version: 66.11
glider: 187
mission: 2
dive: 67
start: 9 28 112 15 57 32
data:
$ID,187
$MISSION,2
$DIVE,67
$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,-1587702.4
$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,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
$GPS1,280912,155035,4734.917,-12543.265,40,1.2,40,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-80.0
$GPS2,280912,155700,4734.911,-12543.168,13,1.2,18,18.7
$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,37.7,71456,-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,-146.0,0.0,0.0,0,79,0.00,0.00,-59.83,0.000,2,0.000,0.000,114,2170,2875,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.48,-146.0,3.5,-5.1,10,110,11.43,2.17,-9.80,0.000,4,0.230,0.060,3033,760,3390,0,0,0,0,0,0,25.40,25.67,25.99
$GC,352,-0.48,-146.0,49.2,-9.9,59,358,0.00,2.20,0.00,0.000,6,0.000,0.049,3025,2187,3397,0,0,0,0,0,0,28.83,25.83,28.83
$GC,676,-0.48,-146.0,85.2,-11.6,120,685,0.00,2.22,0.00,0.000,4,0.000,0.062,3014,3580,3399,0,0,0,0,0,0,28.83,25.92,28.83
$GC,698,-0.48,-146.0,87.7,-11.7,123,705,0.00,2.15,0.00,0.000,6,0.000,0.043,3014,2160,3399,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1016,-0.48,-146.0,125.9,-12.3,178,1017,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2156,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1316,-0.48,-146.0,161.8,-11.0,198,1317,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2157,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1616,-0.48,-146.0,194.0,-10.9,218,1622,0.00,2.25,0.00,0.000,4,0.000,0.062,3003,3592,3399,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1646,-0.48,-146.0,197.3,-10.8,220,1653,0.12,2.15,0.00,0.000,6,0.141,0.043,3038,2163,3399,0,0,0,0,0,0,26.06,26.17,28.83
$GC,1958,-0.48,-146.0,225.2,-9.1,236,1964,0.00,2.20,0.00,0.000,4,0.000,0.063,3029,3577,3398,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1986,-0.48,-146.0,227.1,-9.3,237,1995,0.00,2.12,0.00,0.000,6,0.000,0.044,3029,2162,3399,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2297,-0.48,-146.0,259.1,-9.9,253,2298,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2162,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2597,-0.48,-146.0,289.7,-10.3,268,2600,0.00,2.25,0.00,0.000,4,0.000,0.063,3019,3584,3397,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2638,-0.48,-146.0,294.2,-10.4,270,2642,0.00,2.12,0.00,0.000,6,0.000,0.044,3019,2173,3397,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2960,-0.48,-146.0,328.3,-10.6,286,2966,0.00,2.12,0.00,0.000,4,0.000,0.051,3019,773,3396,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3000,-0.48,-146.0,332.6,-10.7,288,3006,0.12,2.15,0.00,0.000,6,0.145,0.052,3045,2183,3396,0,0,0,0,0,0,26.17,26.25,28.83
$GC,3320,-0.48,-146.0,359.2,-8.0,304,3325,0.00,2.20,0.00,0.000,4,0.000,0.064,3037,3596,3395,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3383,-0.48,-146.0,364.2,-8.4,307,3387,0.00,2.12,0.00,0.000,6,0.000,0.045,3036,2180,3395,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3695,-0.48,-146.0,391.0,-8.4,323,3701,0.00,2.22,0.00,0.000,4,0.000,0.065,3026,3595,3395,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3743,-0.48,-146.0,394.6,-8.6,325,3748,0.00,2.15,0.00,0.000,6,0.000,0.044,3026,2162,3395,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4050,-0.48,-146.0,422.4,-8.6,336,4051,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2159,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4350,-0.48,-146.0,447.6,-8.4,346,4356,0.00,2.25,0.00,0.000,4,0.000,0.065,3016,3586,3393,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4388,-0.48,-146.0,450.1,-8.4,347,4392,0.00,2.15,0.00,0.000,6,0.000,0.046,3016,2165,3393,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4710,-0.48,-146.0,481.9,-9.7,358,4716,0.00,2.22,0.00,0.000,4,0.000,0.065,3005,3587,3392,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4740,-0.48,-146.0,485.0,-9.8,359,4746,0.12,2.15,0.00,0.000,6,0.140,0.046,3040,2168,3392,0,0,0,0,0,0,26.22,26.33,28.83
