version: 66.11
glider: 187
mission: 2
dive: 147
start: 10 14 112 22 14 27
data:
$ID,187
$MISSION,2
$DIVE,147
$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,-1587811.2
$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,35
$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
$GPS1,141012,220735,4722.465,-12612.652,46,1.3,57,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-74.6
$GPS2,141012,221355,4722.432,-12612.700,18,1.2,18,18.6
$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,51.3,114677,-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,-146.0,0.0,0.0,0,82,0.00,0.00,-63.70,0.000,2,0.000,0.000,118,2164,2845,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.48,-146.0,3.6,-5.3,10,115,11.20,2.35,-10.45,0.000,4,0.220,0.073,3027,3594,3393,0,0,0,0,0,0,25.28,25.63,26.03
$GC,308,-0.48,-146.0,52.6,-13.6,51,314,0.00,2.17,0.00,0.000,6,0.000,0.043,3026,2168,3398,0,0,0,0,0,0,28.83,25.81,28.83
$GC,620,-0.48,-146.0,94.7,-12.3,112,627,0.00,2.30,0.00,0.000,4,0.000,0.061,3016,3590,3400,0,0,0,0,0,0,28.83,25.85,28.83
$GC,660,-0.48,-146.0,100.0,-13.1,119,667,0.00,2.15,0.00,0.000,6,0.000,0.042,3015,2170,3400,0,0,0,0,0,0,28.83,25.94,28.83
$GC,978,-0.48,-146.0,137.9,-11.2,161,983,0.00,2.22,0.00,0.000,4,0.000,0.061,3006,3588,3400,0,0,0,0,0,0,28.83,25.93,28.83
$GC,1023,-0.48,-146.0,143.2,-11.7,164,1029,0.10,2.12,0.00,0.000,6,0.114,0.043,3042,2168,3400,0,0,0,0,0,0,25.86,26.02,28.83
$GC,1340,-0.48,-146.0,174.0,-9.6,185,1341,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2165,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1643,-0.48,-146.0,201.9,-8.7,205,1648,0.00,2.20,0.00,0.000,4,0.000,0.062,3033,3579,3400,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1716,-0.48,-146.0,207.7,-9.5,208,1722,0.00,2.12,0.00,0.000,6,0.000,0.044,3033,2166,3400,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2022,-0.48,-146.0,237.2,-9.0,224,2028,0.00,2.25,0.00,0.000,4,0.000,0.063,3023,3584,3399,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2055,-0.48,-146.0,238.9,-9.1,225,2063,0.00,2.12,0.00,0.000,6,0.000,0.044,3022,2172,3399,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2363,-0.48,-146.0,271.9,-10.5,241,2368,0.00,2.25,0.00,0.000,4,0.000,0.063,3012,3588,3399,0,0,0,0,0,0,28.83,26.07,28.83
$GC,2385,-0.48,-146.0,273.9,-10.5,242,2389,0.00,2.12,0.00,0.000,6,0.000,0.044,3012,2179,3399,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2698,-0.48,-146.0,306.9,-10.2,258,2699,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2176,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2997,-0.48,-146.0,338.4,-10.6,273,2999,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2175,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3299,-0.48,-146.0,371.1,-10.9,288,3300,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2176,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3608,-0.48,-146.0,404.0,-10.1,303,3609,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2176,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3907,-0.48,-146.0,434.6,-10.3,313,3911,0.00,2.15,0.00,0.000,4,0.000,0.054,3012,775,3395,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3940,-0.48,-146.0,437.9,-10.3,314,3946,0.10,2.15,0.00,0.000,6,0.118,0.053,3040,2181,3395,0,0,0,0,0,0,26.05,26.18,28.83
