version: 66.11
glider: 187
mission: 2
dive: 146
start: 10 14 112 15 46 38
data:
$ID,187
$MISSION,2
$DIVE,146
$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,-1587810
$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,35
$R_STBD_OVSHOOT,23
$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
$GPS1,141012,153923,4720.195,-12616.124,42,1.3,42,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-73.2
$GPS2,141012,154606,4720.215,-12616.049,13,1.9,16,18.6
$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,38.2,120438,-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,-146.0,0.0,0.0,0,76,0.00,0.00,-57.83,0.000,2,0.000,0.000,109,2162,2624,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.48,-146.0,3.0,-4.2,9,114,11.32,2.35,-16.65,0.000,4,0.222,0.075,3026,3586,3392,0,0,0,0,0,0,25.30,25.60,26.01
$GC,305,-0.48,-146.0,49.8,-13.3,51,313,0.00,2.17,0.00,0.000,6,0.000,0.042,3025,2159,3397,0,0,0,0,0,0,28.83,25.79,28.83
$GC,622,-0.48,-146.0,93.9,-11.4,112,629,0.00,2.15,0.00,0.000,4,0.000,0.050,3025,778,3399,0,0,0,0,0,0,28.83,25.87,28.83
$GC,673,-0.48,-146.0,100.0,-11.0,121,680,0.00,2.15,0.00,0.000,6,0.000,0.048,3015,2181,3399,0,0,0,0,0,0,28.83,25.89,28.83
$GC,990,-0.48,-146.0,138.4,-11.7,163,995,0.00,2.17,0.00,0.000,4,0.000,0.061,3005,3583,3399,0,0,0,0,0,0,28.83,25.93,28.83
$GC,1042,-0.48,-146.0,144.0,-12.2,166,1050,0.08,2.17,0.00,0.000,6,0.119,0.042,3032,2169,3399,0,0,0,0,0,0,25.87,26.03,28.83
$GC,1352,-0.48,-146.0,176.2,-9.7,187,1353,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2167,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1664,-0.48,-146.0,206.7,-9.8,207,1669,0.00,2.22,0.00,0.000,4,0.000,0.062,3025,3583,3399,0,0,0,0,0,0,28.83,26.02,28.83
$GC,1704,-0.48,-146.0,210.7,-9.9,209,1710,0.00,2.12,0.00,0.000,6,0.000,0.044,3025,2173,3399,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2024,-0.48,-146.0,243.4,-10.1,225,2028,0.00,2.12,0.00,0.000,4,0.000,0.050,3025,776,3398,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2048,-0.48,-146.0,245.7,-10.2,226,2052,0.00,2.15,0.00,0.000,6,0.000,0.050,3015,2179,3398,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2361,-0.48,-146.0,278.6,-10.4,242,2366,0.00,2.17,0.00,0.000,4,0.000,0.063,3005,3584,3397,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2394,-0.48,-146.0,280.7,-10.5,243,2402,0.12,2.12,0.00,0.000,6,0.138,0.044,3040,2168,3397,0,0,0,0,0,0,26.03,26.17,28.83
$GC,2701,-0.48,-146.0,308.1,-8.2,259,2702,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2167,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3001,-0.48,-146.0,333.8,-8.8,274,3006,0.00,2.22,0.00,0.000,4,0.000,0.063,3031,3583,3396,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3041,-0.48,-146.0,337.7,-9.3,276,3047,0.00,2.10,0.00,0.000,6,0.000,0.045,3031,2181,3395,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3361,-0.48,-146.0,369.4,-9.9,292,3362,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2179,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3661,-0.48,-146.0,397.5,-8.9,307,3662,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2179,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3971,-0.48,-146.0,423.5,-8.0,318,3976,0.00,2.22,0.00,0.000,4,0.000,0.065,3021,3590,3392,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4014,-0.48,-146.0,426.0,-8.1,319,4018,0.00,2.15,0.00,0.000,6,0.000,0.046,3021,2170,3392,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4326,-0.48,-146.0,455.8,-9.5,330,4332,0.00,2.22,0.00,0.000,4,0.000,0.065,3010,3581,3391,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4356,-0.48,-146.0,458.7,-9.6,331,4362,0.00,2.15,0.00,0.000,6,0.000,0.047,3010,2169,3391,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4686,-0.48,-146.0,490.9,-9.7,342,4688,0.12,0.00,0.00,0.000,6,0.149,0.000,3045,2166,3391,0,0,0,0,0,0,26.18,28.83,28.83
