version: 66.11
glider: 187
mission: 2
dive: 55
start: 9 25 112 9 13 51
data:
$ID,187
$MISSION,2
$DIVE,55
$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,-1587687.4
$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,2175
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,25
$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
$GPS1,250912,090550,4715.347,-12629.175,40,5.2,59,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-74.3
$GPS2,250912,091321,4715.317,-12629.153,38,4.0,57,18.6
$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,41.5,138950,-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,-146.0,0.0,0.0,0,81,0.00,0.00,-61.62,0.000,2,0.000,0.000,120,2159,2826,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.48,-146.0,3.1,-4.5,10,112,11.23,0.00,-10.90,0.000,6,0.224,0.000,3035,2158,3393,0,0,0,0,0,0,25.47,28.83,26.03
$GC,428,-0.48,-146.0,64.8,-13.3,74,435,0.00,2.17,0.00,0.000,4,0.000,0.050,3035,773,3399,0,0,0,0,0,0,28.83,25.90,28.83
$GC,453,-0.48,-146.0,68.2,-13.3,78,461,0.00,2.20,0.00,0.000,6,0.000,0.048,3027,2175,3399,0,0,0,0,0,0,28.83,25.91,28.83
$GC,779,-0.48,-146.0,109.1,-11.9,139,785,0.00,2.20,0.00,0.000,4,0.000,0.060,3017,3585,3401,0,0,0,0,0,0,28.83,25.98,28.83
$GC,850,-0.48,-146.0,117.2,-11.1,152,858,0.00,2.17,0.00,0.000,6,0.000,0.042,3016,2173,3401,0,0,0,0,0,0,28.83,26.05,28.83
$GC,1162,-0.48,-146.0,152.9,-11.9,175,1163,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2173,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1462,-0.48,-146.0,186.3,-10.6,195,1467,0.00,2.10,0.00,0.000,4,0.000,0.050,3016,783,3400,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1523,-0.48,-146.0,192.7,-10.5,199,1529,0.08,2.10,0.00,0.000,6,0.127,0.050,3036,2172,3400,0,0,0,0,0,0,26.06,26.15,28.83
$GC,1839,-0.48,-146.0,221.6,-9.2,220,1844,0.00,2.17,0.00,0.000,4,0.000,0.063,3028,3580,3400,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1885,-0.48,-146.0,226.0,-9.4,223,1889,0.00,2.12,0.00,0.000,6,0.000,0.044,3028,2176,3399,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2194,-0.48,-146.0,256.7,-10.1,243,2199,0.00,2.12,0.00,0.000,4,0.000,0.051,3028,768,3399,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2224,-0.48,-146.0,259.8,-10.2,245,2230,0.00,2.15,0.00,0.000,6,0.000,0.050,3018,2180,3399,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2539,-0.48,-146.0,292.5,-10.0,266,2544,0.00,2.17,0.00,0.000,4,0.000,0.063,3008,3584,3397,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2569,-0.48,-146.0,295.5,-10.3,268,2575,0.08,2.12,0.00,0.000,6,0.119,0.044,3036,2171,3397,0,0,0,0,0,0,26.17,26.27,28.83
$GC,2887,-0.48,-146.0,323.6,-8.4,289,2892,0.00,2.22,0.00,0.000,4,0.000,0.064,3028,3590,3397,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2933,-0.48,-146.0,327.9,-8.7,292,2937,0.00,2.15,0.00,0.000,6,0.000,0.044,3028,2172,3396,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3240,-0.48,-146.0,357.7,-9.6,312,3246,0.00,2.22,0.00,0.000,4,0.000,0.063,3017,3587,3396,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3264,-0.48,-146.0,359.2,-9.6,313,3270,0.00,2.15,0.00,0.000,6,0.000,0.045,3017,2166,3396,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3572,-0.48,-146.0,389.7,-9.5,334,3573,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2163,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3870,-0.48,-146.0,416.0,-8.6,348,3872,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2163,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4171,-0.48,-146.0,441.8,-8.7,358,4172,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2163,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4470,-0.48,-146.0,470.4,-9.8,368,4474,0.00,2.25,0.00,0.000,4,0.000,0.065,3007,3588,3392,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4495,-0.48,-146.0,470.4,-9.8,368,4503,0.12,2.15,0.00,0.000,6,0.138,0.047,3042,2170,3392,0,0,0,0,0,0,26.26,26.35,28.83
