version: 66.11
glider: 187
mission: 2
dive: 154
start: 10 16 112 19 22 8
data:
$ID,187
$MISSION,2
$DIVE,154
$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,-1587820
$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,31
$R_STBD_OVSHOOT,27
$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
$GPS1,161012,191430,4734.657,-12543.230,102,1.2,102,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-74.2
$GPS2,161012,192136,4734.634,-12543.114,12,1.3,17,18.7
$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,29.1,71712,-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,-146.0,0.0,0.0,0,88,0.00,0.00,-69.50,0.000,2,0.000,0.000,130,2165,2860,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.48,-146.0,3.4,-3.2,11,121,11.18,2.25,-10.38,0.000,4,0.220,0.063,3034,762,3394,0,0,0,0,0,0,25.27,25.63,26.00
$GC,322,-0.48,-146.0,52.6,-11.3,53,329,0.00,2.20,0.00,0.000,6,0.000,0.049,3025,2184,3398,0,0,0,0,0,0,28.83,25.75,28.83
$GC,640,-0.48,-146.0,96.1,-12.9,114,648,0.00,2.22,0.00,0.000,4,0.000,0.060,3014,3589,3400,0,0,0,0,0,0,28.83,25.83,28.83
$GC,716,-0.48,-146.0,106.6,-13.3,128,723,0.00,2.20,0.00,0.000,6,0.000,0.042,3014,2166,3400,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1032,-0.48,-146.0,145.9,-12.0,162,1037,0.00,2.25,0.00,0.000,4,0.000,0.060,3003,3591,3400,0,0,0,0,0,0,28.83,25.92,28.83
$GC,1070,-0.48,-146.0,149.9,-12.7,164,1078,0.10,2.20,0.00,0.000,6,0.116,0.043,3050,2167,3400,0,0,0,0,0,0,25.84,26.02,28.83
$GC,1378,-0.48,-146.0,178.2,-7.7,185,1379,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2164,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1678,-0.48,-146.0,201.1,-8.5,205,1684,0.00,2.20,0.00,0.000,4,0.000,0.062,3042,3579,3400,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1737,-0.48,-146.0,206.6,-9.0,208,1743,0.00,2.12,0.00,0.000,6,0.000,0.044,3042,2169,3399,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2057,-0.48,-146.0,238.9,-10.2,224,2058,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2166,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2358,-0.48,-146.0,265.4,-8.4,239,2363,0.00,2.20,0.00,0.000,4,0.000,0.063,3031,3577,3398,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2382,-0.48,-146.0,267.2,-8.3,240,2387,0.00,2.12,0.00,0.000,6,0.000,0.044,3031,2172,3398,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2697,-0.48,-146.0,295.7,-8.8,256,2698,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2169,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2998,-0.48,-146.0,322.5,-9.1,271,2999,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2170,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3297,-0.48,-146.0,350.7,-9.7,286,3303,0.00,2.22,0.00,0.000,4,0.000,0.063,3021,3582,3396,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3340,-0.48,-146.0,354.7,-9.8,288,3344,0.00,2.12,0.00,0.000,6,0.000,0.045,3021,2176,3396,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3653,-0.48,-146.0,387.2,-10.5,304,3654,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2174,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3972,-0.48,-146.0,417.6,-9.1,317,3973,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2174,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4273,-0.48,-146.0,444.8,-9.3,327,4274,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2173,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4572,-0.48,-146.0,472.1,-9.1,337,4578,0.00,2.22,0.00,0.000,4,0.000,0.065,3011,3584,3393,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4603,-0.48,-146.0,474.9,-9.1,338,4608,0.00,2.15,0.00,0.000,6,0.000,0.047,3011,2172,3393,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4932,-0.48,-146.0,508.1,-10.3,349,4939,0.12,2.15,0.00,0.000,4,0.152,0.052,3050,770,3392,0,0,0,0,0,0,26.16,26.17,28.83