$GC,4270,-0.48,-146.0,465.8,-8.3,325,4275,0.00,2.17,0.00,0.000,4,0.000,0.065,3032,3583,3394,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4347,-0.48,-146.0,471.0,-8.5,327,4351,0.00,2.12,0.00,0.000,6,0.000,0.046,3032,2174,3394,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4654,-0.48,-146.0,499.0,-8.7,337,4660,0.00,2.22,0.00,0.000,4,0.000,0.066,3021,3583,3393,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4687,-0.48,-146.0,501.7,-8.8,338,4691,0.00,2.15,0.00,0.000,6,0.000,0.047,3021,2166,3393,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5009,-0.48,-146.0,533.0,-9.6,349,5015,0.00,2.25,0.00,0.000,4,0.000,0.065,3011,3589,3392,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5057,-0.48,-146.0,535.9,-9.7,350,5061,0.00,2.15,0.00,0.000,6,0.000,0.047,3011,2169,3392,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5365,-0.48,-146.0,567.1,-9.3,360,5366,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2166,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5665,-0.48,-146.0,593.5,-8.6,370,5666,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2166,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5964,-0.48,-146.0,618.3,-8.2,380,5970,0.00,2.28,0.00,0.000,4,0.000,0.067,3001,3594,3391,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5994,-0.48,-146.0,620.9,-8.4,381,6001,0.15,2.17,0.00,0.000,6,0.130,0.047,3044,2167,3391,0,0,0,0,0,0,26.09,26.24,28.83
$GC,6325,-0.48,-146.0,643.9,-7.0,392,6330,0.00,2.22,0.00,0.000,4,0.000,0.067,3036,3582,3390,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6373,-0.48,-146.0,646.1,-7.0,393,6377,0.00,2.15,0.00,0.000,6,0.000,0.047,3036,2170,3390,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6680,-0.48,-146.0,669.5,-7.2,403,6686,0.00,2.28,0.00,0.000,4,0.000,0.067,3026,3593,3390,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6728,-0.48,-146.0,671.7,-7.3,404,6732,0.00,2.17,0.00,0.000,6,0.000,0.048,3025,2167,3389,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7035,-0.48,-146.0,697.6,-7.9,414,7036,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2164,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7335,-0.48,-146.0,720.5,-7.5,424,7341,0.00,2.22,0.00,0.000,4,0.000,0.067,3015,3583,3388,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7407,-0.48,-146.0,725.3,-7.8,426,7411,0.00,2.15,0.00,0.000,6,0.000,0.048,3016,2172,3388,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7719,-0.48,-146.0,750.9,-7.7,437,7721,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2169,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8020,-0.48,-146.0,773.5,-7.6,447,8025,0.00,2.22,0.00,0.000,4,0.000,0.067,3005,3585,3387,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8057,-0.48,-146.0,776.0,-7.7,448,8062,0.12,2.15,0.00,0.000,6,0.135,0.048,3041,2172,3387,0,0,0,0,0,0,26.10,26.24,28.83
$GC,8375,-0.48,-146.0,797.6,-6.5,459,8381,0.00,2.22,0.00,0.000,4,0.000,0.067,3033,3582,3387,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8399,-0.48,-146.0,797.6,-6.5,459,8406,0.00,2.15,0.00,0.000,6,0.000,0.048,3033,2168,3387,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8706,-0.48,-146.0,819.7,-6.5,470,8711,0.00,2.22,0.00,0.000,4,0.000,0.068,3023,3584,3386,0,0,0,0,0,0,28.83,26.12,28.83
$GC,8765,-0.48,-146.0,823.8,-6.6,472,8769,0.00,2.17,0.00,0.000,6,0.000,0.049,3023,2170,3386,0,0,0,0,0,0,28.83,26.23,28.83
$GC,9098,-0.48,-146.0,847.1,-7.1,483,9104,0.00,2.22,0.00,0.000,4,0.000,0.068,3013,3583,3386,0,0,0,0,0,0,28.83,26.11,28.83
$GC,9161,-0.48,-146.0,851.6,-7.2,485,9165,0.00,2.15,0.00,0.000,6,0.000,0.049,3013,2171,3385,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9483,-0.48,-146.0,877.1,-7.9,496,9488,0.00,2.25,0.00,0.000,4,0.000,0.068,3003,3587,3385,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9551,-0.48,-146.0,882.3,-8.2,498,9556,0.12,2.15,0.00,0.000,6,0.135,0.049,3038,2174,3385,0,0,0,0,0,0,26.08,26.22,28.83
