version: 66.11
glider: 187
mission: 2
dive: 157
start: 10 17 112 14 43 15
data:
$ID,187
$MISSION,2
$DIVE,157
$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,-1587823.8
$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,36
$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
$GPS1,171012,143629,4741.211,-12531.604,65,1.0,65,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-78.1
$GPS2,171012,144243,4741.122,-12531.535,12,1.7,12,18.7
$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,36.6,53019,-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,-146.0,0.0,0.0,0,73,0.00,0.00,-54.67,0.000,2,0.000,0.000,114,2184,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.48,-146.0,3.0,-2.7,9,111,11.30,2.33,-16.80,0.000,4,0.221,0.075,3028,3593,3391,0,0,0,0,0,0,25.25,25.56,25.97
$GC,272,-0.48,-146.0,40.2,-13.1,45,279,0.00,2.17,0.00,0.000,6,0.000,0.041,3028,2166,3395,0,0,0,0,0,0,28.83,25.75,28.83
$GC,587,-0.48,-146.0,81.4,-12.7,106,594,0.00,2.12,0.00,0.000,4,0.000,0.050,3027,769,3398,0,0,0,0,0,0,28.83,25.84,28.83
$GC,662,-0.48,-146.0,90.2,-11.2,120,669,0.00,2.20,0.00,0.000,6,0.000,0.049,3018,2173,3398,0,0,0,0,0,0,28.83,25.87,28.83
$GC,985,-0.48,-146.0,127.0,-11.2,175,990,0.00,2.17,0.00,0.000,4,0.000,0.062,3007,3577,3398,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1053,-0.48,-146.0,133.8,-11.3,179,1061,0.12,2.12,0.00,0.000,6,0.139,0.043,3042,2165,3398,0,0,0,0,0,0,25.86,26.00,28.83
$GC,1362,-0.48,-146.0,163.2,-9.1,200,1367,0.00,2.25,0.00,0.000,4,0.000,0.062,3033,3587,3397,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1383,-0.48,-146.0,164.6,-9.0,201,1390,0.00,2.12,0.00,0.000,6,0.000,0.044,3033,2174,3397,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1691,-0.48,-146.0,194.7,-9.8,222,1692,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2173,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1990,-0.48,-146.0,226.0,-10.7,238,1992,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2172,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2291,-0.48,-146.0,256.6,-9.7,253,2292,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2172,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2591,-0.48,-146.0,284.8,-9.4,268,2596,0.00,2.20,0.00,0.000,4,0.000,0.063,3023,3584,3396,0,0,0,0,0,0,28.83,26.07,28.83
$GC,2618,-0.48,-146.0,286.7,-9.4,269,2622,0.00,2.12,0.00,0.000,6,0.000,0.044,3023,2172,3396,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2926,-0.48,-146.0,317.8,-9.8,284,2931,0.00,2.20,0.00,0.000,4,0.000,0.063,3013,3581,3396,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2948,-0.48,-146.0,319.8,-9.7,285,2952,0.00,2.12,0.00,0.000,6,0.000,0.045,3012,2175,3396,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3260,-0.48,-146.0,352.6,-10.3,301,3266,0.00,2.22,0.00,0.000,4,0.000,0.063,3002,3584,3395,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3294,-0.48,-146.0,354.7,-10.3,302,3301,0.15,2.12,0.00,0.000,6,0.134,0.045,3045,2174,3395,0,0,0,0,0,0,26.03,26.19,28.83
$GC,3600,-0.48,-146.0,382.7,-8.2,318,3601,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2171,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3901,-0.48,-146.0,404.6,-7.0,332,3906,0.00,2.20,0.00,0.000,4,0.000,0.065,3037,3581,3394,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3944,-0.48,-146.0,406.7,-7.0,333,3948,0.00,2.12,0.00,0.000,6,0.000,0.046,3037,2171,3394,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4257,-0.48,-146.0,430.1,-7.0,344,4258,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2169,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4556,-0.48,-146.0,452.5,-7.4,354,4562,0.00,2.22,0.00,0.000,4,0.000,0.065,3027,3582,3392,0,0,0,0,0,0,28.83,26.11,28.83
