version: 66.11
glider: 187
mission: 2
dive: 757
start: 4 2 113 7 48 5
data:
$ID,187
$MISSION,2
$DIVE,757
$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,-1589922
$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,37
$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,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
$GPS1,020413,073954,4730.137,-12553.833,43,0.9,43,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-77.7
$GPS2,020413,074731,4730.151,-12553.875,17,0.9,17,18.7
$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,222.1,100467,-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,-136.3,0.0,0.0,0,86,0.00,0.00,-66.97,0.000,2,0.000,0.000,117,2189,2784,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.47,-136.3,3.2,-1.8,12,121,11.62,2.22,-12.88,0.000,4,0.214,0.063,3035,786,3351,0,0,0,0,0,0,24.51,25.35,26.22
$GC,192,-0.47,-136.3,22.7,-14.5,30,199,0.00,2.25,0.00,0.000,6,0.000,0.052,3027,2199,3353,0,0,0,0,0,0,28.83,25.27,28.83
$GC,506,-0.47,-136.3,71.9,-15.9,91,512,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2199,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,817,-0.47,-136.3,113.0,-10.7,152,823,0.00,2.22,0.00,0.000,4,0.000,0.050,3027,784,3354,0,0,0,0,0,0,28.83,25.25,28.83
$GC,888,-0.47,-136.3,120.5,-10.3,165,896,0.00,2.28,0.00,0.000,6,0.000,0.050,3018,2197,3354,0,0,0,0,0,0,28.83,25.25,28.83
$GC,1197,-0.47,-136.3,153.2,-10.1,186,1206,0.00,2.28,0.00,0.000,4,0.000,0.049,3018,785,3354,0,0,0,0,0,0,28.83,25.24,28.83
$GC,1228,-0.47,-136.3,156.5,-10.7,189,1236,0.08,2.28,0.00,0.000,6,0.114,0.050,3037,2200,3354,0,0,0,0,0,0,25.06,25.24,28.83
$GC,1539,-0.47,-136.3,184.1,-8.6,210,1546,0.00,2.30,0.00,0.000,4,0.000,0.062,3028,3620,3354,0,0,0,0,0,0,28.83,25.03,28.83
$GC,1596,-0.47,-136.3,189.3,-8.8,216,1605,0.00,2.28,0.00,0.000,6,0.000,0.041,3028,2185,3355,0,0,0,0,0,0,28.83,25.48,28.83
$GC,1908,-0.47,-136.3,215.7,-8.3,234,1909,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2185,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2208,-0.47,-136.3,242.0,-8.8,249,2209,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2185,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2507,-0.47,-136.3,269.1,-9.4,264,2508,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2185,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2808,-0.47,-136.3,297.0,-9.1,279,2812,0.00,2.35,0.00,0.000,4,0.000,0.062,3018,3613,3354,0,0,0,0,0,0,28.83,24.99,28.83
$GC,2835,-0.47,-136.3,298.8,-8.9,280,2839,0.00,2.25,0.00,0.000,6,0.000,0.043,3018,2207,3355,0,0,0,0,0,0,28.83,25.42,28.83
$GC,3137,-0.47,-136.3,325.6,-8.2,295,3138,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2205,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3438,-0.47,-136.3,349.9,-8.1,310,3439,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2205,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3737,-0.47,-136.3,374.2,-7.9,325,3742,0.00,2.28,0.00,0.000,4,0.000,0.050,3018,797,3354,0,0,0,0,0,0,28.83,25.15,28.83
$GC,3785,-0.47,-136.3,377.7,-8.2,327,3789,0.12,2.30,0.00,0.000,6,0.132,0.051,3043,2207,3355,0,0,0,0,0,0,25.03,25.15,28.83
$GC,4088,-0.47,-136.3,397.4,-6.2,342,4092,0.00,2.28,0.00,0.000,4,0.000,0.063,3035,3609,3354,0,0,0,0,0,0,28.83,24.94,28.83
$GC,4127,-0.47,-136.3,400.0,-6.3,344,4132,0.00,2.25,0.00,0.000,6,0.000,0.044,3035,2198,3354,0,0,0,0,0,0,28.83,25.39,28.83
