version: 66.11
glider: 187
mission: 2
dive: 59
start: 9 26 112 11 22 31
data:
$ID,187
$MISSION,2
$DIVE,59
$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,-1587692.4
$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,24
$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
$GPS1,260912,111536,4722.065,-12613.782,37,1.2,37,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-75.6
$GPS2,260912,112201,4722.062,-12613.806,15,1.5,15,18.6
$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,48.9,116192,-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,-146.0,0.0,0.0,0,85,0.00,0.00,-66.30,0.000,2,0.000,0.000,117,2179,2830,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.48,-146.0,3.4,-5.5,11,117,11.32,2.28,-10.57,0.000,4,0.226,0.063,3034,761,3394,0,0,0,0,0,0,25.39,25.64,25.95
$GC,277,-0.48,-146.0,41.6,-12.1,45,284,0.00,2.22,0.00,0.000,6,0.000,0.050,3027,2181,3398,0,0,0,0,0,0,28.83,25.76,28.83
$GC,602,-0.48,-146.0,86.5,-12.7,106,611,0.00,2.25,0.00,0.000,4,0.000,0.061,3016,3584,3401,0,0,0,0,0,0,28.83,25.89,28.83
$GC,635,-0.48,-146.0,90.4,-13.0,111,642,0.00,2.15,0.00,0.000,6,0.000,0.042,3016,2164,3401,0,0,0,0,0,0,28.83,25.95,28.83
$GC,961,-0.48,-146.0,133.2,-12.3,159,962,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2163,3401,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1261,-0.48,-146.0,168.6,-11.9,179,1262,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2162,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1560,-0.48,-146.0,203.2,-11.1,199,1565,0.00,2.22,0.00,0.000,4,0.000,0.062,3005,3590,3401,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1592,-0.48,-146.0,206.7,-11.4,201,1597,0.12,2.15,0.00,0.000,6,0.141,0.044,3040,2166,3401,0,0,0,0,0,0,26.06,26.16,28.83
$GC,1901,-0.48,-146.0,236.1,-9.7,221,1907,0.00,2.20,0.00,0.000,4,0.000,0.063,3031,3578,3400,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1930,-0.48,-146.0,239.2,-9.7,223,1936,0.00,2.10,0.00,0.000,6,0.000,0.044,3031,2180,3400,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2245,-0.48,-146.0,272.8,-10.8,244,2246,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2178,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2545,-0.48,-146.0,303.4,-9.8,264,2546,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2178,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2845,-0.48,-146.0,331.5,-9.0,284,2851,0.00,2.20,0.00,0.000,4,0.000,0.063,3021,3588,3397,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2893,-0.48,-146.0,335.7,-9.1,287,2897,0.00,2.15,0.00,0.000,6,0.000,0.044,3021,2165,3397,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3200,-0.48,-146.0,364.3,-9.4,307,3201,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2162,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3500,-0.48,-146.0,393.3,-10.2,327,3506,0.00,2.25,0.00,0.000,4,0.000,0.064,3011,3583,3396,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3523,-0.48,-146.0,394.8,-10.1,328,3529,0.00,2.15,0.00,0.000,6,0.000,0.045,3011,2174,3396,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3845,-0.48,-146.0,429.4,-10.4,341,3846,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2173,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4145,-0.48,-146.0,459.0,-9.7,351,4151,0.00,2.20,0.00,0.000,4,0.000,0.066,3001,3582,3394,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4168,-0.48,-146.0,459.0,-9.7,351,4175,0.15,2.12,0.00,0.000,6,0.134,0.046,3044,2176,3394,0,0,0,0,0,0,26.23,26.34,28.83