$GC,5070,-0.48,-146.0,511.4,-7.8,370,5072,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2165,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5370,-0.48,-146.0,535.0,-8.1,380,5376,0.00,2.22,0.00,0.000,4,0.000,0.066,3032,3583,3391,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5408,-0.48,-146.0,537.6,-8.2,381,5412,0.00,2.12,0.00,0.000,6,0.000,0.047,3032,2176,3391,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5725,-0.48,-146.0,567.0,-9.1,392,5726,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2174,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6025,-0.48,-146.0,594.2,-9.3,402,6027,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2173,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6325,-0.48,-146.0,621.5,-9.0,412,6331,0.00,2.22,0.00,0.000,4,0.000,0.067,3022,3588,3390,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6368,-0.48,-146.0,624.4,-9.1,413,6372,0.00,2.12,0.00,0.000,6,0.000,0.047,3022,2178,3389,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6681,-0.48,-146.0,653.3,-8.4,424,6682,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2175,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6980,-0.48,-146.0,676.1,-7.4,434,6986,0.00,2.20,0.00,0.000,4,0.000,0.068,3011,3582,3389,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7023,-0.48,-146.0,678.5,-7.5,435,7027,0.00,2.12,0.00,0.000,6,0.000,0.047,3012,2175,3389,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7335,-0.48,-146.0,704.4,-7.7,446,7341,0.00,2.20,0.00,0.000,4,0.000,0.067,3002,3582,3388,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7365,-0.48,-146.0,707.0,-7.9,447,7371,0.15,2.15,0.00,0.000,6,0.131,0.047,3046,2167,3388,0,0,0,0,0,0,26.26,26.36,28.83
$GC,7696,-0.48,-146.0,726.1,-5.6,458,7701,0.00,2.25,0.00,0.000,4,0.000,0.067,3037,3588,3388,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7726,-0.48,-146.0,727.9,-5.8,459,7732,0.00,2.12,0.00,0.000,6,0.000,0.048,3037,2182,3388,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8056,-0.48,-146.0,748.5,-6.4,470,8057,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2179,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8356,-0.48,-146.0,768.5,-6.7,480,8361,0.00,2.20,0.00,0.000,4,0.000,0.068,3027,3581,3388,0,0,0,0,0,0,28.83,26.30,28.83
$GC,8409,-0.48,-146.0,770.6,-6.9,481,8416,0.00,2.15,0.00,0.000,6,0.000,0.048,3027,2160,3387,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8715,-0.48,-146.0,796.0,-8.0,492,8721,0.00,2.25,0.00,0.000,4,0.000,0.068,3017,3587,3386,0,0,0,0,0,0,28.83,26.30,28.83
$GC,8758,-0.48,-146.0,798.4,-8.1,493,8762,0.00,2.15,0.00,0.000,6,0.000,0.048,3017,2167,3386,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9070,-0.48,-146.0,826.3,-8.4,504,9076,0.00,2.22,0.00,0.000,4,0.000,0.068,3007,3582,3386,0,0,0,0,0,0,28.83,26.30,28.83
$GC,9103,-0.48,-146.0,829.0,-8.7,505,9107,0.12,2.15,0.00,0.000,6,0.137,0.048,3043,2168,3386,0,0,0,0,0,0,26.26,26.36,28.83
