version: 66.11
glider: 187
mission: 2
dive: 58
start: 9 26 112 4 48 33
data:
$ID,187
$MISSION,2
$DIVE,58
$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,-1587691.1
$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,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
$GPS1,260912,044059,4720.945,-12617.696,35,2.0,35,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-76.4
$GPS2,260912,044803,4720.899,-12617.722,15,2.1,34,18.6
$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,49.8,121411,-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,17,-0.48,-146.0,0.0,0.0,0,80,0.00,0.00,-60.67,0.000,2,0.000,0.000,112,2165,2771,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.48,-146.0,3.0,-4.0,10,118,11.30,2.22,-12.43,0.000,4,0.224,0.064,3035,775,3394,0,0,0,0,0,0,25.40,25.65,25.97
$GC,207,-0.48,-146.0,33.0,-17.2,31,214,0.00,2.17,0.00,0.000,6,0.000,0.049,3027,2178,3397,0,0,0,0,0,0,28.83,25.73,28.83
$GC,529,-0.48,-146.0,76.6,-13.9,92,538,0.00,2.20,0.00,0.000,4,0.000,0.048,3026,778,3400,0,0,0,0,0,0,28.83,25.89,28.83
$GC,583,-0.48,-146.0,83.7,-14.3,101,590,0.00,2.15,0.00,0.000,6,0.000,0.047,3017,2181,3400,0,0,0,0,0,0,28.83,25.91,28.83
$GC,912,-0.48,-146.0,129.9,-12.9,154,918,0.00,2.20,0.00,0.000,4,0.000,0.061,3006,3588,3401,0,0,0,0,0,0,28.83,25.98,28.83
$GC,976,-0.48,-146.0,137.7,-12.7,158,981,0.12,2.15,0.00,0.000,6,0.141,0.042,3041,2165,3401,0,0,0,0,0,0,25.96,26.06,28.83
$GC,1285,-0.48,-146.0,167.0,-9.3,178,1286,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2161,3401,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1584,-0.48,-146.0,194.6,-8.9,198,1585,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2161,3401,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1883,-0.48,-146.0,221.2,-9.0,218,1889,0.00,2.25,0.00,0.000,4,0.000,0.062,3032,3592,3400,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1908,-0.48,-146.0,222.5,-9.1,219,1914,0.00,2.15,0.00,0.000,6,0.000,0.044,3032,2172,3400,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2214,-0.48,-146.0,253.6,-9.9,240,2215,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2170,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2513,-0.48,-146.0,282.1,-9.3,260,2515,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2170,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2814,-0.48,-146.0,310.5,-9.5,280,2815,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2170,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3113,-0.48,-146.0,340.3,-10.0,300,3119,0.00,2.22,0.00,0.000,4,0.000,0.063,3022,3582,3397,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3143,-0.48,-146.0,343.5,-10.4,302,3149,0.00,2.15,0.00,0.000,6,0.000,0.045,3022,2167,3397,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3459,-0.48,-146.0,376.2,-10.1,323,3460,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2165,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3773,-0.48,-146.0,406.8,-9.2,342,3779,0.00,2.22,0.00,0.000,4,0.000,0.064,3011,3582,3395,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3816,-0.48,-146.0,409.5,-9.1,343,3821,0.00,2.15,0.00,0.000,6,0.000,0.046,3012,2177,3395,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4128,-0.48,-146.0,440.0,-9.5,354,4130,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2175,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4428,-0.48,-146.0,468.7,-9.6,364,4434,0.00,2.22,0.00,0.000,4,0.000,0.066,3001,3588,3393,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4461,-0.48,-146.0,471.8,-9.7,365,4466,0.15,2.15,0.00,0.000,6,0.135,0.046,3045,2173,3393,0,0,0,0,0,0,26.24,26.34,28.83
