version: 66.11
glider: 187
mission: 2
dive: 152
start: 10 16 112 6 38 27
data:
$ID,187
$MISSION,2
$DIVE,152
$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,-1587817.5
$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,41
$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
$GPS1,161012,063135,4730.821,-12551.538,32,0.9,32,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-73.4
$GPS2,161012,063755,4730.709,-12551.562,11,1.8,11,18.7
$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,32.1,84453,-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,-146.0,0.0,0.0,0,93,0.00,0.00,-74.45,0.000,2,0.000,0.000,115,2164,2849,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.48,-146.0,3.7,-5.6,12,126,11.27,2.25,-10.32,0.000,4,0.220,0.060,3034,770,3392,0,0,0,0,0,0,25.25,25.60,25.95
$GC,243,-0.48,-146.0,36.9,-14.6,38,252,0.00,2.25,0.00,0.000,6,0.000,0.051,3025,2173,3396,0,0,0,0,0,0,28.83,25.67,28.83
$GC,568,-0.48,-146.0,82.9,-13.0,99,574,0.00,2.22,0.00,0.000,4,0.000,0.061,3015,3584,3399,0,0,0,0,0,0,28.83,25.79,28.83
$GC,684,-0.48,-146.0,98.4,-12.3,121,691,0.00,2.15,0.00,0.000,6,0.000,0.042,3014,2172,3400,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1005,-0.48,-146.0,137.1,-12.3,166,1007,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2168,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1306,-0.48,-146.0,173.5,-11.4,186,1310,0.00,2.15,0.00,0.000,4,0.000,0.050,3014,777,3399,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1331,-0.48,-146.0,175.5,-11.6,187,1339,0.12,2.15,0.00,0.000,6,0.145,0.050,3039,2179,3399,0,0,0,0,0,0,25.89,26.01,28.83
$GC,1639,-0.48,-146.0,206.8,-9.8,207,1644,0.00,2.17,0.00,0.000,4,0.000,0.063,3031,3580,3399,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1721,-0.48,-146.0,215.1,-10.3,211,1725,0.00,2.12,0.00,0.000,6,0.000,0.043,3031,2174,3399,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2034,-0.48,-146.0,246.0,-9.6,227,2039,0.00,2.22,0.00,0.000,4,0.000,0.063,3020,3589,3398,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2097,-0.48,-146.0,251.9,-10.0,230,2101,0.00,2.15,0.00,0.000,6,0.000,0.044,3020,2173,3399,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2409,-0.48,-146.0,284.6,-10.4,246,2410,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2168,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2709,-0.48,-146.0,315.7,-10.0,261,2715,0.00,2.25,0.00,0.000,4,0.000,0.063,3010,3584,3397,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2772,-0.48,-146.0,321.9,-10.3,264,2777,0.12,2.15,0.00,0.000,6,0.135,0.044,3046,2166,3397,0,0,0,0,0,0,26.04,26.17,28.83
$GC,3085,-0.48,-146.0,347.2,-8.0,280,3091,0.00,2.25,0.00,0.000,4,0.000,0.064,3037,3584,3396,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3113,-0.48,-146.0,348.7,-7.9,281,3117,0.00,2.15,0.00,0.000,6,0.000,0.045,3037,2168,3396,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3420,-0.48,-146.0,376.9,-9.2,296,3426,0.00,2.22,0.00,0.000,4,0.000,0.064,3027,3586,3395,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3468,-0.48,-146.0,380.7,-9.4,298,3472,0.00,2.15,0.00,0.000,6,0.000,0.045,3027,2168,3395,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3776,-0.48,-146.0,412.7,-10.2,311,3777,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2165,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4075,-0.48,-146.0,442.6,-9.7,321,4081,0.00,2.22,0.00,0.000,4,0.000,0.065,3016,3581,3394,0,0,0,0,0,0,28.83,26.12,28.83