$GC,9425,-0.48,-146.0,853.4,-7.4,516,9431,0.00,2.28,0.00,0.000,4,0.000,0.069,3035,3595,3386,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9486,-0.48,-146.0,858.0,-7.5,518,9491,0.00,2.15,0.00,0.000,6,0.000,0.047,3035,2174,3385,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9816,-0.48,-146.0,881.9,-7.1,529,9821,0.00,2.20,0.00,0.000,4,0.000,0.069,3024,3579,3385,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9876,-0.48,-146.0,886.1,-7.0,531,9880,0.00,2.15,0.00,0.000,6,0.000,0.049,3025,2177,3385,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10208,-0.48,-146.0,908.7,-7.1,542,10209,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2174,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10508,-0.48,-146.0,929.8,-6.9,552,10512,0.00,2.25,0.00,0.000,4,0.000,0.070,3015,3585,3384,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10594,-0.48,-146.0,934.3,-7.0,554,10600,0.00,2.15,0.00,0.000,6,0.000,0.049,3015,2167,3384,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10901,-0.48,-146.0,957.1,-6.5,565,10906,0.00,2.22,0.00,0.000,4,0.000,0.069,3005,3581,3384,0,0,0,0,0,0,28.83,26.30,28.83
$GC,10938,-0.48,-146.0,959.3,-6.6,566,10943,0.12,2.12,0.00,0.000,6,0.136,0.049,3040,2176,3383,0,0,0,0,0,0,26.26,26.36,28.83
$GC,11257,-0.48,-146.0,977.5,-5.7,577,11263,0.00,2.20,0.00,0.000,4,0.000,0.070,3033,3578,3383,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11295,-0.48,-146.0,979.3,-5.9,578,11299,0.00,2.15,0.00,0.000,6,0.000,0.050,3033,2166,3383,0,0,0,0,0,0,28.83,26.36,28.83
$STATE,11459,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11459,begin apogee
$GC,11466,-0.22,0.0,991.0,-6.8,584,11598,0.25,0.00,125.57,1.206,6,0.117,0.000,3120,2308,2794,0,0,0,0,0,0,26.27,28.83,23.71
$STATE,11601,end apogee,CONTROL_FINISHED_OK
$STATE,11601,begin climb
$GC,11604,0.48,146.0,994.9,0.0,588,11741,0.68,0.00,134.05,1.173,6,0.082,0.000,3349,2309,2198,0,0,0,0,0,0,24.59,28.83,23.37
$GC,12032,0.48,146.0,961.4,9.6,603,12038,0.00,2.30,0.00,0.000,4,0.000,0.069,3349,3697,2188,0,0,0,0,0,0,28.83,25.25,28.83
$GC,12092,0.48,146.0,954.6,10.5,605,12098,0.00,2.22,0.00,0.000,6,0.000,0.050,3359,2304,2187,0,0,0,0,0,0,28.83,25.37,28.83
$GC,12422,0.48,146.0,918.1,11.5,616,12428,0.00,2.30,0.00,0.000,4,0.000,0.069,3358,3707,2186,0,0,0,0,0,0,28.83,25.63,28.83
$GC,12452,0.48,146.0,914.2,11.9,617,12458,0.00,2.25,0.00,0.000,6,0.000,0.050,3369,2291,2185,0,0,0,0,0,0,28.83,25.68,28.83
$GC,12782,0.48,146.0,874.1,12.2,628,12788,0.00,2.30,0.00,0.000,4,0.000,0.068,3370,3706,2185,0,0,0,0,0,0,28.83,25.80,28.83
$GC,12812,0.48,146.0,870.1,12.4,629,12818,0.12,2.22,0.00,0.000,6,0.171,0.050,3350,2293,2185,0,0,0,0,0,0,25.72,25.85,28.83
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$STATE,22620,end climb,SURFACE_DEPTH_REACHED
$STATE,22620,begin surface coast
$FINISH,0.9,1.023841
$STATE,22676,end surface coast,CONTROL_FINISHED_OK
$STATE,22676,begin surface
$SM_CCo,22758,0.00,0.000,0,0,1145,404.50
$SM_GC,1.93,8.50,2.10,0.00,0.027,0.053,0.000,128,2177,1145,-9.46,-0.82,404.50,0,0,0,0,0,0,25.56,25.47,28.83
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$TT8_MAMPS,0.026964,0.026964
$HUMID,43.85
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,20.00
$XPDR_PINGS,0
$24V_AH,23.4,11.822
$10V_AH,10.2,10.452
$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,22.350,211.550,468.150,0.000,0.000,28.511,37.764,185.374,0.000,0.000,19.324,3405.284,15724.110,590.095,3023.082,391.957,0.000,2066.693,0.000,2735.620,0.000,0.535,0.000
$DEVICE_MAMPS,229.500,83.385,1205.640,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,892.591,763.742,559.062,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296972
$DATA_FILE_SIZE,73559,1298
$CAP_FILE_SIZE,194586,0
$CFSIZE,260165632,251400192
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.081, 39.8,1
$GPS,280912,221805,4737.248,-12538.411,37,1.0,37,18.7