146.0,231.7,-8.6,233,1973,0.00,2.15,0.00,0.000,6,0.000,0.044,3032,2163,3399,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2277,-0.48,-146.0,259.7,-9.2,253,2283,0.00,2.20,0.00,0.000,4,0.000,0.062,3022,3580,3398,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2300,-0.48,-146.0,261.0,-9.2,254,2306,0.00,2.12,0.00,0.000,6,0.000,0.044,3021,2175,3397,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2609,-0.48,-146.0,292.1,-10.3,275,2614,0.00,2.12,0.00,0.000,4,0.000,0.052,3021,776,3397,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2660,-0.48,-146.0,296.6,-10.2,278,2667,0.00,2.15,0.00,0.000,6,0.000,0.050,3012,2184,3397,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2967,-0.48,-146.0,329.9,-10.6,299,2968,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2184,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3267,-0.48,-146.0,361.3,-10.3,319,3268,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2184,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3567,-0.48,-146.0,391.4,-9.8,339,3572,0.00,2.20,0.00,0.000,4,0.000,0.064,3002,3594,3394,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3597,-0.48,-146.0,394.5,-10.2,341,3603,0.15,2.15,0.00,0.000,6,0.132,0.046,3045,2170,3394,0,0,0,0,0,0,26.23,26.32,28.83
$GC,3912,-0.48,-146.0,418.6,-7.5,354,3914,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2168,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4212,-0.48,-146.0,440.9,-7.4,364,4217,0.00,2.22,0.00,0.000,4,0.000,0.065,3037,3585,3392,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4265,-0.48,-146.0,443.4,-7.6,365,4272,0.00,2.15,0.00,0.000,6,0.000,0.046,3037,2163,3391,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4572,-0.48,-146.0,470.8,-8.4,376,4578,0.00,2.12,0.00,0.000,4,0.000,0.054,3037,778,3391,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4605,-0.48,-146.0,473.5,-8.5,377,4609,0.00,2.15,0.00,0.000,6,0.000,0.053,3028,2185,3391,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4927,-0.48,-146.0,501.0,-8.4,388,4932,0.00,2.20,0.00,0.000,4,0.000,0.066,3018,3591,3391,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4960,-0.48,-146.0,503.5,-8.4,389,4964,0.00,2.15,0.00,0.000,6,0.000,0.047,3018,2177,3391,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5287,-0.48,-146.0,531.7,-8.3,400,5292,0.00,2.15,0.00,0.000,4,0.000,0.054,3018,773,3390,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5310,-0.48,-146.0,531.7,-8.3,400,5317,0.12,2.15,0.00,0.000,6,0.145,0.054,3043,2180,3390,0,0,0,0,0,0,26.27,26.34,28.83
$GC,5618,-0.48,-146.0,553.7,-6.2,411,5623,0.00,2.17,0.00,0.000,4,0.000,0.066,3034,3586,3389,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5677,-0.48,-146.0,557.6,-6.4,413,5683,0.00,2.15,0.00,0.000,6,0.000,0.047,3034,2166,3388,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6007,-0.48,-146.0,579.6,-6.6,424,6013,0.00,2.22,0.00,0.000,4,0.000,0.067,3024,3588,3388,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6055,-0.48,-146.0,581.6,-6.7,425,6060,0.00,2.15,0.00,0.000,6,0.000,0.047,3024,2169,3388,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6362,-0.48,-146.0,606.2,-7.7,435,6368,0.00,2.15,0.00,0.000,4,0.000,0.055,3024,771,3387,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6385,-0.48,-146.0,606.2,-7.7,435,6392,0.00,2.15,0.00,0.000,6,0.000,0.054,3015,2177,3387,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6693,-0.48,-146.0,632.3,-7.9,446,6699,0.00,2.22,0.00,0.000,4,0.000,0.067,3005,3592,3387,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6755,-0.48,-146.0,637.3,-8.1,448,6760,0.12,2.15,0.00,0.000,6,0.140,0.047,3041,2169,3387,0,0,0,0,0,0,26.29,26.38,28.83
$GC,7078,-0.48,-146.0,660.0,-7.1,459,7079,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2167,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7378,-0.48,-146.0,681.3,-7.0,469,7383,0.00,2.22,0.00,0.000,4,0.000,0.067,3032,3589,3386,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7421,-0.48,-146.0,683.4,-7.0,470,7425,0.00,2.15,0.00,0.000,6,0.000,0.048,3033,2169,3385,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7733,-0.48,-146.0,707.3,-7.3,481,7739,0.00,2.25,0.00,0.000,4,0.000,0.068,3023,3608,3385,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7756,-0.48,-146.0,707.3,-7.3,481,7763,0.00,2.20,0.00,0.000,6,0.000,0.048,3022,2172,3385,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8063,-0.48,-146.0,732.5,-7.6,492,8064,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2172,