version: 66.11
glider: 187
mission: 2
dive: 155
start: 10 17 112 1 41 57
data:
$ID,187
$MISSION,2
$DIVE,155
$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,-1587821.2
$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,41
$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
$GPS1,171012,013453,4736.519,-12538.494,25,1.0,43,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-75.4
$GPS2,171012,014125,4736.527,-12538.534,17,1.0,17,18.7
$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,15.7,65070,-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,-57.12,0.000,2,0.000,0.000,121,2165,2596,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.48,-146.0,3.0,-3.2,9,119,11.25,2.22,-18.42,0.000,4,0.222,0.064,3034,770,3392,0,0,0,0,0,0,25.26,25.64,26.02
$GC,211,-0.48,-146.0,30.8,-18.4,32,218,0.00,2.22,0.00,0.000,6,0.000,0.051,3025,2170,3395,0,0,0,0,0,0,28.83,25.70,28.83
$GC,528,-0.48,-146.0,77.7,-11.9,93,534,0.00,2.22,0.00,0.000,4,0.000,0.062,3015,3583,3397,0,0,0,0,0,0,28.83,25.79,28.83
$GC,705,-0.48,-146.0,99.7,-12.8,127,712,0.00,2.15,0.00,0.000,6,0.000,0.042,3015,2160,3398,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1026,-0.48,-146.0,140.8,-12.2,168,1029,0.00,2.12,0.00,0.000,4,0.000,0.050,3015,777,3398,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1081,-0.48,-146.0,146.7,-12.7,171,1089,0.12,2.15,0.00,0.000,6,0.149,0.050,3038,2181,3398,0,0,0,0,0,0,25.85,25.97,28.83
$GC,1390,-0.48,-146.0,179.9,-10.3,192,1391,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2181,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1698,-0.48,-146.0,210.7,-10.2,211,1703,0.00,2.17,0.00,0.000,4,0.000,0.063,3031,3584,3398,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1760,-0.48,-146.0,216.9,-10.4,214,1764,0.00,2.12,0.00,0.000,6,0.000,0.044,3029,2173,3399,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2073,-0.48,-146.0,247.9,-9.3,230,2078,0.00,2.22,0.00,0.000,4,0.000,0.063,3019,3581,3398,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2114,-0.48,-146.0,251.7,-9.4,232,2119,0.00,2.10,0.00,0.000,6,0.000,0.044,3020,2178,3398,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2433,-0.48,-146.0,282.5,-9.4,248,2437,0.00,2.25,0.00,0.000,4,0.000,0.063,3009,3592,3397,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2463,-0.48,-146.0,284.6,-9.4,249,2467,0.12,2.15,0.00,0.000,6,0.137,0.044,3044,2170,3397,0,0,0,0,0,0,26.01,26.15,28.83
$GC,2771,-0.48,-146.0,308.9,-7.9,264,2772,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2165,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3070,-0.48,-146.0,333.4,-8.5,279,3075,0.00,2.22,0.00,0.000,4,0.000,0.064,3036,3581,3396,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3103,-0.48,-146.0,335.2,-8.5,280,3109,0.00,2.12,0.00,0.000,6,0.000,0.045,3036,2171,3396,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3411,-0.48,-146.0,363.4,-8.6,296,3412,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2170,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3710,-0.48,-146.0,390.4,-9.2,311,3715,0.00,2.25,0.00,0.000,4,0.000,0.064,3025,3584,3395,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3738,-0.48,-146.0,392.3,-9.3,312,3742,0.00,2.12,0.00,0.000,6,0.000,0.045,3025,2177,3395,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4066,-0.48,-146.0,423.4,-9.1,324,4067,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2174,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4365,-0.48,-146.0,449.9,-8.7,334,4370,0.00,2.22,0.00,0.000,4,0.000,0.065,3015,3582,3393,0,0,0,0,0,0,28.83,26.11,28.83
