version: 66.11
glider: 187
mission: 2
dive: 53
start: 9 24 112 19 57 25
data:
$ID,187
$MISSION,2
$DIVE,53
$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,-1587684.9
$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,40
$R_STBD_OVSHOOT,22
$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
$GPS1,240912,195023,4712.021,-12636.965,28,1.3,44,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-74.8
$GPS2,240912,195655,4711.983,-12636.988,14,1.3,14,18.6
$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,43.6,150454,-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,16,-0.48,-146.0,0.0,0.0,0,97,0.00,0.00,-78.60,0.000,2,0.000,0.000,124,2165,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,101,-0.48,-146.0,3.7,-7.2,13,129,11.35,2.17,-8.45,0.000,4,0.226,0.061,3036,768,3393,0,0,0,0,0,0,25.38,25.61,25.92
$GC,183,-0.48,-146.0,30.6,-21.8,27,191,0.00,2.20,0.00,0.000,6,0.000,0.048,3027,2188,3396,0,0,0,0,0,0,28.83,25.67,28.83
$GC,501,-0.48,-146.0,74.2,-13.6,88,508,0.00,2.22,0.00,0.000,4,0.000,0.050,3028,775,3400,0,0,0,0,0,0,28.83,25.86,28.83
$GC,563,-0.48,-146.0,83.0,-13.8,99,571,0.00,2.17,0.00,0.000,6,0.000,0.047,3017,2179,3400,0,0,0,0,0,0,28.83,25.89,28.83
$GC,891,-0.48,-146.0,126.3,-12.6,156,896,0.00,2.22,0.00,0.000,4,0.000,0.060,3007,3593,3401,0,0,0,0,0,0,28.83,25.96,28.83
$GC,953,-0.48,-146.0,133.9,-12.8,160,958,0.12,2.15,0.00,0.000,6,0.142,0.041,3041,2170,3401,0,0,0,0,0,0,25.93,26.03,28.83
$GC,1263,-0.48,-146.0,165.1,-10.0,180,1264,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2164,3401,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1561,-0.48,-146.0,195.3,-9.7,200,1562,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2164,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1861,-0.48,-146.0,223.5,-9.2,220,1865,0.00,2.15,0.00,0.000,4,0.000,0.051,3041,766,3400,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1893,-0.48,-146.0,226.6,-9.5,222,1899,0.00,2.15,0.00,0.000,6,0.000,0.050,3034,2178,3400,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2208,-0.48,-146.0,256.3,-8.8,243,2213,0.00,2.20,0.00,0.000,4,0.000,0.063,3023,3590,3399,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2246,-0.48,-146.0,259.0,-8.7,245,2252,0.00,2.15,0.00,0.000,6,0.000,0.044,3023,2163,3399,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2553,-0.48,-146.0,286.4,-8.7,266,2554,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2162,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2853,-0.48,-146.0,312.9,-9.2,286,2856,0.00,2.10,0.00,0.000,4,0.000,0.052,3023,778,3397,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2887,-0.48,-146.0,315.8,-9.4,288,2891,0.00,2.15,0.00,0.000,6,0.000,0.051,3014,2183,3397,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3200,-0.48,-146.0,346.2,-9.5,309,3203,0.00,2.20,0.00,0.000,4,0.000,0.063,3003,3583,3396,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3231,-0.48,-146.0,349.5,-9.7,311,3238,0.12,2.12,0.00,0.000,6,0.142,0.045,3038,2172,3395,0,0,0,0,0,0,26.20,26.29,28.83
$GC,3549,-0.48,-146.0,373.7,-7.3,332,3550,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2170,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3847,-0.48,-146.0,396.0,-7.6,352,3848,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2169,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4147,-0.48,-146.0,419.3,-7.8,364,4148,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2170,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4447,-0.48,-146.0,442.8,-7.7,374,4450,0.00,2.22,0.00,0.000,4,0.000,0.066,3030,3584,3392,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4471,-0.48,-146.0,442