version: 66.11
glider: 187
mission: 2
dive: 748
start: 3 30 113 15 30 4
data:
$ID,187
$MISSION,2
$DIVE,748
$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,470
$T_MISSION,520
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,10
$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,140
$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,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,3
$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,-1589908
$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,2200
$C_ROLL_CLIMB,2325
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,28
$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,20
$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
$GPS1,300313,152236,4745.519,-12522.717,31,1.1,31,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-78.8
$GPS2,300313,152930,4745.525,-12522.750,11,1.3,16,18.7
$SPEED_LIMITS,0.122,0.210
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$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,198.6,148984,-13.3,-7.021,-18.50
$D_GRID,874
$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,-0.47,-136.3,0.0,0.0,0,80,0.00,0.00,-60.78,0.000,2,0.000,0.000,114,2201,2637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.47,-136.3,3.5,-3.3,11,116,11.65,2.40,-15.12,0.000,4,0.214,0.076,3023,3607,3352,0,0,0,0,0,0,24.46,25.25,26.22
$GC,301,-0.47,-136.3,42.4,-15.1,52,308,0.00,2.20,0.00,0.000,6,0.000,0.044,3022,2193,3356,0,0,0,0,0,0,28.83,25.46,28.83
$GC,615,-0.47,-136.3,88.0,-13.1,113,621,0.00,2.20,0.00,0.000,4,0.000,0.050,3023,786,3356,0,0,0,0,0,0,28.83,25.29,28.83
$GC,634,-0.47,-136.3,90.6,-12.3,116,641,0.00,2.22,0.00,0.000,6,0.000,0.050,3013,2199,3356,0,0,0,0,0,0,28.83,25.30,28.83
$GC,957,-0.47,-136.3,126.6,-10.8,171,964,0.00,2.22,0.00,0.000,4,0.000,0.050,3013,785,3356,0,0,0,0,0,0,28.83,25.29,28.83
$GC,1045,-0.47,-136.3,137.1,-11.5,180,1054,0.15,2.30,0.00,0.000,6,0.131,0.050,3045,2200,3356,0,0,0,0,0,0,25.13,25.29,28.83
$GC,1356,-0.47,-136.3,166.9,-8.8,201,1357,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2200,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1655,-0.47,-136.3,189.3,-7.5,221,1656,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2200,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1970,-0.47,-136.3,217.3,-9.1,239,1976,0.00,2.35,0.00,0.000,4,0.000,0.062,3037,3609,3356,0,0,0,0,0,0,28.83,25.09,28.83
$GC,2052,-0.47,-136.3,224.8,-9.4,243,2056,0.00,2.25,0.00,0.000,6,0.000,0.044,3037,2168,3356,0,0,0,0,0,0,28.83,25.50,28.83
$GC,2370,-0.47,-136.3,256.0,-10.0,259,2376,0.00,2.40,0.00,0.000,4,0.000,0.062,3026,3602,3356,0,0,0,0,0,0,28.83,25.07,28.83
$GC,2398,-0.47,-136.3,257.9,-9.9,260,2402,0.00,2.25,0.00,0.000,6,0.000,0.042,3026,2201,3356,0,0,0,0,0,0,28.83,25.48,28.83
$GC,2703,-0.47,-136.3,287.6,-8.9,275,2704,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2197,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3000,-0.47,-136.3,312.1,-8.1,290,3006,0.00,2.28,0.00,0.000,4,0.000,0.050,3026,794,3356,0,0,0,0,0,0,28.83,25.22,28.83
$GC,3028,-0.47,-136.3,313.8,-8.2,291,3032,0.00,2.30,0.00,0.000,6,0.000,0.051,3018,2206,3356,0,0,0,0,0,0,28.83,25.22,28.83
$GC,3331,-0.47,-136.3,341.8,-9.0,306,3336,0.00,2.33,0.00,0.000,4,0.000,0.063,3008,3603,3356,0,0,0,0,0,0,28.83,25.04,28.83
$GC,3358,-0.47,-136.3,343.6,-9.0,307,3363,0.12,2.25,0.00,0.000,6,0.129,0.044,3044,2206,3356,0,0,0,0,0,0,25.27,25.44,28.83
$GC,3662,-0.47,-136.3,364.2,-6.3,322,3666,0.00,2.22,0.00,0.000,4,0.000,0.052,3045,790,3356,0,0,0,0,0,0,28.83,25.20,28.83
$GC,3699,-0.47,-136.3,366.1,-6.4,323,3708,0.00,2.30,0.00,0.000,6,0.000,0.051,3038,2200,3357,0,0,0,0,0,0,28.83,25.21,28.83
