version: 66.11
glider: 187
mission: 2
dive: 57
start: 9 25 112 22 11 54
data:
$ID,187
$MISSION,2
$DIVE,57
$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,-1587689.9
$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,42
$R_STBD_OVSHOOT,26
$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
$GPS1,250912,220429,4719.252,-12621.588,40,1.9,40,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-74.2
$GPS2,250912,221124,4719.240,-12621.603,11,2.0,16,18.6
$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,47.2,127117,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.48,-146.0,0.0,0.0,0,89,0.00,0.00,-69.07,0.000,2,0.000,0.000,112,2163,2957,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.48,-146.0,3.6,-5.7,11,120,11.38,2.17,-7.78,0.000,4,0.227,0.062,3033,773,3394,0,0,0,0,0,0,25.38,25.64,25.95
$GC,322,-0.48,-146.0,51.9,-15.0,53,329,0.00,2.17,0.00,0.000,6,0.000,0.049,3025,2180,3398,0,0,0,0,0,0,28.83,25.79,28.83
$GC,646,-0.48,-146.0,99.6,-14.1,114,653,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2181,3401,0,0,0,0,0,0,28.83,28.83,28.83
$GC,972,-0.48,-146.0,135.9,-10.5,157,974,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2181,3401,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1272,-0.48,-146.0,169.1,-10.7,177,1276,0.00,2.20,0.00,0.000,4,0.000,0.062,3014,3589,3401,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1343,-0.48,-146.0,176.4,-11.4,181,1350,0.00,2.15,0.00,0.000,6,0.000,0.043,3014,2163,3400,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1650,-0.48,-146.0,213.3,-11.2,202,1655,0.00,2.12,0.00,0.000,4,0.000,0.050,3014,770,3400,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1695,-0.48,-146.0,218.5,-11.4,205,1701,0.12,2.15,0.00,0.000,6,0.152,0.050,3038,2179,3400,0,0,0,0,0,0,26.06,26.15,28.83
$GC,2012,-0.48,-146.0,247.0,-9.3,226,2017,0.00,2.17,0.00,0.000,4,0.000,0.062,3030,3584,3400,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2057,-0.48,-146.0,251.3,-9.4,229,2061,0.00,2.15,0.00,0.000,6,0.000,0.044,3030,2169,3399,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2370,-0.48,-146.0,280.2,-8.7,250,2376,0.00,2.22,0.00,0.000,4,0.000,0.063,3020,3584,3399,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2400,-0.48,-146.0,282.8,-8.9,252,2406,0.00,2.12,0.00,0.000,6,0.000,0.044,3019,2174,3398,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2715,-0.48,-146.0,312.6,-9.5,273,2716,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2172,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3016,-0.48,-146.0,341.5,-9.5,293,3018,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2172,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3315,-0.48,-146.0,370.9,-9.6,313,3321,0.00,2.22,0.00,0.000,4,0.000,0.064,3009,3586,3396,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3345,-0.48,-146.0,373.8,-9.7,315,3352,0.08,2.12,0.00,0.000,6,0.118,0.045,3037,2168,3396,0,0,0,0,0,0,26.21,26.30,28.83
$GC,3662,-0.48,-146.0,399.8,-7.9,336,3663,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2166,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3976,-0.48,-146.0,424.1,-7.5,347,3977,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2166,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4275,-0.48,-146.0,445.8,-7.0,357,4276,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2166,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4576,-0.48,-146.0,464.5,-6.1,367,4577,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2166,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4875,-0.48,-146.0,483.3,-6.2,377,4881,0.00,2.25,0.00,0.000,4,0.000,0.066,3029,3587,3392