.8,-7.7,374,4478,0.00,2.12,0.00,0.000,6,0.000,0.047,3030,2175,3392,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4778,-0.48,-146.0,470.8,-8.7,385,4780,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2174,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5078,-0.48,-146.0,496.8,-8.7,395,5084,0.00,2.22,0.00,0.000,4,0.000,0.067,3020,3584,3390,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5109,-0.48,-146.0,499.5,-8.7,396,5115,0.00,2.10,0.00,0.000,6,0.000,0.047,3020,2183,3390,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5438,-0.48,-146.0,529.2,-8.8,407,5444,0.00,2.15,0.00,0.000,4,0.000,0.054,3020,770,3390,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5461,-0.48,-146.0,529.2,-8.8,407,5469,0.00,2.15,0.00,0.000,6,0.000,0.054,3011,2179,3389,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5769,-0.48,-146.0,558.7,-8.9,418,5775,0.00,2.20,0.00,0.000,4,0.000,0.066,3000,3603,3389,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5801,-0.48,-146.0,561.6,-9.0,419,5806,0.15,2.17,0.00,0.000,6,0.135,0.047,3044,2169,3389,0,0,0,0,0,0,26.27,26.36,28.83
$GC,6124,-0.48,-146.0,585.0,-7.1,430,6130,0.00,2.20,0.00,0.000,4,0.000,0.067,3035,3578,3387,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6157,-0.48,-146.0,587.1,-7.2,431,6161,0.00,2.12,0.00,0.000,6,0.000,0.047,3035,2175,3387,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6479,-0.48,-146.0,611.8,-7.5,442,6485,0.00,2.22,0.00,0.000,4,0.000,0.067,3025,3587,3387,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6509,-0.48,-146.0,614.3,-7.7,443,6515,0.00,2.15,0.00,0.000,6,0.000,0.047,3025,2173,3387,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6840,-0.48,-146.0,640.9,-7.9,454,6841,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2171,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7140,-0.48,-146.0,664.4,-7.8,464,7141,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2171,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7440,-0.48,-146.0,686.4,-7.1,474,7441,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2171,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7740,-0.48,-146.0,706.6,-6.7,484,7744,0.00,2.22,0.00,0.000,4,0.000,0.068,3016,3581,3385,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7786,-0.48,-146.0,708.8,-6.7,485,7790,0.00,2.15,0.00,0.000,6,0.000,0.048,3015,2166,3385,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8098,-0.48,-146.0,733.2,-7.5,496,8099,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2163,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8398,-0.48,-146.0,755.9,-7.6,506,8399,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2163,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8698,-0.48,-146.0,779.5,-7.9,516,8704,0.00,2.25,0.00,0.000,4,0.000,0.068,3006,3582,3383,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8736,-0.48,-146.0,782.0,-7.9,517,8741,0.12,2.15,0.00,0.000,6,0.138,0.049,3042,2171,3383,0,0,0,0,0,0,26.31,26.39,28.83
$GC,9054,-0.48,-146.0,802.6,-6.0,528,9056,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2169,3383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9354,-0.48,-146.0,822.2,-6.5,538,9360,0.00,2.20,0.00,0.000,4,0.000,0.069,3034,3576,3383,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9416,-0.48,-146.0,826.6,-6.9,540,9420,0.00,2.12,0.00,0.000,6,0.000,0.049,3034,2176,3383,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9739,-0.48,-146.0,849.8,-7.2,551,9740,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2173,3382,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10039,-0.48,-146.0,871.3,-7.3,561,10044,0.00,2.20,0.00,0.000,4,0.000,0.069,3025,3580,3382,0,0,0,0,0,0,28.83,26.35,28.83