$GC,4418,-0.48,-146.0,452.5,-8.7,335,4425,0.00,2.12,0.00,0.000,6,0.000,0.046,3015,2171,3393,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4725,-0.48,-146.0,485.0,-9.9,346,4730,0.00,2.10,0.00,0.000,4,0.000,0.053,3016,782,3392,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4755,-0.48,-146.0,488.0,-9.9,347,4761,0.12,2.15,0.00,0.000,6,0.145,0.053,3041,2178,3392,0,0,0,0,0,0,26.06,26.17,28.83
$GC,5085,-0.48,-146.0,513.4,-7.7,358,5090,0.00,2.20,0.00,0.000,4,0.000,0.066,3032,3583,3392,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5175,-0.48,-146.0,520.7,-8.0,361,5181,0.00,2.15,0.00,0.000,6,0.000,0.047,3032,2167,3391,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5505,-0.48,-146.0,547.8,-8.0,372,5510,0.00,2.22,0.00,0.000,4,0.000,0.066,3022,3582,3391,0,0,0,0,0,0,28.83,26.11,28.83
$GC,5553,-0.48,-146.0,550.4,-8.1,373,5557,0.00,2.12,0.00,0.000,6,0.000,0.047,3022,2177,3391,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5860,-0.48,-146.0,577.9,-8.5,383,5861,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2174,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6160,-0.48,-146.0,603.3,-8.5,393,6165,0.00,2.25,0.00,0.000,4,0.000,0.067,3012,3592,3390,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6193,-0.48,-146.0,606.0,-8.5,394,6197,0.00,2.17,0.00,0.000,6,0.000,0.047,3012,2171,3390,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6520,-0.48,-146.0,634.9,-9.0,405,6521,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2170,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6820,-0.48,-146.0,661.6,-8.8,415,6826,0.00,2.25,0.00,0.000,4,0.000,0.067,3001,3592,3389,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6843,-0.48,-146.0,661.6,-8.8,415,6851,0.15,2.15,0.00,0.000,6,0.131,0.048,3045,2173,3389,0,0,0,0,0,0,26.06,26.22,28.83
$GC,7150,-0.48,-146.0,684.3,-6.6,426,7152,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2172,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7450,-0.48,-146.0,705.8,-7.1,436,7454,0.00,2.25,0.00,0.000,4,0.000,0.067,3037,3583,3388,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7520,-0.48,-146.0,710.2,-7.0,438,7525,0.00,2.15,0.00,0.000,6,0.000,0.048,3037,2167,3388,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7838,-0.48,-146.0,735.4,-7.8,449,7843,0.00,2.22,0.00,0.000,4,0.000,0.067,3026,3581,3388,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7906,-0.48,-146.0,740.2,-8.0,451,7909,0.00,2.15,0.00,0.000,6,0.000,0.048,3026,2174,3387,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8228,-0.48,-146.0,766.7,-8.1,462,8233,0.00,2.25,0.00,0.000,4,0.000,0.067,3017,3587,3387,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8276,-0.48,-146.0,769.0,-8.0,463,8280,0.00,2.15,0.00,0.000,6,0.000,0.048,3017,2175,3387,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8583,-0.48,-146.0,797.1,-8.9,473,8588,0.00,2.25,0.00,0.000,4,0.000,0.068,3007,3583,3387,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8615,-0.48,-146.0,800.0,-9.0,474,8620,0.12,2.17,0.00,0.000,6,0.135,0.048,3043,2170,3386,0,0,0,0,0,0,26.07,26.21,28.83
$GC,8939,-0.48,-146.0,823.5,-7.0,485,8944,0.00,2.22,0.00,0.000,4,0.000,0.067,3035,3578,3386,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8991,-0.48,-146.0,825.7,-7.0,486,8998,0.00,2.15,0.00,0.000,6,0.000,0.048,3035,2170,3386,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9298,-0.48,-146.0,849.2,-7.0,497,9304,0.00,2.22,0.00,0.000,4,0.000,0.068,3025,3580,3385,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9336,-0.48,-146.0,851.5,-7.1,498,9340,0.00,2.15,0.00,0.000,6,0.000,0.048,3025,2172,3386,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9653,-0.48,-146.0,875.7,-7.3,509,9659,0.00,2.22,0.00,0.000,4,0.000,0.068,3014,3581,3385,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9707,-0.48,-146.0,877.9,-7.3,510,9714,0.00,2.15,0.00,0.000,6,0.000,0.049,3014,2170,3385,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10013,-0.48,-146.0,901.2,-6.9,521,10019,0.00,2.28,0.00,0.000,4,0.000,0.068,3004,3587,3385,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10036,-0.48,-146.0,901.2,-6.9,521,10044,0.12,2.15,0.00,0.000,6,0.138,0.048,3039,2175,3384,0,0,0,0,0,0,26.06,26.20,28.83
