version: 66.11
glider: 187
mission: 2
dive: 148
start: 10 15 112 4 39 40
data:
$ID,187
$MISSION,2
$DIVE,148
$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,-1587812.5
$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,33
$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
$GPS1,151012,043236,4723.590,-12608.048,34,1.2,34,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-76.3
$GPS2,151012,043909,4723.666,-12608.021,18,1.3,19,18.6
$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,41.2,108624,-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,-146.0,0.0,0.0,0,85,0.00,0.00,-65.93,0.000,2,0.000,0.000,109,2170,2704,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.48,-146.0,3.1,-4.4,11,122,11.23,2.28,-14.23,0.000,4,0.219,0.072,3023,3594,3392,0,0,0,0,0,0,25.26,25.58,25.97
$GC,277,-0.48,-146.0,45.4,-13.0,46,285,0.00,2.22,0.00,0.000,6,0.000,0.043,3022,2172,3396,0,0,0,0,0,0,28.83,25.75,28.83
$GC,593,-0.48,-146.0,91.2,-15.1,107,599,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2166,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,910,-0.48,-146.0,133.4,-12.3,155,911,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2166,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1210,-0.48,-146.0,163.9,-9.7,175,1211,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2166,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1511,-0.48,-146.0,194.5,-10.5,195,1512,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2167,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1810,-0.48,-146.0,226.9,-11.1,211,1811,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2166,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2110,-0.48,-146.0,259.9,-11.0,226,2111,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2166,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2410,-0.48,-146.0,290.4,-9.8,241,2415,0.00,2.12,0.00,0.000,4,0.000,0.052,3022,770,3397,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2442,-0.48,-146.0,292.4,-9.8,242,2449,0.00,2.15,0.00,0.000,6,0.000,0.051,3013,2179,3397,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2750,-0.48,-146.0,324.7,-10.2,258,2755,0.00,2.17,0.00,0.000,4,0.000,0.063,3003,3581,3396,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2790,-0.48,-146.0,329.2,-10.4,260,2796,0.12,2.12,0.00,0.000,6,0.138,0.045,3038,2171,3396,0,0,0,0,0,0,26.06,26.19,28.83
$GC,3110,-0.48,-146.0,357.5,-8.8,276,3115,0.00,2.25,0.00,0.000,4,0.000,0.064,3030,3590,3395,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3158,-0.48,-146.0,361.1,-9.0,278,3162,0.00,2.15,0.00,0.000,6,0.000,0.045,3030,2169,3395,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3465,-0.48,-146.0,389.4,-8.6,293,3466,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2166,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3785,-0.48,-146.0,417.0,-8.6,306,3790,0.00,2.20,0.00,0.000,4,0.000,0.065,3020,3578,3394,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3808,-0.48,-146.0,417.0,-8.6,306,3815,0.00,2.12,0.00,0.000,6,0.000,0.047,3019,2174,3394,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4115,-0.48,-146.0,447.4,-9.0,317,4116,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2173,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4415,-0.48,-146.0,473.4,-8.6,327,4420,0.00,2.25,0.00,0.000,4,0.000,0.066,3009,3588,3392,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4437,-0.48,-146.0,473.4,-8.6,327,4445,0.12,2.15,0.00,0.000,6,0.134,0.047,3045,2170,3392,0,0,0,0,0,0,26.10,26.23,28.83