$GC,4447,-0.47,-136.3,424.2,-7.9,355,4448,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2195,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4748,-0.47,-136.3,449.0,-8.6,365,4753,0.00,2.25,0.00,0.000,4,0.000,0.053,3035,800,3353,0,0,0,0,0,0,28.83,25.12,28.83
$GC,4785,-0.47,-136.3,451.7,-8.7,366,4789,0.00,2.30,0.00,0.000,6,0.000,0.053,3027,2204,3353,0,0,0,0,0,0,28.83,25.11,28.83
$GC,5097,-0.47,-136.3,479.9,-8.9,377,5102,0.00,2.35,0.00,0.000,4,0.000,0.064,3017,3609,3353,0,0,0,0,0,0,28.83,24.90,28.83
$GC,5166,-0.47,-136.3,485.3,-9.0,379,5171,0.00,2.28,0.00,0.000,6,0.000,0.044,3017,2197,3352,0,0,0,0,0,0,28.83,25.35,28.83
$GC,5487,-0.47,-136.3,515.9,-9.3,390,5488,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2195,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5787,-0.47,-136.3,543.2,-9.1,400,5793,0.00,2.38,0.00,0.000,4,0.000,0.064,3008,3611,3352,0,0,0,0,0,0,28.83,24.88,28.83
$GC,5835,-0.47,-136.3,546.0,-9.1,401,5840,0.12,2.28,0.00,0.000,6,0.129,0.045,3044,2202,3352,0,0,0,0,0,0,25.15,25.33,28.83
$GC,6138,-0.47,-136.3,569.7,-7.2,411,6139,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2198,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6437,-0.47,-136.3,590.9,-7.1,421,6438,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2197,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6737,-0.47,-136.3,611.8,-6.9,431,6743,0.00,2.38,0.00,0.000,4,0.000,0.066,3037,3605,3351,0,0,0,0,0,0,28.83,24.84,28.83
$GC,6768,-0.47,-136.3,614.0,-7.1,432,6773,0.00,2.25,0.00,0.000,6,0.000,0.046,3037,2204,3351,0,0,0,0,0,0,28.83,25.31,28.83
$GC,7097,-0.47,-136.3,637.6,-6.8,443,7099,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2202,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7397,-0.47,-136.3,656.0,-6.2,453,7398,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2202,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7698,-0.47,-136.3,675.0,-6.1,463,7703,0.00,2.33,0.00,0.000,4,0.000,0.067,3027,3608,3350,0,0,0,0,0,0,28.83,24.80,28.83
$GC,7755,-0.47,-136.3,678.2,-6.2,465,7759,0.00,2.30,0.00,0.000,6,0.000,0.047,3027,2189,3350,0,0,0,0,0,0,28.83,25.28,28.83
$GC,8068,-0.47,-136.3,697.9,-6.4,476,8073,0.00,2.40,0.00,0.000,4,0.000,0.066,3018,3613,3349,0,0,0,0,0,0,28.83,24.80,28.83
$GC,8107,-0.47,-136.3,699.9,-6.5,477,8112,0.00,2.30,0.00,0.000,6,0.000,0.047,3017,2194,3350,0,0,0,0,0,0,28.83,25.27,28.83
$GC,8428,-0.47,-136.3,722.9,-6.9,488,8429,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2192,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8728,-0.47,-136.3,743.2,-6.8,498,8733,0.00,2.38,0.00,0.000,4,0.000,0.066,3008,3602,3348,0,0,0,0,0,0,28.83,24.78,28.83
$GC,8759,-0.47,-136.3,745.3,-6.8,499,8764,0.12,2.22,0.00,0.000,6,0.124,0.047,3045,2192,3348,0,0,0,0,0,0,25.10,25.26,28.83
$GC,9088,-0.47,-136.3,764.0,-5.6,510,9089,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2188,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9388,-0.47,-136.3,781.7,-5.9,520,9389,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2188,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9689,-0.47,-136.3,797.6,-5.1,530,9693,0.00,2.38,0.00,0.000,4,0.000,0.067,3037,3619,3347,0,0,0,0,0,0,28.83,24.74,28.83
$GC,9726,-0.47,-136.3,799.4,-5.2,531,9730,0.00,2.30,0.00,0.000,6,0.000,0.047,3037,2202,3347,0,0,0,0,0,0,28.83,25.24,28.83
$GC,10038,-0.47,-136.3,817.4,-5.7,542,10039,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2200,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10338,-0.47,-136.3,834.8,-5.9,552,10344,0.00,2.40,0.00,0.000,4,0.000,0.067,3028,3612,3347,0,0,0,0,0,0,28.83,24.73,28.83
