version: 66.11
glider: 187
mission: 2
dive: 156
start: 10 17 112 8 5 56
data:
$ID,187
$MISSION,2
$DIVE,156
$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,-1587822.5
$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,45
$R_STBD_OVSHOOT,24
$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
$GPS1,171012,075905,4738.711,-12534.563,31,1.2,31,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-77.4
$GPS2,171012,080524,4738.795,-12534.530,10,1.2,15,18.7
$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,17.0,58574,-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,-74.93,0.000,2,0.000,0.000,114,2168,2925,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.48,-146.0,3.8,-5.2,12,125,11.20,2.28,-8.68,0.000,4,0.217,0.070,3028,3597,3392,0,0,0,0,0,0,25.27,25.61,26.01
$GC,360,-0.48,-146.0,59.9,-13.9,61,366,0.00,2.17,0.00,0.000,6,0.000,0.043,3027,2177,3397,0,0,0,0,0,0,28.83,25.81,28.83
$GC,672,-0.48,-146.0,104.5,-13.4,122,679,0.00,2.15,0.00,0.000,4,0.000,0.050,3027,768,3399,0,0,0,0,0,0,28.83,25.86,28.83
$GC,752,-0.48,-146.0,114.2,-11.7,137,759,0.00,2.17,0.00,0.000,6,0.000,0.049,3017,2184,3399,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1074,-0.48,-146.0,154.8,-12.4,164,1080,0.00,2.15,0.00,0.000,4,0.000,0.049,3018,774,3399,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1105,-0.48,-146.0,158.5,-12.1,166,1110,0.12,2.15,0.00,0.000,6,0.145,0.049,3042,2178,3399,0,0,0,0,0,0,25.85,25.96,28.83
$GC,1414,-0.48,-146.0,186.5,-8.6,186,1420,0.00,2.17,0.00,0.000,4,0.000,0.062,3033,3581,3399,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1489,-0.48,-146.0,192.8,-8.6,191,1492,0.00,2.15,0.00,0.000,6,0.000,0.043,3033,2170,3399,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1801,-0.48,-146.0,222.4,-9.7,208,1805,0.00,2.15,0.00,0.000,4,0.000,0.050,3033,767,3399,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1831,-0.48,-146.0,224.5,-9.8,209,1835,0.00,2.15,0.00,0.000,6,0.000,0.050,3025,2176,3399,0,0,0,0,0,0,28.83,26.05,28.83
$GC,2138,-0.48,-146.0,255.7,-9.6,224,2144,0.00,2.17,0.00,0.000,4,0.000,0.063,3014,3584,3398,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2220,-0.48,-146.0,263.8,-10.2,228,2224,0.00,2.15,0.00,0.000,6,0.000,0.044,3014,2164,3398,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2533,-0.48,-146.0,296.1,-10.5,244,2534,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2161,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2833,-0.48,-146.0,327.1,-10.3,259,2838,0.00,2.22,0.00,0.000,4,0.000,0.063,3004,3584,3396,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2873,-0.48,-146.0,331.4,-10.5,261,2879,0.12,2.12,0.00,0.000,6,0.138,0.044,3039,2178,3396,0,0,0,0,0,0,26.01,26.17,28.83
$GC,3193,-0.48,-146.0,360.8,-9.4,277,3194,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2172,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3494,-0.48,-146.0,388.5,-9.3,292,3499,0.00,2.20,0.00,0.000,4,0.000,0.064,3031,3577,3396,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3521,-0.48,-146.0,390.4,-9.5,293,3525,0.00,2.12,0.00,0.000,6,0.000,0.046,3031,2173,3395,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3838,-0.48,-146.0,422.5,-9.8,305,3844,0.00,2.15,0.00,0.000,4,0.000,0.052,3030,763,3394,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3870,-0.48,-146.0,425.5,-9.8,306,3875,0.00,2.17,0.00,0.000,6,0.000,0.052,3023,2183,3395,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4193,-0.48,-146.0,457.9,-9.9,317,4198,0.00,2.20,0.00,0.000,4,0.000,0.064,3012,3587,3394,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