$GC,4012,-0.47,-136.3,390.1,-8.0,339,4016,0.00,2.30,0.00,0.000,4,0.000,0.064,3028,3609,3356,0,0,0,0,0,0,28.83,25.00,28.83
$GC,4061,-0.47,-136.3,394.3,-8.5,341,4066,0.00,2.25,0.00,0.000,6,0.000,0.045,3027,2203,3357,0,0,0,0,0,0,28.83,25.43,28.83
$GC,4381,-0.47,-136.3,422.4,-9.1,353,4382,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2201,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4680,-0.47,-136.3,447.4,-8.1,363,4686,0.00,2.35,0.00,0.000,4,0.000,0.064,3018,3603,3355,0,0,0,0,0,0,28.83,24.98,28.83
$GC,4718,-0.47,-136.3,449.9,-8.1,364,4722,0.00,2.28,0.00,0.000,6,0.000,0.044,3018,2192,3355,0,0,0,0,0,0,28.83,25.41,28.83
$GC,5032,-0.47,-136.3,477.6,-8.7,375,5033,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2189,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5330,-0.47,-136.3,503.1,-8.5,385,5336,0.00,2.25,0.00,0.000,4,0.000,0.052,3018,803,3354,0,0,0,0,0,0,28.83,25.16,28.83
$GC,5368,-0.47,-136.3,505.9,-8.7,386,5373,0.12,2.30,0.00,0.000,6,0.132,0.052,3045,2208,3354,0,0,0,0,0,0,25.06,25.16,28.83
$GC,5683,-0.47,-136.3,529.0,-7.1,397,5687,0.00,2.33,0.00,0.000,4,0.000,0.065,3037,3604,3354,0,0,0,0,0,0,28.83,24.95,28.83
$GC,5759,-0.47,-136.3,533.4,-7.1,399,5764,0.00,2.28,0.00,0.000,6,0.000,0.044,3037,2193,3353,0,0,0,0,0,0,28.83,25.39,28.83
$GC,6062,-0.47,-136.3,556.0,-6.8,409,6063,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2191,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6363,-0.47,-136.3,575.7,-6.8,419,6364,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2191,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6661,-0.47,-136.3,596.7,-7.0,429,6668,0.00,2.38,0.00,0.000,4,0.000,0.064,3027,3607,3352,0,0,0,0,0,0,28.83,24.91,28.83
$GC,6731,-0.47,-136.3,601.1,-7.2,431,6737,0.00,2.28,0.00,0.000,6,0.000,0.046,3027,2200,3352,0,0,0,0,0,0,28.83,25.37,28.83
$GC,7051,-0.47,-136.3,626.1,-8.0,442,7053,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2199,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7353,-0.47,-136.3,647.2,-7.2,452,7357,0.00,2.38,0.00,0.000,4,0.000,0.066,3017,3610,3352,0,0,0,0,0,0,28.83,24.89,28.83
$GC,7411,-0.47,-136.3,651.6,-7.4,454,7417,0.00,2.30,0.00,0.000,6,0.000,0.046,3017,2193,3352,0,0,0,0,0,0,28.83,25.34,28.83
$GC,7741,-0.47,-136.3,677.7,-8.0,465,7747,0.00,2.38,0.00,0.000,4,0.000,0.065,3008,3604,3351,0,0,0,0,0,0,28.83,24.89,28.83
$GC,7772,-0.47,-136.3,680.3,-8.1,466,7778,0.08,2.25,0.00,0.000,6,0.103,0.046,3039,2210,3351,0,0,0,0,0,0,25.15,25.34,28.83
$GC,8102,-0.47,-136.3,702.6,-6.4,477,8107,0.00,2.28,0.00,0.000,4,0.000,0.053,3039,802,3351,0,0,0,0,0,0,28.83,25.09,28.83
$GC,8132,-0.47,-136.3,704.6,-6.5,478,8137,0.00,2.28,0.00,0.000,6,0.000,0.054,3033,2201,3351,0,0,0,0,0,0,28.83,25.09,28.83
$GC,8462,-0.47,-136.3,724.0,-5.4,489,8467,0.00,2.35,0.00,0.000,4,0.000,0.066,3023,3607,3351,0,0,0,0,0,0,28.83,24.87,28.83
$GC,8560,-0.47,-136.3,729.2,-5.6,492,8564,0.00,2.30,0.00,0.000,6,0.000,0.046,3023,2189,3351,0,0,0,0,0,0,28.83,25.34,28.83
$GC,8873,-0.47,-136.3,749.4,-6.7,503,8874,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2187,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9173,-0.47,-136.3,771.6,-7.8,513,9174,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2186,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9472,-0.47,-136.3,795.2,-7.7,523,9478,0.00,2.40,0.00,0.000,4,0.000,0.066,3013,3607,3350,0,0,0,0,0,0,28.83,24.83,28.83
$GC,9540,-0.47,-136.3,800.2,-8.1,525,9544,0.00,2.30,0.00,0.000,6,0.000,0.047,3013,2193,3350,0,0,0,0,0,0,28.83,25.29,28.83
