version: 66.11
glider: 187
mission: 2
dive: 52
start: 9 24 112 13 30 25
data:
$ID,187
$MISSION,2
$DIVE,52
$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,-1587683.6
$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,39
$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
$GPS1,240912,132324,4710.140,-12640.684,41,1.4,41,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-77.7
$GPS2,240912,132955,4710.160,-12640.695,12,1.3,12,18.6
$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,39.1,156154,-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,-146.0,0.0,0.0,0,86,0.00,0.00,-66.85,0.000,2,0.000,0.000,113,2165,2827,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.48,-146.0,3.3,-5.4,11,118,11.30,2.33,-10.62,0.000,4,0.226,0.070,3023,3585,3394,0,0,0,0,0,0,25.45,25.67,26.00
$GC,349,-0.48,-146.0,54.4,-11.9,60,356,0.00,2.22,0.00,0.000,6,0.000,0.042,3022,2173,3399,0,0,0,0,0,0,28.83,25.86,28.83
$GC,668,-0.48,-146.0,95.3,-12.8,121,675,0.00,2.17,0.00,0.000,4,0.000,0.050,3022,770,3401,0,0,0,0,0,0,28.83,25.96,28.83
$GC,698,-0.48,-146.0,99.3,-12.7,126,706,0.00,2.20,0.00,0.000,6,0.000,0.049,3013,2177,3401,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1012,-0.48,-146.0,138.0,-11.6,167,1014,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2176,3402,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1312,-0.48,-146.0,171.7,-11.5,187,1313,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2177,3401,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1611,-0.48,-146.0,206.0,-11.3,207,1612,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2177,3401,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1911,-0.48,-146.0,240.7,-11.6,227,1917,0.00,2.20,0.00,0.000,4,0.000,0.062,3002,3585,3401,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1956,-0.48,-146.0,246.1,-11.8,230,1962,0.10,2.12,0.00,0.000,6,0.115,0.044,3038,2175,3400,0,0,0,0,0,0,26.13,26.22,28.83
$GC,2273,-0.48,-146.0,274.7,-8.6,251,2274,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2172,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2571,-0.48,-146.0,299.2,-8.0,271,2577,0.00,2.15,0.00,0.000,4,0.000,0.052,3039,773,3399,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2594,-0.48,-146.0,300.3,-8.0,272,2601,0.00,2.15,0.00,0.000,6,0.000,0.050,3032,2182,3399,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2901,-0.48,-146.0,326.8,-8.4,293,2905,0.00,2.20,0.00,0.000,4,0.000,0.063,3021,3584,3397,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2926,-0.48,-146.0,328.3,-8.5,294,2933,0.00,2.15,0.00,0.000,6,0.000,0.045,3021,2164,3397,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3233,-0.48,-146.0,357.9,-9.4,315,3239,0.00,2.12,0.00,0.000,4,0.000,0.052,3021,778,3397,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3263,-0.48,-146.0,361.0,-10.0,317,3269,0.00,2.15,0.00,0.000,6,0.000,0.052,3012,2188,3397,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3579,-0.48,-146.0,393.9,-10.2,338,3584,0.00,2.15,0.00,0.000,4,0.000,0.065,3002,3578,3396,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3616,-0.48,-146.0,397.0,-10.5,340,3623,0.15,2.12,0.00,0.000,6,0.134,0.046,3046,2174,3395,0,0,0,0,0,0,26.22,26.32,28.83
