version: 66.11
glider: 187
mission: 2
dive: 153
start: 10 16 112 12 59 32
data:
$ID,187
$MISSION,2
$DIVE,153
$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,-1587818.8
$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,44
$R_STBD_OVSHOOT,25
$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
$GPS1,161012,125135,4732.611,-12547.119,74,1.4,74,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-73.1
$GPS2,161012,125900,4732.657,-12547.146,33,1.4,44,18.7
$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,26.0,77909,-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,-146.0,0.0,0.0,0,75,0.00,0.00,-56.10,0.000,2,0.000,0.000,130,2166,2704,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-0.48,-146.0,3.1,-4.3,9,113,11.23,2.17,-14.57,0.000,4,0.222,0.063,3034,766,3392,0,0,0,0,0,0,25.28,25.63,26.02
$GC,298,-0.48,-146.0,46.2,-13.7,50,306,0.00,2.22,0.00,0.000,6,0.000,0.051,3026,2170,3395,0,0,0,0,0,0,28.83,25.75,28.83
$GC,615,-0.48,-146.0,88.8,-12.5,111,622,0.00,2.22,0.00,0.000,4,0.000,0.061,3015,3584,3397,0,0,0,0,0,0,28.83,25.82,28.83
$GC,667,-0.48,-146.0,95.3,-13.1,120,674,0.00,2.17,0.00,0.000,6,0.000,0.042,3015,2174,3398,0,0,0,0,0,0,28.83,25.93,28.83
$GC,980,-0.48,-146.0,134.6,-12.2,165,981,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2174,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1280,-0.48,-146.0,171.8,-11.9,185,1285,0.00,2.20,0.00,0.000,4,0.000,0.063,3005,3581,3398,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1309,-0.48,-146.0,175.5,-12.1,187,1315,0.10,2.12,0.00,0.000,6,0.113,0.043,3041,2174,3398,0,0,0,0,0,0,25.89,26.04,28.83
$GC,1625,-0.48,-146.0,205.6,-9.3,207,1627,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2172,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1924,-0.48,-146.0,232.9,-9.1,222,1929,0.00,2.22,0.00,0.000,4,0.000,0.063,3032,3589,3397,0,0,0,0,0,0,28.83,26.02,28.83
$GC,1971,-0.48,-146.0,236.6,-9.3,224,1975,0.00,2.15,0.00,0.000,6,0.000,0.044,3032,2168,3397,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2278,-0.48,-146.0,268.3,-9.9,239,2280,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2165,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2579,-0.48,-146.0,297.0,-9.5,254,2584,0.00,2.22,0.00,0.000,4,0.000,0.063,3022,3585,3395,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2607,-0.48,-146.0,299.0,-9.6,255,2611,0.00,2.15,0.00,0.000,6,0.000,0.044,3022,2165,3396,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2915,-0.48,-146.0,330.2,-9.9,270,2916,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2163,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3214,-0.48,-146.0,359.4,-9.6,285,3219,0.00,2.25,0.00,0.000,4,0.000,0.064,3011,3584,3394,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3253,-0.48,-146.0,363.4,-9.8,287,3259,0.00,2.17,0.00,0.000,6,0.000,0.045,3012,2166,3395,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3574,-0.48,-146.0,397.5,-10.8,303,3579,0.00,2.22,0.00,0.000,4,0.000,0.064,3001,3585,3394,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3602,-0.48,-146.0,399.7,-10.9,304,3607,0.15,2.15,0.00,0.000,6,0.131,0.045,3045,2166,3393,0,0,0,0,0,0,26.04,26.20,28.83
