version: 66.11
glider: 187
mission: 2
dive: 144
start: 10 14 112 2 44 15
data:
$ID,187
$MISSION,2
$DIVE,144
$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,-1587807.5
$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,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
$GPS1,141012,023705,4715.831,-12623.870,63,1.2,63,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-76.5
$GPS2,141012,024343,4715.841,-12623.868,11,1.2,17,18.6
$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,31.8,133040,-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,-146.0,0.0,0.0,0,74,0.00,0.00,-55.53,0.000,2,0.000,0.000,131,2180,2606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-0.48,-146.0,3.0,-4.1,9,118,11.30,2.28,-17.45,0.000,4,0.225,0.064,3031,766,3393,0,0,0,0,0,0,25.26,25.60,25.97
$GC,307,-0.48,-146.0,45.2,-12.7,51,315,0.00,2.20,0.00,0.000,6,0.000,0.050,3023,2176,3396,0,0,0,0,0,0,28.83,25.74,28.83
$GC,623,-0.48,-146.0,91.7,-13.8,112,631,0.00,2.20,0.00,0.000,4,0.000,0.049,3023,770,3399,0,0,0,0,0,0,28.83,25.87,28.83
$GC,735,-0.48,-146.0,106.4,-11.8,133,742,0.00,2.17,0.00,0.000,6,0.000,0.050,3012,2177,3399,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1045,-0.48,-146.0,142.4,-11.3,168,1051,0.00,2.17,0.00,0.000,4,0.000,0.062,3002,3581,3399,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1091,-0.48,-146.0,147.7,-11.6,171,1098,0.12,2.15,0.00,0.000,6,0.141,0.043,3038,2166,3399,0,0,0,0,0,0,25.89,26.03,28.83
$GC,1410,-0.48,-146.0,176.2,-8.6,192,1411,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2161,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1712,-0.48,-146.0,202.5,-8.8,212,1717,0.00,2.22,0.00,0.000,4,0.000,0.063,3029,3587,3399,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1764,-0.48,-146.0,206.3,-9.1,214,1770,0.00,2.15,0.00,0.000,6,0.000,0.044,3029,2161,3399,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2071,-0.48,-146.0,237.7,-10.1,230,2072,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2159,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2371,-0.48,-146.0,268.3,-10.1,245,2376,0.00,2.20,0.00,0.000,4,0.000,0.063,3019,3575,3398,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2395,-0.48,-146.0,270.3,-10.2,246,2401,0.00,2.12,0.00,0.000,6,0.000,0.044,3019,2165,3397,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2711,-0.48,-146.0,304.1,-10.6,262,2716,0.00,2.12,0.00,0.000,4,0.000,0.052,3018,766,3397,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2744,-0.48,-146.0,306.2,-10.6,263,2752,0.12,2.15,0.00,0.000,6,0.144,0.051,3045,2174,3397,0,0,0,0,0,0,26.05,26.15,28.83
$GC,3051,-0.48,-146.0,334.3,-8.6,279,3056,0.00,2.20,0.00,0.000,4,0.000,0.065,3037,3581,3396,0,0,0,0,0,0,28.83,26.12,28.83
$GC,3125,-0.48,-146.0,339.7,-8.9,282,3132,0.00,2.12,0.00,0.000,6,0.000,0.045,3036,2166,3396,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3433,-0.48,-146.0,368.4,-9.0,298,3438,0.00,2.20,0.00,0.000,4,0.000,0.065,3026,3579,3395,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3464,-0.48,-146.0,370.2,-8.9,299,3472,0.00,2.12,0.00,0.000,6,0.000,0.046,3026,2170,3395,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3771,-0.48,-146.0,400.5,-9.6,315,3772,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2169,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4071,-0.48,-146.0,429.3,-9.5,325,4077,0.00,2.20,0.00,0.000,4,0.000,0.065,3016,3579,3393,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4124,-0.48,-146.0,432.3,-9.5,326,4131,0.00,2.12,0.00,0.000,6,0.000,0.047,3016,2172,3393,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4431,-0.48,-146.0,464.6,-9.8,337,4432,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2169,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4731,-0.48,-146.0,493.0,-9.3,347,4737,0.00,2.25,0.00,0.000,4,0.000,0.066,3006,3591,3391,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4784,-0.48,-146.0,495.9,-9.3,348,4791,0.12,2.15,0.00,0.000,6,0.138,0.047,3041,2168,3391,0,0,0,0,0,0,26.11,26.25,28.83
