version: 66.11
glider: 187
mission: 2
dive: 60
start: 9 26 112 17 58 13
data:
$ID,187
$MISSION,2
$DIVE,60
$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,-1587693.6
$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,26
$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
$GPS1,260912,174929,4723.114,-12609.774,35,2.0,41,18.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-78.6
$GPS2,260912,175742,4723.021,-12609.729,9,1.9,14,18.6
$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,37.1,111042,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.48,-146.0,0.0,0.0,0,98,0.00,0.00,-78.68,0.000,2,0.000,0.000,112,2159,2941,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-0.48,-146.0,3.6,-6.0,13,130,11.32,2.17,-8.18,0.000,4,0.225,0.060,3034,762,3392,0,0,0,0,0,0,25.37,25.63,25.94
$GC,301,-0.48,-146.0,46.1,-13.6,49,308,0.00,2.20,0.00,0.000,6,0.000,0.049,3026,2183,3396,0,0,0,0,0,0,28.83,25.75,28.83
$GC,626,-0.48,-146.0,96.3,-14.4,110,633,0.00,2.25,0.00,0.000,4,0.000,0.061,3015,3587,3399,0,0,0,0,0,0,28.83,25.87,28.83
$GC,669,-0.48,-146.0,101.7,-12.8,117,676,0.00,2.15,0.00,0.000,6,0.000,0.042,3015,2169,3399,0,0,0,0,0,0,28.83,25.95,28.83
$GC,992,-0.48,-146.0,140.0,-12.2,157,993,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2164,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1291,-0.48,-146.0,172.8,-10.7,177,1292,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2165,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1591,-0.48,-146.0,204.6,-10.7,197,1596,0.00,2.20,0.00,0.000,4,0.000,0.062,3005,3580,3399,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1660,-0.48,-146.0,211.3,-11.2,201,1667,0.12,2.12,0.00,0.000,6,0.140,0.043,3039,2170,3399,0,0,0,0,0,0,26.06,26.17,28.83
$GC,1968,-0.48,-146.0,240.6,-9.0,222,1969,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2170,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2265,-0.48,-146.0,266.0,-8.5,242,2271,0.00,2.22,0.00,0.000,4,0.000,0.063,3030,3599,3397,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2288,-0.48,-146.0,267.3,-8.6,243,2295,0.00,2.15,0.00,0.000,6,0.000,0.044,3031,2176,3397,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2595,-0.48,-146.0,297.7,-10.1,264,2596,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2174,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2895,-0.48,-146.0,328.3,-9.9,284,2901,0.00,2.20,0.00,0.000,4,0.000,0.064,3020,3581,3395,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2943,-0.48,-146.0,332.7,-9.9,287,2947,0.00,2.15,0.00,0.000,6,0.000,0.045,3020,2168,3395,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3255,-0.48,-146.0,363.1,-9.1,308,3256,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2165,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3555,-0.48,-146.0,391.3,-9.2,328,3561,0.00,2.22,0.00,0.000,4,0.000,0.064,3010,3583,3394,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3603,-0.48,-146.0,395.7,-9.7,331,3608,0.12,2.12,0.00,0.000,6,0.138,0.045,3045,2174,3394,0,0,0,0,0,0,26.21,26.31,28.83