$GC,9854,-0.47,-136.3,823.7,-6.8,536,9858,0.00,2.25,0.00,0.000,4,0.000,0.054,3013,802,3350,0,0,0,0,0,0,28.83,25.06,28.83
$GC,9891,-0.47,-136.3,825.8,-6.8,537,9895,0.12,2.30,0.00,0.000,6,0.134,0.054,3042,2201,3350,0,0,0,0,0,0,24.94,25.05,28.83
$GC,10204,-0.47,-136.3,844.0,-5.9,548,10209,0.00,2.38,0.00,0.000,4,0.000,0.067,3034,3612,3349,0,0,0,0,0,0,28.83,24.81,28.83
$GC,10245,-0.47,-136.3,845.9,-6.1,549,10249,0.00,2.30,0.00,0.000,6,0.000,0.047,3033,2197,3349,0,0,0,0,0,0,28.83,25.29,28.83
$GC,10564,-0.47,-136.3,864.1,-5.2,560,10569,0.00,2.28,0.00,0.000,4,0.000,0.054,3033,803,3349,0,0,0,0,0,0,28.83,25.02,28.83
$GC,10594,-0.47,-136.3,866.0,-5.4,561,10599,0.00,2.30,0.00,0.000,6,0.000,0.054,3029,2202,3350,0,0,0,0,0,0,28.83,25.03,28.83
$STATE,10741,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10741,begin apogee
$GC,10749,-0.22,0.0,875.4,-6.1,566,10877,0.28,0.00,124.50,1.079,6,0.107,0.000,3124,2337,2794,0,0,0,0,0,0,25.46,28.83,22.73
$STATE,10878,end apogee,CONTROL_FINISHED_OK
$STATE,10878,begin climb
$GC,10881,0.47,136.3,879.0,0.0,570,11021,0.62,2.53,130.93,1.046,4,0.071,0.066,3345,3724,2236,0,0,0,0,0,0,24.51,23.78,22.15
$GC,11055,0.49,186.0,873.4,5.0,576,11107,0.00,2.35,46.75,1.019,6,0.000,0.047,3355,2335,2036,0,0,0,0,0,0,28.83,24.47,22.38
$GC,11415,0.49,186.0,837.5,9.6,589,11421,0.00,2.33,0.00,0.000,4,0.000,0.057,3365,912,2026,0,0,0,0,0,0,28.83,25.39,28.83
$GC,11506,0.49,186.0,828.8,9.7,592,11511,0.00,2.30,0.00,0.000,6,0.000,0.056,3365,2318,2025,0,0,0,0,0,0,28.83,25.41,28.83
$GC,11836,0.49,186.0,794.0,10.9,603,11841,0.00,2.38,0.00,0.000,4,0.000,0.068,3365,3734,2025,0,0,0,0,0,0,28.83,25.29,28.83
$GC,11874,0.49,186.0,790.4,11.2,604,11880,0.00,2.30,0.00,0.000,6,0.000,0.049,3376,2326,2024,0,0,0,0,0,0,28.83,25.54,28.83
$GC,12195,0.49,186.0,754.8,10.3,615,12196,0.00,0.00,0.00,0.000,6,0.000,0.000,3376,2322,2024,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12496,0.49,186.0,727.6,8.5,625,12497,0.00,0.00,0.00,0.000,6,0.000,0.000,3375,2322,2024,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12795,0.49,186.0,704.0,7.7,635,12796,0.00,0.00,0.00,0.000,6,0.000,0.000,3375,2322,2023,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13095,0.49,186.0,678.8,9.2,645,13096,0.00,0.00,0.00,0.000,6,0.000,0.000,3376,2322,2023,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13396,0.49,186.0,649.4,9.9,655,13401,0.00,2.38,0.00,0.000,4,0.000,0.068,3376,3732,2022,0,0,0,0,0,0,28.83,25.13,28.83
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$STATE,21760,end climb,SURFACE_DEPTH_REACHED
$STATE,21760,begin surface coast
$FINISH,1.4,1.002237
$STATE,21802,end surface coast,CONTROL_FINISHED_OK
$STATE,21802,begin surface
$SM_CCo,21882,0.00,0.000,0,0,1052,427.31
$SM_GC,2.09,8.38,0.20,0.00,0.025,0.072,0.000,111,2191,1052,-9.46,0.93,427.31,0,0,0,0,0,0,25.82,25.89,28.83
$IRIDIUM_FIX,4732.49,-12519.22,300313,090942
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.46
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,19.10
$XPDR_PINGS,4
$24V_AH,22.1,105.202
$10V_AH,9.7,79.093
$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,22.050,199.025,515.500,0.000,0.000,27.473,37.494,203.732,1.000,0.000,17.456,3313.867,15422.920,755.050,2353.447,446.153,0.000,1928.937,0.000,2067.837,0.000,0.536,0.000
$DEVICE_MAMPS,214.200,85.680,1079.415,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,891.587,702.466,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296888
$DATA_FILE_SIZE,70246,1297
$CAP_FILE_SIZE,179312,0
$CFSIZE,260165632,194564096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.089, 22.9,1
$GPS,300313,213606,4743.755,-12525.376,42,1.2,42,18.7