$GC,10344,-0.48,-146.0,921.7,-6.1,532,10350,0.00,2.25,0.00,0.000,4,0.000,0.069,3031,3581,3384,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10391,-0.48,-146.0,923.5,-6.1,533,10396,0.00,2.15,0.00,0.000,6,0.000,0.049,3031,2174,3384,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10698,-0.48,-146.0,944.5,-6.5,543,10704,0.00,2.22,0.00,0.000,4,0.000,0.069,3021,3577,3384,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10742,-0.48,-146.0,946.6,-6.8,544,10746,0.00,2.15,0.00,0.000,6,0.000,0.049,3021,2170,3383,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11054,-0.48,-146.0,969.3,-7.3,555,11060,0.00,2.25,0.00,0.000,4,0.000,0.069,3011,3587,3383,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11114,-0.48,-146.0,974.0,-7.6,557,11120,0.00,2.17,0.00,0.000,6,0.000,0.049,3011,2168,3383,0,0,0,0,0,0,28.83,26.20,28.83
$STATE,11321,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11321,begin apogee
$GC,11329,-0.22,0.0,990.6,-7.9,564,11460,0.32,0.00,125.55,1.194,6,0.116,0.000,3120,2313,2793,0,0,0,0,0,0,25.99,28.83,23.70
$STATE,11463,end apogee,CONTROL_FINISHED_OK
$STATE,11463,begin climb
$GC,11466,0.48,146.0,994.7,0.0,568,11607,0.65,2.45,134.18,1.161,4,0.082,0.067,3342,3698,2196,0,0,0,0,0,0,24.58,23.80,23.08
$GC,11629,0.48,163.9,986.6,6.6,574,11653,0.00,2.35,17.10,1.061,6,0.000,0.048,3353,2300,2125,0,0,0,0,0,0,28.83,24.12,23.20
$GC,11983,0.48,163.9,951.0,10.0,586,11984,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,2300,2117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12281,0.48,163.9,920.4,10.4,596,12282,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,2300,2115,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12581,0.48,163.9,890.0,9.9,606,12586,0.00,2.30,0.00,0.000,4,0.000,0.069,3353,3701,2115,0,0,0,0,0,0,28.83,25.62,28.83
$GC,12604,0.48,163.9,890.0,9.9,606,12610,0.00,2.20,0.00,0.000,6,0.000,0.050,3363,2304,2114,0,0,0,0,0,0,28.83,25.70,28.83
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$STATE,22430,end climb,SURFACE_DEPTH_REACHED
$STATE,22431,begin surface coast
$FINISH,1.1,1.012352
$STATE,22479,end surface coast,CONTROL_FINISHED_OK
$STATE,22479,begin surface
$SM_CCo,22559,0.00,0.000,0,0,1141,405.48
$SM_GC,1.93,8.27,0.17,0.00,0.026,0.074,0.000,114,2169,1141,-9.46,1.24,405.48,0,0,0,0,0,0,25.87,25.84,28.83
$IRIDIUM_FIX,4710.21,-12512.29,161012,191928
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.36
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,15.70
$XPDR_PINGS,0
$24V_AH,23.1,22.615
$10V_AH,10.2,19.086
$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,21.825,194.675,465.550,0.000,0.000,28.281,42.599,188.141,0.000,0.000,18.062,3287.185,15800.206,599.656,2864.780,391.991,0.000,1997.974,0.000,2575.170,0.000,0.535,0.000
$DEVICE_MAMPS,221.850,81.855,1194.165,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,869.911,733.216,502.181,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296900
$DATA_FILE_SIZE,70200,1267
$CAP_FILE_SIZE,185813,0
$CFSIZE,260165632,244912128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.067,127.1,1
$GPS,171012,075905,4738.711,-12534.563,31,1.2,31,18.7