version: 66.11
glider: 187
mission: 2
dive: 149
start: 10 15 112 11 3 51
data:
$ID,187
$MISSION,2
$DIVE,149
$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,-1587813.8
$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,45
$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
$GPS1,151012,105705,4725.648,-12604.653,100,1.0,100,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-77.3
$GPS2,151012,110319,4725.606,-12604.627,10,1.6,10,18.7
$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,46.1,103110,-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,14,begin dive
$GC,17,-0.48,-146.0,0.0,0.0,0,79,0.00,0.00,-59.47,0.000,2,0.000,0.000,110,2168,2862,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.48,-146.0,3.8,-6.3,10,111,11.25,2.33,-10.10,0.000,4,0.220,0.072,3026,3585,3395,0,0,0,0,0,0,25.29,25.63,26.03
$GC,253,-0.48,-146.0,45.7,-13.8,41,260,0.00,2.15,0.00,0.000,6,0.000,0.043,3025,2181,3399,0,0,0,0,0,0,28.83,25.78,28.83
$GC,568,-0.48,-146.0,89.1,-11.6,102,575,0.00,2.15,0.00,0.000,4,0.000,0.050,3026,771,3402,0,0,0,0,0,0,28.83,25.86,28.83
$GC,643,-0.48,-146.0,98.2,-11.7,116,650,0.00,2.20,0.00,0.000,6,0.000,0.049,3016,2175,3402,0,0,0,0,0,0,28.83,25.90,28.83
$GC,956,-0.48,-146.0,137.2,-12.4,159,962,0.00,2.12,0.00,0.000,4,0.000,0.049,3016,775,3402,0,0,0,0,0,0,28.83,25.97,28.83
$GC,1008,-0.48,-146.0,142.8,-12.5,162,1016,0.08,2.20,0.00,0.000,6,0.132,0.049,3034,2180,3402,0,0,0,0,0,0,25.84,25.98,28.83
$GC,1317,-0.48,-146.0,175.6,-10.5,183,1322,0.00,2.17,0.00,0.000,4,0.000,0.062,3026,3582,3402,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1391,-0.48,-146.0,183.9,-11.1,188,1397,0.00,2.12,0.00,0.000,6,0.000,0.043,3026,2171,3402,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1701,-0.48,-146.0,217.6,-10.7,206,1702,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2167,3401,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2002,-0.48,-146.0,248.4,-10.2,221,2008,0.00,2.20,0.00,0.000,4,0.000,0.062,3015,3580,3401,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2044,-0.48,-146.0,252.8,-10.4,223,2048,0.00,2.12,0.00,0.000,6,0.000,0.044,3016,2174,3401,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2356,-0.48,-146.0,287.5,-10.7,239,2357,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2170,3401,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2657,-0.48,-146.0,320.0,-10.7,254,2658,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2170,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2956,-0.48,-146.0,350.5,-9.7,269,2957,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2169,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3256,-0.48,-146.0,379.8,-9.8,284,3257,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2169,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3566,-0.48,-146.0,409.2,-9.5,298,3571,0.00,2.22,0.00,0.000,4,0.000,0.064,3005,3584,3398,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3596,-0.48,-146.0,412.1,-9.6,299,3602,0.10,2.15,0.00,0.000,6,0.147,0.046,3040,2172,3397,0,0,0,0,0,0,26.08,26.22,28.83
$GC,3926,-0.48,-146.0,438.8,-8.1,310,3930,0.00,2.15,0.00,0.000,4,0.000,0.053,3040,774,3396,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3951,-0.48,-146.0,438.8,-8.1,310,3958,0.00,2.17,0.00,0.000,6,0.000,0.052,3033,2180,3397,0,0,0,0,0,0,28.83,26.18,28.83
