version: 66.11
glider: 187
mission: 2
dive: 135
start: 10 11 112 16 5 9
data:
$ID,187
$MISSION,2
$DIVE,135
$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,-1587790
$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,43
$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
$GPS1,111012,155805,4659.917,-12700.278,30,0.8,30,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-79.2
$GPS2,111012,160437,4659.957,-12700.210,14,1.3,14,18.6
$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,38.7,186812,-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,-146.0,0.0,0.0,0,79,0.00,0.00,-60.12,0.000,2,0.000,0.000,113,2170,2718,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.48,-146.0,3.0,-3.5,10,117,11.27,2.22,-14.12,0.000,4,0.223,0.064,3035,745,3393,0,0,0,0,0,0,25.34,25.69,26.06
$GC,302,-0.48,-146.0,47.2,-13.1,49,308,0.00,2.22,0.00,0.000,6,0.000,0.051,3027,2180,3397,0,0,0,0,0,0,28.83,25.79,28.83
$GC,624,-0.48,-146.0,94.2,-14.4,110,630,0.00,2.17,0.00,0.000,4,0.000,0.050,3027,771,3399,0,0,0,0,0,0,28.83,25.91,28.83
$GC,654,-0.48,-146.0,98.3,-13.8,115,661,0.00,2.17,0.00,0.000,6,0.000,0.050,3017,2183,3399,0,0,0,0,0,0,28.83,25.91,28.83
$GC,970,-0.48,-146.0,138.1,-13.7,158,971,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2183,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1270,-0.48,-146.0,174.7,-11.3,178,1276,0.00,2.17,0.00,0.000,4,0.000,0.063,3006,3583,3399,0,0,0,0,0,0,28.83,26.00,28.83
$GC,1316,-0.48,-146.0,180.2,-12.0,181,1322,0.08,2.12,0.00,0.000,6,0.119,0.044,3035,2171,3399,0,0,0,0,0,0,25.94,26.08,28.83
$GC,1630,-0.48,-146.0,213.3,-9.8,200,1631,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2170,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1931,-0.48,-146.0,240.9,-8.8,215,1936,0.00,2.20,0.00,0.000,4,0.000,0.063,3026,3578,3399,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1958,-0.48,-146.0,242.8,-9.0,216,1962,0.00,2.15,0.00,0.000,6,0.000,0.044,3026,2164,3399,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2265,-0.48,-146.0,273.6,-10.2,231,2266,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2161,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2567,-0.48,-146.0,303.6,-9.9,246,2568,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2161,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2866,-0.48,-146.0,330.6,-8.8,261,2871,0.00,2.28,0.00,0.000,4,0.000,0.064,3016,3588,3397,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2893,-0.48,-146.0,332.4,-8.9,262,2897,0.00,2.15,0.00,0.000,6,0.000,0.046,3015,2173,3397,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3201,-0.48,-146.0,361.6,-9.1,277,3202,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2170,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3500,-0.48,-146.0,389.5,-9.4,292,3501,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2170,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3800,-0.48,-146.0,417.7,-9.1,304,3801,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2170,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4101,-0.48,-146.0,445.1,-9.1,314,4102,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2170,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4400,-0.48,-146.0,473.9,-9.8,324,4406,0.00,2.28,0.00,0.000,4,0.000,0.066,3006,3590,3393,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4448,-0.48,-146.0,476.9,-9.9,325,4453,0.12,2.17,0.00,0.000,6,0.136,0.047,3042,2167,3393,0,0,0,0,0,0,26.13,26.25,28.83
