version: 66.11
glider: 187
mission: 2
dive: 750
start: 3 31 113 4 55 22
data:
$ID,187
$MISSION,2
$DIVE,750
$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,-1589910.6
$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,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,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
$GPS1,310313,044706,4741.522,-12528.835,74,0.9,74,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-75.0
$GPS2,310313,045448,4741.465,-12528.840,14,0.9,19,18.7
$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,211.9,138400,-13.3,-7.021,-18.50
$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,-0.47,-136.3,0.0,0.0,0,98,0.00,0.00,-78.68,0.000,2,0.000,0.000,117,2196,2657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,101,-0.47,-136.3,3.0,-1.9,14,139,11.70,2.35,-17.02,0.000,4,0.215,0.077,3024,3611,3353,0,0,0,0,0,0,24.45,25.22,26.22
$GC,334,-0.47,-136.3,37.2,-12.6,58,341,0.00,2.22,0.00,0.000,6,0.000,0.044,3024,2188,3355,0,0,0,0,0,0,28.83,25.48,28.83
$GC,647,-0.47,-136.3,77.7,-10.8,119,654,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2181,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,959,-0.47,-136.3,112.2,-11.6,180,966,0.00,2.17,0.00,0.000,4,0.000,0.050,3024,795,3355,0,0,0,0,0,0,28.83,25.29,28.83
$GC,1014,-0.47,-136.3,118.5,-10.8,190,1021,0.00,2.22,0.00,0.000,6,0.000,0.051,3014,2207,3355,0,0,0,0,0,0,28.83,25.29,28.83
$GC,1330,-0.47,-136.3,155.6,-11.8,212,1338,0.00,2.30,0.00,0.000,4,0.000,0.062,3003,3605,3356,0,0,0,0,0,0,28.83,25.11,28.83
$GC,1409,-0.47,-136.3,165.3,-12.1,220,1419,0.15,2.28,0.00,0.000,6,0.122,0.042,3048,2181,3355,0,0,0,0,0,0,25.27,25.49,28.83
$GC,1723,-0.47,-136.3,194.9,-9.1,241,1731,0.00,2.17,0.00,0.000,4,0.000,0.050,3048,793,3356,0,0,0,0,0,0,28.83,25.27,28.83
$GC,1771,-0.47,-136.3,199.2,-8.7,246,1778,0.00,2.25,0.00,0.000,6,0.000,0.051,3041,2193,3355,0,0,0,0,0,0,28.83,25.27,28.83
$GC,2094,-0.47,-136.3,225.7,-7.6,263,2100,0.00,2.38,0.00,0.000,4,0.000,0.063,3030,3624,3355,0,0,0,0,0,0,28.83,25.06,28.83
$GC,2162,-0.47,-136.3,230.3,-7.6,266,2166,0.00,2.30,0.00,0.000,6,0.000,0.043,3030,2191,3355,0,0,0,0,0,0,28.83,25.48,28.83
$GC,2465,-0.47,-136.3,254.6,-7.9,281,2466,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2187,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2764,-0.47,-136.3,277.8,-7.7,296,2770,0.00,2.25,0.00,0.000,4,0.000,0.050,3030,797,3355,0,0,0,0,0,0,28.83,25.24,28.83
$GC,2804,-0.47,-136.3,281.1,-7.9,298,2810,0.00,2.28,0.00,0.000,6,0.000,0.050,3026,2202,3355,0,0,0,0,0,0,28.83,25.24,28.83
$GC,3127,-0.47,-136.3,308.0,-8.4,314,3131,0.00,2.30,0.00,0.000,4,0.000,0.063,3015,3611,3355,0,0,0,0,0,0,28.83,25.03,28.83
$GC,3176,-0.47,-136.3,312.5,-8.6,316,3180,0.00,2.25,0.00,0.000,6,0.000,0.044,3015,2205,3355,0,0,0,0,0,0,28.83,25.45,28.83
$GC,3494,-0.47,-136.3,345.0,-10.5,332,3500,0.00,2.28,0.00,0.000,4,0.000,0.050,3015,800,3355,0,0,0,0,0,0,28.83,25.21,28.83
$GC,3536,-0.47,-136.3,349.5,-10.8,334,3541,0.10,2.28,0.00,0.000,6,0.106,0.052,3043,2199,3355,0,0,0,0,0,0,25.01,25.21,28.83
$GC,3856,-0.47,-136.3,377.1,-8.2,350,3860,0.00,2.30,0.00,0.000,4,0.000,0.064,3034,3610,3355,0,0,0,0,0,0,28.83,25.00,28.83
$GC,3924,-0.47,-136.3,382.7,-8.0,353,3930,0.00,2.30,0.00,0.000,6,0.000,0.044,3034,2187,3355,0,0,0,0,0,0,28.83,25.43,28.83
$GC,4255,-0.47,-136.3,408.5,-7.7,368,4256,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2184,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4554,-0.47,-136.3,432.4,-8.0,378,4560,0.00,2.40,0.00,0.000,4,0.000,0.063,3024,3613,3354,0,0,0,0,0,0,28.83,24.99,28.83