$GC,4962,-0.48,-146.0,510.8,-10.1,350,4968,0.00,2.17,0.00,0.000,6,0.000,0.054,3043,2180,3392,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5293,-0.48,-146.0,537.0,-8.0,361,5298,0.00,2.20,0.00,0.000,4,0.000,0.066,3033,3586,3392,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5395,-0.48,-146.0,544.9,-8.6,364,5399,0.00,2.15,0.00,0.000,6,0.000,0.046,3033,2167,3391,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5708,-0.48,-146.0,571.0,-7.7,375,5713,0.00,2.22,0.00,0.000,4,0.000,0.066,3023,3582,3391,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5775,-0.48,-146.0,575.8,-7.8,377,5779,0.00,2.15,0.00,0.000,6,0.000,0.047,3023,2175,3391,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6097,-0.48,-146.0,602.2,-8.0,388,6098,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2174,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6398,-0.48,-146.0,626.4,-8.1,398,6403,0.00,2.20,0.00,0.000,4,0.000,0.067,3012,3577,3389,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6428,-0.48,-146.0,628.8,-8.0,399,6433,0.00,2.12,0.00,0.000,6,0.000,0.047,3013,2172,3389,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6757,-0.48,-146.0,655.7,-8.3,410,6763,0.00,2.25,0.00,0.000,4,0.000,0.067,3002,3588,3389,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6781,-0.48,-146.0,655.7,-8.3,410,6790,0.12,2.15,0.00,0.000,6,0.139,0.047,3038,2170,3389,0,0,0,0,0,0,26.07,26.22,28.83
$GC,7087,-0.48,-146.0,680.0,-7.4,421,7093,0.00,2.25,0.00,0.000,4,0.000,0.067,3030,3588,3388,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7120,-0.48,-146.0,682.6,-7.6,422,7124,0.00,2.15,0.00,0.000,6,0.000,0.047,3030,2174,3388,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7443,-0.48,-146.0,709.1,-8.4,433,7448,0.00,2.22,0.00,0.000,4,0.000,0.067,3019,3581,3388,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7465,-0.48,-146.0,709.1,-8.4,433,7472,0.00,2.15,0.00,0.000,6,0.000,0.047,3020,2168,3388,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7772,-0.48,-146.0,738.4,-9.0,444,7773,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2167,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8072,-0.48,-146.0,764.8,-8.6,454,8078,0.00,2.25,0.00,0.000,4,0.000,0.067,3009,3583,3387,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8151,-0.48,-146.0,769.9,-8.5,456,8156,0.12,2.15,0.00,0.000,6,0.136,0.048,3045,2171,3387,0,0,0,0,0,0,26.08,26.22,28.83
$GC,8458,-0.48,-146.0,791.8,-6.5,466,8463,0.00,2.28,0.00,0.000,4,0.000,0.067,3037,3588,3386,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8488,-0.48,-146.0,794.0,-6.7,467,8494,0.00,2.15,0.00,0.000,6,0.000,0.048,3037,2179,3386,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8818,-0.48,-146.0,817.6,-7.2,478,8823,0.00,2.22,0.00,0.000,4,0.000,0.068,3027,3588,3386,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8848,-0.48,-146.0,820.1,-7.4,479,8853,0.00,2.17,0.00,0.000,6,0.000,0.048,3026,2170,3385,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9178,-0.48,-146.0,847.7,-8.6,490,9183,0.00,2.25,0.00,0.000,4,0.000,0.067,3017,3588,3385,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9208,-0.48,-146.0,850.2,-8.6,491,9213,0.00,2.17,0.00,0.000,6,0.000,0.048,3016,2170,3385,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9537,-0.48,-146.0,879.6,-8.6,502,9543,0.00,2.25,0.00,0.000,4,0.000,0.068,3007,3583,3384,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9611,-0.48,-146.0,885.2,-8.8,504,9616,0.12,2.15,0.00,0.000,6,0.135,0.048,3042,2172,3384,0,0,0,0,0,0,26.06,26.21,28.83