$GC,4802,-0.48,-146.0,496.9,-7.4,379,4803,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2169,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5102,-0.48,-146.0,518.8,-7.4,389,5108,0.00,2.25,0.00,0.000,4,0.000,0.067,3034,3589,3390,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5150,-0.48,-146.0,521.0,-7.5,390,5154,0.00,2.15,0.00,0.000,6,0.000,0.047,3034,2172,3390,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5457,-0.48,-146.0,547.8,-8.2,400,5463,0.00,2.22,0.00,0.000,4,0.000,0.067,3024,3584,3390,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5495,-0.48,-146.0,550.2,-8.2,401,5499,0.00,2.15,0.00,0.000,6,0.000,0.047,3024,2166,3390,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5812,-0.48,-146.0,577.5,-8.3,412,5813,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2164,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6112,-0.48,-146.0,602.9,-8.4,422,6118,0.00,2.25,0.00,0.000,4,0.000,0.067,3014,3594,3387,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6160,-0.48,-146.0,605.5,-8.6,423,6164,0.00,2.15,0.00,0.000,6,0.000,0.047,3013,2175,3387,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6468,-0.48,-146.0,634.0,-8.6,433,6469,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2172,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6767,-0.48,-146.0,658.2,-7.9,443,6768,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2172,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7068,-0.48,-146.0,680.4,-7.2,453,7074,0.00,2.25,0.00,0.000,4,0.000,0.067,3003,3591,3387,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7116,-0.48,-146.0,682.7,-7.2,454,7120,0.12,2.15,0.00,0.000,6,0.141,0.048,3039,2172,3386,0,0,0,0,0,0,26.29,26.39,28.83
$GC,7423,-0.48,-146.0,701.4,-5.6,464,7428,0.00,2.20,0.00,0.000,4,0.000,0.067,3031,3578,3386,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7471,-0.48,-146.0,703.2,-5.6,465,7475,0.00,2.12,0.00,0.000,6,0.000,0.048,3030,2178,3386,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7778,-0.48,-146.0,723.3,-6.3,475,7781,0.00,2.22,0.00,0.000,4,0.000,0.068,3021,3587,3385,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7798,-0.48,-146.0,723.3,-6.3,475,7802,0.00,2.15,0.00,0.000,6,0.000,0.049,3021,2170,3385,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8105,-0.48,-146.0,746.7,-7.4,485,8106,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2168,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8404,-0.48,-146.0,770.1,-8.0,495,8408,0.00,2.15,0.00,0.000,4,0.000,0.056,3020,763,3384,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8436,-0.48,-146.0,772.9,-8.3,496,8442,0.00,2.17,0.00,0.000,6,0.000,0.055,3011,2184,3383,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8766,-0.48,-146.0,801.7,-8.8,507,8772,0.00,2.20,0.00,0.000,4,0.000,0.067,3001,3592,3383,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8844,-0.48,-146.0,807.5,-9.2,509,8849,0.15,2.15,0.00,0.000,6,0.132,0.048,3045,2169,3383,0,0,0,0,0,0,26.30,26.39,28.83