$GC,3925,-0.48,-146.0,422.1,-7.9,343,3931,0.00,2.20,0.00,0.000,4,0.000,0.065,3037,3584,3393,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3958,-0.48,-146.0,424.6,-8.0,344,3962,0.00,2.15,0.00,0.000,6,0.000,0.046,3037,2165,3392,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4280,-0.48,-146.0,451.0,-7.8,355,4286,0.00,2.25,0.00,0.000,4,0.000,0.066,3026,3592,3392,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4313,-0.48,-146.0,453.4,-7.8,356,4317,0.00,2.15,0.00,0.000,6,0.000,0.046,3026,2174,3391,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4635,-0.48,-146.0,481.5,-8.6,367,4641,0.00,2.25,0.00,0.000,4,0.000,0.066,3016,3591,3390,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4673,-0.48,-146.0,484.1,-8.7,368,4677,0.00,2.15,0.00,0.000,6,0.000,0.047,3016,2177,3390,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4995,-0.48,-146.0,514.3,-8.9,379,4997,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2175,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5296,-0.48,-146.0,539.6,-8.6,389,5301,0.00,2.17,0.00,0.000,4,0.000,0.067,3006,3578,3389,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5355,-0.48,-146.0,545.1,-9.0,391,5362,0.12,2.12,0.00,0.000,6,0.138,0.047,3041,2172,3389,0,0,0,0,0,0,26.25,26.35,28.83
$GC,5685,-0.48,-146.0,570.7,-7.8,402,5691,0.00,2.20,0.00,0.000,4,0.000,0.067,3033,3580,3389,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5718,-0.48,-146.0,573.1,-7.9,403,5722,0.00,2.12,0.00,0.000,6,0.000,0.047,3033,2177,3388,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6040,-0.48,-146.0,599.5,-7.9,414,6044,0.00,2.25,0.00,0.000,4,0.000,0.067,3023,3591,3388,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6080,-0.48,-146.0,602.1,-7.9,415,6084,0.00,2.17,0.00,0.000,6,0.000,0.047,3023,2165,3387,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6397,-0.48,-146.0,628.3,-8.1,426,6403,0.00,2.25,0.00,0.000,4,0.000,0.067,3013,3591,3387,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6435,-0.48,-146.0,630.9,-8.1,427,6439,0.00,2.15,0.00,0.000,6,0.000,0.047,3013,2172,3386,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6752,-0.48,-146.0,658.3,-8.5,438,6758,0.00,2.20,0.00,0.000,4,0.000,0.067,3003,3578,3386,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6805,-0.48,-146.0,660.8,-8.5,439,6813,0.12,2.12,0.00,0.000,6,0.138,0.047,3039,2173,3386,0,0,0,0,0,0,26.27,26.36,28.83
$GC,7112,-0.48,-146.0,683.2,-6.5,450,7118,0.00,2.25,0.00,0.000,4,0.000,0.068,3030,3591,3385,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7166,-0.48,-146.0,685.3,-6.5,451,7172,0.00,2.15,0.00,0.000,6,0.000,0.047,3031,2169,3385,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7472,-0.48,-146.0,708.5,-6.9,462,7478,0.00,2.20,0.00,0.000,4,0.000,0.067,3020,3577,3385,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7510,-0.48,-146.0,710.7,-7.0,463,7514,0.00,2.15,0.00,0.000,6,0.000,0.047,3020,2169,3385,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7833,-0.48,-146.0,734.9,-7.2,474,7838,0.00,2.20,0.00,0.000,4,0.000,0.067,3011,3579,3384,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7871,-0.48,-146.0,737.3,-7.2,475,7874,0.00,2.12,0.00,0.000,6,0.000,0.048,3011,2175,3384,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8187,-0.48,-146.0,764.2,-8.3,486,8193,0.00,2.22,0.00,0.000,4,0.000,0.067,3001,3582,3384,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8236,-0.48,-146.0,766.7,-8.3,487,8241,0.15,2.15,0.00,0.000,6,0.131,0.048,3045,2167,3384,0,0,0,0,0,0,26.27,26.37,28.83
$GC,8543,-0.48,-146.0,787.2,-6.4,497,8549,0.00,2.28,0.00,0.000,4,0.000,0.068,3036,3592,3384,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8596,-0.48,-146.0,789.3,-6.4,498,8603,0.00,2.15,0.00,0.000,6,0.000,0.048,3036,2173,3383,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8903,-0.48,-146.0,811.5,-6.7,509,8909,0.00,2.22,0.00,0.000,4,0.000,0.069,3026,3586,3383,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8963,-0.48,-146.0,815.7,-6.7,511,8968,0.00,2.15,0.00,0.000,6,0.000,0.048,3026,2174,3382,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