$GC,4592,-0.47,-136.3,434.9,-8.1,379,4596,0.00,2.28,0.00,0.000,6,0.000,0.043,3024,2198,3353,0,0,0,0,0,0,28.83,25.45,28.83
$GC,4906,-0.47,-136.3,462.0,-8.4,390,4907,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2195,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5204,-0.47,-136.3,487.2,-8.5,400,5206,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2195,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5505,-0.47,-136.3,512.0,-8.1,410,5510,0.00,2.25,0.00,0.000,4,0.000,0.051,3024,802,3352,0,0,0,0,0,0,28.83,25.15,28.83
$GC,5564,-0.47,-136.3,516.8,-8.1,412,5570,0.00,2.30,0.00,0.000,6,0.000,0.052,3016,2205,3352,0,0,0,0,0,0,28.83,25.14,28.83
$GC,5896,-0.47,-136.3,541.3,-7.1,423,5897,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2205,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6194,-0.47,-136.3,562.1,-7.1,433,6200,0.00,2.38,0.00,0.000,4,0.000,0.064,3006,3623,3352,0,0,0,0,0,0,28.83,24.93,28.83
$GC,6232,-0.47,-136.3,564.4,-7.2,434,6237,0.12,2.30,0.00,0.000,6,0.125,0.045,3042,2205,3351,0,0,0,0,0,0,25.20,25.37,28.83
$GC,6547,-0.47,-136.3,583.1,-5.9,445,6548,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2201,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6846,-0.47,-136.3,601.3,-6.0,455,6847,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2201,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7146,-0.47,-136.3,618.0,-5.3,465,7147,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2201,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7447,-0.47,-136.3,633.3,-5.0,475,7451,0.00,2.38,0.00,0.000,4,0.000,0.066,3035,3604,3350,0,0,0,0,0,0,28.83,24.88,28.83
$GC,7494,-0.47,-136.3,634.8,-5.1,476,7498,0.00,2.30,0.00,0.000,6,0.000,0.045,3034,2187,3350,0,0,0,0,0,0,28.83,25.34,28.83
$GC,7796,-0.47,-136.3,653.0,-6.0,486,7801,0.00,2.40,0.00,0.000,4,0.000,0.066,3025,3611,3350,0,0,0,0,0,0,28.83,24.87,28.83
$GC,7844,-0.47,-136.3,655.0,-6.1,487,7848,0.00,2.30,0.00,0.000,6,0.000,0.046,3025,2189,3350,0,0,0,0,0,0,28.83,25.32,28.83
$GC,8146,-0.47,-136.3,676.9,-6.6,497,8151,0.00,2.22,0.00,0.000,4,0.000,0.053,3025,806,3350,0,0,0,0,0,0,28.83,25.08,28.83
$GC,8184,-0.47,-136.3,679.0,-6.7,498,8188,0.00,2.30,0.00,0.000,6,0.000,0.053,3017,2205,3350,0,0,0,0,0,0,28.83,25.08,28.83
$GC,8497,-0.47,-136.3,702.5,-7.3,509,8502,0.00,2.35,0.00,0.000,4,0.000,0.066,3007,3607,3350,0,0,0,0,0,0,28.83,24.85,28.83
$GC,8535,-0.47,-136.3,704.8,-7.3,510,8542,0.12,2.30,0.00,0.000,6,0.124,0.046,3044,2190,3350,0,0,0,0,0,0,25.15,25.31,28.83
$GC,8856,-0.47,-136.3,725.9,-6.4,521,8857,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2186,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9157,-0.47,-136.3,745.4,-6.5,531,9162,0.00,2.38,0.00,0.000,4,0.000,0.066,3036,3619,3349,0,0,0,0,0,0,28.83,24.82,28.83
$GC,9186,-0.47,-136.3,747.4,-6.4,532,9192,0.00,2.28,0.00,0.000,6,0.000,0.047,3036,2208,3349,0,0,0,0,0,0,28.83,25.31,28.83
$GC,9516,-0.47,-136.3,770.4,-7.1,543,9517,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2207,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9816,-0.47,-136.3,791.7,-7.1,553,9822,0.00,2.38,0.00,0.000,4,0.000,0.065,3027,3610,3349,0,0,0,0,0,0,28.83,24.87,28.83
$GC,9854,-0.47,-136.3,793.8,-7.1,554,9858,0.00,2.30,0.00,0.000,6,0.000,0.047,3027,2194,3348,0,0,0,0,0,0,28.83,25.29,28.83