$GC,4113,-0.48,-146.0,445.5,-9.8,322,4117,0.00,2.15,0.00,0.000,6,0.000,0.046,3016,2166,3394,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4430,-0.48,-146.0,478.7,-10.1,333,4431,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2164,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4731,-0.48,-146.0,509.1,-9.8,343,4732,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2164,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5030,-0.48,-146.0,537.5,-9.3,353,5036,0.00,2.25,0.00,0.000,4,0.000,0.065,3006,3586,3391,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5078,-0.48,-146.0,540.5,-9.4,354,5083,0.12,2.15,0.00,0.000,6,0.135,0.047,3042,2169,3391,0,0,0,0,0,0,26.10,26.23,28.83
$GC,5386,-0.48,-146.0,565.9,-7.3,364,5387,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2167,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5685,-0.48,-146.0,586.9,-6.9,374,5691,0.00,2.25,0.00,0.000,4,0.000,0.066,3034,3583,3391,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5775,-0.48,-146.0,593.5,-7.2,377,5779,0.00,2.17,0.00,0.000,6,0.000,0.047,3033,2170,3390,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6108,-0.48,-146.0,618.0,-7.4,388,6113,0.00,2.22,0.00,0.000,4,0.000,0.067,3023,3583,3390,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6160,-0.48,-146.0,620.6,-7.7,389,6167,0.00,2.15,0.00,0.000,6,0.000,0.047,3023,2165,3390,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6468,-0.48,-146.0,648.1,-8.5,400,6473,0.00,2.22,0.00,0.000,4,0.000,0.066,3013,3580,3389,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6490,-0.48,-146.0,648.1,-8.5,400,6497,0.00,2.15,0.00,0.000,6,0.000,0.047,3013,2167,3389,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6798,-0.48,-146.0,676.1,-8.1,411,6804,0.00,2.22,0.00,0.000,4,0.000,0.067,3003,3581,3389,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6835,-0.48,-146.0,678.6,-8.1,412,6840,0.12,2.15,0.00,0.000,6,0.136,0.047,3039,2173,3388,0,0,0,0,0,0,26.09,26.23,28.83
$GC,7154,-0.48,-146.0,699.7,-6.4,423,7160,0.00,2.22,0.00,0.000,4,0.000,0.067,3031,3584,3388,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7237,-0.48,-146.0,703.9,-6.8,425,7243,0.00,2.15,0.00,0.000,6,0.000,0.047,3031,2167,3388,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7544,-0.48,-146.0,729.3,-7.6,436,7549,0.00,2.28,0.00,0.000,4,0.000,0.067,3021,3587,3388,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7581,-0.48,-146.0,731.8,-7.7,437,7585,0.00,2.17,0.00,0.000,6,0.000,0.047,3021,2170,3387,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7903,-0.48,-146.0,759.7,-8.3,448,7909,0.00,2.25,0.00,0.000,4,0.000,0.067,3010,3585,3387,0,0,0,0,0,0,28.83,26.11,28.83
$GC,7934,-0.48,-146.0,762.2,-8.3,449,7939,0.00,2.15,0.00,0.000,6,0.000,0.047,3010,2177,3387,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8263,-0.48,-146.0,790.7,-8.5,460,8265,0.12,0.00,0.00,0.000,6,0.145,0.000,3046,2174,3387,0,0,0,0,0,0,26.21,28.83,28.83
$GC,8564,-0.48,-146.0,810.2,-6.2,470,8569,0.00,2.22,0.00,0.000,4,0.000,0.068,3037,3583,3386,0,0,0,0,0,0,28.83,26.11,28.83
$GC,8667,-0.48,-146.0,816.1,-6.7,473,8671,0.00,2.17,0.00,0.000,6,0.000,0.049,3037,2166,3386,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8979,-0.48,-146.0,838.7,-6.8,484,8985,0.00,2.25,0.00,0.000,4,0.000,0.068,3027,3587,3385,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9044,-0.48,-146.0,843.1,-7.1,486,9050,0.00,2.15,0.00,0.000,6,0.000,0.048,3027,2174,3385,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9370,-0.48,-146.0,867.2,-7.3,497,9375,0.00,2.28,0.00,0.000,4,0.000,0.068,3017,3591,3385,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9437,-0.48,-146.0,871.8,-7.5,499,9441,0.00,2.17,0.00,0.000,6,0.000,0.049,3016,2166,3385,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9755,-0.48,-146.0,896.9,-7.5,510,9760,0.00,2.22,0.00,0.000,4,0.000,0.067,3007,3578,3384,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9822,-0.48,-146.0,901.6,-7.8,512,9827,0.12,2.15,0.00,0.000,6,0.134,0.049,3043,2171,3384,0,0,0,0,0,0,26.08,26.22,28.83