$GC,4756,-0.48,-146.0,502.6,-7.4,335,4757,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2165,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5056,-0.48,-146.0,524.1,-7.1,345,5062,0.00,2.22,0.00,0.000,4,0.000,0.067,3033,3578,3392,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5089,-0.48,-146.0,526.4,-7.2,346,5093,0.00,2.15,0.00,0.000,6,0.000,0.048,3033,2173,3392,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5411,-0.48,-146.0,551.8,-7.6,357,5413,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2171,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5711,-0.48,-146.0,573.6,-7.2,367,5716,0.00,2.22,0.00,0.000,4,0.000,0.067,3024,3581,3391,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5749,-0.48,-146.0,575.7,-7.2,368,5753,0.00,2.15,0.00,0.000,6,0.000,0.048,3023,2174,3391,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6066,-0.48,-146.0,601.4,-8.0,379,6072,0.00,2.22,0.00,0.000,4,0.000,0.068,3013,3581,3391,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6099,-0.48,-146.0,604.0,-8.2,380,6103,0.00,2.15,0.00,0.000,6,0.000,0.049,3013,2175,3390,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6421,-0.48,-146.0,633.9,-9.5,391,6427,0.00,2.25,0.00,0.000,4,0.000,0.068,3003,3584,3389,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6444,-0.48,-146.0,633.9,-9.5,391,6452,0.15,2.17,0.00,0.000,6,0.130,0.048,3047,2165,3389,0,0,0,0,0,0,26.13,26.26,28.83
$GC,6751,-0.48,-146.0,658.7,-7.1,402,6757,0.00,2.28,0.00,0.000,4,0.000,0.068,3038,3581,3389,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6795,-0.48,-146.0,660.6,-6.9,403,6799,0.00,2.15,0.00,0.000,6,0.000,0.049,3038,2174,3388,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7107,-0.48,-146.0,683.0,-6.6,414,7113,0.00,2.22,0.00,0.000,4,0.000,0.068,3028,3581,3388,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7160,-0.48,-146.0,685.1,-6.5,415,7167,0.00,2.15,0.00,0.000,6,0.000,0.049,3028,2172,3388,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7467,-0.48,-146.0,708.3,-7.1,426,7472,0.00,2.22,0.00,0.000,4,0.000,0.068,3018,3584,3388,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7497,-0.48,-146.0,710.5,-7.3,427,7503,0.00,2.15,0.00,0.000,6,0.000,0.050,3018,2177,3388,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7827,-0.48,-146.0,737.5,-8.2,438,7828,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2174,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8127,-0.48,-146.0,761.9,-8.2,448,8132,0.00,2.25,0.00,0.000,4,0.000,0.068,3008,3587,3387,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8160,-0.48,-146.0,764.5,-8.3,449,8165,0.12,2.17,0.00,0.000,6,0.133,0.050,3044,2168,3387,0,0,0,0,0,0,26.13,26.25,28.83
$GC,8483,-0.48,-146.0,785.6,-6.1,460,8489,0.00,2.25,0.00,0.000,4,0.000,0.069,3036,3587,3386,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8526,-0.48,-146.0,787.4,-6.2,461,8530,0.00,2.17,0.00,0.000,6,0.000,0.050,3036,2167,3386,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8839,-0.48,-146.0,808.5,-6.4,472,8845,0.00,2.28,0.00,0.000,4,0.000,0.069,3026,3583,3386,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8887,-0.48,-146.0,810.6,-6.3,473,8891,0.00,2.15,0.00,0.000,6,0.000,0.050,3026,2176,3386,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9194,-0.48,-146.0,833.7,-7.2,483,9199,0.00,2.22,0.00,0.000,4,0.000,0.069,3016,3581,3386,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9237,-0.48,-146.0,835.4,-7.2,484,9241,0.00,2.15,0.00,0.000,6,0.000,0.050,3016,2175,3386,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9549,-0.48,-146.0,861.7,-8.1,495,9554,0.00,2.25,0.00,0.000,4,0.000,0.069,3006,3586,3385,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9587,-0.48,-146.0,864.3,-8.2,496,9591,0.12,2.17,0.00,0.000,6,0.132,0.050,3043,2165,3385,0,0,0,0,0,0,26.13,26.25,28.83
