version: 66.11
glider: 187
mission: 2
dive: 71
start: 9 29 112 17 40 19
data:
$ID,187
$MISSION,2
$DIVE,71
$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,-1587707.4
$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,44
$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
$GPS1,290912,172953,4741.630,-12527.028,39,1.5,50,18.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-76.7
$GPS2,290912,173949,4741.597,-12527.021,14,1.5,14,18.7
$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,3.4,48049,-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,-146.0,0.0,0.0,0,76,0.00,0.00,-56.95,0.000,2,0.000,0.000,116,2167,2901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.48,-146.0,3.3,-4.1,9,108,11.30,2.17,-9.35,0.000,4,0.224,0.063,3037,767,3392,0,0,0,0,0,0,25.41,25.68,26.01
$GC,172,-0.48,-146.0,26.7,-13.1,25,179,0.00,2.20,0.00,0.000,6,0.000,0.050,3028,2183,3396,0,0,0,0,0,0,28.83,25.73,28.83
$GC,487,-0.48,-146.0,70.3,-13.7,86,494,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2183,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,798,-0.48,-146.0,113.0,-14.2,147,806,0.00,2.20,0.00,0.000,4,0.000,0.062,3018,3587,3399,0,0,0,0,0,0,28.83,25.96,28.83
$GC,894,-0.48,-146.0,125.9,-13.2,160,900,0.00,2.12,0.00,0.000,6,0.000,0.043,3017,2172,3399,0,0,0,0,0,0,28.83,26.05,28.83
$GC,1210,-0.48,-146.0,166.2,-12.7,181,1211,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2168,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1514,-0.48,-146.0,203.2,-11.8,201,1515,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2168,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1814,-0.48,-146.0,239.1,-12.0,216,1820,0.00,2.25,0.00,0.000,4,0.000,0.063,3007,3584,3399,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1842,-0.48,-146.0,241.4,-12.0,217,1846,0.12,2.15,0.00,0.000,6,0.138,0.044,3042,2169,3399,0,0,0,0,0,0,26.08,26.19,28.83
$GC,2149,-0.48,-146.0,272.8,-9.4,232,2155,0.00,2.10,0.00,0.000,4,0.000,0.050,3042,782,3398,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2171,-0.48,-146.0,274.7,-9.5,233,2175,0.00,2.12,0.00,0.000,6,0.000,0.051,3035,2176,3398,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2484,-0.48,-146.0,306.7,-9.9,249,2489,0.00,2.20,0.00,0.000,4,0.000,0.064,3025,3585,3397,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2572,-0.48,-146.0,314.6,-9.9,253,2576,0.00,2.12,0.00,0.000,6,0.000,0.044,3025,2174,3397,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2879,-0.48,-146.0,345.1,-9.5,268,2880,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2171,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3180,-0.48,-146.0,373.6,-9.4,283,3181,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2171,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3479,-0.48,-146.0,399.8,-8.9,298,3480,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2171,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3799,-0.48,-146.0,427.2,-8.7,309,3804,0.00,2.22,0.00,0.000,4,0.000,0.065,3014,3583,3395,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3822,-0.48,-146.0,427.2,-8.7,309,3828,0.00,2.15,0.00,0.000,6,0.000,0.046,3014,2168,3394,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4129,-0.48,-146.0,457.6,-9.1,320,4130,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2165,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4429,-0.48,-146.0,485.0,-9.1,330,4434,0.00,2.25,0.00,0.000,4,0.000,0.066,3003,3592,3393,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4491,-0.48,-146.0,490.6,-9.1,332,4496,0.12,2.15,0.00,0.000,6,0.140,0.046,3039,2174,3392,0,0,0,0,0,0,26.21,26.33,28.83