$GC,4258,-0.48,-146.0,467.7,-8.9,321,4264,0.00,2.22,0.00,0.000,4,0.000,0.065,3022,3590,3396,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4326,-0.48,-146.0,473.4,-9.2,323,4330,0.00,2.15,0.00,0.000,6,0.000,0.046,3022,2168,3396,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4643,-0.48,-146.0,503.6,-8.7,334,4644,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2166,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4944,-0.48,-146.0,527.8,-7.9,344,4949,0.00,2.22,0.00,0.000,4,0.000,0.065,3012,3585,3394,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4981,-0.48,-146.0,530.3,-8.0,345,4985,0.00,2.15,0.00,0.000,6,0.000,0.047,3012,2172,3394,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5298,-0.48,-146.0,559.9,-9.2,356,5300,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2170,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5598,-0.48,-146.0,587.3,-8.9,366,5604,0.00,2.25,0.00,0.000,4,0.000,0.066,3001,3584,3393,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5646,-0.48,-146.0,589.9,-8.9,367,5651,0.15,2.15,0.00,0.000,6,0.132,0.047,3045,2167,3392,0,0,0,0,0,0,26.08,26.25,28.83
$GC,5953,-0.48,-146.0,612.5,-6.7,377,5959,0.00,2.22,0.00,0.000,4,0.000,0.067,3037,3580,3392,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5983,-0.48,-146.0,614.6,-6.8,378,5989,0.00,2.12,0.00,0.000,6,0.000,0.047,3037,2177,3392,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6313,-0.48,-146.0,639.7,-7.9,389,6314,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2174,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6613,-0.48,-146.0,663.9,-8.0,399,6619,0.00,2.22,0.00,0.000,4,0.000,0.067,3027,3583,3391,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6691,-0.48,-146.0,669.1,-8.4,401,6695,0.00,2.15,0.00,0.000,6,0.000,0.047,3027,2168,3391,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6999,-0.48,-146.0,696.1,-8.0,411,7000,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2165,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7298,-0.48,-146.0,719.9,-8.0,421,7304,0.00,2.25,0.00,0.000,4,0.000,0.067,3016,3587,3390,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7346,-0.48,-146.0,722.5,-8.2,422,7350,0.00,2.15,0.00,0.000,6,0.000,0.047,3016,2170,3390,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7654,-0.48,-146.0,750.5,-8.1,432,7659,0.00,2.22,0.00,0.000,4,0.000,0.067,3006,3584,3390,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7713,-0.48,-146.0,755.9,-8.4,434,7719,0.12,2.17,0.00,0.000,6,0.134,0.048,3042,2171,3390,0,0,0,0,0,0,26.10,26.25,28.83
$GC,8044,-0.48,-146.0,779.1,-6.8,445,8049,0.00,2.22,0.00,0.000,4,0.000,0.067,3034,3584,3389,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8086,-0.48,-146.0,781.1,-6.8,446,8090,0.00,2.15,0.00,0.000,6,0.000,0.048,3034,2175,3389,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8403,-0.48,-146.0,804.7,-7.0,457,8409,0.00,2.22,0.00,0.000,4,0.000,0.068,3024,3588,3389,0,0,0,0,0,0,28.83,26.12,28.83
$GC,8442,-0.48,-146.0,807.0,-7.1,458,8446,0.00,2.15,0.00,0.000,6,0.000,0.049,3024,2177,3388,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8760,-0.48,-146.0,828.8,-6.4,469,8765,0.00,2.22,0.00,0.000,4,0.000,0.068,3014,3587,3388,0,0,0,0,0,0,28.83,26.12,28.83
$GC,8792,-0.48,-146.0,831.0,-6.7,470,8796,0.00,2.15,0.00,0.000,6,0.000,0.048,3014,2174,3387,0,0,0,0,0,0,28.83,26.23,28.83
$GC,9114,-0.48,-146.0,854.1,-7.4,481,9120,0.00,2.25,0.00,0.000,4,0.000,0.068,3004,3581,3387,0,0,0,0,0,0,28.83,26.11,28.83
$GC,9144,-0.48,-146.0,856.6,-7.6,482,9151,0.12,2.17,0.00,0.000,6,0.136,0.049,3040,2165,3387,0,0,0,0,0,0,26.08,26.22,28.83