$GC,4475,-0.48,-146.0,483.5,-7.0,362,4481,0.00,2.20,0.00,0.000,4,0.000,0.066,3035,3585,3393,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4518,-0.48,-146.0,485.7,-7.0,363,4522,0.00,2.15,0.00,0.000,6,0.000,0.047,3036,2173,3393,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4835,-0.48,-146.0,510.2,-7.2,374,4841,0.00,2.20,0.00,0.000,4,0.000,0.066,3026,3577,3393,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4883,-0.48,-146.0,512.5,-7.3,375,4887,0.00,2.12,0.00,0.000,6,0.000,0.047,3025,2174,3392,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5191,-0.48,-146.0,536.7,-7.1,385,5196,0.00,2.22,0.00,0.000,4,0.000,0.067,3015,3582,3391,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5223,-0.48,-146.0,539.0,-7.1,386,5227,0.00,2.15,0.00,0.000,6,0.000,0.047,3015,2177,3391,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5550,-0.48,-146.0,566.5,-8.5,397,5556,0.00,2.22,0.00,0.000,4,0.000,0.067,3006,3586,3391,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5581,-0.48,-146.0,569.3,-8.7,398,5587,0.12,2.15,0.00,0.000,6,0.138,0.047,3047,2167,3391,0,0,0,0,0,0,26.26,26.35,28.83
$GC,5911,-0.48,-146.0,592.7,-7.1,409,5916,0.00,2.22,0.00,0.000,4,0.000,0.067,3038,3584,3390,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5971,-0.48,-146.0,597.0,-7.0,411,5975,0.00,2.17,0.00,0.000,6,0.000,0.047,3038,2164,3390,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6303,-0.48,-146.0,620.7,-6.9,422,6309,0.00,2.22,0.00,0.000,4,0.000,0.067,3028,3584,3390,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6336,-0.48,-146.0,622.9,-7.0,423,6340,0.00,2.15,0.00,0.000,6,0.000,0.047,3028,2167,3390,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6659,-0.48,-146.0,647.1,-7.5,434,6664,0.00,2.22,0.00,0.000,4,0.000,0.067,3017,3584,3389,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6689,-0.48,-146.0,649.4,-7.6,435,6694,0.00,2.15,0.00,0.000,6,0.000,0.047,3017,2167,3389,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7018,-0.48,-146.0,674.5,-7.5,446,7024,0.00,2.25,0.00,0.000,4,0.000,0.067,3007,3591,3388,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7049,-0.48,-146.0,676.7,-7.4,447,7055,0.08,2.12,0.00,0.000,6,0.115,0.048,3036,2180,3388,0,0,0,0,0,0,26.27,26.37,28.83
$GC,7379,-0.48,-146.0,697.6,-6.5,458,7384,0.00,2.20,0.00,0.000,4,0.000,0.067,3028,3584,3387,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7439,-0.48,-146.0,701.8,-6.8,460,7445,0.00,2.15,0.00,0.000,6,0.000,0.048,3028,2169,3387,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7769,-0.48,-146.0,724.6,-6.7,471,7775,0.00,2.20,0.00,0.000,4,0.000,0.068,3018,3577,3387,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7799,-0.48,-146.0,726.6,-6.7,472,7804,0.00,2.12,0.00,0.000,6,0.000,0.048,3017,2177,3387,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8129,-0.48,-146.0,750.1,-6.9,483,8135,0.00,2.12,0.00,0.000,4,0.000,0.055,3018,777,3387,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8152,-0.48,-146.0,750.1,-6.9,483,8159,0.12,2.17,0.00,0.000,6,0.143,0.055,3043,2181,3387,0,0,0,0,0,0,26.27,26.34,28.83
$GC,8459,-0.48,-146.0,769.3,-5.5,494,8465,0.00,2.17,0.00,0.000,4,0.000,0.068,3035,3581,3386,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8554,-0.48,-146.0,774.9,-6.2,497,8559,0.00,2.12,0.00,0.000,6,0.000,0.048,3035,2173,3386,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8879,-0.48,-146.0,795.9,-6.6,508,8882,0.00,2.22,0.00,0.000,4,0.000,0.069,3025,3582,3385,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8913,-0.48,-146.0,798.2,-6.7,509,8917,0.00,2.15,0.00,0.000,6,0.000,0.049,3025,2168,3385,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9241,-0.