$GC,4621,-0.48,-146.0,457.5,-7.8,356,4627,0.00,2.12,0.00,0.000,6,0.000,0.046,3026,2171,3393,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4946,-0.48,-146.0,488.0,-9.9,367,4947,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2169,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5246,-0.48,-146.0,517.1,-9.4,377,5250,0.00,2.25,0.00,0.000,4,0.000,0.066,3017,3584,3391,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5296,-0.48,-146.0,520.2,-9.4,378,5301,0.00,2.12,0.00,0.000,6,0.000,0.047,3016,2177,3391,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5603,-0.48,-146.0,550.0,-8.9,388,5604,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2172,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5903,-0.48,-146.0,576.9,-8.8,398,5908,0.00,2.22,0.00,0.000,4,0.000,0.066,3007,3583,3391,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5933,-0.48,-146.0,579.7,-8.9,399,5939,0.12,2.15,0.00,0.000,6,0.135,0.047,3047,2170,3391,0,0,0,0,0,0,26.09,26.22,28.83
$GC,6263,-0.48,-146.0,602.9,-7.0,410,6268,0.00,2.22,0.00,0.000,4,0.000,0.066,3039,3582,3390,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6296,-0.48,-146.0,605.0,-7.0,411,6300,0.00,2.15,0.00,0.000,6,0.000,0.047,3038,2164,3390,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6619,-0.48,-146.0,629.7,-7.5,422,6624,0.00,2.10,0.00,0.000,4,0.000,0.054,3039,774,3389,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6636,-0.48,-146.0,629.7,-7.5,422,6640,0.00,2.15,0.00,0.000,6,0.000,0.054,3029,2176,3389,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6944,-0.48,-146.0,655.2,-8.0,432,6947,0.00,2.22,0.00,0.000,4,0.000,0.067,3019,3582,3389,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7029,-0.48,-146.0,660.7,-8.4,434,7035,0.00,2.12,0.00,0.000,6,0.000,0.047,3019,2171,3388,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7335,-0.48,-146.0,688.3,-8.4,445,7341,0.00,2.22,0.00,0.000,4,0.000,0.067,3010,3581,3388,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7400,-0.48,-146.0,693.7,-8.6,447,7406,0.12,2.12,0.00,0.000,6,0.132,0.047,3045,2175,3387,0,0,0,0,0,0,26.08,26.22,28.83
$GC,7726,-0.48,-146.0,716.0,-6.4,458,7732,0.00,2.25,0.00,0.000,4,0.000,0.068,3037,3585,3387,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7749,-0.48,-146.0,716.0,-6.4,458,7755,0.00,2.15,0.00,0.000,6,0.000,0.048,3037,2166,3387,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8056,-0.48,-146.0,737.5,-6.2,469,8057,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2165,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8356,-0.48,-146.0,756.7,-6.5,479,8362,0.00,2.25,0.00,0.000,4,0.000,0.067,3027,3587,3387,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8415,-0.48,-146.0,760.8,-6.6,481,8421,0.00,2.15,0.00,0.000,6,0.000,0.048,3027,2178,3387,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8746,-0.48,-146.0,783.6,-6.9,492,8752,0.00,2.20,0.00,0.000,4,0.000,0.067,3017,3583,3386,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8794,-0.48,-146.0,785.8,-7.1,493,8798,0.00,2.15,0.00,0.000,6,0.000,0.048,3017,2167,3386,0,0,0,0,0,0,28.83,26.21,28.83
$GC,9100,-0.48,-146.0,811.8,-8.1,503,9106,0.00,2.28,0.00,0.000,4,0.000,0.067,3007,3588,3386,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9139,-0.48,-146.0,814.4,-8.3,504,9143,0.12,2.17,0.00,0.000,6,0.132,0.048,3043,2169,3386,0,0,0,0,0,0,26.08,26.21,28.83