$GC,4815,-0.48,-146.0,513.4,-6.7,343,4820,0.00,2.20,0.00,0.000,4,0.000,0.066,3030,3580,3392,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4864,-0.48,-146.0,515.5,-6.7,344,4873,0.00,2.12,0.00,0.000,6,0.000,0.046,3030,2173,3392,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5174,-0.48,-146.0,540.1,-7.7,355,5175,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2173,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5474,-0.48,-146.0,563.4,-7.8,365,5480,0.00,2.22,0.00,0.000,4,0.000,0.067,3020,3584,3391,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5504,-0.48,-146.0,566.0,-8.0,366,5510,0.00,2.12,0.00,0.000,6,0.000,0.047,3020,2177,3391,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5834,-0.48,-146.0,594.0,-8.5,377,5840,0.00,2.22,0.00,0.000,4,0.000,0.067,3010,3584,3390,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5872,-0.48,-146.0,596.6,-8.6,378,5877,0.12,2.15,0.00,0.000,6,0.135,0.047,3046,2166,3390,0,0,0,0,0,0,26.24,26.34,28.83
$GC,6190,-0.48,-146.0,619.7,-6.9,389,6191,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2163,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6490,-0.48,-146.0,642.5,-7.9,399,6495,0.00,2.25,0.00,0.000,4,0.000,0.067,3038,3591,3389,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6563,-0.48,-146.0,647.8,-8.3,401,6567,0.00,2.15,0.00,0.000,6,0.000,0.047,3037,2171,3389,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6875,-0.48,-146.0,675.8,-8.7,412,6881,0.00,2.20,0.00,0.000,4,0.000,0.067,3026,3580,3388,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6923,-0.48,-146.0,678.4,-8.6,413,6927,0.00,2.12,0.00,0.000,6,0.000,0.047,3027,2176,3388,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7230,-0.48,-146.0,710.0,-9.8,423,7231,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2174,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7530,-0.48,-146.0,737.0,-8.7,433,7536,0.00,2.25,0.00,0.000,4,0.000,0.068,3017,3585,3388,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7560,-0.48,-146.0,739.9,-8.9,434,7566,0.00,2.15,0.00,0.000,6,0.000,0.047,3017,2174,3388,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7890,-0.48,-146.0,770.7,-9.1,445,7896,0.00,2.20,0.00,0.000,4,0.000,0.068,3007,3577,3387,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7933,-0.48,-146.0,773.5,-9.1,446,7938,0.12,2.12,0.00,0.000,6,0.136,0.048,3043,2177,3387,0,0,0,0,0,0,26.25,26.35,28.83
$GC,8246,-0.48,-146.0,798.6,-7.5,457,8251,0.00,2.22,0.00,0.000,4,0.000,0.068,3034,3582,3387,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8306,-0.48,-146.0,803.3,-7.6,459,8312,0.00,2.17,0.00,0.000,6,0.000,0.048,3034,2164,3387,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8636,-0.48,-146.0,828.5,-7.3,470,8641,0.00,2.22,0.00,0.000,4,0.000,0.068,3025,3579,3386,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8669,-0.48,-146.0,830.7,-7.4,471,8673,0.00,2.15,0.00,0.000,6,0.000,0.048,3024,2170,3386,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8991,-0.48,-146.0,855.9,-7.7,482,8997,0.00,2.22,0.00,0.000,4,0.000,0.068,3014,3584,3386,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9034,-0.48,-146.0,858.3,-7.7,483,9038,0.00,2.15,0.00,0.000,6,0.000,0.048,3014,2171,3386,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9346,-0.48,-146.0,883.3,-7.6,494,9351,0.00,2.25,0.00,0.000,4,0.000,0.068,3004,3581,3385,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9414,-0.48,-146.0,888.1,-7.7,496,9419,0.12,2.15,0.00,0.000,6,0.137,0.048,3040,2168,3385,0,0,0,0,0,0,26.25,26.35,28.83