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8363,-0.48,-146.0,755.3,-7.6,502,8364,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2171,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8663,-0.48,-146.0,778.0,-7.7,512,8669,0.00,2.22,0.00,0.000,4,0.000,0.068,3012,3597,3383,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8693,-0.48,-146.0,780.4,-7.7,513,8699,0.00,2.17,0.00,0.000,6,0.000,0.049,3012,2167,3383,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9023,-0.48,-146.0,807.1,-8.0,524,9028,0.00,2.12,0.00,0.000,4,0.000,0.057,3012,774,3383,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9053,-0.48,-146.0,809.8,-8.1,525,9059,0.12,2.15,0.00,0.000,6,0.150,0.055,3039,2179,3383,0,0,0,0,0,0,26.30,26.37,28.83
$GC,9383,-0.48,-146.0,830.7,-6.1,536,9389,0.00,2.17,0.00,0.000,4,0.000,0.069,3030,3582,3383,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9444,-0.48,-146.0,834.6,-6.2,538,9449,0.00,2.12,0.00,0.000,6,0.000,0.050,3031,2169,3383,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9774,-0.48,-146.0,855.6,-6.4,549,9779,0.00,2.22,0.00,0.000,4,0.000,0.069,3021,3588,3382,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9821,-0.48,-146.0,857.6,-6.4,550,9825,0.00,2.15,0.00,0.000,6,0.000,0.049,3021,2172,3382,0,0,0,0,0,0,28.83,26.40,28.83
$GC,10129,-0.48,-146.0,879.5,-6.8,560,10134,0.00,2.25,0.00,0.000,4,0.000,0.069,3011,3585,3382,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10151,-0.48,-146.0,879.5,-6.8,560,10158,0.00,2.15,0.00,0.000,6,0.000,0.049,3011,2169,3381,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10458,-0.48,-146.0,903.7,-7.4,571,10460,0.12,0.00,0.00,0.000,6,0.148,0.000,3046,2168,3381,0,0,0,0,0,0,26.34,28.83,28.83
$GC,10759,-0.48,-146.0,921.6,-5.9,581,10764,0.00,2.25,0.00,0.000,4,0.000,0.070,3037,3582,3381,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10791,-0.48,-146.0,923.4,-6.1,582,10795,0.00,2.15,0.00,0.000,6,0.000,0.050,3037,2175,3381,0,0,0,0,0,0,28.83,26.40,28.83
$GC,11114,-0.48,-146.0,944.0,-6.3,593,11115,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2172,3381,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11414,-0.48,-146.0,962.7,-6.1,603,11415,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2172,3380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11714,-0.48,-146.0,979.5,-5.4,613,11719,0.00,2.25,0.00,0.000,4,0.000,0.070,3027,3588,3380,0,0,0,0,0,0,28.83,26.35,28.83
$GC,11746,-0.48,-146.0,981.4,-5.5,614,11750,0.00,2.17,0.00,0.000,6,0.000,0.050,3027,2165,3380,0,0,0,0,0,0,28.83,26.40,28.83
$STATE,11886,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11886,begin apogee
$GC,11893,-0.22,0.0,990.0,-6.0,619,12024,0.28,0.00,125.25,1.206,6,0.116,0.000,3121,2309,2794,0,0,0,0,0,0,26.32,28.83,23.65
$STATE,12027,end apogee,CONTROL_FINISHED_OK
$STATE,12027,begin climb
$GC,12030,0.48,146.0,992.5,0.0,623,12171,0.68,2.45,134.40,1.170,4,0.083,0.069,3348,3699,2197,0,0,0,0,0,0,24.57,24.10,23.34
$GC,12187,0.48,146.0,981.7,8.3,629,12191,0.00,2.33,0.00,0.000,6,0.000,0.050,3358,2306,2194,0,0,0,0,0,0,28.83,24.43,28.83
$GC,12509,0.48,146.0,944.3,11.5,640,12515,0.00,2.33,0.00,0.000,4,0.000,0.070,3358,3699,2186,0,0,0,0,0,0,28.83,25.34,28.83
$GC,12542,0.48,146.0,940.3,11.8,641,12547,0.00,2.25,0.00,0.000,6,0.000,0.051,3369,2298,2186,0,0,0,0,0,0,28.83,25.41,28.83
$GC,12865,0.48,146.0,901.3,11.7,652,12866,0.00,0.00,0.00,0.000,6,0.000,0.000,3369,2293,2185,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,23343,end climb,SURFACE_DEPTH_REACHED
$STATE,23343,begin surface coast
$FINISH,0.7,1.000300
$STATE,23380,end surface coast,CONTROL_FINISHED_OK
$STATE,23380,begin surface
$SM_CCo,23460,0.00,0.000,0,0,1106,414.07
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$IRIDIUM_FIX,4644.93,-12655.98,230912,171724
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.46
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.70
$XPDR_PINGS,1
$24V_AH,23.3,9.406
$10V_AH,10.2,8.421
$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
$DEVICE_SECS,22.175,216.600,472.375,0.000,0.000,27.276,34.146,200.800,0.250,0.000,15.817,3597.008,16088.479,606.520,3154.261,395.222,0.000,2134.217,0.000,2858.053,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,952.531,1122.382,643.194,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297032
$DATA_FILE_SIZE,80237,1384
$CAP_FILE_SIZE,203681,0
$CFSIZE,260165632,252878848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.039,280.7,1
$GPS,240912,065723,4708.762,-12644.916,38,1.5,38,18.6