$GC,9457,-0.48,-146.0,836.8,-6.8,515,9458,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2167,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9757,-0.48,-146.0,858.1,-7.1,525,9763,0.00,2.22,0.00,0.000,4,0.000,0.068,3034,3576,3385,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9847,-0.48,-146.0,864.9,-7.5,528,9851,0.00,2.17,0.00,0.000,6,0.000,0.049,3034,2163,3385,0,0,0,0,0,0,28.83,26.21,28.83
$GC,10179,-0.48,-146.0,889.1,-7.1,539,10185,0.00,2.25,0.00,0.000,4,0.000,0.068,3025,3584,3384,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10212,-0.48,-146.0,891.3,-7.2,540,10216,0.00,2.15,0.00,0.000,6,0.000,0.049,3024,2172,3384,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10534,-0.48,-146.0,916.0,-7.6,551,10540,0.00,2.22,0.00,0.000,4,0.000,0.068,3014,3582,3384,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10587,-0.48,-146.0,918.6,-7.8,552,10594,0.00,2.15,0.00,0.000,6,0.000,0.049,3014,2168,3384,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10894,-0.48,-146.0,944.1,-7.6,563,10895,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2168,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11194,-0.48,-146.0,967.0,-7.7,573,11198,0.00,2.25,0.00,0.000,4,0.000,0.068,3004,3581,3383,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11249,-0.48,-146.0,969.5,-7.7,574,11256,0.12,2.15,0.00,0.000,6,0.134,0.050,3040,2168,3383,0,0,0,0,0,0,26.06,26.20,28.83
$STATE,11554,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11554,begin apogee
$GC,11561,-0.22,0.0,990.1,-5.8,585,11692,0.22,0.00,125.25,1.191,6,0.116,0.000,3120,2314,2794,0,0,0,0,0,0,26.08,28.83,23.70
$STATE,11695,end apogee,CONTROL_FINISHED_OK
$STATE,11695,begin climb
$GC,11698,0.48,146.0,993.4,0.0,589,11840,0.65,2.45,132.55,1.157,4,0.083,0.057,3353,899,2197,0,0,0,0,0,0,24.58,23.80,23.09
$GC,11861,0.48,146.3,983.7,7.3,595,11866,0.00,2.38,0.00,0.000,6,0.000,0.055,3353,2298,2193,0,0,0,0,0,0,28.83,24.11,28.83
$GC,12184,0.48,146.3,950.4,10.4,606,12189,0.00,2.35,0.00,0.000,4,0.000,0.069,3353,3712,2187,0,0,0,0,0,0,28.83,25.10,28.83
$GC,12244,0.48,146.3,943.3,11.1,608,12250,0.00,2.25,0.00,0.000,6,0.000,0.050,3363,2308,2186,0,0,0,0,0,0,28.83,25.26,28.83
$GC,12574,0.48,146.3,908.5,10.6,619,12579,0.00,2.25,0.00,0.000,4,0.000,0.058,3374,888,2185,0,0,0,0,0,0,28.83,25.53,28.83
$GC,12604,0.48,146.3,905.3,10.6,620,12609,0.00,2.25,0.00,0.000,6,0.000,0.057,3374,2302,2184,0,0,0,0,0,0,28.83,25.56,28.83
$GC,12934,0.48,146.3,868.6,11.0,631,12939,0.00,2.25,0.00,0.000,4,0.000,0.069,3374,3705,2184,0,0,0,0,0,0,28.83,25.69,28.83
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$STATE,23392,end climb,SURFACE_DEPTH_REACHED
$STATE,23392,begin surface coast
$FINISH,1.1,1.024240
$STATE,23439,end surface coast,CONTROL_FINISHED_OK
$STATE,23439,begin surface
$SM_CCo,23521,0.00,0.000,0,0,1346,354.95
$SM_GC,2.43,8.45,2.47,0.00,0.033,0.045,0.000,118,2161,1346,-9.46,0.88,354.95,0,0,0,0,0,0,25.79,25.72,28.83
$IRIDIUM_FIX,4719.74,-12537.46,171012,080800
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.34
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,19.40
$XPDR_PINGS,0
$24V_AH,23.1,22.875
$10V_AH,10.2,19.317
$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,21.950,191.000,425.575,0.000,0.000,27.777,35.603,180.843,0.000,0.000,13.185,3443.123,16551.689,524.427,2973.055,393.802,0.000,1978.672,0.000,2699.271,0.000,0.535,0.000
$DEVICE_MAMPS,221.085,82.620,1191.105,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,903.093,765.381,544.072,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296932
$DATA_FILE_SIZE,73571,1312
$CAP_FILE_SIZE,190499,0
$CFSIZE,260165632,244731904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.010, 10.2,1
$GPS,171012,211635,4743.275,-12527.536,41,0.9,41,18.7