$GC,4745,-0.48,-146.0,498.8,-7.8,338,4746,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2170,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5044,-0.48,-146.0,522.8,-8.1,348,5050,0.00,2.25,0.00,0.000,4,0.000,0.067,3037,3582,3391,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5088,-0.48,-146.0,525.4,-8.2,349,5092,0.00,2.15,0.00,0.000,6,0.000,0.047,3037,2167,3391,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5400,-0.48,-146.0,554.2,-9.0,360,5401,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2165,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5700,-0.48,-146.0,580.3,-8.7,370,5706,0.00,2.22,0.00,0.000,4,0.000,0.067,3026,3582,3390,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5743,-0.48,-146.0,583.0,-8.8,371,5747,0.00,2.15,0.00,0.000,6,0.000,0.047,3026,2169,3390,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6056,-0.48,-146.0,613.4,-9.3,382,6061,0.00,2.22,0.00,0.000,4,0.000,0.067,3016,3584,3389,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6115,-0.48,-146.0,619.4,-9.7,384,6120,0.00,2.17,0.00,0.000,6,0.000,0.047,3016,2171,3389,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6445,-0.48,-146.0,652.1,-9.6,395,6451,0.00,2.25,0.00,0.000,4,0.000,0.067,3006,3590,3387,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6478,-0.48,-146.0,655.1,-9.7,396,6483,0.12,2.15,0.00,0.000,6,0.135,0.047,3042,2173,3388,0,0,0,0,0,0,26.12,26.25,28.83
$GC,6801,-0.48,-146.0,679.5,-7.2,407,6803,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2170,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7101,-0.48,-146.0,699.2,-6.2,417,7107,0.00,2.12,0.00,0.000,4,0.000,0.055,3043,773,3387,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7210,-0.48,-146.0,705.2,-6.5,420,7214,0.00,2.17,0.00,0.000,6,0.000,0.055,3035,2182,3387,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7517,-0.48,-146.0,726.8,-6.8,430,7518,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2182,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7817,-0.48,-146.0,747.5,-6.9,440,7822,0.00,2.17,0.00,0.000,4,0.000,0.068,3025,3578,3386,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7876,-0.48,-146.0,752.2,-7.4,442,7880,0.00,2.15,0.00,0.000,6,0.000,0.049,3024,2175,3386,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8208,-0.48,-146.0,779.4,-8.4,453,8214,0.00,2.22,0.00,0.000,4,0.000,0.068,3014,3582,3385,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8251,-0.48,-146.0,782.0,-8.4,454,8255,0.00,2.17,0.00,0.000,6,0.000,0.049,3014,2166,3385,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8568,-0.48,-146.0,811.9,-9.0,465,8574,0.00,2.25,0.00,0.000,4,0.000,0.067,3003,3585,3384,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8591,-0.48,-146.0,811.9,-9.0,465,8599,0.12,2.15,0.00,0.000,6,0.138,0.049,3040,2170,3384,0,0,0,0,0,0,26.10,26.24,28.83
$GC,8898,-0.48,-146.0,837.3,-7.4,476,8899,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2170,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9198,-0.48,-146.0,860.1,-7.6,486,9204,0.00,2.22,0.00,0.000,4,0.000,0.068,3031,3583,3384,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9258,-0.48,-146.0,865.0,-8.0,488,9264,0.00,2.15,0.00,0.000,6,0.000,0.049,3031,2176,3384,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9589,-0.48,-146.0,889.8,-7.1,499,9594,0.00,2.20,0.00,0.000,4,0.000,0.069,3021,3574,3384,0,0,0,0,0,0,28.83,26.12,28.83
$GC,9621,-0.48,-146.0,891.9,-7.1,500,9626,0.00,2.12,0.00,0.000,6,0.000,0.049,3021,2177,3383,0,0,0,0,0,0,28.83,26.24,28.83
$GC,9943,-0.48,-146.0,916.9,-7.7,511,9949,0.00,2.22,0.00,0.000,4,0.000,0.069,3011,3584,3383,0,0,0,0,0,0,28.83,26.11,28.83