$GC,10077,-0.48,-146.0,873.6,-7.3,562,10081,0.00,2.15,0.00,0.000,6,0.000,0.049,3024,2168,3382,0,0,0,0,0,0,28.83,26.40,28.83
$GC,10394,-0.48,-146.0,898.6,-7.7,573,10399,0.00,2.22,0.00,0.000,4,0.000,0.068,3014,3582,3381,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10424,-0.48,-146.0,900.9,-7.7,574,10429,0.00,2.15,0.00,0.000,6,0.000,0.050,3014,2169,3381,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10754,-0.48,-146.0,927.5,-7.9,585,10757,0.00,2.25,0.00,0.000,4,0.000,0.069,3004,3591,3381,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10774,-0.48,-146.0,927.5,-7.9,585,10778,0.12,2.15,0.00,0.000,6,0.139,0.050,3040,2176,3380,0,0,0,0,0,0,26.31,26.40,28.83
$GC,11081,-0.48,-146.0,948.8,-6.0,595,11085,0.00,2.25,0.00,0.000,4,0.000,0.070,3032,3584,3380,0,0,0,0,0,0,28.83,26.34,28.83
$GC,11101,-0.48,-146.0,948.8,-6.0,595,11105,0.00,2.15,0.00,0.000,6,0.000,0.050,3032,2174,3380,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11408,-0.48,-146.0,969.4,-6.3,605,11409,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2172,3380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11708,-0.48,-146.0,987.5,-5.9,615,11712,0.00,2.25,0.00,0.000,4,0.000,0.070,3022,3593,3380,0,0,0,0,0,0,28.83,26.34,28.83
$GC,11758,-0.48,-146.0,989.5,-6.0,616,11762,0.00,2.17,0.00,0.000,6,0.000,0.050,3022,2169,3380,0,0,0,0,0,0,28.83,26.39,28.83
$STATE,11792,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11792,begin apogee
$GC,11799,-0.22,0.0,993.1,-6.3,617,11931,0.30,0.00,125.38,1.209,6,0.116,0.000,3125,2312,2794,0,0,0,0,0,0,26.30,28.83,23.65
$STATE,11934,end apogee,CONTROL_FINISHED_OK
$STATE,11934,begin climb
$GC,11936,0.48,146.0,995.9,0.0,621,12079,0.65,2.45,132.82,1.177,4,0.081,0.068,3346,3702,2197,0,0,0,0,0,0,24.58,24.10,23.34
$GC,12105,0.48,146.0,984.9,8.0,627,12109,0.00,2.33,0.00,0.000,6,0.000,0.050,3357,2306,2192,0,0,0,0,0,0,28.83,24.52,28.83
$GC,12422,0.48,146.0,949.3,10.8,638,12428,0.00,2.33,0.00,0.000,4,0.000,0.069,3357,3706,2187,0,0,0,0,0,0,28.83,25.34,28.83
$GC,12445,0.48,146.0,949.3,10.8,638,12452,0.00,2.25,0.00,0.000,6,0.000,0.051,3367,2299,2186,0,0,0,0,0,0,28.83,25.40,28.83
$GC,12752,0.48,146.0,910.9,11.5,649,12758,0.00,2.30,0.00,0.000,4,0.000,0.069,3368,3704,2185,0,0,0,0,0,0,28.83,25.63,28.83
$GC,12785,0.48,146.0,907.1,11.7,650,12789,0.00,2.22,0.00,0.000,6,0.000,0.051,3378,2300,2184,0,0,0,0,0,0,28.83,25.69,28.83
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$STATE,22973,end climb,SURFACE_DEPTH_REACHED
$STATE,22973,begin surface coast
$FINISH,0.6,1.004424
$STATE,23005,end surface coast,CONTROL_FINISHED_OK
$STATE,23005,begin surface
$SM_CCo,23085,0.00,0.000,0,0,1075,421.43
$SM_GC,1.86,8.55,0.20,0.00,0.028,0.072,0.000,116,2165,1075,-9.46,0.90,421.43,0,0,0,0,0,0,25.43,25.39,28.83
$IRIDIUM_FIX,4651.23,-12641.43,240912,131319
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.83
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,20.10
$XPDR_PINGS,1
$24V_AH,23.3,9.836
$10V_AH,10.2,8.780
$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,22.200,199.100,477.700,0.000,0.000,25.739,40.077,196.337,0.250,0.000,15.438,3543.743,15904.049,574.693,3054.681,390.459,0.000,2060.676,0.000,2763.603,0.000,0.536,0.000
$DEVICE_MAMPS,226.440,82.620,1209.465,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,947.791,1114.507,636.752,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297068
$DATA_FILE_SIZE,76897,1376
$CAP_FILE_SIZE,196712,0
$CFSIZE,260165632,252624896
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.032,295.3,1
$GPS,250912,022336,4713.749,-12633.264,48,1.2,48,18.6