48,-146.0,822.5,-7.4,520,9247,0.00,2.22,0.00,0.000,4,0.000,0.068,3015,3581,3385,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9283,-0.48,-146.0,824.9,-7.5,521,9287,0.00,2.15,0.00,0.000,6,0.000,0.049,3015,2173,3385,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9600,-0.48,-146.0,852.0,-8.4,532,9606,0.00,2.22,0.00,0.000,4,0.000,0.069,3005,3582,3384,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9631,-0.48,-146.0,854.7,-8.5,533,9637,0.12,2.15,0.00,0.000,6,0.137,0.049,3041,2166,3384,0,0,0,0,0,0,26.28,26.37,28.83
$GC,9961,-0.48,-146.0,878.4,-7.3,544,9966,0.00,2.22,0.00,0.000,4,0.000,0.068,3033,3584,3384,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10008,-0.48,-146.0,880.8,-7.3,545,10012,0.00,2.15,0.00,0.000,6,0.000,0.049,3033,2169,3384,0,0,0,0,0,0,28.83,26.38,28.83
$GC,10316,-0.48,-146.0,905.0,-7.4,555,10322,0.00,2.25,0.00,0.000,4,0.000,0.069,3023,3589,3384,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10363,-0.48,-146.0,907.2,-7.4,556,10368,0.00,2.15,0.00,0.000,6,0.000,0.049,3023,2173,3383,0,0,0,0,0,0,28.83,26.38,28.83
$GC,10670,-0.48,-146.0,932.6,-7.6,566,10676,0.00,2.25,0.00,0.000,4,0.000,0.070,3013,3594,3383,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10714,-0.48,-146.0,935.0,-7.8,567,10718,0.00,2.15,0.00,0.000,6,0.000,0.049,3013,2177,3383,0,0,0,0,0,0,28.83,26.38,28.83
$GC,11026,-0.48,-146.0,961.2,-8.0,578,11031,0.00,2.22,0.00,0.000,4,0.000,0.070,3004,3588,3383,0,0,0,0,0,0,28.83,26.31,28.83
$GC,11086,-0.48,-146.0,966.4,-8.3,580,11092,0.12,2.17,0.00,0.000,6,0.139,0.049,3040,2162,3383,0,0,0,0,0,0,26.27,26.38,28.83
$GC,11417,-0.48,-146.0,987.8,-6.3,591,11422,0.00,2.22,0.00,0.000,4,0.000,0.070,3031,3581,3382,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11459,-0.48,-146.0,989.8,-6.3,592,11463,0.00,2.15,0.00,0.000,6,0.000,0.050,3031,2175,3382,0,0,0,0,0,0,28.83,26.37,28.83
$STATE,11473,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11473,begin apogee
$GC,11480,-0.22,0.0,991.8,-6.5,593,11612,0.25,0.00,125.68,1.213,6,0.117,0.000,3118,2305,2794,0,0,0,0,0,0,26.29,28.83,23.67
$STATE,11615,end apogee,CONTROL_FINISHED_OK
$STATE,11615,begin climb
$GC,11618,0.48,146.0,995.8,0.0,597,11760,0.68,2.45,132.57,1.180,4,0.083,0.067,3346,3703,2198,0,0,0,0,0,0,24.58,24.09,23.35
$GC,11774,0.48,148.2,986.7,7.2,603,11780,0.00,2.30,0.00,0.000,6,0.000,0.049,3356,2314,2194,0,0,0,0,0,0,28.83,24.41,28.83
$GC,12103,0.48,148.2,953.2,10.3,614,12105,0.00,0.00,0.00,0.000,6,0.000,0.000,3356,2309,2187,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,23016,end climb,SURFACE_DEPTH_REACHED
$STATE,23016,begin surface coast
$FINISH,0.8,1.001943
$STATE,23059,end surface coast,CONTROL_FINISHED_OK
$STATE,23059,begin surface
$SM_CCo,23139,0.00,0.000,0,0,1055,426.58
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$TT8_MAMPS,0.026964,0.026964
$HUMID,42.83
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,19.60
$XPDR_PINGS,1
$24V_AH,23.4,10.661
$10V_AH,10.2,9.518
$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,22.000,193.975,482.725,0.000,0.000,28.065,37.854,183.615,0.250,0.000,16.659,3479.711,16060.581,560.430,3031.384,379.639,0.000,2050.182,0.000,2749.133,0.000,0.536,0.000
$DEVICE_MAMPS,225.675,87.975,1212.525,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,922.631,1099.557,594.859,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297060
$DATA_FILE_SIZE,76824,1340
$CAP_FILE_SIZE,194781,0
$CFSIZE,260165632,252092416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.032,243.6,1
$GPS,260912,174929,4723.114,-12609.774,35,2.0,41,18.6