,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4905,-0.48,-146.0,485.2,-6.2,378,4911,0.00,2.15,0.00,0.000,6,0.000,0.047,3029,2170,3392,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5235,-0.48,-146.0,508.7,-7.3,389,5236,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2168,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5536,-0.48,-146.0,531.1,-7.6,399,5537,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2168,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5835,-0.48,-146.0,554.3,-7.8,409,5841,0.00,2.25,0.00,0.000,4,0.000,0.067,3020,3589,3391,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5865,-0.48,-146.0,556.7,-7.8,410,5871,0.00,2.15,0.00,0.000,6,0.000,0.047,3019,2170,3390,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6195,-0.48,-146.0,585.3,-8.6,421,6196,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2168,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6495,-0.48,-146.0,610.9,-8.4,431,6501,0.00,2.20,0.00,0.000,4,0.000,0.067,3009,3580,3389,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6533,-0.48,-146.0,613.6,-8.5,432,6538,0.12,2.15,0.00,0.000,6,0.135,0.047,3045,2165,3389,0,0,0,0,0,0,26.29,26.38,28.83
$GC,6851,-0.48,-146.0,638.2,-7.5,443,6856,0.00,2.22,0.00,0.000,4,0.000,0.067,3037,3585,3389,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6874,-0.48,-146.0,638.2,-7.5,443,6880,0.00,2.15,0.00,0.000,6,0.000,0.048,3037,2167,3388,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7181,-0.48,-146.0,664.1,-7.7,454,7182,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2167,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7481,-0.48,-146.0,684.5,-6.4,464,7487,0.00,2.25,0.00,0.000,4,0.000,0.068,3027,3582,3387,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7541,-0.48,-146.0,688.7,-6.7,466,7547,0.00,2.12,0.00,0.000,6,0.000,0.049,3028,2172,3387,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7871,-0.48,-146.0,710.9,-6.6,477,7876,0.00,2.22,0.00,0.000,4,0.000,0.068,3018,3589,3387,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7901,-0.48,-146.0,712.9,-6.6,478,7907,0.00,2.17,0.00,0.000,6,0.000,0.048,3017,2165,3386,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8231,-0.48,-146.0,736.3,-7.2,489,8232,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2162,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8531,-0.48,-146.0,759.7,-8.0,499,8536,0.00,2.22,0.00,0.000,4,0.000,0.067,3008,3583,3386,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8579,-0.48,-146.0,762.2,-8.0,500,8584,0.12,2.15,0.00,0.000,6,0.137,0.049,3044,2166,3385,0,0,0,0,0,0,26.30,26.39,28.83
$GC,8886,-0.48,-146.0,784.6,-6.7,510,8887,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2164,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9186,-0.48,-146.0,805.4,-6.9,520,9192,0.00,2.25,0.00,0.000,4,0.000,0.068,3035,3581,3385,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9239,-0.48,-146.0,807.4,-6.8,521,9246,0.00,2.15,0.00,0.000,6,0.000,0.049,3035,2167,3385,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9546,-0.48,-146.0,829.6,-6.7,532,9552,0.00,2.22,0.00,0.000,4,0.000,0.069,3026,3581,3384,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9576,-0.48,-146.0,831.6,-6.6,533,9582,0.00,2.15,0.00,0.000,6,0.000,0.049,3025,2168,3384,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9906,-0.48,-146.0,853.2,-6.4,544,9907,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2166,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10206,-0.48,-146.0,872.1,-6.3,554,10211,0.00,2.22,0.00,0.000,4,0.000,0.069,3017,3581,3383,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10274,-0.48,-146.0,876.2,-6.6,556,10278,0.00,2.15,0.00,0.000,6,0.000,0.050,3016,2175,3383,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10592,-0.48,-146.0,899.4,-7.1,567,10598,0.00,2.20,0.00,0.000,4,0.000,0.069,3007,3579,3383,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10624,-0.48,-146.0,901.7,-7.2,568,10629,0.12,2.15,0.00,0.000,6,0.135,0.050,3043,2170,3383,0,0,0,0,0,0,26.30,26.39,28.83
