version: 66.11
glider: 187
mission: 2
dive: 69
start: 9 29 112 4 56 55
data:
$ID,187
$MISSION,2
$DIVE,69
$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,-1587704.9
$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,39
$R_STBD_OVSHOOT,19
$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
$GPS1,290912,044535,4738.178,-12533.454,27,1.4,27,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-75.0
$GPS2,290912,045625,4738.129,-12533.423,17,1.5,17,18.7
$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,15.8,58260,-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,-146.0,0.0,0.0,0,93,0.00,0.00,-73.40,0.000,2,0.000,0.000,129,2173,3020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.48,-146.0,4.0,-7.7,12,124,11.38,2.20,-6.68,0.000,4,0.228,0.058,3032,768,3394,0,0,0,0,0,0,25.32,25.64,25.94
$GC,260,-0.48,-146.0,39.9,-12.4,41,267,0.00,2.20,0.00,0.000,6,0.000,0.050,3024,2188,3398,0,0,0,0,0,0,28.83,25.72,28.83
$GC,583,-0.48,-146.0,82.0,-12.2,102,590,0.00,2.20,0.00,0.000,4,0.000,0.061,3013,3588,3400,0,0,0,0,0,0,28.83,25.86,28.83
$GC,607,-0.48,-146.0,84.9,-11.9,106,615,0.00,2.15,0.00,0.000,6,0.000,0.042,3013,2165,3401,0,0,0,0,0,0,28.83,25.93,28.83
$GC,927,-0.48,-146.0,123.7,-11.9,164,932,0.00,2.12,0.00,0.000,4,0.000,0.049,3013,768,3401,0,0,0,0,0,0,28.83,25.99,28.83
$GC,960,-0.48,-146.0,127.2,-11.7,166,965,0.12,2.15,0.00,0.000,6,0.150,0.050,3037,2176,3401,0,0,0,0,0,0,25.91,26.00,28.83
$GC,1267,-0.48,-146.0,157.9,-10.2,186,1271,0.00,2.22,0.00,0.000,4,0.000,0.062,3029,3590,3401,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1315,-0.48,-146.0,163.1,-10.7,189,1321,0.00,2.12,0.00,0.000,6,0.000,0.043,3029,2168,3401,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1630,-0.48,-146.0,197.6,-10.7,210,1631,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2165,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1941,-0.48,-146.0,230.6,-10.7,226,1942,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2165,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2239,-0.48,-146.0,261.5,-10.6,241,2245,0.00,2.25,0.00,0.000,4,0.000,0.063,3018,3583,3399,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2282,-0.48,-146.0,265.7,-10.5,243,2286,0.00,2.12,0.00,0.000,6,0.000,0.044,3018,2175,3398,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2595,-0.48,-146.0,300.3,-11.2,259,2600,0.00,2.20,0.00,0.000,4,0.000,0.063,3009,3581,3398,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2637,-0.48,-146.0,304.8,-11.2,261,2642,0.12,2.12,0.00,0.000,6,0.142,0.044,3042,2171,3397,0,0,0,0,0,0,26.13,26.25,28.83
$GC,2950,-0.48,-146.0,334.5,-9.1,277,2955,0.00,2.22,0.00,0.000,4,0.000,0.063,3034,3593,3397,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2998,-0.48,-146.0,338.5,-9.5,279,3002,0.00,2.15,0.00,0.000,6,0.000,0.043,3035,2164,3396,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3305,-0.48,-146.0,367.4,-9.1,294,3306,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2161,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3605,-0.48,-146.0,394.5,-9.0,309,3610,0.00,2.22,0.00,0.000,4,0.000,0.064,3024,3581,3395,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3653,-0.48,-146.0,398.3,-9.1,311,3657,0.00,2.12,0.00,0.000,6,0.000,0.045,3024,2176,3395,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3980,-0.48,-146.0,429.8,-9.3,322,3985,0.00,2.25,0.00,0.000,4,0.000,0.065,3013,3592,3394,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4010,-0.48,-146.0,432.7,-9.4,323,4016,0.00,2.15,0.00,0.000,6,0.000,0.045,3013,2171,3394,