$GC,9869,-0.48,-146.0,904.0,-6.9,509,9874,0.00,2.22,0.00,0.000,4,0.000,0.069,3030,3586,3385,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9912,-0.48,-146.0,906.0,-6.8,510,9916,0.00,2.15,0.00,0.000,6,0.000,0.049,3031,2176,3384,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10225,-0.48,-146.0,929.6,-7.2,521,10230,0.00,2.22,0.00,0.000,4,0.000,0.069,3020,3581,3384,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10255,-0.48,-146.0,931.8,-7.3,522,10260,0.00,2.12,0.00,0.000,6,0.000,0.050,3020,2183,3384,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10585,-0.48,-146.0,956.4,-7.3,533,10591,0.00,2.25,0.00,0.000,4,0.000,0.069,3011,3586,3383,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10637,-0.48,-146.0,958.8,-7.4,534,10644,0.00,2.15,0.00,0.000,6,0.000,0.049,3011,2172,3384,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10944,-0.48,-146.0,984.4,-7.9,545,10951,0.00,2.25,0.00,0.000,4,0.000,0.069,3001,3589,3383,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10983,-0.48,-146.0,986.9,-7.9,546,10988,0.15,2.17,0.00,0.000,6,0.128,0.050,3045,2172,3383,0,0,0,0,0,0,26.06,26.21,28.83
$STATE,11028,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11028,begin apogee
$GC,11035,-0.22,0.0,990.7,-7.5,548,11167,0.22,0.00,125.80,1.191,6,0.114,0.000,3126,2314,2794,0,0,0,0,0,0,26.10,28.83,23.71
$STATE,11170,end apogee,CONTROL_FINISHED_OK
$STATE,11170,begin climb
$GC,11173,0.48,146.0,993.9,0.0,552,11310,0.65,0.00,134.02,1.161,6,0.080,0.000,3348,2314,2198,0,0,0,0,0,0,24.58,28.83,23.13
$GC,11601,0.48,146.0,957.3,10.1,567,11607,0.00,2.33,0.00,0.000,4,0.000,0.068,3348,3705,2188,0,0,0,0,0,0,28.83,25.05,28.83
$GC,11624,0.48,146.0,957.3,10.1,567,11631,0.00,2.25,0.00,0.000,6,0.000,0.050,3358,2306,2187,0,0,0,0,0,0,28.83,25.13,28.83
$GC,11932,0.48,146.0,921.8,10.6,578,11933,0.00,0.00,0.00,0.000,6,0.000,0.000,3358,2301,2185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12231,0.48,146.0,891.1,10.1,588,12236,0.00,2.30,0.00,0.000,4,0.000,0.069,3358,3707,2185,0,0,0,0,0,0,28.83,25.63,28.83
$GC,12254,0.48,146.0,891.1,10.1,588,12260,0.00,2.22,0.00,0.000,6,0.000,0.051,3369,2294,2185,0,0,0,0,0,0,28.83,25.70,28.83
$GC,12561,0.48,146.0,856.5,10.3,599,12562,0.00,0.00,0.00,0.000,6,0.000,0.000,3368,2289,2184,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12861,0.48,146.0,825.2,10.6,609,12867,0.00,2.30,0.00,0.000,4,0.000,0.070,3369,3702,2184,0,0,0,0,0,0,28.83,25.83,28.83
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$STATE,22488,end climb,SURFACE_DEPTH_REACHED
$STATE,22488,begin surface coast
$FINISH,0.9,1.001036
$STATE,22538,end surface coast,CONTROL_FINISHED_OK
$STATE,22538,begin surface
$SM_CCo,22617,0.00,0.000,0,0,1181,395.67
$SM_GC,2.09,8.48,0.20,0.00,0.032,0.071,0.000,116,2171,1181,-9.48,0.96,395.67,0,0,0,0,0,0,25.68,25.64,28.83
$IRIDIUM_FIX,4700.70,-12612.84,141012,151522
$TT8_MAMPS,0.027713,0.027713
$HUMID,43.81
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,19.40
$XPDR_PINGS,1
$24V_AH,23.1,21.516
$10V_AH,10.2,18.177
$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,21.875,190.550,468.575,0.000,0.000,25.274,34.526,185.055,0.250,0.000,19.559,3345.433,15772.998,581.600,2893.724,395.588,0.000,1994.688,0.000,2622.215,0.000,0.535,0.000
$DEVICE_MAMPS,219.555,83.385,1191.105,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,875.152,744.232,527.372,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296888
$DATA_FILE_SIZE,73491,1272
$CAP_FILE_SIZE,188438,0
$CFSIZE,260165632,245596160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.027,  1.6,1
$GPS,151012,043236,4723.590,-12608.048,34,1.2,34,18.6