$GC,3923,-0.48,-146.0,421.1,-7.2,352,3924,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2173,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4224,-0.48,-146.0,442.6,-7.1,362,4229,0.00,2.20,0.00,0.000,4,0.000,0.066,3037,3582,3394,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4257,-0.48,-146.0,444.6,-7.0,363,4261,0.00,2.15,0.00,0.000,6,0.000,0.047,3037,2169,3394,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4579,-0.48,-146.0,470.6,-8.2,374,4580,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2167,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4879,-0.48,-146.0,495.6,-8.4,384,4880,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2167,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5179,-0.48,-146.0,520.3,-8.1,394,5185,0.00,2.20,0.00,0.000,4,0.000,0.067,3027,3579,3392,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5217,-0.48,-146.0,522.8,-8.1,395,5221,0.00,2.15,0.00,0.000,6,0.000,0.047,3027,2164,3391,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5534,-0.48,-146.0,549.4,-8.2,406,5535,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2162,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5834,-0.48,-146.0,572.1,-7.4,416,5835,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2162,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6135,-0.48,-146.0,594.1,-7.2,426,6136,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2162,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6434,-0.48,-146.0,616.4,-7.6,436,6435,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2162,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6734,-0.48,-146.0,639.6,-7.8,446,6740,0.00,2.25,0.00,0.000,4,0.000,0.067,3016,3581,3388,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6782,-0.48,-146.0,642.2,-7.9,447,6786,0.00,2.15,0.00,0.000,6,0.000,0.048,3017,2167,3388,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7089,-0.48,-146.0,669.7,-8.6,457,7090,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2166,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7389,-0.48,-146.0,694.9,-8.3,467,7390,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2166,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7689,-0.48,-146.0,719.5,-8.0,477,7690,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2165,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7989,-0.48,-146.0,743.7,-7.8,487,7990,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2166,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8289,-0.48,-146.0,767.5,-7.8,497,8290,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2166,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8589,-0.48,-146.0,790.9,-7.9,507,8594,0.00,2.28,0.00,0.000,4,0.000,0.069,3007,3594,3385,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8632,-0.48,-146.0,793.4,-8.0,508,8637,0.12,2.17,0.00,0.000,6,0.138,0.049,3043,2167,3385,0,0,0,0,0,0,26.32,26.41,28.83
$GC,8945,-0.48,-146.0,815.5,-6.7,519,8951,0.00,2.22,0.00,0.000,4,0.000,0.069,3034,3586,3385,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8968,-0.48,-146.0,815.5,-6.7,519,8975,0.00,2.15,0.00,0.000,6,0.000,0.050,3034,2174,3385,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9276,-0.48,-146.0,838.7,-7.1,530,9282,0.00,2.20,0.00,0.000,4,0.000,0.069,3025,3579,3384,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9305,-0.48,-146.0,840.9,-7.1,531,9311,0.00,2.15,0.00,0.000,6,0.000,0.050,3025,2168,3384,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9636,-0.48,-146.0,865.1,-7.2,542,9637,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2166,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9936,-0.48,-146.0,885.9,-6.9,552,9941,0.00,2.22,0.00,0.000,4,0.000,0.069,3015,3588,3383,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9978,-0.48,-146.0,888.0,-7.0,553,9983,0.00,2.15,0.00,0.000,6,0.000,0.050,3015,2177,3383,0,0,0,0,0,0,28.83,26.40,28.83
$GC,10291,-0.48,-146.0,911.3,-7.0,564,10296,0.00,2.20,0.00,0.000,4,0.000,0.069,3005,3581,3383,0,0,0,0,0,0,28.83,26.35,28.83