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4340,-0.48,-146.0,463.4,-8.8,334,4341,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2169,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4640,-0.48,-146.0,489.1,-8.4,344,4641,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2169,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4940,-0.48,-146.0,516.0,-9.3,354,4941,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2169,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5240,-0.48,-146.0,542.5,-8.6,364,5241,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2169,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5540,-0.48,-146.0,570.4,-9.5,374,5545,0.00,2.25,0.00,0.000,4,0.000,0.066,3003,3584,3391,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5563,-0.48,-146.0,570.4,-9.5,374,5571,0.12,2.15,0.00,0.000,6,0.142,0.047,3038,2165,3391,0,0,0,0,0,0,26.23,26.34,28.83
$GC,5870,-0.48,-146.0,596.6,-7.7,385,5875,0.00,2.25,0.00,0.000,4,0.000,0.066,3030,3581,3391,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5908,-0.48,-146.0,599.0,-7.7,386,5912,0.00,2.15,0.00,0.000,6,0.000,0.047,3030,2172,3391,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6230,-0.48,-146.0,626.1,-8.1,397,6235,0.00,2.20,0.00,0.000,4,0.000,0.067,3019,3577,3390,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6268,-0.48,-146.0,628.5,-8.1,398,6272,0.00,2.12,0.00,0.000,6,0.000,0.047,3020,2175,3389,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6585,-0.48,-146.0,656.4,-8.8,409,6590,0.00,2.22,0.00,0.000,4,0.000,0.067,3009,3583,3389,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6659,-0.48,-146.0,662.1,-9.1,411,6666,0.12,2.15,0.00,0.000,6,0.136,0.047,3045,2164,3389,0,0,0,0,0,0,26.25,26.35,28.83
$GC,6975,-0.48,-146.0,686.2,-7.3,422,6981,0.00,2.22,0.00,0.000,4,0.000,0.067,3037,3582,3388,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7013,-0.48,-146.0,688.4,-7.4,423,7016,0.00,2.15,0.00,0.000,6,0.000,0.047,3037,2174,3388,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7335,-0.48,-146.0,712.1,-6.9,434,7340,0.00,2.20,0.00,0.000,4,0.000,0.067,3027,3580,3387,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7383,-0.48,-146.0,714.2,-6.9,435,7387,0.00,2.15,0.00,0.000,6,0.000,0.047,3027,2164,3387,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7690,-0.48,-146.0,737.3,-6.9,445,7696,0.00,2.25,0.00,0.000,4,0.000,0.068,3017,3581,3387,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7758,-0.48,-146.0,741.8,-7.3,447,7762,0.00,2.15,0.00,0.000,6,0.000,0.047,3017,2165,3386,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8075,-0.48,-146.0,764.7,-7.0,458,8081,0.00,2.22,0.00,0.000,4,0.000,0.067,3007,3581,3386,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8107,-0.48,-146.0,767.0,-7.2,459,8113,0.08,2.12,0.00,0.000,6,0.116,0.048,3036,2175,3386,0,0,0,0,0,0,26.24,26.36,28.83
$GC,8436,-0.48,-146.0,789.9,-7.2,470,8437,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2172,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8736,-0.48,-146.0,811.8,-7.1,480,8742,0.00,2.25,0.00,0.000,4,0.000,0.069,3028,3584,3385,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8768,-0.48,-146.0,814.0,-7.1,481,8772,0.00,2.17,0.00,0.000,6,0.000,0.048,3028,2165,3385,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9096,-0.48,-146.0,838.2,-7.4,492,9101,0.00,2.22,0.00,0.000,4,0.000,0.068,3018,3586,3385,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9133,-0.48,-146.0,840.3,-7.3,493,9137,0.00,2.15,0.00,0.000,6,0.000,0.048,3018,2168,3384,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9451,-0.48,-146.0,866.0,-7.7,504,9456,0.00,2.22,0.00,0.000,4,0.000,0.068,3008,3582,3385,0,0,0,0,0,0,28.83,26.28,28.83