$GC,4987,-0.48,-146.0,513.3,-7.3,352,4993,0.00,2.25,0.00,0.000,4,0.000,0.067,3037,3582,3390,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5016,-0.48,-146.0,515.5,-7.3,353,5022,0.00,2.15,0.00,0.000,6,0.000,0.047,3036,2170,3390,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5347,-0.48,-146.0,540.5,-7.5,364,5352,0.00,2.20,0.00,0.000,4,0.000,0.067,3026,3576,3389,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5384,-0.48,-146.0,542.9,-7.6,365,5388,0.00,2.12,0.00,0.000,6,0.000,0.047,3026,2172,3389,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5702,-0.48,-146.0,569.1,-7.8,376,5703,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2170,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6001,-0.48,-146.0,591.7,-7.6,386,6007,0.00,2.20,0.00,0.000,4,0.000,0.067,3016,3574,3388,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6054,-0.48,-146.0,594.1,-7.7,387,6062,0.00,2.12,0.00,0.000,6,0.000,0.047,3016,2169,3387,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6361,-0.48,-146.0,621.9,-8.3,398,6367,0.00,2.25,0.00,0.000,4,0.000,0.067,3006,3586,3387,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6384,-0.48,-146.0,621.9,-8.3,398,6392,0.12,2.15,0.00,0.000,6,0.137,0.047,3042,2165,3387,0,0,0,0,0,0,26.10,26.25,28.83
$GC,6691,-0.48,-146.0,645.3,-6.6,409,6697,0.00,2.25,0.00,0.000,4,0.000,0.067,3034,3581,3387,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6729,-0.48,-146.0,647.4,-6.6,410,6733,0.00,2.15,0.00,0.000,6,0.000,0.048,3034,2167,3386,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7052,-0.48,-146.0,669.7,-6.5,421,7057,0.00,2.22,0.00,0.000,4,0.000,0.067,3023,3583,3386,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7112,-0.48,-146.0,673.7,-6.6,423,7115,0.00,2.15,0.00,0.000,6,0.000,0.048,3023,2174,3386,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7444,-0.48,-146.0,697.1,-7.2,434,7450,0.00,2.20,0.00,0.000,4,0.000,0.067,3013,3574,3386,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7477,-0.48,-146.0,699.4,-7.3,435,7481,0.00,2.12,0.00,0.000,6,0.000,0.049,3013,2174,3385,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7799,-0.48,-146.0,727.3,-8.8,446,7800,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2171,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8099,-0.48,-146.0,754.1,-8.9,456,8105,0.00,2.20,0.00,0.000,4,0.000,0.068,3003,3579,3384,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8137,-0.48,-146.0,756.9,-9.0,457,8142,0.12,2.15,0.00,0.000,6,0.138,0.049,3038,2164,3384,0,0,0,0,0,0,26.10,26.24,28.83
$GC,8456,-0.48,-146.0,780.5,-7.0,468,8461,0.00,2.22,0.00,0.000,4,0.000,0.068,3030,3580,3384,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8503,-0.48,-146.0,782.7,-7.1,469,8507,0.00,2.15,0.00,0.000,6,0.000,0.049,3030,2165,3384,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8810,-0.48,-146.0,807.8,-7.8,479,8816,0.00,2.22,0.00,0.000,4,0.000,0.068,3020,3581,3383,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8870,-0.48,-146.0,812.7,-8.0,481,8876,0.00,2.15,0.00,0.000,6,0.000,0.049,3020,2173,3383,0,0,0,0,0,0,28.83,26.23,28.83
$GC,9201,-0.48,-146.0,840.9,-8.5,492,9206,0.00,2.22,0.00,0.000,4,0.000,0.068,3010,3584,3383,0,0,0,0,0,0,28.83,26.12,28.83
$GC,9243,-0.48,-146.0,843.6,-8.6,493,9248,0.12,2.15,0.00,0.000,6,0.130,0.049,3046,2169,3383,0,0,0,0,0,0,26.10,26.23,28.83
