version: 66.11
glider: 187
mission: 2
dive: 68
start: 9 28 112 22 25 39
data:
$ID,187
$MISSION,2
$DIVE,68
$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,-1587703.6
$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,36
$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
$GPS1,280912,221805,4737.248,-12538.411,37,1.0,37,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-74.8
$GPS2,280912,222507,4737.215,-12538.413,15,1.0,15,18.7
$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,39.4,64179,-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,-146.0,0.0,0.0,0,90,0.00,0.00,-71.80,0.000,2,0.000,0.000,122,2181,2841,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.48,-146.0,3.5,-5.2,12,123,11.25,2.28,-10.80,0.000,4,0.223,0.061,3035,759,3393,0,0,0,0,0,0,25.35,25.62,25.94
$GC,241,-0.48,-146.0,36.2,-14.5,38,249,0.00,2.25,0.00,0.000,6,0.000,0.050,3026,2177,3397,0,0,0,0,0,0,28.83,25.72,28.83
$GC,566,-0.48,-146.0,76.6,-12.4,99,572,0.00,2.22,0.00,0.000,4,0.000,0.060,3016,3592,3400,0,0,0,0,0,0,28.83,25.85,28.83
$GC,611,-0.48,-146.0,83.1,-14.3,107,618,0.00,2.17,0.00,0.000,6,0.000,0.042,3015,2163,3400,0,0,0,0,0,0,28.83,25.92,28.83
$GC,924,-0.48,-146.0,122.0,-11.3,166,929,0.00,2.25,0.00,0.000,4,0.000,0.060,3005,3588,3400,0,0,0,0,0,0,28.83,25.96,28.83
$GC,987,-0.48,-146.0,129.1,-11.8,170,992,0.12,2.15,0.00,0.000,6,0.141,0.042,3039,2170,3400,0,0,0,0,0,0,25.93,26.03,28.83
$GC,1294,-0.48,-146.0,158.9,-9.9,190,1300,0.00,2.25,0.00,0.000,4,0.000,0.061,3030,3594,3400,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1333,-0.48,-146.0,162.1,-9.9,192,1340,0.00,2.20,0.00,0.000,6,0.000,0.043,3030,2170,3400,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1641,-0.48,-146.0,194.6,-9.9,213,1646,0.00,2.10,0.00,0.000,4,0.000,0.050,3031,783,3400,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1685,-0.48,-146.0,199.1,-10.0,216,1691,0.00,2.12,0.00,0.000,6,0.000,0.050,3021,2178,3400,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2002,-0.48,-146.0,231.2,-10.5,232,2007,0.00,2.17,0.00,0.000,4,0.000,0.062,3011,3587,3399,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2034,-0.48,-146.0,233.3,-10.6,233,2040,0.00,2.12,0.00,0.000,6,0.000,0.044,3011,2171,3399,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2342,-0.48,-146.0,269.3,-11.0,249,2344,0.12,0.00,0.00,0.000,6,0.154,0.000,3045,2170,3398,0,0,0,0,0,0,26.14,28.83,28.83
$GC,2641,-0.48,-146.0,297.8,-9.2,264,2646,0.00,2.22,0.00,0.000,4,0.000,0.063,3036,3581,3397,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2663,-0.48,-146.0,299.5,-9.1,265,2667,0.00,2.12,0.00,0.000,6,0.000,0.044,3036,2175,3397,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2975,-0.48,-146.0,328.5,-8.8,281,2981,0.00,2.12,0.00,0.000,4,0.000,0.051,3036,778,3397,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3009,-0.48,-146.0,330.3,-8.8,282,3016,0.00,2.12,0.00,0.000,6,0.000,0.052,3027,2174,3397,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3315,-0.48,-146.0,361.2,-9.7,298,3317,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2174,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3615,-0.48,-146.0,389.2,-9.1,313,3621,0.00,2.20,0.00,0.000,4,0.000,0.065,3017,3584,3395,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3676,-0.48,-146.0,394.7,-9.0,316,3682,0.00,2.12,0.00,0.000,6,0.000,0.045,3017,2171,3395,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3995,-0.48,-146.0,424.3,-9.3,328,3997,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2168,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4295,-0.48,-146.0,452.4,-9.4,338,4301,0.00,2.22,0.00,0.000,4,0.000,0.065,3006,3584,3394,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4328,-0.48,-146.0,455.4,-9.5,339,4333,0.12,2.12,0.00,0.000,6,0.138,0.045,3041,2177,3394,0,0,0,0,0,0,26.22,26.32,28.83
