version: 66.11
glider: 187
mission: 2
dive: 49
start: 9 23 112 17 52 6
data:
$ID,187
$MISSION,2
$DIVE,49
$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,-1587679.9
$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,33
$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
$GPS1,230912,174106,4705.070,-12652.772,35,0.9,35,18.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-78.2
$GPS2,230912,175136,4705.118,-12652.675,11,1.3,16,18.6
$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,40.1,173686,-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,-146.0,0.0,0.0,0,90,0.00,0.00,-71.25,0.000,2,0.000,0.000,122,2176,2977,0,0,0,0,0,0,28.83,28.83,28.83
$GC,93,-0.48,-146.0,4.0,-8.1,12,115,11.40,0.00,-7.28,0.000,6,0.229,0.000,3031,2174,3391,0,0,0,0,0,0,25.39,28.83,25.92
$GC,425,-0.48,-146.0,69.3,-13.6,75,433,0.00,2.17,0.00,0.000,4,0.000,0.050,3031,765,3400,0,0,0,0,0,0,28.83,25.84,28.83
$GC,542,-0.48,-146.0,85.1,-13.4,97,549,0.00,2.17,0.00,0.000,6,0.000,0.048,3023,2181,3400,0,0,0,0,0,0,28.83,25.89,28.83
$GC,864,-0.48,-146.0,125.3,-11.4,153,865,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2181,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1165,-0.48,-146.0,158.4,-10.8,173,1166,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2181,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1465,-0.48,-146.0,189.7,-9.9,193,1470,0.00,2.17,0.00,0.000,4,0.000,0.062,3013,3589,3400,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1502,-0.48,-146.0,192.9,-9.8,195,1509,0.00,2.15,0.00,0.000,6,0.000,0.043,3012,2162,3400,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1809,-0.48,-146.0,223.0,-9.5,216,1810,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2161,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2111,-0.48,-146.0,251.9,-9.9,236,2116,0.00,2.08,0.00,0.000,4,0.000,0.051,3013,783,3399,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2142,-0.48,-146.0,255.2,-10.2,238,2147,0.12,2.12,0.00,0.000,6,0.148,0.050,3038,2177,3399,0,0,0,0,0,0,26.13,26.20,28.83
$GC,2451,-0.48,-146.0,282.7,-8.9,258,2455,0.00,2.20,0.00,0.000,4,0.000,0.063,3030,3588,3397,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2506,-0.48,-146.0,287.4,-9.5,261,2512,0.00,2.12,0.00,0.000,6,0.000,0.044,3030,2177,3397,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2813,-0.48,-146.0,316.7,-8.6,282,2814,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2176,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3113,-0.48,-146.0,341.3,-7.9,302,3114,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2176,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3413,-0.48,-146.0,364.0,-7.5,322,3414,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2176,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3713,-0.48,-146.0,386.1,-7.3,342,3714,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2176,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4028,-0.48,-146.0,409.0,-7.4,359,4034,0.00,2.15,0.00,0.000,4,0.000,0.054,3030,771,3392,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4058,-0.48,-146.0,411.4,-7.6,360,4064,0.00,2.12,0.00,0.000,6,0.000,0.053,3021,2174,3392,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4388,-0.48,-146.0,437.8,-8.1,371,4393,0.00,2.20,0.00,0.000,4,0.000,0.066,3010,3584,3391,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4426,-0.48,-146.0,440.3,-8.2,372,4430,0.12,2.12,0.00,0.000,6,0.137,0.046,3046,2176,3391,0,0,0,0,0,0,26.27,26.35,28.83