$GC,9557,-0.48,-146.0,866.4,-6.7,504,9563,0.00,2.28,0.00,0.000,4,0.000,0.069,3038,3589,3382,0,0,0,0,0,0,28.83,26.11,28.83
$GC,9610,-0.48,-146.0,868.4,-6.6,505,9617,0.00,2.15,0.00,0.000,6,0.000,0.049,3038,2173,3382,0,0,0,0,0,0,28.83,26.23,28.83
$GC,9917,-0.48,-146.0,891.5,-6.9,516,9923,0.00,2.20,0.00,0.000,4,0.000,0.069,3028,3572,3382,0,0,0,0,0,0,28.83,26.11,28.83
$GC,9955,-0.48,-146.0,893.6,-6.8,517,9959,0.00,2.15,0.00,0.000,6,0.000,0.049,3028,2167,3382,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10278,-0.48,-146.0,917.0,-7.1,528,10283,0.00,2.22,0.00,0.000,4,0.000,0.069,3018,3582,3382,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10315,-0.48,-146.0,919.3,-7.1,529,10319,0.00,2.15,0.00,0.000,6,0.000,0.050,3017,2169,3381,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10633,-0.48,-146.0,942.3,-7.1,540,10638,0.00,2.22,0.00,0.000,4,0.000,0.069,3007,3580,3381,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10696,-0.48,-146.0,946.8,-7.3,542,10700,0.12,2.15,0.00,0.000,6,0.134,0.050,3043,2167,3381,0,0,0,0,0,0,26.09,26.22,28.83
$GC,11019,-0.48,-146.0,965.4,-5.4,553,11024,0.00,2.22,0.00,0.000,4,0.000,0.069,3035,3578,3381,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11062,-0.48,-146.0,967.2,-5.6,554,11066,0.00,2.15,0.00,0.000,6,0.000,0.050,3035,2167,3381,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11374,-0.48,-146.0,985.9,-5.5,565,11380,0.00,2.22,0.00,0.000,4,0.000,0.070,3025,3578,3381,0,0,0,0,0,0,28.83,26.10,28.83
$GC,11457,-0.48,-146.0,989.5,-5.8,567,11465,0.00,2.15,0.00,0.000,6,0.000,0.050,3025,2166,3381,0,0,0,0,0,0,28.83,26.22,28.83
$STATE,11491,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11491,begin apogee
$GC,11499,-0.22,0.0,993.3,-6.2,569,11630,0.28,0.00,125.15,1.191,6,0.112,0.000,3120,2311,2793,0,0,0,0,0,0,26.06,28.83,23.72
$STATE,11633,end apogee,CONTROL_FINISHED_OK
$STATE,11633,begin climb
$GC,11635,0.48,146.0,996.1,0.0,573,11776,0.65,2.50,133.38,1.160,4,0.083,0.069,3342,3697,2198,0,0,0,0,0,0,24.58,23.84,23.14
$GC,11796,0.48,150.1,986.5,7.2,579,11806,0.00,2.33,4.85,0.767,6,0.000,0.050,3352,2310,2182,0,0,0,0,0,0,28.83,24.15,23.38
$GC,12119,0.48,150.1,955.1,9.5,590,12121,0.00,0.00,0.00,0.000,6,0.000,0.000,3352,2310,2175,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12420,0.48,150.1,925.6,10.0,600,12426,0.00,2.25,0.00,0.000,4,0.000,0.069,3352,3695,2173,0,0,0,0,0,0,28.83,25.45,28.83
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$STATE,22640,end climb,SURFACE_DEPTH_REACHED
$STATE,22640,begin surface coast
$FINISH,1.0,1.001445
$STATE,22682,end surface coast,CONTROL_FINISHED_OK
$STATE,22682,begin surface
$SM_CCo,22762,0.00,0.000,0,0,1357,352.25
$SM_GC,1.96,8.40,0.20,0.00,0.033,0.071,0.000,119,2164,1357,-9.46,0.82,352.25,0,0,0,0,0,0,25.90,25.86,28.83
$IRIDIUM_FIX,4703.87,-12619.16,141012,090948
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.13
$INTERNAL_PRESSURE,9.11829
$TCM_TEMP,19.40
$XPDR_PINGS,0
$24V_AH,23.1,21.378
$10V_AH,10.2,18.064
$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,22.025,198.725,424.750,0.000,0.000,25.706,41.802,203.685,0.000,0.000,16.888,3378.324,15866.377,547.610,2984.505,380.273,0.000,1979.486,0.000,2672.662,0.000,0.535,0.000
$DEVICE_MAMPS,221.850,84.150,1191.105,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,889.229,746.535,533.718,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73571,1292
$CAP_FILE_SIZE,191669,0
$CFSIZE,260165632,245682176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.060,305.0,1
$GPS,141012,220735,4722.465,-12612.652,46,1.3,57,18.6