version: 66.11
glider: 187
mission: 2
dive: 758
start: 4 2 113 15 8 59
data:
$ID,187
$MISSION,2
$DIVE,758
$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,-1589925.5
$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,2200
$C_ROLL_CLIMB,2325
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$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
$GPS1,020413,150106,4728.867,-12557.952,30,1.3,30,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-78.6
$GPS2,020413,150825,4728.835,-12557.948,16,1.3,16,18.7
$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,213.1,94839,-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,-136.3,0.0,0.0,0,80,0.00,0.00,-60.88,0.000,2,0.000,0.000,109,2203,2763,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.47,-136.3,3.4,-3.2,11,115,11.68,2.22,-13.10,0.000,4,0.215,0.061,3032,787,3351,0,0,0,0,0,0,24.53,25.37,26.21
$GC,197,-0.47,-136.3,24.0,-13.7,31,204,0.00,2.22,0.00,0.000,6,0.000,0.052,3024,2200,3353,0,0,0,0,0,0,28.83,25.27,28.83
$GC,510,-0.47,-136.3,71.6,-15.9,92,517,0.00,2.28,0.00,0.000,4,0.000,0.062,3013,3612,3354,0,0,0,0,0,0,28.83,25.09,28.83
$GC,544,-0.47,-136.3,77.0,-16.2,98,552,0.00,2.22,0.00,0.000,6,0.000,0.044,3012,2180,3354,0,0,0,0,0,0,28.83,25.46,28.83
$GC,858,-0.47,-136.3,119.4,-13.9,159,864,0.00,2.17,0.00,0.000,4,0.000,0.050,3013,790,3354,0,0,0,0,0,0,28.83,25.25,28.83
$GC,902,-0.47,-136.3,125.7,-13.9,164,912,0.15,2.30,0.00,0.000,6,0.131,0.050,3045,2206,3354,0,0,0,0,0,0,25.08,25.24,28.83
$GC,1212,-0.47,-136.3,156.5,-8.7,185,1221,0.00,2.35,0.00,0.000,4,0.000,0.062,3037,3619,3354,0,0,0,0,0,0,28.83,25.06,28.83
$GC,1253,-0.47,-136.3,160.0,-8.9,189,1261,0.00,2.25,0.00,0.000,6,0.000,0.043,3037,2198,3355,0,0,0,0,0,0,28.83,25.46,28.83
$GC,1562,-0.47,-136.3,186.9,-8.5,210,1563,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2198,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1868,-0.47,-136.3,212.9,-8.5,228,1873,0.00,2.22,0.00,0.000,4,0.000,0.050,3037,808,3355,0,0,0,0,0,0,28.83,25.22,28.83
$GC,1915,-0.47,-136.3,216.5,-8.7,230,1919,0.00,2.28,0.00,0.000,6,0.000,0.050,3028,2208,3355,0,0,0,0,0,0,28.83,25.21,28.83
$GC,2217,-0.47,-136.3,243.1,-8.6,245,2223,0.00,2.35,0.00,0.000,4,0.000,0.062,3017,3629,3355,0,0,0,0,0,0,28.83,25.02,28.83
$GC,2258,-0.47,-136.3,246.7,-8.7,247,2263,0.00,2.28,0.00,0.000,6,0.000,0.043,3017,2196,3355,0,0,0,0,0,0,28.83,25.44,28.83
$GC,2579,-0.47,-136.3,278.0,-10.2,263,2580,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2191,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2877,-0.47,-136.3,307.9,-9.8,278,2883,0.00,2.25,0.00,0.000,4,0.000,0.050,3017,795,3354,0,0,0,0,0,0,28.83,25.19,28.83
$GC,2917,-0.47,-136.3,311.9,-9.8,280,2924,0.12,2.30,0.00,0.000,6,0.134,0.050,3043,2210,3355,0,0,0,0,0,0,25.06,25.19,28.83
$GC,3240,-0.47,-136.3,336.3,-7.4,296,3244,0.00,2.28,0.00,0.000,4,0.000,0.063,3034,3608,3354,0,0,0,0,0,0,28.83,24.98,28.83
$GC,3289,-0.47,-136.3,339.8,-7.1,298,3293,0.00,2.25,0.00,0.000,6,0.000,0.044,3034,2201,3354,0,0,0,0,0,0,28.83,25.42,28.83
$GC,3608,-0.47,-136.3,364.3,-7.6,314,3609,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2200,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3907,-0.47,-136.3,387.5,-7.9,329,3913,0.00,2.38,0.00,0.000,4,0.000,0.063,3024,3610,3354,0,0,0,0,0,0,28.83,24.96,28.83