$GC,4651,-0.48,-146.0,479.9,-6.9,350,4657,0.00,2.17,0.00,0.000,4,0.000,0.066,3033,3573,3393,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4700,-0.48,-146.0,481.9,-7.0,351,4704,0.00,2.12,0.00,0.000,6,0.000,0.046,3033,2167,3393,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5006,-0.48,-146.0,507.3,-8.2,361,5008,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2164,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5307,-0.48,-146.0,533.7,-8.8,371,5310,0.00,2.22,0.00,0.000,4,0.000,0.066,3023,3581,3391,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5338,-0.48,-146.0,536.6,-8.8,372,5345,0.00,2.15,0.00,0.000,6,0.000,0.047,3023,2167,3391,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5669,-0.48,-146.0,564.2,-8.3,383,5674,0.00,2.20,0.00,0.000,4,0.000,0.066,3013,3577,3391,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5698,-0.48,-146.0,566.7,-8.3,384,5704,0.00,2.15,0.00,0.000,6,0.000,0.047,3012,2163,3391,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6029,-0.48,-146.0,595.9,-8.9,395,6030,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2161,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6329,-0.48,-146.0,622.0,-8.7,405,6334,0.00,2.22,0.00,0.000,4,0.000,0.067,3003,3585,3390,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6366,-0.48,-146.0,624.7,-8.7,406,6371,0.12,2.15,0.00,0.000,6,0.142,0.047,3038,2167,3390,0,0,0,0,0,0,26.24,26.35,28.83
$GC,6685,-0.48,-146.0,647.4,-6.7,417,6686,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2165,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6985,-0.48,-146.0,666.4,-6.2,427,6991,0.00,2.22,0.00,0.000,4,0.000,0.067,3030,3588,3389,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7038,-0.48,-146.0,668.5,-6.4,428,7044,0.00,2.15,0.00,0.000,6,0.000,0.047,3030,2168,3388,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7345,-0.48,-146.0,692.5,-7.4,439,7350,0.00,2.25,0.00,0.000,4,0.000,0.067,3020,3587,3388,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7398,-0.48,-146.0,694.9,-7.5,440,7404,0.00,2.15,0.00,0.000,6,0.000,0.047,3020,2165,3388,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7705,-0.48,-146.0,722.0,-8.3,451,7706,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2165,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8004,-0.48,-146.0,747.1,-8.3,461,8010,0.00,2.25,0.00,0.000,4,0.000,0.068,3010,3580,3387,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8037,-0.48,-146.0,750.0,-8.6,462,8042,0.12,2.15,0.00,0.000,6,0.136,0.048,3045,2170,3387,0,0,0,0,0,0,26.26,26.36,28.83
$GC,8361,-0.48,-146.0,773.5,-7.2,473,8366,0.00,2.20,0.00,0.000,4,0.000,0.068,3037,3577,3386,0,0,0,0,0,0,28.83,26.30,28.83
$GC,8399,-0.48,-146.0,775.7,-7.3,474,8403,0.00,2.12,0.00,0.000,6,0.000,0.049,3036,2174,3387,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8716,-0.48,-146.0,800.3,-7.6,485,8717,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2172,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9016,-0.48,-146.0,822.2,-7.2,495,9022,0.00,2.20,0.00,0.000,4,0.000,0.069,3027,3574,3386,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9109,-0.48,-146.0,829.3,-7.7,498,9113,0.00,2.12,0.00,0.000,6,0.000,0.048,3027,2175,3386,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9431,-0.48,-146.0,855.9,-8.6,509,9436,0.00,2.20,0.00,0.000,4,0.000,0.069,3017,3578,3385,