$GC,10321,-0.48,-146.0,913.7,-7.2,565,10327,0.10,2.15,0.00,0.000,6,0.112,0.050,3042,2167,3383,0,0,0,0,0,0,26.32,26.40,28.83
$GC,10651,-0.48,-146.0,932.4,-5.6,576,10656,0.00,2.22,0.00,0.000,4,0.000,0.070,3034,3581,3382,0,0,0,0,0,0,28.83,26.35,28.83
$GC,10689,-0.48,-146.0,934.1,-5.6,577,10693,0.00,2.15,0.00,0.000,6,0.000,0.050,3034,2171,3382,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11006,-0.48,-146.0,953.2,-5.8,588,11008,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2168,3382,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11307,-0.48,-146.0,971.0,-5.9,598,11310,0.00,2.25,0.00,0.000,4,0.000,0.070,3024,3581,3382,0,0,0,0,0,0,28.83,26.34,28.83
$GC,11339,-0.48,-146.0,973.0,-6.0,599,11345,0.00,2.12,0.00,0.000,6,0.000,0.050,3024,2179,3382,0,0,0,0,0,0,28.83,26.41,28.83
$STATE,11606,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11606,begin apogee
$GC,11613,-0.22,0.0,990.8,-6.6,608,11744,0.28,0.00,125.72,1.206,6,0.115,0.000,3119,2310,2794,0,0,0,0,0,0,26.32,28.83,23.66
$STATE,11748,end apogee,CONTROL_FINISHED_OK
$STATE,11748,begin climb
$GC,11750,0.48,146.0,994.1,0.0,612,11888,0.68,0.00,133.95,1.177,6,0.081,0.000,3348,2310,2198,0,0,0,0,0,0,24.58,28.83,23.34
$GC,12178,0.48,146.0,956.8,10.2,627,12184,0.00,2.33,0.00,0.000,4,0.000,0.070,3348,3706,2187,0,0,0,0,0,0,28.83,25.27,28.83
$GC,12232,0.48,146.0,953.6,10.5,628,12238,0.00,2.25,0.00,0.000,6,0.000,0.050,3358,2306,2186,0,0,0,0,0,0,28.83,25.37,28.83
$GC,12538,0.48,146.0,916.4,11.3,639,12544,0.00,2.30,0.00,0.000,4,0.000,0.070,3358,3705,2184,0,0,0,0,0,0,28.83,25.62,28.83
$GC,12561,0.48,146.0,916.4,11.3,639,12568,0.00,2.25,0.00,0.000,6,0.000,0.051,3368,2290,2184,0,0,0,0,0,0,28.83,25.66,28.83
$GC,12869,0.48,146.0,876.1,12.1,650,12875,0.00,2.30,0.00,0.000,4,0.000,0.070,3369,3705,2184,0,0,0,0,0,0,28.83,25.79,28.83
$GC,12901,0.48,146.0,872.0,12.3,651,12905,0.00,2.22,0.00,0.000,6,0.000,0.051,3378,2299,2183,0,0,0,0,0,0,28.83,25.84,28.83
$GC,13224,0.48,146.0,829.4,13.0,662,13229,0.00,2.25,0.00,0.000,4,0.000,0.070,3379,3701,2183,0,0,0,0,0,0,28.83,25.91,28.83
$GC,13271,0.48,146.0,825.3,13.0,663,13276,0.15,2.20,0.00,0.000,6,0.164,0.050,3351,2297,2183,0,0,0,0,0,0,25.84,25.96,28.83
$GC,13579,0.48,146.0,789.8,10.1,673,13584,0.00,2.30,0.00,0.000,4,0.000,0.070,3350,3707,2183,0,0,0,0,0,0,28.83,25.99,28.83
$GC,13631,0.48,146.0,786.5,10.2,674,13638,0.00,2.20,0.00,0.000,6,0.000,0.052,3359,2298,2182,0,0,0,0,0,0,28.83,26.04,28.83
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$STATE,22601,end climb,SURFACE_DEPTH_REACHED
$STATE,22601,begin surface coast
$FINISH,0.8,1.023437
$STATE,22637,end surface coast,CONTROL_FINISHED_OK
$STATE,22637,begin surface
$SM_CCo,22716,0.00,0.000,0,0,1005,438.84
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$IRIDIUM_FIX,4651.23,-12641.43,240912,060621
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.89
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,16.90
$XPDR_PINGS,0
$24V_AH,23.3,9.695
$10V_AH,10.2,8.657
$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,21.875,181.700,493.150,0.000,0.000,27.737,35.310,199.091,0.000,0.000,13.807,3446.369,15757.356,602.869,2917.695,373.473,0.000,2001.941,0.000,2635.331,0.000,0.535,0.000
$DEVICE_MAMPS,225.675,88.740,1206.405,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,922.681,1089.458,609.509,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297072
$DATA_FILE_SIZE,76793,1341
$CAP_FILE_SIZE,186920,0
$CFSIZE,260165632,252723200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.027,306.1,1
$GPS,240912,195023,4712.021,-12636.965,28,1.3,44,18.6