$GC,10948,-0.48,-146.0,921.7,-6.1,579,10953,0.00,2.22,0.00,0.000,4,0.000,0.070,3035,3585,3383,0,0,0,0,0,0,28.83,26.33,28.83
$GC,10991,-0.48,-146.0,923.6,-6.2,580,10995,0.00,2.15,0.00,0.000,6,0.000,0.050,3035,2175,3383,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11303,-0.48,-146.0,945.9,-7.1,591,11305,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2172,3382,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11603,-0.48,-146.0,966.5,-6.9,601,11609,0.00,2.20,0.00,0.000,4,0.000,0.070,3025,3577,3382,0,0,0,0,0,0,28.83,26.33,28.83
$GC,11641,-0.48,-146.0,968.7,-6.9,602,11645,0.00,2.15,0.00,0.000,6,0.000,0.050,3025,2167,3382,0,0,0,0,0,0,28.83,26.39,28.83
$STATE,11925,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11926,begin apogee
$GC,11932,-0.22,0.0,990.8,-7.4,612,12064,0.28,0.00,125.47,1.211,6,0.117,0.000,3120,2309,2794,0,0,0,0,0,0,26.29,28.83,23.67
$STATE,12067,end apogee,CONTROL_FINISHED_OK
$STATE,12067,begin climb
$GC,12070,0.48,146.0,994.6,0.0,616,12210,0.68,2.45,133.62,1.177,4,0.083,0.068,3348,3706,2197,0,0,0,0,0,0,24.58,24.09,23.34
$GC,12238,0.48,146.0,984.3,7.9,622,12244,0.00,2.33,0.00,0.000,6,0.000,0.050,3358,2311,2193,0,0,0,0,0,0,28.83,24.51,28.83
$GC,12558,0.48,146.0,946.7,11.4,633,12560,0.00,0.00,0.00,0.000,6,0.000,0.000,3358,2306,2187,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12859,0.48,146.0,912.9,11.2,643,12864,0.00,2.28,0.00,0.000,4,0.000,0.070,3358,3706,2185,0,0,0,0,0,0,28.83,25.61,28.83
$GC,12891,0.48,146.0,909.3,11.3,644,12895,0.00,2.25,0.00,0.000,6,0.000,0.051,3369,2289,2185,0,0,0,0,0,0,28.83,25.67,28.83
$GC,13214,0.48,146.0,871.1,11.7,655,13219,0.00,2.30,0.00,0.000,4,0.000,0.069,3369,3708,2184,0,0,0,0,0,0,28.83,25.80,28.83
$GC,13261,0.48,146.0,867.5,11.8,656,13266,0.00,2.22,0.00,0.000,6,0.000,0.051,3379,2293,2184,0,0,0,0,0,0,28.83,25.85,28.83
$GC,13568,0.48,146.0,828.5,11.9,666,13569,0.00,0.00,0.00,0.000,6,0.000,0.000,3379,2288,2184,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13868,0.48,146.0,794.3,11.2,676,13874,0.00,2.30,0.00,0.000,4,0.000,0.069,3379,3718,2183,0,0,0,0,0,0,28.83,25.98,28.83
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$STATE,23149,end climb,SURFACE_DEPTH_REACHED
$STATE,23149,begin surface coast
$FINISH,0.8,1.012056
$STATE,23193,end surface coast,CONTROL_FINISHED_OK
$STATE,23193,begin surface
$SM_CCo,23272,0.00,0.000,0,0,1362,351.27
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$IRIDIUM_FIX,4657.54,-12624.94,250912,151530
$TT8_MAMPS,0.027713,0.027713
$HUMID,43.06
$INTERNAL_PRESSURE,9.11829
$TCM_TEMP,19.60
$XPDR_PINGS,1
$24V_AH,23.3,10.381
$10V_AH,10.2,9.273
$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,22.025,181.150,429.750,0.000,0.000,25.015,40.512,216.537,0.250,0.000,16.938,3564.374,16133.489,538.794,3054.630,384.573,0.000,1977.703,0.000,2743.048,0.000,0.536,0.000
$DEVICE_MAMPS,227.205,84.150,1210.995,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,947.414,1123.736,628.460,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,76865,1374
$CAP_FILE_SIZE,192389,0
$CFSIZE,260165632,252272640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.050,317.2,1
$GPS,260912,044059,4720.945,-12617.696,35,2.0,35,18.6