$GC,9732,-0.48,-146.0,908.0,-5.9,507,9738,0.00,2.22,0.00,0.000,4,0.000,0.069,3032,3581,3385,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9775,-0.48,-146.0,910.2,-6.1,508,9779,0.00,2.15,0.00,0.000,6,0.000,0.049,3031,2170,3385,0,0,0,0,0,0,28.83,26.35,28.83
$GC,10088,-0.48,-146.0,932.9,-7.0,519,10094,0.00,2.28,0.00,0.000,4,0.000,0.069,3022,3591,3384,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10156,-0.48,-146.0,937.1,-7.1,521,10160,0.00,2.17,0.00,0.000,6,0.000,0.049,3022,2165,3384,0,0,0,0,0,0,28.83,26.35,28.83
$GC,10474,-0.48,-146.0,960.1,-6.9,532,10475,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2163,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10773,-0.48,-146.0,981.4,-7.2,542,10774,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2163,3384,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10920,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10920,begin apogee
$GC,10927,-0.22,0.0,992.1,-7.1,547,11059,0.30,0.00,125.82,1.206,6,0.116,0.000,3125,2308,2794,0,0,0,0,0,0,26.24,28.83,23.72
$STATE,11062,end apogee,CONTROL_FINISHED_OK
$STATE,11062,begin climb
$GC,11065,0.48,146.0,995.5,0.0,551,11207,0.65,2.45,132.77,1.175,4,0.080,0.057,3357,895,2197,0,0,0,0,0,0,24.60,24.08,23.36
$GC,11229,0.48,150.3,986.5,7.2,557,11239,0.00,2.35,4.93,0.785,6,0.000,0.055,3357,2299,2181,0,0,0,0,0,0,28.83,24.44,23.69
$GC,11547,0.48,150.3,951.4,11.0,568,11553,0.00,2.33,0.00,0.000,4,0.000,0.068,3356,3709,2174,0,0,0,0,0,0,28.83,25.30,28.83
$GC,11579,0.48,150.3,947.8,11.1,569,11584,0.00,2.28,0.00,0.000,6,0.000,0.050,3368,2304,2173,0,0,0,0,0,0,28.83,25.37,28.83
$GC,11902,0.48,150.3,910.2,11.4,580,11903,0.00,0.00,0.00,0.000,6,0.000,0.000,3368,2298,2172,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12202,0.48,150.3,876.3,11.5,590,12208,0.00,2.30,0.00,0.000,4,0.000,0.068,3368,3710,2171,0,0,0,0,0,0,28.83,25.77,28.83
$GC,12245,0.48,150.3,872.5,11.8,591,12250,0.00,2.25,0.00,0.000,6,0.000,0.050,3378,2287,2171,0,0,0,0,0,0,28.83,25.83,28.83
$GC,12558,0.48,150.3,830.1,12.7,602,12563,0.00,2.30,0.00,0.000,4,0.000,0.068,3378,3708,2170,0,0,0,0,0,0,28.83,25.89,28.83
$GC,12600,0.48,150.3,826.0,12.9,603,12605,0.15,2.22,0.00,0.000,6,0.164,0.051,3351,2295,2170,0,0,0,0,0,0,25.80,25.94,28.83
$GC,12913,0.48,150.3,790.8,10.4,614,12919,0.00,2.20,0.00,0.000,4,0.000,0.058,3358,890,2169,0,0,0,0,0,0,28.83,25.98,28.83
$GC,12945,0.48,150.3,787.6,10.4,615,12950,0.00,2.20,0.00,0.000,6,0.000,0.057,3358,2299,2169,0,0,0,0,0,0,28.83,25.99,28.83
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$STATE,21890,end climb,SURFACE_DEPTH_REACHED
$STATE,21890,begin surface coast
$FINISH,1.1,1.010590
$STATE,21949,end surface coast,CONTROL_FINISHED_OK
$STATE,21949,begin surface
$SM_CCo,22029,0.00,0.000,0,0,1435,333.36
$SM_GC,1.92,8.27,0.20,0.00,0.028,0.072,0.000,115,2165,1435,-9.46,0.93,333.36,0,0,0,0,0,0,25.81,25.78,28.83
$IRIDIUM_FIX,4722.92,-12533.00,290912,111123
$TT8_MAMPS,0.027713,0.027713
$HUMID,42.91
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,15.70
$XPDR_PINGS,1
$24V_AH,23.4,12.359
$10V_AH,10.2,10.910
$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,21.850,185.925,410.250,0.000,0.000,98.645,58.244,183.764,0.250,0.000,15.688,3321.028,15394.165,501.673,3031.420,366.522,0.000,1922.859,0.000,2657.673,0.000,0.536,0.000
$DEVICE_MAMPS,224.145,83.385,1206.405,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,871.136,745.522,546.576,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296976
$DATA_FILE_SIZE,70105,1265
$CAP_FILE_SIZE,186022,0
$CFSIZE,260165632,251056128
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.093,177.3,1
$GPS,290912,234835,4743.456,-12524.867,29,1.2,29,18.7