$GC,9905,-0.48,-146.0,886.2,-6.5,507,9911,0.00,2.28,0.00,0.000,4,0.000,0.070,3035,3582,3385,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9948,-0.48,-146.0,888.1,-6.4,508,9952,0.00,2.15,0.00,0.000,6,0.000,0.050,3035,2176,3385,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10261,-0.48,-146.0,909.5,-6.6,519,10266,0.00,2.22,0.00,0.000,4,0.000,0.070,3025,3581,3385,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10313,-0.48,-146.0,911.6,-6.6,520,10321,0.00,2.15,0.00,0.000,6,0.000,0.050,3025,2173,3385,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10620,-0.48,-146.0,935.5,-7.1,531,10626,0.00,2.22,0.00,0.000,4,0.000,0.070,3015,3580,3384,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10664,-0.48,-146.0,937.7,-7.2,532,10668,0.00,2.15,0.00,0.000,6,0.000,0.050,3015,2174,3384,0,0,0,0,0,0,28.83,26.24,28.83
$GC,10976,-0.48,-146.0,963.5,-7.9,543,10981,0.00,2.25,0.00,0.000,4,0.000,0.070,3004,3584,3384,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11019,-0.48,-146.0,966.0,-8.1,544,11024,0.12,2.17,0.00,0.000,6,0.132,0.050,3041,2165,3383,0,0,0,0,0,0,26.11,26.23,28.83
$GC,11332,-0.48,-146.0,987.3,-6.1,555,11338,0.00,2.28,0.00,0.000,4,0.000,0.070,3033,3584,3383,0,0,0,0,0,0,28.83,26.12,28.83
$GC,11380,-0.48,-146.0,989.2,-6.1,556,11384,0.00,2.17,0.00,0.000,6,0.000,0.050,3033,2166,3383,0,0,0,0,0,0,28.83,26.23,28.83
$STATE,11414,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11414,begin apogee
$GC,11422,-0.22,0.0,992.8,-6.2,557,11553,0.28,0.00,125.78,1.196,6,0.110,0.000,3129,2305,2794,0,0,0,0,0,0,26.10,28.83,23.71
$STATE,11556,end apogee,CONTROL_FINISHED_OK
$STATE,11556,begin climb
$GC,11559,0.48,146.0,995.6,0.0,561,11702,0.62,2.50,132.57,1.164,4,0.076,0.069,3346,3705,2196,0,0,0,0,0,0,24.57,23.86,23.16
$GC,11718,0.48,146.0,985.9,7.4,567,11722,0.00,2.35,0.00,0.000,6,0.000,0.050,3356,2312,2194,0,0,0,0,0,0,28.83,24.15,28.83
$GC,12040,0.48,146.0,950.9,10.6,578,12041,0.00,0.00,0.00,0.000,6,0.000,0.000,3356,2307,2187,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12340,0.48,146.0,919.5,10.2,588,12346,0.00,2.33,0.00,0.000,4,0.000,0.070,3356,3705,2185,0,0,0,0,0,0,28.83,25.47,28.83
$GC,12373,0.48,146.0,916.1,10.5,589,12377,0.00,2.25,0.00,0.000,6,0.000,0.051,3366,2294,2185,0,0,0,0,0,0,28.83,25.54,28.83
$GC,12695,0.48,146.0,881.3,10.5,600,12701,0.00,2.33,0.00,0.000,4,0.000,0.070,3367,3721,2184,0,0,0,0,0,0,28.83,25.67,28.83
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$STATE,22110,end climb,SURFACE_DEPTH_REACHED
$STATE,22112,begin surface coast
$FINISH,0.9,1.007589
$STATE,22153,end surface coast,CONTROL_FINISHED_OK
$STATE,22153,begin surface
$SM_CCo,22233,0.00,0.000,0,0,1235,382.42
$SM_GC,1.98,8.32,0.20,0.00,0.028,0.072,0.000,115,2172,1235,-9.47,0.96,382.42,0,0,0,0,0,0,25.88,25.84,28.83
$IRIDIUM_FIX,4648.08,-12657.88,111012,090900
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.25
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,19.00
$XPDR_PINGS,1
$24V_AH,23.2,19.885
$10V_AH,10.2,16.815
$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,21.900,204.800,445.800,0.000,0.000,25.998,47.126,186.729,0.250,0.000,15.506,3231.595,15597.348,541.040,2861.078,384.810,0.000,1961.424,0.000,2565.654,0.000,0.535,0.000
$DEVICE_MAMPS,222.615,84.915,1195.695,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,843.981,703.092,487.929,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296932
$DATA_FILE_SIZE,70332,1226
$CAP_FILE_SIZE,189198,0
$CFSIZE,260165632,246636544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.011,315.5,1
$GPS,111012,221659,4701.910,-12655.980,39,1.3,39,18.6