$GC,10386,-0.47,-136.3,836.4,-5.7,553,10390,0.00,2.30,0.00,0.000,6,0.000,0.047,3028,2199,3347,0,0,0,0,0,0,28.83,25.22,28.83
$GC,10689,-0.47,-136.3,855.2,-5.8,563,10690,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2197,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10989,-0.47,-136.3,875.2,-7.0,573,10994,0.00,2.38,0.00,0.000,4,0.000,0.067,3019,3602,3347,0,0,0,0,0,0,28.83,24.70,28.83
$GC,11036,-0.47,-136.3,877.5,-7.2,574,11040,0.00,2.30,0.00,0.000,6,0.000,0.047,3019,2189,3346,0,0,0,0,0,0,28.83,25.20,28.83
$GC,11338,-0.47,-136.3,902.2,-7.5,584,11344,0.00,2.40,0.00,0.000,4,0.000,0.067,3010,3605,3347,0,0,0,0,0,0,28.83,24.71,28.83
$GC,11386,-0.47,-136.3,904.5,-7.5,585,11391,0.12,2.30,0.00,0.000,6,0.122,0.047,3046,2190,3346,0,0,0,0,0,0,25.05,25.20,28.83
$GC,11690,-0.47,-136.3,922.5,-5.2,595,11691,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2188,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11988,-0.47,-136.3,936.3,-4.5,605,11994,0.00,2.42,0.00,0.000,4,0.000,0.067,3039,3612,3346,0,0,0,0,0,0,28.83,24.68,28.83
$GC,12027,-0.47,-136.3,937.7,-4.5,606,12033,0.00,2.30,0.00,0.000,6,0.000,0.048,3039,2200,3346,0,0,0,0,0,0,28.83,25.20,28.83
$GC,12348,-0.47,-136.3,952.9,-4.6,617,12349,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2199,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12649,-0.47,-136.3,967.0,-4.6,627,12654,0.00,2.40,0.00,0.000,4,0.000,0.067,3029,3607,3346,0,0,0,0,0,0,28.83,24.65,28.83
$GC,12680,-0.47,-136.3,968.4,-4.7,628,12684,0.00,2.25,0.00,0.000,6,0.000,0.049,3030,2192,3345,0,0,0,0,0,0,28.83,25.16,28.83
$GC,13010,-0.47,-136.3,986.4,-5.7,639,13011,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2190,3345,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13095,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13095,begin apogee
$GC,13102,-0.22,0.0,991.4,-5.5,642,13234,0.28,0.00,125.88,1.152,6,0.106,0.000,3126,2332,2794,0,0,0,0,0,0,25.44,28.83,22.59
$STATE,13235,end apogee,CONTROL_FINISHED_OK
$STATE,13235,begin climb
$GC,13239,0.47,136.3,994.7,0.0,646,13377,0.65,0.00,134.50,1.118,6,0.069,0.000,3348,2332,2238,0,0,0,0,0,0,24.38,28.83,21.80
$GC,13668,0.47,136.3,966.7,8.2,661,13674,0.00,2.33,0.00,0.000,4,0.000,0.057,3358,927,2227,0,0,0,0,0,0,28.83,25.36,28.83
$GC,13698,0.47,136.3,964.6,8.0,662,13704,0.00,2.30,0.00,0.000,6,0.000,0.056,3358,2322,2227,0,0,0,0,0,0,28.83,25.39,28.83
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$STATE,25824,end climb,SURFACE_DEPTH_REACHED
$STATE,25825,begin surface coast
$FINISH,3.5,1.025142
$STATE,25830,end surface coast,CONTROL_FINISHED_OK
$STATE,25830,begin surface
$SM_CCo,25912,0.00,0.000,0,0,1432,334.34
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$TT8_MAMPS,0.027713,0.027713
$HUMID,48.34
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,19.00
$XPDR_PINGS,2
$24V_AH,21.8,106.496
$10V_AH,9.7,79.976
$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
$DEVICE_SECS,22.325,222.675,435.325,0.000,0.000,24.759,42.085,234.376,0.500,0.000,18.106,3643.625,18924.871,744.375,2564.136,481.287,0.000,2012.787,0.000,2233.220,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,968.048,718.530,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296936
$DATA_FILE_SIZE,76789,1406
$CAP_FILE_SIZE,200430,0
$CFSIZE,260165632,193753088
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.093, 46.7,1
$GPS,020413,150106,4728.867,-12557.952,30,1.3,30,18.7