version: 66.11
glider: 187
mission: 2
dive: 139
start: 10 12 112 18 14 13
data:
$ID,187
$MISSION,2
$DIVE,139
$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,-1587799.2
$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,36
$R_STBD_OVSHOOT,24
$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
$GPS1,121012,180705,4707.788,-12643.710,32,1.4,32,18.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-77.8
$GPS2,121012,181342,4707.821,-12643.674,16,1.5,32,18.6
$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,47.6,161660,-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,-59.83,0.000,2,0.000,0.000,110,2170,2756,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.48,-146.0,3.1,-3.7,10,117,11.27,2.33,-12.80,0.000,4,0.222,0.074,3023,3589,3394,0,0,0,0,0,0,25.28,25.60,25.99
$GC,348,-0.48,-146.0,56.5,-14.9,58,355,0.00,2.22,0.00,0.000,6,0.000,0.043,3023,2168,3398,0,0,0,0,0,0,28.83,25.81,28.83
$GC,670,-0.48,-146.0,104.0,-13.4,119,676,0.00,2.15,0.00,0.000,4,0.000,0.050,3022,762,3400,0,0,0,0,0,0,28.83,25.89,28.83
$GC,736,-0.48,-146.0,112.3,-11.3,131,743,0.00,2.17,0.00,0.000,6,0.000,0.049,3013,2180,3400,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1059,-0.48,-146.0,153.3,-13.2,160,1064,0.00,2.17,0.00,0.000,4,0.000,0.061,3002,3582,3400,0,0,0,0,0,0,28.83,25.95,28.83
$GC,1091,-0.48,-146.0,157.5,-13.5,162,1096,0.15,2.15,0.00,0.000,6,0.132,0.043,3045,2167,3400,0,0,0,0,0,0,25.89,26.02,28.83
$GC,1401,-0.48,-146.0,190.2,-9.2,182,1406,0.00,2.10,0.00,0.000,4,0.000,0.050,3045,773,3400,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1432,-0.48,-146.0,193.2,-9.1,184,1436,0.00,2.15,0.00,0.000,6,0.000,0.050,3037,2179,3400,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1755,-0.48,-146.0,224.7,-10.3,201,1760,0.00,2.17,0.00,0.000,4,0.000,0.063,3026,3580,3399,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1836,-0.48,-146.0,233.3,-10.9,205,1841,0.00,2.12,0.00,0.000,6,0.000,0.044,3027,2171,3399,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2150,-0.48,-146.0,267.1,-10.6,221,2151,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2168,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2451,-0.48,-146.0,298.3,-9.9,236,2452,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2168,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2749,-0.48,-146.0,325.3,-8.6,251,2755,0.00,2.25,0.00,0.000,4,0.000,0.063,3016,3587,3398,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2802,-0.48,-146.0,328.9,-8.6,253,2809,0.00,2.15,0.00,0.000,6,0.000,0.044,3016,2168,3398,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3109,-0.48,-146.0,359.5,-9.9,269,3115,0.00,2.10,0.00,0.000,4,0.000,0.052,3016,782,3397,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3149,-0.48,-146.0,363.8,-10.2,271,3155,0.12,2.15,0.00,0.000,6,0.142,0.051,3042,2181,3397,0,0,0,0,0,0,26.07,26.17,28.83
$GC,3469,-0.48,-146.0,390.6,-8.4,287,3475,0.00,2.17,0.00,0.000,4,0.000,0.065,3034,3579,3396,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3537,-0.48,-146.0,395.9,-8.8,290,3541,0.00,2.12,0.00,0.000,6,0.000,0.046,3034,2177,3396,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3855,-0.48,-146.0,424.7,-8.8,301,3861,0.00,2.20,0.00,0.000,4,0.000,0.064,3023,3580,3395,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3884,-0.48,-146.0,427.5,-8.8,302,3890,0.00,2.15,0.00,0.000,6,0.000,0.046,3023,2171,3395,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4214,-0.48,-146.0,458.1,-9.0,313,4220,0.00,2.12,0.00,0.000,4,0.000,0.053,3024,773,3395,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4237,-0.48,-146.0,458.1,-9.0,313,4244,0.00,2.15,0.00,0.000,6,0.000,0.053,3014,2176,3395,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4544,-0.48,-146.0,488.2,-8.9,324,4550,0.00,2.17,0.00,0.000,4,0.000,0.066,3004,3580,3394,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4592,-0.48,-146.0,490.9,-9.0,325,4597,0.12,2.12,0.00,0.000,6,0.139,0.046,3039,2175,3394,0,0,0,0,0,0,26.10,26.25,28.83