$GC,4784,-0.48,-146.0,496.0,-7.1,376,4785,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2170,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5084,-0.48,-146.0,516.4,-6.7,386,5090,0.00,2.20,0.00,0.000,4,0.000,0.066,3037,3577,3392,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5107,-0.48,-146.0,516.4,-6.7,386,5114,0.00,2.12,0.00,0.000,6,0.000,0.047,3036,2177,3392,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5414,-0.48,-146.0,540.5,-7.6,397,5415,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2176,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5714,-0.48,-146.0,564.3,-7.9,407,5720,0.00,2.22,0.00,0.000,4,0.000,0.067,3026,3587,3391,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5777,-0.48,-146.0,569.4,-8.2,409,5781,0.00,2.15,0.00,0.000,6,0.000,0.047,3026,2170,3391,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6099,-0.48,-146.0,595.9,-8.2,420,6104,0.00,2.22,0.00,0.000,4,0.000,0.067,3017,3581,3390,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6129,-0.48,-146.0,598.6,-8.3,421,6135,0.00,2.12,0.00,0.000,6,0.000,0.047,3016,2177,3390,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6459,-0.48,-146.0,627.4,-8.8,432,6460,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2174,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6759,-0.48,-146.0,654.1,-9.1,442,6765,0.00,2.25,0.00,0.000,4,0.000,0.067,3007,3592,3389,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6792,-0.48,-146.0,656.8,-9.2,443,6797,0.12,2.15,0.00,0.000,6,0.140,0.048,3042,2173,3388,0,0,0,0,0,0,26.28,26.38,28.83
$GC,7115,-0.48,-146.0,681.6,-7.4,454,7116,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2171,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7415,-0.48,-146.0,704.5,-7.7,464,7421,0.00,2.22,0.00,0.000,4,0.000,0.068,3034,3581,3388,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7468,-0.48,-146.0,707.0,-7.8,465,7474,0.00,2.15,0.00,0.000,6,0.000,0.048,3034,2165,3388,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7775,-0.48,-146.0,734.0,-8.5,476,7780,0.00,2.25,0.00,0.000,4,0.000,0.068,3024,3591,3387,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7838,-0.48,-146.0,739.5,-8.8,478,7842,0.00,2.15,0.00,0.000,6,0.000,0.049,3024,2176,3387,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8160,-0.48,-146.0,766.8,-8.2,489,8166,0.00,2.20,0.00,0.000,4,0.000,0.068,3014,3580,3386,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8203,-0.48,-146.0,769.4,-8.3,490,8207,0.00,2.15,0.00,0.000,6,0.000,0.048,3014,2165,3386,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8516,-0.48,-146.0,797.1,-8.5,501,8517,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2163,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8815,-0.48,-146.0,820.3,-7.4,511,8820,0.00,2.25,0.00,0.000,4,0.000,0.068,3004,3588,3385,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8858,-0.48,-146.0,822.5,-7.3,512,8863,0.12,2.15,0.00,0.000,6,0.139,0.049,3040,2172,3385,0,0,0,0,0,0,26.29,26.39,28.83
$GC,9171,-0.48,-146.0,840.6,-5.3,523,9177,0.00,2.22,0.00,0.000,4,0.000,0.069,3031,3584,3385,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9204,-0.48,-146.0,842.3,-5.4,524,9208,0.00,2.15,0.00,0.000,6,0.000,0.049,3031,2174,3385,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9526,-0.48,-146.0,862.9,-6.7,535,9532,0.00,2.25,0.00,0.000,4,0.000,0.069,3021,3584,3384,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9618,-0.48,-146.0,869.4,-7.0,538,9623,0.00,2.12,0.00,0.000,6,0.000,0.049,3021,2181,3384,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9947,-0.48,-146.0,893.0,-7.1,549,9953,0.00,2.25,0.00,0.000,4,0.000,0.069,3011,3591,3384,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9979,-0.48,-146.0,895.1,-7.1,550,9983,0.00,2.17,0.00,0.000,6,0.000,0.049,3011,2172,3383,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10302,-0.48,-146.0,918.7,-7.3,561,10307,0.00,2.22,0.00,0.000,4,0.000,0.069,3001,3583,3383,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10332,-0.48,-146.0,920.9,-7.3,562,10338,0.12,2.17,0.00,0.000,6,0.142,0.050,3041,2166,3383,0,0,0,0,0,0,26.29,26.38,28.83