$GC,4744,-0.48,-146.0,462.9,-7.0,383,4749,0.00,2.20,0.00,0.000,4,0.000,0.066,3037,3588,3390,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4767,-0.48,-146.0,462.9,-7.0,383,4774,0.00,2.15,0.00,0.000,6,0.000,0.047,3037,2164,3390,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5073,-0.48,-146.0,487.8,-7.5,394,5074,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2164,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5374,-0.48,-146.0,509.7,-7.2,404,5379,0.00,2.20,0.00,0.000,4,0.000,0.067,3027,3578,3389,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5404,-0.48,-146.0,511.9,-7.2,405,5409,0.00,2.10,0.00,0.000,6,0.000,0.047,3027,2181,3389,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5734,-0.48,-146.0,537.6,-7.8,416,5735,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2179,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6033,-0.48,-146.0,561.0,-8.0,426,6039,0.00,2.22,0.00,0.000,4,0.000,0.066,3017,3593,3387,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6056,-0.48,-146.0,561.0,-8.0,426,6063,0.00,2.17,0.00,0.000,6,0.000,0.047,3017,2162,3387,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6363,-0.48,-146.0,589.5,-8.6,437,6369,0.00,2.12,0.00,0.000,4,0.000,0.055,3017,775,3386,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6386,-0.48,-146.0,589.5,-8.6,437,6394,0.12,2.15,0.00,0.000,6,0.148,0.054,3042,2181,3386,0,0,0,0,0,0,26.29,26.36,28.83
$GC,6694,-0.48,-146.0,612.7,-6.7,448,6698,0.00,2.22,0.00,0.000,4,0.000,0.067,3034,3592,3386,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6756,-0.48,-146.0,617.3,-6.9,450,6762,0.00,2.15,0.00,0.000,6,0.000,0.048,3034,2173,3386,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7086,-0.48,-146.0,640.2,-7.1,461,7087,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2170,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7386,-0.48,-146.0,662.1,-7.2,471,7392,0.00,2.20,0.00,0.000,4,0.000,0.067,3024,3580,3384,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7429,-0.48,-146.0,664.4,-7.3,472,7433,0.00,2.15,0.00,0.000,6,0.000,0.048,3024,2165,3384,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7741,-0.48,-146.0,690.2,-7.8,483,7747,0.00,2.25,0.00,0.000,4,0.000,0.067,3014,3592,3384,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7764,-0.48,-146.0,690.2,-7.8,483,7771,0.00,2.15,0.00,0.000,6,0.000,0.048,3014,2175,3384,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8071,-0.48,-146.0,719.2,-8.9,494,8072,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2174,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8372,-0.48,-146.0,745.0,-8.6,504,8373,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2175,3383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8671,-0.48,-146.0,770.3,-8.4,514,8677,0.00,2.22,0.00,0.000,4,0.000,0.068,3004,3584,3383,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8704,-0.48,-146.0,773.0,-8.5,515,8709,0.12,2.15,0.00,0.000,6,0.141,0.049,3039,2172,3383,0,0,0,0,0,0,26.32,26.40,28.83
$GC,9027,-0.48,-146.0,794.6,-6.3,526,9028,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2170,3382,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9328,-0.48,-146.0,813.4,-6.0,536,9333,0.00,2.20,0.00,0.000,4,0.000,0.069,3031,3577,3382,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9380,-0.48,-146.0,815.3,-6.1,537,9387,0.00,2.15,0.00,0.000,6,0.000,0.050,3031,2165,3382,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9687,-0.48,-146.0,835.4,-5.9,548,9693,0.00,2.22,0.00,0.000,4,0.000,0.069,3021,3585,3381,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9710,-0.48,-146.0,835.4,-5.9,548,9717,0.00,2.15,0.00,0.000,6,0.000,0.050,3021,2174,3381,0,0,0,0,0,0,28.83,26.40,28.83