$GC,9510,-0.48,-146.0,870.9,-7.7,506,9517,0.12,2.15,0.00,0.000,6,0.135,0.048,3044,2171,3384,0,0,0,0,0,0,26.25,26.36,28.83
$GC,9841,-0.48,-146.0,890.4,-5.8,517,9846,0.00,2.22,0.00,0.000,4,0.000,0.069,3035,3585,3384,0,0,0,0,0,0,28.83,26.28,28.83
$GC,9884,-0.48,-146.0,892.3,-5.9,518,9888,0.00,2.15,0.00,0.000,6,0.000,0.049,3035,2170,3384,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10197,-0.48,-146.0,914.2,-6.6,529,10202,0.00,2.22,0.00,0.000,4,0.000,0.069,3025,3585,3383,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10227,-0.48,-146.0,916.0,-6.6,530,10232,0.00,2.15,0.00,0.000,6,0.000,0.049,3025,2168,3384,0,0,0,0,0,0,28.83,26.35,28.83
$GC,10557,-0.48,-146.0,938.6,-6.7,541,10563,0.00,2.25,0.00,0.000,4,0.000,0.070,3015,3581,3383,0,0,0,0,0,0,28.83,26.28,28.83
$GC,10586,-0.48,-146.0,940.7,-6.8,542,10593,0.00,2.15,0.00,0.000,6,0.000,0.049,3015,2171,3383,0,0,0,0,0,0,28.83,26.35,28.83
$GC,10917,-0.48,-146.0,964.7,-7.2,553,10922,0.00,2.22,0.00,0.000,4,0.000,0.069,3006,3582,3383,0,0,0,0,0,0,28.83,26.28,28.83
$GC,10984,-0.48,-146.0,969.5,-7.7,555,10989,0.12,2.15,0.00,0.000,6,0.135,0.049,3042,2168,3383,0,0,0,0,0,0,26.25,26.35,28.83
$GC,11303,-0.48,-146.0,988.7,-5.8,566,11309,0.00,2.22,0.00,0.000,4,0.000,0.069,3033,3578,3382,0,0,0,0,0,0,28.83,26.27,28.83
$STATE,11330,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11330,begin apogee
$GC,11339,-0.22,0.0,990.4,-5.8,567,11469,0.25,0.00,125.40,1.206,6,0.115,0.000,3120,2299,2793,0,0,0,0,0,0,26.25,28.83,23.72
$STATE,11472,end apogee,CONTROL_FINISHED_OK
$STATE,11472,begin climb
$GC,11475,0.48,146.0,994.3,0.0,571,11617,0.65,2.47,132.68,1.172,4,0.083,0.068,3342,3705,2198,0,0,0,0,0,0,24.57,24.09,23.37
$GC,11648,0.48,162.5,985.7,6.7,577,11671,0.00,2.33,15.80,1.066,6,0.000,0.049,3353,2299,2130,0,0,0,0,0,0,28.83,24.54,23.61
$GC,11990,0.48,162.5,949.8,9.8,589,11996,0.00,2.33,0.00,0.000,4,0.000,0.068,3353,3705,2122,0,0,0,0,0,0,28.83,25.31,28.83
$GC,12020,0.48,162.5,946.4,10.1,590,12026,0.00,2.25,0.00,0.000,6,0.000,0.050,3363,2304,2121,0,0,0,0,0,0,28.83,25.38,28.83
$GC,12350,0.48,162.5,910.0,11.2,601,12351,0.00,0.00,0.00,0.000,6,0.000,0.000,3363,2299,2121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12651,0.48,162.5,876.0,11.5,611,12656,0.00,2.25,0.00,0.000,4,0.000,0.069,3363,3701,2120,0,0,0,0,0,0,28.83,25.79,28.83
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$STATE,22024,end climb,SURFACE_DEPTH_REACHED
$STATE,22024,begin surface coast
$FINISH,0.9,1.013147
$STATE,22073,end surface coast,CONTROL_FINISHED_OK
$STATE,22073,begin surface
$SM_CCo,22153,0.00,0.000,0,0,1356,352.74
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$TT8_MAMPS,0.026964,0.026964
$HUMID,43.34
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,16.00
$XPDR_PINGS,0
$24V_AH,23.4,12.103
$10V_AH,10.2,10.681
$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
$DEVICE_SECS,22.250,211.725,425.625,0.000,0.000,51.229,71.820,299.393,0.000,0.000,18.330,3311.719,15407.772,537.446,3149.576,386.358,0.000,1995.010,0.000,2662.679,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,866.541,744.650,527.634,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296952
$DATA_FILE_SIZE,70185,1259
$CAP_FILE_SIZE,195083,0
$CFSIZE,260165632,251224064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.106,142.8,1
$GPS,290912,110729,4739.822,-12529.584,43,1.7,43,18.7