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9484,-0.48,-146.0,858.5,-8.7,510,9491,0.00,2.15,0.00,0.000,6,0.000,0.048,3017,2163,3385,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9791,-0.48,-146.0,887.6,-8.7,521,9792,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2162,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10091,-0.48,-146.0,912.3,-8.1,531,10097,0.00,2.28,0.00,0.000,4,0.000,0.069,3007,3587,3384,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10121,-0.48,-146.0,914.8,-8.0,532,10128,0.12,2.15,0.00,0.000,6,0.138,0.049,3042,2172,3384,0,0,0,0,0,0,26.25,26.36,28.83
$GC,10451,-0.48,-146.0,935.7,-6.5,543,10457,0.00,2.20,0.00,0.000,4,0.000,0.070,3034,3577,3384,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10504,-0.48,-146.0,937.7,-6.4,544,10511,0.00,2.12,0.00,0.000,6,0.000,0.050,3034,2177,3383,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10811,-0.48,-146.0,961.2,-7.1,555,10817,0.00,2.20,0.00,0.000,4,0.000,0.070,3025,3580,3383,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10841,-0.48,-146.0,963.5,-7.2,556,10847,0.00,2.12,0.00,0.000,6,0.000,0.050,3024,2179,3383,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11171,-0.48,-146.0,988.2,-7.1,567,11173,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2177,3383,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11198,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11198,begin apogee
$GC,11205,-0.22,0.0,990.3,-7.0,568,11337,0.28,0.00,125.62,1.203,6,0.117,0.000,3119,2308,2793,0,0,0,0,0,0,26.25,28.83,23.72
$STATE,11340,end apogee,CONTROL_FINISHED_OK
$STATE,11340,begin climb
$GC,11342,0.48,146.0,993.6,0.0,572,11480,0.68,0.00,133.98,1.169,6,0.083,0.000,3346,2308,2198,0,0,0,0,0,0,24.59,28.83,23.38
$GC,11772,0.48,146.0,956.7,10.0,587,11777,0.00,2.33,0.00,0.000,4,0.000,0.069,3346,3698,2188,0,0,0,0,0,0,28.83,25.25,28.83
$GC,11814,0.48,146.0,953.4,10.3,588,11819,0.00,2.25,0.00,0.000,6,0.000,0.050,3356,2298,2187,0,0,0,0,0,0,28.83,25.35,28.83
$GC,12127,0.48,146.0,919.7,10.0,599,12132,0.00,2.28,0.00,0.000,4,0.000,0.070,3356,3697,2186,0,0,0,0,0,0,28.83,25.61,28.83
$GC,12159,0.48,146.0,916.4,10.3,600,12163,0.00,2.22,0.00,0.000,6,0.000,0.050,3366,2291,2186,0,0,0,0,0,0,28.83,25.67,28.83
$GC,12482,0.48,146.0,881.6,10.4,611,12483,0.00,0.00,0.00,0.000,6,0.000,0.000,3366,2286,2186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12782,0.48,146.0,851.6,10.0,621,12787,0.00,2.30,0.00,0.000,4,0.000,0.069,3366,3710,2185,0,0,0,0,0,0,28.83,25.89,28.83
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$STATE,22610,end climb,SURFACE_DEPTH_REACHED
$STATE,22610,begin surface coast
$FINISH,0.8,1.003930
$STATE,22651,end surface coast,CONTROL_FINISHED_OK
$STATE,22652,begin surface
$SM_CCo,22731,0.00,0.000,0,0,1256,377.27
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$TT8_MAMPS,0.026964,0.026964
$HUMID,43.18
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,15.20
$XPDR_PINGS,1
$24V_AH,23.4,11.959
$10V_AH,10.3,10.566
$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,22.125,207.075,445.850,0.000,0.000,28.557,49.466,210.391,0.250,0.000,16.716,3331.147,15874.707,591.112,2956.199,390.239,0.000,2021.301,0.000,2635.735,0.000,0.535,0.000
$DEVICE_MAMPS,222.615,87.975,1203.345,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,873.572,743.875,527.801,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297000
$DATA_FILE_SIZE,73346,1271
$CAP_FILE_SIZE,191560,0
$CFSIZE,260165632,251314176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.064,125.2,1
$GPS,290912,044535,4738.178,-12533.454,27,1.4,27,18.7