$GC,10662,-0.48,-146.0,940.2,-5.8,573,10668,0.00,2.22,0.00,0.000,4,0.000,0.070,3034,3581,3383,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10705,-0.48,-146.0,941.9,-5.8,574,10709,0.00,2.15,0.00,0.000,6,0.000,0.050,3033,2173,3382,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11018,-0.48,-146.0,962.0,-6.1,585,11023,0.00,2.22,0.00,0.000,4,0.000,0.070,3024,3581,3382,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11100,-0.48,-146.0,966.3,-6.6,587,11107,0.00,2.15,0.00,0.000,6,0.000,0.050,3023,2171,3383,0,0,0,0,0,0,28.83,26.38,28.83
$GC,11407,-0.48,-146.0,988.8,-6.9,598,11413,0.00,2.22,0.00,0.000,4,0.000,0.070,3014,3584,3382,0,0,0,0,0,0,28.83,26.32,28.83
$STATE,11434,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11434,begin apogee
$GC,11443,-0.22,0.0,990.8,-6.9,599,11573,0.32,0.00,125.72,1.210,6,0.117,0.000,3124,2298,2794,0,0,0,0,0,0,26.27,28.83,23.67
$STATE,11576,end apogee,CONTROL_FINISHED_OK
$STATE,11576,begin climb
$GC,11579,0.48,146.0,994.5,0.0,603,11722,0.65,2.40,132.75,1.177,4,0.081,0.057,3356,902,2197,0,0,0,0,0,0,24.56,24.10,23.35
$GC,11788,0.48,146.0,982.7,8.2,610,11795,0.00,2.30,0.00,0.000,6,0.000,0.056,3356,2296,2191,0,0,0,0,0,0,28.83,24.73,28.83
$GC,12096,0.48,146.0,949.8,10.1,621,12101,0.00,2.30,0.00,0.000,4,0.000,0.069,3356,3704,2187,0,0,0,0,0,0,28.83,25.38,28.83
$GC,12125,0.48,146.0,946.5,10.2,622,12131,0.00,2.25,0.00,0.000,6,0.000,0.050,3367,2300,2186,0,0,0,0,0,0,28.83,25.44,28.83
$GC,12455,0.48,146.0,912.1,10.1,633,12461,0.00,2.22,0.00,0.000,4,0.000,0.059,3377,891,2185,0,0,0,0,0,0,28.83,25.68,28.83
$GC,12493,0.48,146.0,908.9,10.2,634,12497,0.00,2.25,0.00,0.000,6,0.000,0.057,3378,2311,2184,0,0,0,0,0,0,28.83,25.70,28.83
$GC,12811,0.48,146.0,872.2,11.6,645,12816,0.00,2.22,0.00,0.000,4,0.000,0.070,3377,3706,2184,0,0,0,0,0,0,28.83,25.84,28.83
$GC,12853,0.48,146.0,868.4,11.7,646,12858,0.15,2.22,0.00,0.000,6,0.168,0.051,3351,2291,2183,0,0,0,0,0,0,25.76,25.88,28.83
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$STATE,23003,end climb,SURFACE_DEPTH_REACHED
$STATE,23003,begin surface coast
$FINISH,0.7,1.016044
$STATE,23069,end surface coast,CONTROL_FINISHED_OK
$STATE,23069,begin surface
$SM_CCo,23148,0.00,0.000,0,0,1251,378.50
$SM_GC,1.69,8.45,0.15,0.00,0.032,0.080,0.000,120,2178,1251,-9.46,1.27,378.50,0,0,0,0,0,0,25.66,25.63,28.83
$IRIDIUM_FIX,4700.70,-12617.28,250912,222223
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.54
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,14.60
$XPDR_PINGS,1
$24V_AH,23.4,10.519
$10V_AH,10.2,9.397
$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,22.225,211.775,447.775,0.000,0.000,26.755,41.423,204.400,0.250,0.000,36.336,3565.950,15889.630,553.926,3153.025,399.162,0.000,2076.215,0.000,2829.847,0.000,0.536,0.000
$DEVICE_MAMPS,224.145,80.325,1210.230,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,941.495,1120.391,632.609,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297044
$DATA_FILE_SIZE,76998,1367
$CAP_FILE_SIZE,200797,0
$CFSIZE,260165632,252174336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.068,279.4,1
$GPS,260912,111536,4722.065,-12613.782,37,1.2,37,18.6