9293,-0.48,-146.0,837.5,-6.7,522,9298,0.00,2.22,0.00,0.000,4,0.000,0.068,3017,3588,3383,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9341,-0.48,-146.0,839.6,-6.8,523,9345,0.00,2.15,0.00,0.000,6,0.000,0.048,3016,2177,3382,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9648,-0.48,-146.0,861.7,-6.6,533,9654,0.00,2.25,0.00,0.000,4,0.000,0.069,3007,3588,3382,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9691,-0.48,-146.0,863.9,-6.8,534,9696,0.12,2.15,0.00,0.000,6,0.136,0.049,3043,2176,3382,0,0,0,0,0,0,26.28,26.37,28.83
$GC,10005,-0.48,-146.0,883.2,-5.8,545,10010,0.00,2.20,0.00,0.000,4,0.000,0.070,3034,3578,3382,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10066,-0.48,-146.0,887.2,-6.2,547,10072,0.00,2.12,0.00,0.000,6,0.000,0.049,3035,2180,3382,0,0,0,0,0,0,28.83,26.38,28.83
$GC,10395,-0.48,-146.0,907.9,-6.1,558,10401,0.00,2.25,0.00,0.000,4,0.000,0.069,3025,3588,3381,0,0,0,0,0,0,28.83,26.31,28.83
$GC,10425,-0.48,-146.0,909.9,-6.2,559,10431,0.00,2.15,0.00,0.000,6,0.000,0.049,3025,2171,3381,0,0,0,0,0,0,28.83,26.37,28.83
$GC,10755,-0.48,-146.0,932.4,-7.2,570,10761,0.00,2.22,0.00,0.000,4,0.000,0.070,3014,3584,3381,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10798,-0.48,-146.0,934.6,-7.3,571,10802,0.00,2.15,0.00,0.000,6,0.000,0.049,3015,2177,3380,0,0,0,0,0,0,28.83,26.38,28.83
$GC,11115,-0.48,-146.0,959.7,-7.4,582,11120,0.00,2.22,0.00,0.000,4,0.000,0.069,3005,3587,3380,0,0,0,0,0,0,28.83,26.31,28.83
$GC,11153,-0.48,-146.0,961.9,-7.3,583,11158,0.12,2.15,0.00,0.000,6,0.135,0.049,3041,2173,3380,0,0,0,0,0,0,26.28,26.37,28.83
$GC,11472,-0.48,-146.0,980.5,-5.5,594,11477,0.00,2.22,0.00,0.000,4,0.000,0.070,3033,3586,3379,0,0,0,0,0,0,28.83,26.31,28.83
$GC,11502,-0.48,-146.0,982.3,-5.5,595,11507,0.00,2.15,0.00,0.000,6,0.000,0.050,3033,2172,3380,0,0,0,0,0,0,28.83,26.37,28.83
$STATE,11650,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11650,begin apogee
$GC,11658,-0.22,0.0,991.0,-5.8,600,11788,0.25,0.00,125.18,1.209,6,0.116,0.000,3120,2314,2793,0,0,0,0,0,0,26.29,28.83,23.68
$STATE,11791,end apogee,CONTROL_FINISHED_OK
$STATE,11791,begin climb
$GC,11794,0.48,146.0,993.8,0.0,604,11934,0.65,2.45,133.43,1.177,4,0.082,0.068,3342,3706,2198,0,0,0,0,0,0,24.57,24.10,23.35
$GC,11955,0.48,152.0,984.8,7.1,610,11968,0.00,2.33,6.25,0.874,6,0.000,0.049,3353,2306,2174,0,0,0,0,0,0,28.83,24.46,23.65
$GC,12277,0.48,152.0,954.3,8.9,621,12283,0.00,2.28,0.00,0.000,4,0.000,0.058,3363,896,2167,0,0,0,0,0,0,28.83,25.32,28.83
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$STATE,22983,end climb,SURFACE_DEPTH_REACHED
$STATE,22984,begin surface coast
$FINISH,0.9,1.023709
$STATE,23022,end surface coast,CONTROL_FINISHED_OK
$STATE,23022,begin surface
$SM_CCo,23102,0.00,0.000,0,0,966,448.41
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$TT8_MAMPS,0.026964,0.026964
$HUMID,42.87
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,15.30
$XPDR_PINGS,1
$24V_AH,23.4,10.808
$10V_AH,10.2,9.640
$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
$DEVICE_SECS,22.025,203.675,505.325,0.000,0.000,55.616,62.992,182.203,0.250,0.000,15.693,3497.167,15957.091,625.513,3114.967,390.775,0.000,2119.817,0.000,2781.522,0.000,0.535,0.000
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$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,297112
$DATA_FILE_SIZE,76886,1355
$CAP_FILE_SIZE,198396,0
$CFSIZE,260165632,252002304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.040,271.7,1
$GPS,270912,002429,4724.882,-12606.280,36,1.3,36,18.6