$GC,3928,-0.48,-146.0,428.7,-8.3,315,3934,0.00,2.25,0.00,0.000,4,0.000,0.065,3036,3588,3393,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3959,-0.48,-146.0,431.4,-8.3,316,3964,0.00,2.15,0.00,0.000,6,0.000,0.046,3036,2168,3392,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4289,-0.48,-146.0,460.0,-8.5,327,4290,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2166,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4588,-0.48,-146.0,485.3,-8.4,337,4594,0.00,2.25,0.00,0.000,4,0.000,0.066,3026,3594,3391,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4648,-0.48,-146.0,490.6,-8.5,339,4654,0.00,2.17,0.00,0.000,6,0.000,0.044,3026,2164,3391,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4979,-0.48,-146.0,519.2,-8.7,350,4980,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2162,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5279,-0.48,-146.0,545.3,-8.7,360,5285,0.00,2.28,0.00,0.000,4,0.000,0.066,3015,3587,3390,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5326,-0.48,-146.0,547.9,-8.9,361,5330,0.00,2.15,0.00,0.000,6,0.000,0.047,3015,2171,3390,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5634,-0.48,-146.0,580.0,-10.1,371,5639,0.00,2.15,0.00,0.000,4,0.000,0.054,3015,760,3390,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5664,-0.48,-146.0,583.2,-10.3,372,5670,0.08,2.15,0.00,0.000,6,0.125,0.053,3035,2171,3389,0,0,0,0,0,0,26.03,26.17,28.83
$GC,5994,-0.48,-146.0,612.2,-9.0,383,5999,0.00,2.22,0.00,0.000,4,0.000,0.067,3027,3584,3389,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6102,-0.48,-146.0,620.8,-9.3,386,6106,0.00,2.15,0.00,0.000,6,0.000,0.047,3027,2171,3388,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6409,-0.48,-146.0,651.3,-9.5,396,6415,0.00,2.12,0.00,0.000,4,0.000,0.054,3027,771,3388,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6440,-0.48,-146.0,654.1,-9.4,397,6445,0.00,2.15,0.00,0.000,6,0.000,0.054,3018,2172,3387,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6769,-0.48,-146.0,682.8,-8.4,408,6775,0.00,2.25,0.00,0.000,4,0.000,0.067,3007,3594,3387,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6816,-0.48,-146.0,685.5,-8.3,409,6821,0.12,2.15,0.00,0.000,6,0.137,0.047,3043,2177,3387,0,0,0,0,0,0,26.08,26.22,28.83
$GC,7124,-0.48,-146.0,707.9,-6.5,419,7130,0.00,2.15,0.00,0.000,4,0.000,0.054,3042,777,3387,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7216,-0.48,-146.0,714.2,-7.0,422,7220,0.00,2.15,0.00,0.000,6,0.000,0.054,3036,2176,3387,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7539,-0.48,-146.0,735.0,-6.4,433,7545,0.00,2.20,0.00,0.000,4,0.000,0.067,3025,3582,3386,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7659,-0.48,-146.0,743.1,-6.7,437,7664,0.00,2.15,0.00,0.000,6,0.000,0.047,3025,2165,3386,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7989,-0.48,-146.0,764.8,-6.4,448,7993,0.00,2.15,0.00,0.000,4,0.000,0.055,3025,770,3386,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8005,-0.48,-146.0,764.8,-6.4,448,8009,0.00,2.17,0.00,0.000,6,0.000,0.054,3017,2183,3386,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8317,-0.48,-146.0,788.8,-7.6,459,8322,0.00,2.22,0.00,0.000,4,0.000,0.068,3006,3583,3385,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8400,-0.48,-146.0,793.8,-8.3,461,8407,0.12,2.15,0.00,0.000,6,0.134,0.048,3043,2168,3385,0,0,0,0,0,0,26.08,26.22,28.83
$GC,8708,-0.48,-146.0,815.5,-6.3,472,8713,0.00,2.22,0.00,0.000,4,0.000,0.067,3034,3581,3385,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8767,-0.48,-146.0,819.6,-6.5,474,8771,0.00,2.15,0.00,0.000,6,0.000,0.048,3034,2178,3384,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9100,-0.48,-146.0,842.2,-7.0,485,9101,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2175,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9399,-0.48,-146.0,863.1,-6.8,495,9405,0.00,2.28,0.00,0.000,4,0.000,0.069,3024,3594,3383,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9422,-0.48,-146.0,863.1,-6.8,495,9430,0.00,2.17,0.00,0.000,6,0.000,0.049,3024,2169,3383,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9729,-0.48,-146.0,888.3,-7.6,506,9735,0.00,2.28,0.00,0.000,4,0.000,0.068,3014,3591,3383,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9777,-0.48,-146.0,890.6,-7.7,507,9781,0.00,2.17,0.00,0.000,6,0.000,0.049,3014,2166,3382,0,0,0,0,0,0,28.83,26.21,28.83