4266,-0.48,-146.0,464.1,-10.2,319,4270,0.00,2.15,0.00,0.000,6,0.000,0.046,3013,2164,3393,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4578,-0.48,-146.0,497.3,-9.9,330,4579,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2162,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4878,-0.48,-146.0,526.9,-10.0,340,4879,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2162,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5178,-0.48,-146.0,555.9,-9.4,350,5183,0.00,2.25,0.00,0.000,4,0.000,0.066,3001,3582,3391,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5231,-0.48,-146.0,558.7,-9.4,351,5239,0.15,2.12,0.00,0.000,6,0.130,0.047,3045,2171,3391,0,0,0,0,0,0,26.05,26.21,28.83
$GC,5538,-0.48,-146.0,583.7,-7.4,362,5539,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2171,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5838,-0.48,-146.0,606.4,-7.6,372,5844,0.00,2.25,0.00,0.000,4,0.000,0.067,3037,3584,3390,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5898,-0.48,-146.0,611.2,-7.7,374,5904,0.00,2.15,0.00,0.000,6,0.000,0.047,3037,2171,3390,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6228,-0.48,-146.0,636.1,-7.4,385,6229,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2169,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6528,-0.48,-146.0,658.0,-7.4,395,6533,0.00,2.25,0.00,0.000,4,0.000,0.067,3027,3591,3389,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6588,-0.48,-146.0,662.5,-7.4,397,6592,0.00,2.17,0.00,0.000,6,0.000,0.048,3026,2174,3389,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6920,-0.48,-146.0,687.6,-7.4,408,6926,0.00,2.20,0.00,0.000,4,0.000,0.067,3017,3577,3388,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6953,-0.48,-146.0,689.9,-7.5,409,6957,0.00,2.12,0.00,0.000,6,0.000,0.048,3017,2175,3388,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7276,-0.48,-146.0,715.3,-7.8,420,7281,0.00,2.22,0.00,0.000,4,0.000,0.067,3007,3587,3387,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7305,-0.48,-146.0,717.7,-7.8,421,7311,0.12,2.15,0.00,0.000,6,0.133,0.048,3043,2177,3387,0,0,0,0,0,0,26.07,26.21,28.83
$GC,7635,-0.48,-146.0,737.2,-5.5,432,7637,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2174,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7935,-0.48,-146.0,753.4,-5.3,442,7941,0.00,2.22,0.00,0.000,4,0.000,0.068,3035,3586,3386,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7978,-0.48,-146.0,755.1,-5.4,443,7982,0.00,2.15,0.00,0.000,6,0.000,0.048,3034,2172,3386,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8290,-0.48,-146.0,774.4,-6.0,454,8296,0.00,2.22,0.00,0.000,4,0.000,0.067,3025,3583,3386,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8329,-0.48,-146.0,776.3,-6.2,455,8333,0.00,2.15,0.00,0.000,6,0.000,0.048,3025,2171,3386,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8646,-0.48,-146.0,800.2,-7.5,466,8647,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2168,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8946,-0.48,-146.0,822.8,-7.6,476,8952,0.00,2.28,0.00,0.000,4,0.000,0.068,3014,3589,3385,0,0,0,0,0,0,28.83,26.07,28.83
$GC,8999,-0.48,-146.0,825.3,-7.9,477,9006,0.00,2.15,0.00,0.000,6,0.000,0.048,3014,2174,3385,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9307,-0.48,-146.0,851.1,-7.8,488,9312,0.00,2.22,0.00,0.000,4,0.000,0.068,3004,3584,3385,0,0,0,0,0,0,28.83,26.07,28.83
$GC,9339,-0.48,-146.0,853.6,-7.9,489,9344,0.12,2.15,0.00,0.000,6,0.135,0.048,3040,2173,3385,0,0,0,0,0,0,26.06,26.20,28.83