$GC,9151,-0.48,-146.0,831.0,-6.9,519,9157,0.00,2.25,0.00,0.000,4,0.000,0.069,3037,3583,3383,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9185,-0.48,-146.0,833.2,-7.0,520,9189,0.00,2.15,0.00,0.000,6,0.000,0.049,3037,2167,3383,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9512,-0.48,-146.0,857.3,-7.0,531,9518,0.00,2.22,0.00,0.000,4,0.000,0.069,3027,3586,3382,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9560,-0.48,-146.0,859.7,-7.2,532,9565,0.00,2.15,0.00,0.000,6,0.000,0.049,3027,2170,3382,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9867,-0.48,-146.0,883.4,-7.1,542,9872,0.00,2.22,0.00,0.000,4,0.000,0.069,3017,3585,3382,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9899,-0.48,-146.0,885.8,-7.3,543,9903,0.00,2.15,0.00,0.000,6,0.000,0.049,3017,2169,3382,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10222,-0.48,-146.0,910.8,-8.0,554,10223,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2167,3382,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10521,-0.48,-146.0,934.7,-7.9,564,10527,0.00,2.25,0.00,0.000,4,0.000,0.069,3007,3594,3381,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10581,-0.48,-146.0,939.6,-8.1,566,10588,0.12,2.20,0.00,0.000,6,0.138,0.049,3043,2165,3381,0,0,0,0,0,0,26.30,26.39,28.83
$GC,10912,-0.48,-146.0,961.0,-6.2,577,10918,0.00,2.22,0.00,0.000,4,0.000,0.069,3034,3581,3381,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10960,-0.48,-146.0,962.9,-6.3,578,10964,0.00,2.15,0.00,0.000,6,0.000,0.050,3034,2170,3381,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11267,-0.48,-146.0,983.6,-6.3,588,11272,0.00,2.22,0.00,0.000,4,0.000,0.070,3024,3581,3381,0,0,0,0,0,0,28.83,26.34,28.83
$GC,11305,-0.48,-146.0,985.6,-6.4,589,11309,0.00,2.15,0.00,0.000,6,0.000,0.050,3024,2169,3381,0,0,0,0,0,0,28.83,26.39,28.83
$STATE,11379,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11379,begin apogee
$GC,11386,-0.22,0.0,991.2,-6.5,592,11517,0.28,0.00,125.38,1.207,6,0.115,0.000,3119,2312,2794,0,0,0,0,0,0,26.30,28.83,23.67
$STATE,11521,end apogee,CONTROL_FINISHED_OK
$STATE,11521,begin climb
$GC,11523,0.48,146.0,993.9,0.0,596,11664,0.68,2.42,133.10,1.174,4,0.083,0.068,3347,3699,2197,0,0,0,0,0,0,24.59,24.10,23.35
$GC,11686,0.48,146.0,982.3,8.4,602,11691,0.00,2.33,0.00,0.000,6,0.000,0.050,3357,2309,2194,0,0,0,0,0,0,28.83,24.49,28.83
$GC,12009,0.48,146.0,945.5,10.9,613,12015,0.00,2.28,0.00,0.000,4,0.000,0.069,3357,3694,2187,0,0,0,0,0,0,28.83,25.35,28.83
$GC,12032,0.48,146.0,945.5,10.9,613,12040,0.00,2.25,0.00,0.000,6,0.000,0.050,3367,2298,2186,0,0,0,0,0,0,28.83,25.40,28.83
$GC,12339,0.48,146.0,908.1,11.0,624,12345,0.00,2.30,0.00,0.000,4,0.000,0.069,3367,3702,2185,0,0,0,0,0,0,28.83,25.64,28.83
$GC,12362,0.48,146.0,908.1,11.0,624,12369,0.00,2.22,0.00,0.000,6,0.000,0.050,3378,2296,2184,0,0,0,0,0,0,28.83,25.69,28.83
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$STATE,22663,end climb,SURFACE_DEPTH_REACHED
$STATE,22663,begin surface coast
$FINISH,0.9,1.018010
$STATE,22700,end surface coast,CONTROL_FINISHED_OK
$STATE,22700,begin surface
$SM_CCo,22780,0.00,0.000,0,0,1118,411.12
$SM_GC,1.83,8.57,0.17,0.00,0.031,0.080,0.000,115,2172,1118,-9.48,1.27,411.12,0,0,0,0,0,0,25.48,25.42,28.83
$IRIDIUM_FIX,4657.54,-12636.35,250912,020234
$TT8_MAMPS,0.027713,0.027713
$HUMID,42.40
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,20.00
$XPDR_PINGS,0
$24V_AH,23.4,10.111
$10V_AH,10.2,9.031
$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,22.150,207.700,472.825,0.000,0.000,28.982,39.247,205.745,0.000,0.000,59.149,3528.078,15578.429,582.620,3137.047,392.435,0.000,2075.099,0.000,2788.168,0.000,0.536,0.000
$DEVICE_MAMPS,224.145,83.385,1207.170,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,939.696,1103.250,651.536,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297112
$DATA_FILE_SIZE,76848,1366
$CAP_FILE_SIZE,198071,0
$CFSIZE,260165632,252440576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.029,285.5,1
$GPS,250912,153436,4717.058,-12625.381,27,1.5,27,18.6