$GC,9474,-0.48,-146.0,877.5,-6.2,493,9480,0.00,2.25,0.00,0.000,4,0.000,0.068,3031,3584,3387,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9535,-0.48,-146.0,881.5,-6.6,495,9540,0.00,2.17,0.00,0.000,6,0.000,0.049,3031,2174,3387,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9864,-0.48,-146.0,903.6,-6.6,506,9866,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2172,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10165,-0.48,-146.0,923.0,-6.4,516,10170,0.00,2.28,0.00,0.000,4,0.000,0.069,3021,3601,3386,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10218,-0.48,-146.0,925.0,-6.5,517,10224,0.00,2.20,0.00,0.000,6,0.000,0.050,3021,2165,3386,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10525,-0.48,-146.0,945.5,-5.9,528,10531,0.00,2.22,0.00,0.000,4,0.000,0.068,3011,3579,3386,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10558,-0.48,-146.0,947.4,-5.9,529,10562,0.00,2.15,0.00,0.000,6,0.000,0.050,3011,2175,3386,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10880,-0.48,-146.0,970.7,-7.4,540,10881,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2172,3386,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11177,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11177,begin apogee
$GC,11184,-0.22,0.0,992.0,-7.0,550,11316,0.32,0.00,125.82,1.193,6,0.116,0.000,3121,2305,2793,0,0,0,0,0,0,26.02,28.83,23.71
$STATE,11319,end apogee,CONTROL_FINISHED_OK
$STATE,11319,begin climb
$GC,11322,0.48,146.0,995.0,0.0,554,11460,0.65,0.00,132.88,1.160,6,0.082,0.000,3343,2305,2198,0,0,0,0,0,0,24.58,28.83,23.13
$GC,11750,0.48,146.0,960.5,8.9,569,11756,0.00,2.35,0.00,0.000,4,0.000,0.069,3343,3705,2187,0,0,0,0,0,0,28.83,25.05,28.83
$GC,11773,0.48,146.0,960.5,8.9,569,11780,0.00,2.28,0.00,0.000,6,0.000,0.050,3353,2306,2187,0,0,0,0,0,0,28.83,25.13,28.83
$GC,12080,0.48,146.0,929.2,9.4,580,12081,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,2302,2185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12380,0.48,146.0,899.2,10.0,590,12386,0.00,2.30,0.00,0.000,4,0.000,0.069,3353,3708,2184,0,0,0,0,0,0,28.83,25.63,28.83
$GC,12448,0.48,146.0,892.6,10.2,592,12452,0.00,2.22,0.00,0.000,6,0.000,0.050,3363,2297,2184,0,0,0,0,0,0,28.83,25.72,28.83
$GC,12765,0.48,146.0,861.1,9.2,603,12766,0.00,0.00,0.00,0.000,6,0.000,0.000,3364,2292,2184,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13065,0.48,146.0,833.0,9.2,613,13071,0.00,2.28,0.00,0.000,4,0.000,0.070,3364,3705,2183,0,0,0,0,0,0,28.83,25.84,28.83
$GC,13108,0.48,146.0,830.0,9.7,614,13112,0.00,2.20,0.00,0.000,6,0.000,0.051,3374,2295,2183,0,0,0,0,0,0,28.83,25.92,28.83
$GC,13420,0.48,146.0,797.5,10.1,625,13426,0.00,2.28,0.00,0.000,4,0.000,0.069,3374,3701,2183,0,0,0,0,0,0,28.83,25.90,28.83
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$STATE,22711,end climb,SURFACE_DEPTH_REACHED
$STATE,22711,begin surface coast
$FINISH,0.9,1.000890
$STATE,22742,end surface coast,CONTROL_FINISHED_OK
$STATE,22742,begin surface
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$TT8_MAMPS,0.026964,0.026964
$HUMID,43.46
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,19.60
$XPDR_PINGS,0
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$10V_AH,10.2,18.404
$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
$DEVICE_SECS,22.125,212.825,508.600,0.000,0.000,26.357,42.064,179.208,0.000,0.000,11.267,3342.598,15877.692,594.935,2986.769,385.425,0.000,2089.527,0.000,2701.854,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,878.758,741.699,523.157,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296972
$DATA_FILE_SIZE,73450,1280
$CAP_FILE_SIZE,194914,0
$CFSIZE,260165632,245420032
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.036,345.2,1
$GPS,151012,172529,4727.425,-12600.633,39,1.4,39,18.7