$GC,5091,-0.48,-146.0,520.3,-7.1,359,5092,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2168,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5391,-0.48,-146.0,541.9,-7.4,369,5397,0.00,2.25,0.00,0.000,4,0.000,0.067,3033,3590,3390,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5434,-0.48,-146.0,544.2,-7.5,370,5438,0.00,2.15,0.00,0.000,6,0.000,0.047,3033,2173,3390,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5746,-0.48,-146.0,571.6,-8.5,381,5752,0.00,2.22,0.00,0.000,4,0.000,0.067,3023,3581,3389,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5779,-0.48,-146.0,574.2,-8.4,382,5784,0.00,2.15,0.00,0.000,6,0.000,0.047,3023,2166,3389,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6101,-0.48,-146.0,603.1,-8.8,393,6103,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2164,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6401,-0.48,-146.0,628.6,-8.2,403,6407,0.00,2.25,0.00,0.000,4,0.000,0.067,3012,3584,3388,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6466,-0.48,-146.0,633.8,-8.5,405,6471,0.00,2.15,0.00,0.000,6,0.000,0.048,3012,2170,3388,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6792,-0.48,-146.0,661.2,-8.1,416,6793,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2167,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7091,-0.48,-146.0,685.1,-8.0,426,7097,0.00,2.25,0.00,0.000,4,0.000,0.068,3002,3580,3387,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7124,-0.48,-146.0,687.5,-8.1,427,7129,0.15,2.15,0.00,0.000,6,0.129,0.048,3046,2173,3387,0,0,0,0,0,0,26.12,26.25,28.83
$GC,7448,-0.48,-146.0,708.3,-6.2,438,7453,0.00,2.20,0.00,0.000,4,0.000,0.068,3038,3576,3386,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7478,-0.48,-146.0,710.5,-6.4,439,7483,0.00,2.15,0.00,0.000,6,0.000,0.049,3038,2169,3386,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7808,-0.48,-146.0,735.0,-7.6,450,7813,0.00,2.22,0.00,0.000,4,0.000,0.068,3028,3580,3386,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7845,-0.48,-146.0,737.4,-7.6,451,7849,0.00,2.15,0.00,0.000,6,0.000,0.049,3028,2169,3386,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8162,-0.48,-146.0,764.0,-8.2,462,8168,0.00,2.25,0.00,0.000,4,0.000,0.068,3017,3584,3385,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8206,-0.48,-146.0,766.5,-8.2,463,8210,0.00,2.15,0.00,0.000,6,0.000,0.049,3017,2174,3385,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8518,-0.48,-146.0,794.4,-8.5,474,8519,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2172,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8818,-0.48,-146.0,818.9,-8.1,484,8824,0.00,2.25,0.00,0.000,4,0.000,0.069,3007,3580,3384,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8886,-0.48,-146.0,824.0,-8.3,486,8891,0.12,2.15,0.00,0.000,6,0.134,0.050,3043,2169,3384,0,0,0,0,0,0,26.12,26.25,28.83