$GC,10141,-0.48,-146.0,921.2,-5.7,523,10146,0.00,2.22,0.00,0.000,4,0.000,0.068,3035,3582,3384,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10194,-0.48,-146.0,923.4,-5.9,524,10201,0.00,2.15,0.00,0.000,6,0.000,0.049,3035,2170,3384,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10501,-0.48,-146.0,945.1,-6.7,535,10506,0.00,2.22,0.00,0.000,4,0.000,0.069,3025,3577,3383,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10591,-0.48,-146.0,951.7,-7.3,538,10596,0.00,2.12,0.00,0.000,6,0.000,0.050,3025,2182,3383,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10920,-0.48,-146.0,974.3,-6.6,549,10926,0.00,2.22,0.00,0.000,4,0.000,0.068,3015,3588,3383,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10950,-0.48,-146.0,976.4,-6.6,550,10956,0.00,2.17,0.00,0.000,6,0.000,0.049,3015,2170,3383,0,0,0,0,0,0,28.83,26.21,28.83
$STATE,11157,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11158,begin apogee
$GC,11165,-0.22,0.0,992.0,-7.6,557,11296,0.30,0.00,125.62,1.194,6,0.116,0.000,3118,2312,2793,0,0,0,0,0,0,26.03,28.83,23.70
$STATE,11299,end apogee,CONTROL_FINISHED_OK
$STATE,11299,begin climb
$GC,11302,0.48,146.0,995.4,0.0,561,11445,0.68,2.47,132.75,1.162,4,0.081,0.057,3357,898,2197,0,0,0,0,0,0,24.58,23.83,23.11
$GC,11459,0.48,146.0,985.7,7.5,567,11464,0.00,2.35,0.00,0.000,6,0.000,0.054,3357,2286,2194,0,0,0,0,0,0,28.83,24.08,28.83
$GC,11788,0.48,146.0,950.4,10.8,578,11794,0.00,2.35,0.00,0.000,4,0.000,0.069,3357,3715,2187,0,0,0,0,0,0,28.83,25.13,28.83
$GC,11896,0.48,146.0,939.5,11.8,581,11901,0.00,2.25,0.00,0.000,6,0.000,0.050,3368,2311,2185,0,0,0,0,0,0,28.83,25.34,28.83
$GC,12204,0.48,146.0,903.6,10.9,591,12209,0.00,2.30,0.00,0.000,4,0.000,0.069,3368,3715,2184,0,0,0,0,0,0,28.83,25.54,28.83
$GC,12247,0.48,146.0,900.0,11.2,592,12251,0.00,2.25,0.00,0.000,6,0.000,0.050,3379,2295,2184,0,0,0,0,0,0,28.83,25.63,28.83
$GC,12559,0.48,146.0,862.9,11.3,603,12565,0.00,2.30,0.00,0.000,4,0.000,0.069,3379,3716,2184,0,0,0,0,0,0,28.83,25.71,28.83
$GC,12602,0.48,146.0,859.1,11.6,604,12607,0.15,2.22,0.00,0.000,6,0.164,0.050,3351,2300,2183,0,0,0,0,0,0,25.60,25.79,28.83
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$STATE,22152,end climb,SURFACE_DEPTH_REACHED
$STATE,22154,begin surface coast
$FINISH,1.1,1.024134
$STATE,22196,end surface coast,CONTROL_FINISHED_OK
$STATE,22197,begin surface
$SM_CCo,22276,0.00,0.000,0,0,1420,337.04
$SM_GC,1.79,8.40,0.17,0.00,0.034,0.080,0.000,141,2170,1420,-9.46,1.30,337.04,0,0,0,0,0,0,25.82,25.79,28.83
$IRIDIUM_FIX,4716.56,-12556.72,161012,000014
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.93
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.20
$XPDR_PINGS,1
$24V_AH,23.1,22.196
$10V_AH,10.2,18.748
$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,22.100,204.500,410.050,0.000,0.000,28.326,38.485,186.319,0.250,0.000,11.943,3286.355,15491.861,524.157,2964.885,380.161,0.000,1983.165,0.000,2675.708,0.000,0.536,0.000
$DEVICE_MAMPS,220.320,82.620,1194.165,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,855.688,723.539,508.469,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70194,1244
$CAP_FILE_SIZE,190261,0
$CFSIZE,260165632,245166080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.034,123.7,1
$GPS,161012,125135,4732.611,-12547.119,74,1.4,74,18.7