$GC,10004,-0.48,-146.0,921.8,-7.9,513,10009,0.00,2.17,0.00,0.000,6,0.000,0.050,3011,2165,3382,0,0,0,0,0,0,28.83,26.23,28.83
$GC,10333,-0.48,-146.0,948.5,-7.9,524,10335,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2163,3382,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10634,-0.48,-146.0,971.4,-7.5,534,10639,0.00,2.22,0.00,0.000,4,0.000,0.069,3001,3580,3382,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10666,-0.48,-146.0,973.8,-7.6,535,10671,0.15,2.15,0.00,0.000,6,0.129,0.050,3045,2170,3382,0,0,0,0,0,0,26.08,26.22,28.83
$STATE,10956,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10956,begin apogee
$GC,10963,-0.22,0.0,991.1,-5.8,545,11095,0.22,0.00,125.40,1.193,6,0.115,0.000,3126,2313,2793,0,0,0,0,0,0,26.12,28.83,23.72
$STATE,11098,end apogee,CONTROL_FINISHED_OK
$STATE,11098,begin climb
$GC,11101,0.48,146.0,994.5,0.0,549,11238,0.65,0.00,133.98,1.161,6,0.080,0.000,3347,2312,2198,0,0,0,0,0,0,24.59,28.83,23.13
$GC,11529,0.48,146.0,960.3,9.5,564,11535,0.00,2.33,0.00,0.000,4,0.000,0.069,3347,3700,2188,0,0,0,0,0,0,28.83,25.05,28.83
$GC,11577,0.48,146.0,957.1,9.7,565,11582,0.00,2.25,0.00,0.000,6,0.000,0.050,3357,2304,2187,0,0,0,0,0,0,28.83,25.18,28.83
$GC,11885,0.48,146.0,924.5,9.7,575,11886,0.00,0.00,0.00,0.000,6,0.000,0.000,3357,2299,2186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12184,0.48,146.0,895.4,9.6,585,12190,0.00,2.28,0.00,0.000,4,0.000,0.069,3358,3701,2185,0,0,0,0,0,0,28.83,25.65,28.83
$GC,12237,0.48,146.0,892.2,9.8,586,12245,0.00,2.22,0.00,0.000,6,0.000,0.050,3368,2292,2184,0,0,0,0,0,0,28.83,25.74,28.83
$GC,12544,0.48,146.0,858.4,10.1,597,12550,0.00,2.28,0.00,0.000,4,0.000,0.069,3368,3698,2184,0,0,0,0,0,0,28.83,25.78,28.83
$GC,12605,0.48,146.0,851.4,10.9,599,12610,0.00,2.20,0.00,0.000,6,0.000,0.051,3379,2293,2184,0,0,0,0,0,0,28.83,25.86,28.83
$GC,12934,0.48,146.0,816.1,10.5,610,12940,0.00,2.25,0.00,0.000,4,0.000,0.069,3379,3694,2184,0,0,0,0,0,0,28.83,25.86,28.83
$GC,13032,0.48,146.0,804.7,12.1,613,13037,0.15,2.17,0.00,0.000,6,0.159,0.051,3350,2299,2183,0,0,0,0,0,0,25.77,25.95,28.83
$GC,13350,0.48,146.0,774.2,9.3,624,13351,0.00,0.00,0.00,0.000,6,0.000,0.000,3350,2295,2183,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13650,0.48,146.0,746.4,9.2,634,13656,0.00,2.25,0.00,0.000,4,0.000,0.069,3350,3705,2183,0,0,0,0,0,0,28.83,25.96,28.83
$GC,13713,0.48,146.0,740.1,9.8,636,13717,0.00,2.20,0.00,0.000,6,0.000,0.051,3358,2288,2182,0,0,0,0,0,0,28.83,26.04,28.83
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$STATE,22362,end climb,SURFACE_DEPTH_REACHED
$STATE,22362,begin surface coast
$FINISH,1.0,1.011789
$STATE,22428,end surface coast,CONTROL_FINISHED_OK
$STATE,22428,begin surface
$SM_CCo,22507,0.00,0.000,0,0,1473,323.80
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$IRIDIUM_FIX,4710.21,-12615.92,141012,222229
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.17
$INTERNAL_PRESSURE,9.12806
$TCM_TEMP,15.80
$XPDR_PINGS,0
$24V_AH,23.1,21.643
$10V_AH,10.2,18.288
$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,21.675,176.775,402.875,0.000,0.000,25.561,37.118,193.136,0.000,0.000,20.427,3319.532,15760.928,538.227,2898.316,373.781,0.000,1921.496,0.000,2602.747,0.000,0.535,0.000
$DEVICE_MAMPS,218.790,83.385,1192.635,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,874.390,732.863,531.738,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296912
$DATA_FILE_SIZE,73607,1271
$CAP_FILE_SIZE,182196,0
$CFSIZE,260165632,245518336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.046,293.3,1
$GPS,151012,105705,4725.648,-12604.653,100,1.0,100,18.7