$GC,9204,-0.48,-146.0,847.3,-7.1,497,9209,0.00,2.22,0.00,0.000,4,0.000,0.069,3035,3581,3384,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9247,-0.48,-146.0,849.4,-7.1,498,9251,0.00,2.15,0.00,0.000,6,0.000,0.050,3035,2172,3384,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9559,-0.48,-146.0,874.8,-7.8,509,9565,0.00,2.25,0.00,0.000,4,0.000,0.069,3025,3580,3383,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9602,-0.48,-146.0,877.2,-7.9,510,9606,0.00,2.15,0.00,0.000,6,0.000,0.049,3024,2171,3383,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9914,-0.48,-146.0,903.4,-7.9,521,9920,0.00,2.25,0.00,0.000,4,0.000,0.069,3014,3586,3383,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9958,-0.48,-146.0,905.9,-8.1,522,9962,0.00,2.15,0.00,0.000,6,0.000,0.050,3014,2176,3382,0,0,0,0,0,0,28.83,26.24,28.83
$GC,10270,-0.48,-146.0,932.6,-8.2,533,10275,0.00,2.25,0.00,0.000,4,0.000,0.069,3004,3592,3382,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10299,-0.48,-146.0,935.1,-8.2,534,10306,0.12,2.17,0.00,0.000,6,0.135,0.049,3040,2173,3382,0,0,0,0,0,0,26.10,26.24,28.83
$GC,10630,-0.48,-146.0,956.1,-6.0,545,10636,0.00,2.22,0.00,0.000,4,0.000,0.069,3031,3581,3382,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10678,-0.48,-146.0,957.9,-6.0,546,10682,0.00,2.15,0.00,0.000,6,0.000,0.050,3031,2173,3382,0,0,0,0,0,0,28.83,26.23,28.83
$GC,10986,-0.48,-146.0,977.5,-5.8,556,10991,0.00,2.28,0.00,0.000,4,0.000,0.070,3021,3590,3382,0,0,0,0,0,0,28.83,26.11,28.83
$GC,11047,-0.48,-146.0,981.4,-6.2,558,11051,0.00,2.17,0.00,0.000,6,0.000,0.050,3021,2167,3382,0,0,0,0,0,0,28.83,26.23,28.83
$STATE,11188,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11188,begin apogee
$GC,11195,-0.22,0.0,990.8,-6.4,563,11326,0.30,0.00,125.12,1.195,6,0.113,0.000,3124,2309,2794,0,0,0,0,0,0,26.06,28.83,23.71
$STATE,11329,end apogee,CONTROL_FINISHED_OK
$STATE,11329,begin climb
$GC,11332,0.48,146.0,993.7,0.0,567,11470,0.65,0.00,134.12,1.161,6,0.081,0.000,3345,2309,2198,0,0,0,0,0,0,24.58,28.83,23.14
$GC,11760,0.48,146.0,957.6,9.5,582,11765,0.00,2.35,0.00,0.000,4,0.000,0.069,3346,3708,2187,0,0,0,0,0,0,28.83,25.06,28.83
$GC,11803,0.48,146.0,954.2,9.8,583,11807,0.00,2.25,0.00,0.000,6,0.000,0.051,3356,2311,2187,0,0,0,0,0,0,28.83,25.17,28.83
$GC,12115,0.48,146.0,921.2,10.0,594,12117,0.00,0.00,0.00,0.000,6,0.000,0.000,3356,2306,2185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12415,0.48,146.0,890.3,10.4,604,12421,0.00,2.28,0.00,0.000,4,0.000,0.070,3356,3701,2184,0,0,0,0,0,0,28.83,25.65,28.83
$GC,12454,0.48,146.0,886.8,10.8,605,12458,0.00,2.22,0.00,0.000,6,0.000,0.051,3365,2297,2184,0,0,0,0,0,0,28.83,25.73,28.83
$GC,12771,0.48,146.0,850.9,10.7,616,12776,0.00,2.30,0.00,0.000,4,0.000,0.070,3365,3709,2184,0,0,0,0,0,0,28.83,25.77,28.83
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$STATE,22900,end climb,SURFACE_DEPTH_REACHED
$STATE,22900,begin surface coast
$FINISH,1.0,1.015808
$STATE,22947,end surface coast,CONTROL_FINISHED_OK
$STATE,22947,begin surface
$SM_CCo,23028,0.00,0.000,0,0,849,476.86
$SM_GC,1.76,8.40,2.47,0.00,0.028,0.045,0.000,114,2179,849,-9.47,1.19,476.86,0,0,0,0,0,0,25.70,25.61,28.83
$IRIDIUM_FIX,4657.54,-12622.39,131012,191952
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.44
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,19.30
$XPDR_PINGS,0
$24V_AH,23.1,21.110
$10V_AH,10.2,17.838
$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,22.125,212.825,524.150,0.000,0.000,26.697,36.570,201.055,0.000,0.000,19.914,3328.707,16112.376,646.228,2933.020,397.410,0.000,2096.162,0.000,2634.691,0.000,0.535,0.000
$DEVICE_MAMPS,224.910,84.150,1194.930,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,876.587,734.247,510.547,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296900
$DATA_FILE_SIZE,73642,1276
$CAP_FILE_SIZE,193017,0
$CFSIZE,260165632,245850112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.036, 17.1,1
$GPS,141012,090936,4718.406,-12620.271,55,1.1,55,18.6