$GC,9924,-0.48,-146.0,908.7,-7.0,515,9930,0.00,2.22,0.00,0.000,4,0.000,0.068,3034,3581,3384,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9962,-0.48,-146.0,910.9,-6.9,516,9966,0.00,2.15,0.00,0.000,6,0.000,0.049,3034,2172,3384,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10280,-0.48,-146.0,934.4,-7.4,527,10281,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2170,3383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10579,-0.48,-146.0,954.7,-6.8,537,10585,0.00,2.25,0.00,0.000,4,0.000,0.069,3024,3590,3383,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10643,-0.48,-146.0,959.0,-6.9,539,10649,0.00,2.17,0.00,0.000,6,0.000,0.049,3024,2167,3383,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10970,-0.48,-146.0,982.4,-7.1,550,10974,0.00,2.28,0.00,0.000,4,0.000,0.069,3014,3582,3382,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11032,-0.48,-146.0,987.0,-7.3,552,11037,0.00,2.17,0.00,0.000,6,0.000,0.049,3014,2167,3383,0,0,0,0,0,0,28.83,26.20,28.83
$STATE,11089,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11089,begin apogee
$GC,11096,-0.22,0.0,991.5,-7.6,554,11228,0.32,0.00,125.62,1.195,6,0.117,0.000,3123,2309,2793,0,0,0,0,0,0,25.98,28.83,23.70
$STATE,11231,end apogee,CONTROL_FINISHED_OK
$STATE,11231,begin climb
$GC,11234,0.48,146.0,995.2,0.0,558,11375,0.65,2.47,134.07,1.162,4,0.080,0.068,3345,3704,2196,0,0,0,0,0,0,24.58,23.82,23.11
$GC,11396,0.48,164.7,986.9,6.6,564,11420,0.00,2.35,18.10,1.069,6,0.000,0.049,3355,2306,2122,0,0,0,0,0,0,28.83,24.13,23.20
$GC,11750,0.48,164.7,950.4,10.2,576,11756,0.00,2.33,0.00,0.000,4,0.000,0.068,3355,3708,2112,0,0,0,0,0,0,28.83,25.10,28.83
$GC,11779,0.48,164.7,946.9,10.4,577,11784,0.00,2.25,0.00,0.000,6,0.000,0.050,3366,2308,2112,0,0,0,0,0,0,28.83,25.20,28.83
$GC,12109,0.48,164.7,909.1,11.5,588,12110,0.00,0.00,0.00,0.000,6,0.000,0.000,3366,2301,2111,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12409,0.48,164.7,874.4,11.4,598,12410,0.00,0.00,0.00,0.000,6,0.000,0.000,3366,2301,2110,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12709,0.48,164.7,841.9,10.8,608,12715,0.00,2.25,0.00,0.000,4,0.000,0.069,3366,3702,2109,0,0,0,0,0,0,28.83,25.77,28.83
$GC,12762,0.48,164.7,838.3,10.9,609,12768,0.00,2.20,0.00,0.000,6,0.000,0.050,3376,2295,2109,0,0,0,0,0,0,28.83,25.84,28.83
$GC,13069,0.48,164.7,801.4,10.8,620,13074,0.00,2.25,0.00,0.000,4,0.000,0.069,3376,3697,2108,0,0,0,0,0,0,28.83,25.87,28.83
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$STATE,22184,end climb,SURFACE_DEPTH_REACHED
$STATE,22184,begin surface coast
$FINISH,2.1,1.023990
$STATE,22202,end surface coast,CONTROL_FINISHED_OK
$STATE,22202,begin surface
$SM_CCo,22284,0.00,0.000,0,0,1294,367.95
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$IRIDIUM_FIX,4713.38,-12556.72,161012,121231
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.93
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,15.00
$XPDR_PINGS,0
$24V_AH,23.1,22.474
$10V_AH,10.2,18.975
$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,21.650,191.075,443.325,0.000,0.000,28.190,40.618,216.895,0.000,0.000,18.687,3254.980,15604.622,572.994,2898.951,370.728,0.000,1963.900,0.000,2567.070,0.000,0.535,0.000
$DEVICE_MAMPS,219.555,84.150,1194.930,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,857.407,723.103,512.835,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70200,1247
$CAP_FILE_SIZE,183633,0
$CFSIZE,260165632,245002240
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.080,109.3,1
$GPS,171012,013453,4736.519,-12538.494,25,1.0,43,18.7