$GC,4899,-0.48,-146.0,514.3,-6.9,335,4901,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2173,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5200,-0.48,-146.0,534.9,-6.8,345,5204,0.00,2.25,0.00,0.000,4,0.000,0.067,3031,3583,3392,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5262,-0.48,-146.0,539.5,-7.1,347,5268,0.00,2.15,0.00,0.000,6,0.000,0.047,3031,2176,3392,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5593,-0.48,-146.0,563.3,-7.2,358,5594,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2173,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5892,-0.48,-146.0,584.9,-7.1,368,5898,0.00,2.22,0.00,0.000,4,0.000,0.067,3020,3589,3391,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5930,-0.48,-146.0,587.2,-7.2,369,5934,0.00,2.15,0.00,0.000,6,0.000,0.048,3020,2175,3391,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6247,-0.48,-146.0,612.5,-7.9,380,6253,0.00,2.22,0.00,0.000,4,0.000,0.067,3010,3587,3391,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6270,-0.48,-146.0,612.5,-7.9,380,6278,0.12,2.15,0.00,0.000,6,0.133,0.047,3046,2173,3391,0,0,0,0,0,0,26.13,26.25,28.83
$GC,6577,-0.48,-146.0,635.0,-6.9,391,6579,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2171,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6877,-0.48,-146.0,657.4,-7.6,401,6883,0.00,2.22,0.00,0.000,4,0.000,0.067,3038,3583,3389,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6915,-0.48,-146.0,659.9,-7.7,402,6919,0.00,2.15,0.00,0.000,6,0.000,0.049,3038,2174,3389,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7233,-0.48,-146.0,686.9,-8.3,413,7238,0.00,2.22,0.00,0.000,4,0.000,0.068,3028,3581,3389,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7263,-0.48,-146.0,689.4,-8.3,414,7269,0.00,2.15,0.00,0.000,6,0.000,0.048,3027,2178,3388,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7593,-0.48,-146.0,717.8,-8.6,425,7599,0.00,2.25,0.00,0.000,4,0.000,0.068,3017,3595,3388,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7631,-0.48,-146.0,720.5,-8.6,426,7635,0.00,2.17,0.00,0.000,6,0.000,0.047,3017,2171,3388,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7948,-0.48,-146.0,749.8,-8.9,437,7954,0.00,2.22,0.00,0.000,4,0.000,0.067,3007,3582,3387,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7981,-0.48,-146.0,752.5,-8.9,438,7986,0.12,2.15,0.00,0.000,6,0.135,0.049,3043,2175,3387,0,0,0,0,0,0,26.12,26.25,28.83
$GC,8304,-0.48,-146.0,777.2,-7.5,449,8310,0.00,2.22,0.00,0.000,4,0.000,0.068,3034,3585,3387,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8334,-0.48,-146.0,779.4,-7.5,450,8340,0.00,2.17,0.00,0.000,6,0.000,0.049,3034,2170,3387,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8665,-0.48,-146.0,804.6,-7.6,461,8666,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2167,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8964,-0.48,-146.0,827.1,-7.5,471,8970,0.00,2.28,0.00,0.000,4,0.000,0.069,3024,3588,3386,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9027,-0.48,-146.0,831.6,-7.3,473,9031,0.00,2.17,0.00,0.000,6,0.000,0.049,3024,2167,3385,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9350,-0.48,-146.0,856.1,-7.3,484,9355,0.00,2.22,0.00,0.000,4,0.000,0.068,3014,3580,3385