$GC,10166,-0.47,-136.3,817.0,-7.2,565,10167,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2193,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10467,-0.47,-136.3,837.6,-6.7,575,10468,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2193,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10768,-0.47,-136.3,857.3,-6.5,585,10769,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2193,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11066,-0.47,-136.3,875.8,-6.1,595,11068,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2193,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11367,-0.47,-136.3,892.7,-5.8,605,11372,0.00,2.40,0.00,0.000,4,0.000,0.067,3017,3605,3347,0,0,0,0,0,0,28.83,24.77,28.83
$GC,11406,-0.47,-136.3,894.3,-5.6,606,11411,0.00,2.30,0.00,0.000,6,0.000,0.047,3017,2196,3346,0,0,0,0,0,0,28.83,25.24,28.83
$GC,11726,-0.47,-136.3,914.0,-6.0,617,11728,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2194,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12027,-0.47,-136.3,933.0,-6.3,627,12032,0.00,2.42,0.00,0.000,4,0.000,0.067,3007,3611,3346,0,0,0,0,0,0,28.83,24.76,28.83
$GC,12057,-0.47,-136.3,935.1,-6.5,628,12063,0.10,2.30,0.00,0.000,6,0.093,0.048,3045,2195,3346,0,0,0,0,0,0,25.03,25.23,28.83
$GC,12386,-0.47,-136.3,952.7,-5.4,639,12392,0.00,2.40,0.00,0.000,4,0.000,0.067,3039,3603,3346,0,0,0,0,0,0,28.83,24.73,28.83
$GC,12416,-0.47,-136.3,954.4,-5.4,640,12422,0.00,2.28,0.00,0.000,6,0.000,0.047,3038,2197,3346,0,0,0,0,0,0,28.83,25.23,28.83
$GC,12748,-0.47,-136.3,975.0,-6.5,651,12752,0.00,2.28,0.00,0.000,4,0.000,0.056,3038,804,3346,0,0,0,0,0,0,28.83,24.95,28.83
$GC,12785,-0.47,-136.3,977.1,-6.7,652,12789,0.00,2.33,0.00,0.000,6,0.000,0.055,3036,2208,3345,0,0,0,0,0,0,28.83,24.96,28.83
$STATE,13004,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13004,begin apogee
$GC,13011,-0.22,0.0,991.8,-6.1,660,13143,0.25,0.00,126.10,1.153,6,0.106,0.000,3123,2340,2794,0,0,0,0,0,0,25.53,28.83,22.55
$STATE,13144,end apogee,CONTROL_FINISHED_OK
$STATE,13144,begin climb
$GC,13148,0.47,136.3,995.9,0.0,664,13289,0.65,2.58,133.93,1.117,4,0.071,0.054,3356,919,2238,0,0,0,0,0,0,24.39,23.49,21.77
$GC,13346,0.48,159.9,988.4,6.1,671,13374,0.00,2.42,23.17,1.056,6,0.000,0.055,3356,2320,2142,0,0,0,0,0,0,28.83,24.32,22.36
$GC,13688,0.48,159.9,958.5,8.3,683,13693,0.00,2.38,0.00,0.000,4,0.000,0.068,3356,3734,2133,0,0,0,0,0,0,28.83,25.33,28.83
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$STATE,25297,end climb,SURFACE_DEPTH_REACHED
$STATE,25297,begin surface coast
$FINISH,1.2,1.024506
$STATE,25334,end surface coast,CONTROL_FINISHED_OK
$STATE,25334,begin surface
$SM_CCo,25416,0.00,0.000,0,0,1120,410.39
$SM_GC,2.16,8.25,2.50,0.00,0.025,0.045,0.000,122,2186,1120,-9.46,0.90,410.39,0,0,0,0,0,0,25.84,25.48,28.83
$IRIDIUM_FIX,4726.11,-12557.17,300313,212128
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.58
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,18.80
$XPDR_PINGS,5
$24V_AH,21.8,105.502
$10V_AH,9.7,79.289
$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,22.275,227.525,498.550,0.000,0.000,24.944,38.034,237.811,1.250,0.000,20.045,3486.985,18588.381,819.395,2481.131,490.071,0.000,2067.901,0.000,2157.565,0.000,0.536,0.000
$DEVICE_MAMPS,214.965,86.445,1152.855,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,921.265,674.516,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296916
$DATA_FILE_SIZE,73413,1340
$CAP_FILE_SIZE,195934,0
$CFSIZE,260165632,194375680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.133, 34.5,1
$GPS,310313,120006,4739.871,-12531.744,29,1.2,29,18.7