$GC,10084,-0.48,-146.0,916.0,-7.5,517,10090,0.00,2.28,0.00,0.000,4,0.000,0.068,3003,3593,3383,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10127,-0.48,-146.0,918.2,-7.7,518,10132,0.12,2.17,0.00,0.000,6,0.136,0.049,3039,2170,3383,0,0,0,0,0,0,26.06,26.21,28.83
$GC,10441,-0.48,-146.0,940.2,-6.7,529,10446,0.00,2.25,0.00,0.000,4,0.000,0.069,3031,3589,3382,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10473,-0.48,-146.0,942.3,-6.7,530,10477,0.00,2.17,0.00,0.000,6,0.000,0.049,3031,2166,3382,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10796,-0.48,-146.0,964.4,-6.8,541,10802,0.00,2.28,0.00,0.000,4,0.000,0.068,3021,3584,3382,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10855,-0.48,-146.0,968.8,-7.2,543,10861,0.00,2.17,0.00,0.000,6,0.000,0.050,3021,2168,3382,0,0,0,0,0,0,28.83,26.20,28.83
$STATE,11152,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11153,begin apogee
$GC,11160,-0.22,0.0,991.2,-7.5,553,11291,0.30,0.00,124.95,1.196,6,0.113,0.000,3124,2311,2793,0,0,0,0,0,0,26.02,28.83,23.71
$STATE,11294,end apogee,CONTROL_FINISHED_OK
$STATE,11294,begin climb
$GC,11297,0.48,146.0,995.0,0.0,557,11440,0.65,2.50,132.35,1.164,4,0.081,0.057,3356,900,2196,0,0,0,0,0,0,24.58,23.82,23.11
$GC,11461,0.48,160.0,986.1,6.8,563,11480,0.00,2.38,13.60,1.039,6,0.000,0.054,3356,2300,2141,0,0,0,0,0,0,28.83,24.14,23.27
$GC,11788,0.48,160.0,952.5,10.2,574,11794,0.00,2.35,0.00,0.000,4,0.000,0.068,3356,3715,2133,0,0,0,0,0,0,28.83,25.08,28.83
$GC,11881,0.48,160.0,941.5,11.8,577,11885,0.00,2.25,0.00,0.000,6,0.000,0.050,3366,2310,2131,0,0,0,0,0,0,28.83,25.27,28.83
$GC,12204,0.48,160.0,905.0,11.1,588,12205,0.00,0.00,0.00,0.000,6,0.000,0.000,3366,2305,2131,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12503,0.48,160.0,871.2,11.3,598,12509,0.00,2.30,0.00,0.000,4,0.000,0.069,3367,3713,2130,0,0,0,0,0,0,28.83,25.67,28.83
$GC,12557,0.48,160.0,867.4,11.6,599,12565,0.00,2.22,0.00,0.000,6,0.000,0.051,3377,2301,2129,0,0,0,0,0,0,28.83,25.76,28.83
$GC,12863,0.48,160.0,826.4,12.3,610,12864,0.00,0.00,0.00,0.000,6,0.000,0.000,3377,2297,2129,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,22230,end climb,SURFACE_DEPTH_REACHED
$STATE,22230,begin surface coast
$FINISH,1.0,1.009123
$STATE,22278,end surface coast,CONTROL_FINISHED_OK
$STATE,22278,begin surface
$SM_CCo,22358,0.00,0.000,0,0,1217,386.84
$SM_GC,1.99,8.35,0.22,0.00,0.028,0.067,0.000,132,2167,1217,-9.46,0.76,386.84,0,0,0,0,0,0,25.79,25.75,28.83
$IRIDIUM_FIX,4713.38,-12547.82,161012,060634
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.29
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.30
$XPDR_PINGS,1
$24V_AH,23.1,22.335
$10V_AH,10.2,18.863
$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,21.875,199.900,451.850,0.000,0.000,25.875,41.724,217.385,0.250,0.000,45.816,3319.253,15522.495,529.263,3032.232,392.773,0.000,1993.181,0.000,2687.328,0.000,0.535,0.000
$DEVICE_MAMPS,221.850,82.620,1196.460,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,868.234,737.988,521.046,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70200,1262
$CAP_FILE_SIZE,189794,0
$CFSIZE,260165632,245080064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.026,184.9,1
$GPS,161012,191430,4734.657,-12543.230,102,1.2,102,18.7