,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9388,-0.48,-146.0,858.4,-7.3,485,9392,0.00,2.15,0.00,0.000,6,0.000,0.049,3014,2174,3385,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9705,-0.48,-146.0,883.3,-7.4,496,9706,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2171,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10005,-0.48,-146.0,905.4,-7.1,506,10011,0.00,2.28,0.00,0.000,4,0.000,0.069,3003,3591,3384,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10048,-0.48,-146.0,907.6,-7.1,507,10053,0.12,2.17,0.00,0.000,6,0.136,0.050,3040,2170,3384,0,0,0,0,0,0,26.10,26.24,28.83
$GC,10362,-0.48,-146.0,925.1,-5.0,518,10367,0.00,2.22,0.00,0.000,4,0.000,0.069,3031,3577,3384,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10395,-0.48,-146.0,926.7,-5.2,519,10399,0.00,2.15,0.00,0.000,6,0.000,0.050,3031,2173,3384,0,0,0,0,0,0,28.83,26.24,28.83
$GC,10717,-0.48,-146.0,945.6,-6.0,530,10722,0.00,2.22,0.00,0.000,4,0.000,0.069,3021,3579,3383,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10755,-0.48,-146.0,947.5,-6.0,531,10759,0.00,2.15,0.00,0.000,6,0.000,0.050,3021,2174,3383,0,0,0,0,0,0,28.83,26.23,28.83
$GC,11073,-0.48,-146.0,969.8,-6.9,542,11074,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2171,3383,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11370,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11370,begin apogee
$GC,11377,-0.22,0.0,990.5,-6.8,552,11508,0.30,0.00,125.47,1.196,6,0.113,0.000,3124,2302,2794,0,0,0,0,0,0,26.07,28.83,23.71
$STATE,11511,end apogee,CONTROL_FINISHED_OK
$STATE,11511,begin climb
$GC,11514,0.48,146.0,993.7,0.0,556,11651,0.65,0.00,133.20,1.161,6,0.080,0.000,3345,2302,2198,0,0,0,0,0,0,24.58,28.83,23.16
$GC,11944,0.48,146.0,958.0,9.6,571,11949,0.00,2.33,0.00,0.000,4,0.000,0.069,3345,3707,2187,0,0,0,0,0,0,28.83,25.07,28.83
$GC,11972,0.48,146.0,954.9,9.7,572,11978,0.00,2.28,0.00,0.000,6,0.000,0.050,3355,2302,2187,0,0,0,0,0,0,28.83,25.16,28.83
$GC,12303,0.48,146.0,921.7,10.1,583,12304,0.00,0.00,0.00,0.000,6,0.000,0.000,3355,2297,2186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12603,0.48,146.0,891.4,10.0,593,12608,0.00,2.33,0.00,0.000,4,0.000,0.069,3355,3723,2185,0,0,0,0,0,0,28.83,25.65,28.83
$GC,12665,0.48,146.0,884.7,10.6,595,12669,0.00,2.25,0.00,0.000,6,0.000,0.051,3366,2298,2184,0,0,0,0,0,0,28.83,25.75,28.83
$GC,12988,0.48,146.0,851.5,10.0,606,12993,0.00,2.28,0.00,0.000,4,0.000,0.070,3366,3707,2184,0,0,0,0,0,0,28.83,25.79,28.83
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$STATE,22730,end climb,SURFACE_DEPTH_REACHED
$STATE,22732,begin surface coast
$FINISH,0.9,1.023691
$STATE,22780,end surface coast,CONTROL_FINISHED_OK
$STATE,22780,begin surface
$SM_CCo,22859,0.00,0.000,0,0,1394,343.17
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$IRIDIUM_FIX,4648.08,-12642.08,121012,111112
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.13
$INTERNAL_PRESSURE,9.11829
$TCM_TEMP,16.10
$XPDR_PINGS,0
$24V_AH,23.2,20.411
$10V_AH,10.2,17.275
$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,21.925,190.300,417.375,0.000,0.000,27.943,36.851,181.825,0.000,0.000,32.974,3352.226,16064.329,524.549,2908.400,398.368,0.000,1935.097,0.000,2615.831,0.000,0.536,0.000
$DEVICE_MAMPS,221.850,87.975,1195.695,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,873.706,731.467,517.079,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296928
$DATA_FILE_SIZE,73509,1269
$CAP_FILE_SIZE,187487,0
$CFSIZE,260165632,246288384
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.036,248.1,1
$GPS,131012,003635,4709.088,-12639.698,39,1.1,45,18.6