$GC,9663,-0.48,-146.0,873.8,-5.9,500,9668,0.00,2.22,0.00,0.000,4,0.000,0.069,3032,3580,3384,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9694,-0.48,-146.0,875.7,-6.0,501,9698,0.00,2.15,0.00,0.000,6,0.000,0.049,3031,2172,3384,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10018,-0.48,-146.0,897.8,-6.8,512,10023,0.00,2.22,0.00,0.000,4,0.000,0.069,3022,3581,3384,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10047,-0.48,-146.0,899.8,-6.7,513,10052,0.00,2.17,0.00,0.000,6,0.000,0.049,3022,2166,3384,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10377,-0.48,-146.0,921.5,-6.8,524,10383,0.00,2.28,0.00,0.000,4,0.000,0.069,3012,3581,3383,0,0,0,0,0,0,28.83,26.05,28.83
$GC,10407,-0.48,-146.0,923.7,-7.0,525,10413,0.00,2.15,0.00,0.000,6,0.000,0.049,3012,2170,3383,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10737,-0.48,-146.0,949.1,-7.6,536,10738,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2167,3382,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11037,-0.48,-146.0,972.4,-7.8,546,11043,0.00,2.25,0.00,0.000,4,0.000,0.068,3002,3581,3383,0,0,0,0,0,0,28.83,26.05,28.83
$GC,11090,-0.48,-146.0,974.7,-7.9,547,11098,0.15,2.15,0.00,0.000,6,0.127,0.049,3046,2168,3382,0,0,0,0,0,0,26.03,26.18,28.83
$STATE,11334,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11334,begin apogee
$GC,11341,-0.22,0.0,990.6,-5.3,556,11472,0.22,0.00,125.20,1.194,6,0.114,0.000,3127,2313,2794,0,0,0,0,0,0,26.08,28.83,23.70
$STATE,11476,end apogee,CONTROL_FINISHED_OK
$STATE,11476,begin climb
$GC,11478,0.48,146.0,993.7,0.0,560,11619,0.65,2.47,132.75,1.162,4,0.080,0.057,3359,916,2197,0,0,0,0,0,0,24.58,23.81,23.08
$GC,11642,0.48,146.0,984.0,7.3,566,11646,0.00,2.35,0.00,0.000,6,0.000,0.055,3359,2300,2193,0,0,0,0,0,0,28.83,24.11,28.83
$GC,11965,0.48,146.0,950.5,9.9,577,11970,0.00,2.33,0.00,0.000,4,0.000,0.069,3359,3711,2187,0,0,0,0,0,0,28.83,25.11,28.83
$GC,12039,0.48,146.0,943.6,10.6,579,12045,0.00,2.25,0.00,0.000,6,0.000,0.050,3370,2304,2186,0,0,0,0,0,0,28.83,25.27,28.83
$GC,12354,0.48,146.0,908.3,10.9,590,12360,0.00,2.33,0.00,0.000,4,0.000,0.069,3369,3722,2185,0,0,0,0,0,0,28.83,25.51,28.83
$GC,12393,0.48,146.0,904.8,11.2,591,12398,0.12,2.25,0.00,0.000,6,0.169,0.050,3351,2301,2184,0,0,0,0,0,0,25.42,25.60,28.83
$GC,12711,0.48,146.0,874.2,9.0,602,12712,0.00,0.00,0.00,0.000,6,0.000,0.000,3351,2296,2184,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13011,0.48,146.0,847.4,8.7,612,13017,0.00,2.28,0.00,0.000,4,0.000,0.069,3350,3707,2183,0,0,0,0,0,0,28.83,25.77,28.83
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$STATE,23192,end climb,SURFACE_DEPTH_REACHED
$STATE,23192,begin surface coast
$FINISH,1.2,1.007946
$STATE,23249,end surface coast,CONTROL_FINISHED_OK
$STATE,23249,begin surface
$SM_CCo,23330,0.00,0.000,0,0,1409,339.74
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$TT8_MAMPS,0.026964,0.026964
$HUMID,43.22
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,19.80
$XPDR_PINGS,0
$24V_AH,23.1,22.744
$10V_AH,10.2,19.201
$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,22.025,208.150,418.200,0.000,0.000,26.051,36.750,183.545,0.000,0.000,16.744,3444.625,16305.641,536.458,3025.698,389.428,0.000,2018.549,0.000,2734.868,0.000,0.535,0.000
$DEVICE_MAMPS,217.260,83.385,1194.165,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,901.508,761.088,544.125,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296928
$DATA_FILE_SIZE,73514,1310
$CAP_FILE_SIZE,195657,0
$CFSIZE,260165632,244817920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.010, 20.5,1
$GPS,171012,143629,4741.211,-12531.604,65,1.0,65,18.7