$GC,10017,-0.48,-146.0,855.9,-6.0,559,10018,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2174,3381,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10317,-0.48,-146.0,875.2,-6.4,569,10318,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2173,3381,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10617,-0.48,-146.0,894.6,-6.5,579,10623,0.00,2.22,0.00,0.000,4,0.000,0.070,3011,3581,3380,0,0,0,0,0,0,28.83,26.35,28.83
$GC,10655,-0.48,-146.0,897.0,-6.8,580,10659,0.00,2.17,0.00,0.000,6,0.000,0.050,3011,2169,3380,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10972,-0.48,-146.0,920.5,-7.3,591,10973,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2167,3380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11273,-0.48,-146.0,942.3,-7.3,601,11278,0.00,2.22,0.00,0.000,4,0.000,0.070,3002,3586,3380,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11335,-0.48,-146.0,946.9,-7.4,603,11340,0.15,2.15,0.00,0.000,6,0.131,0.050,3046,2173,3380,0,0,0,0,0,0,26.32,26.41,28.83
$GC,11659,-0.48,-146.0,964.8,-5.4,614,11664,0.00,2.22,0.00,0.000,4,0.000,0.070,3037,3585,3380,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11692,-0.48,-146.0,966.6,-5.5,615,11696,0.00,2.15,0.00,0.000,6,0.000,0.050,3037,2177,3379,0,0,0,0,0,0,28.83,26.41,28.83
$GC,12014,-0.48,-146.0,986.5,-6.3,626,12020,0.00,2.25,0.00,0.000,4,0.000,0.070,3028,3586,3379,0,0,0,0,0,0,28.83,26.35,28.83
$GC,12037,-0.48,-146.0,986.5,-6.3,626,12044,0.00,2.15,0.00,0.000,6,0.000,0.050,3028,2172,3379,0,0,0,0,0,0,28.83,26.40,28.83
$STATE,12071,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12072,begin apogee
$GC,12079,-0.22,0.0,990.6,-6.5,628,12210,0.28,0.00,124.85,1.208,6,0.115,0.000,3123,2303,2795,0,0,0,0,0,0,26.32,28.83,23.65
$STATE,12212,end apogee,CONTROL_FINISHED_OK
$STATE,12213,begin climb
$GC,12215,0.48,146.0,994.2,0.0,632,12358,0.65,2.45,133.10,1.174,4,0.082,0.068,3344,3699,2198,0,0,0,0,0,0,24.58,24.11,23.35
$GC,12380,0.48,161.2,985.8,6.7,638,12402,0.00,2.33,14.75,1.051,6,0.000,0.050,3354,2299,2135,0,0,0,0,0,0,28.83,24.50,23.56
$GC,12702,0.48,161.2,952.6,10.1,649,12707,0.00,2.30,0.00,0.000,4,0.000,0.069,3354,3694,2127,0,0,0,0,0,0,28.83,25.30,28.83
$GC,12732,0.48,161.2,949.2,10.4,650,12738,0.00,2.22,0.00,0.000,6,0.000,0.051,3365,2304,2125,0,0,0,0,0,0,28.83,25.37,28.83
$GC,13061,0.48,161.2,912.8,11.0,661,13063,0.00,0.00,0.00,0.000,6,0.000,0.000,3364,2299,2125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13362,0.48,161.2,880.4,10.6,671,13367,0.00,2.30,0.00,0.000,4,0.000,0.070,3365,3710,2124,0,0,0,0,0,0,28.83,25.79,28.83
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$STATE,22962,end climb,SURFACE_DEPTH_REACHED
$STATE,22962,begin surface coast
$FINISH,0.8,0.999527
$STATE,23010,end surface coast,CONTROL_FINISHED_OK
$STATE,23010,begin surface
$SM_CCo,23089,0.00,0.000,0,0,1276,372.12
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$TT8_MAMPS,0.026964,0.026964
$HUMID,43.22
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,15.30
$XPDR_PINGS,1
$24V_AH,23.4,9.265
$10V_AH,10.2,8.297
$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
$DEVICE_SECS,22.025,180.650,441.525,0.000,0.000,53.312,75.663,273.872,0.250,0.000,17.764,3515.357,16089.964,541.976,3177.602,383.334,0.000,1983.234,0.000,2717.796,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
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$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297072
$DATA_FILE_SIZE,76825,1367
$CAP_FILE_SIZE,194921,0
$CFSIZE,260165632,252977152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.020,244.7,1
$GPS,240912,001805,4706.821,-12648.602,32,1.1,32,18.6