$GC,3935,-0.47,-136.3,389.2,-8.0,330,3939,0.00,2.28,0.00,0.000,6,0.000,0.044,3024,2199,3354,0,0,0,0,0,0,28.83,25.39,28.83
$GC,4238,-0.47,-136.3,415.5,-8.5,342,4240,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2198,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4537,-0.47,-136.3,440.4,-8.4,352,4538,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2198,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4838,-0.47,-136.3,466.5,-8.6,362,4839,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2197,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5137,-0.47,-136.3,492.7,-8.9,372,5143,0.00,2.40,0.00,0.000,4,0.000,0.063,3014,3626,3353,0,0,0,0,0,0,28.83,24.91,28.83
$GC,5168,-0.47,-136.3,495.4,-9.0,373,5173,0.00,2.30,0.00,0.000,6,0.000,0.045,3014,2194,3353,0,0,0,0,0,0,28.83,25.35,28.83
$GC,5497,-0.47,-136.3,526.4,-9.5,384,5503,0.00,2.38,0.00,0.000,4,0.000,0.063,3004,3612,3352,0,0,0,0,0,0,28.83,24.90,28.83
$GC,5535,-0.47,-136.3,529.3,-9.4,385,5540,0.15,2.30,0.00,0.000,6,0.119,0.045,3048,2195,3352,0,0,0,0,0,0,25.13,25.32,28.83
$GC,5850,-0.47,-136.3,551.8,-6.9,396,5851,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2190,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6149,-0.47,-136.3,571.6,-6.5,406,6154,0.00,2.38,0.00,0.000,4,0.000,0.065,3041,3602,3352,0,0,0,0,0,0,28.83,24.87,28.83
$GC,6187,-0.47,-136.3,573.5,-6.5,407,6191,0.00,2.28,0.00,0.000,6,0.000,0.045,3041,2196,3352,0,0,0,0,0,0,28.83,25.33,28.83
$GC,6501,-0.47,-136.3,595.3,-6.6,418,6502,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2195,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6800,-0.47,-136.3,614.1,-6.2,428,6801,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2194,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7100,-0.47,-136.3,631.3,-5.5,438,7105,0.00,2.38,0.00,0.000,4,0.000,0.065,3031,3604,3350,0,0,0,0,0,0,28.83,24.84,28.83
$GC,7149,-0.47,-136.3,633.1,-5.6,439,7158,0.00,2.28,0.00,0.000,6,0.000,0.046,3031,2201,3351,0,0,0,0,0,0,28.83,25.30,28.83
$GC,7460,-0.47,-136.3,652.5,-6.0,450,7465,0.00,2.38,0.00,0.000,4,0.000,0.066,3022,3607,3350,0,0,0,0,0,0,28.83,24.82,28.83
$GC,7498,-0.47,-136.3,654.4,-6.0,451,7502,0.00,2.30,0.00,0.000,6,0.000,0.047,3021,2194,3350,0,0,0,0,0,0,28.83,25.28,28.83
$GC,7812,-0.47,-136.3,674.8,-6.2,462,7816,0.00,2.35,0.00,0.000,4,0.000,0.066,3012,3616,3350,0,0,0,0,0,0,28.83,24.81,28.83
$GC,7849,-0.47,-136.3,676.7,-6.2,463,7854,0.12,2.30,0.00,0.000,6,0.122,0.046,3048,2202,3350,0,0,0,0,0,0,25.13,25.28,28.83
$GC,8162,-0.47,-136.3,695.0,-6.0,474,8163,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2199,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8463,-0.47,-136.3,714.3,-6.5,484,8468,0.00,2.38,0.00,0.000,4,0.000,0.067,3041,3606,3349,0,0,0,0,0,0,28.83,24.79,28.83
$GC,8493,-0.47,-136.3,716.4,-6.6,485,8497,0.00,2.25,0.00,0.000,6,0.000,0.047,3040,2183,3349,0,0,0,0,0,0,28.83,25.27,28.83
$GC,8822,-0.47,-136.3,740.6,-7.5,496,8823,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2181,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9122,-0.47,-136.3,762.9,-7.2,506,9127,0.00,2.42,0.00,0.000,4,0.000,0.066,3031,3613,3348,0,0,0,0,0,0,28.83,24.76,28.83
$GC,9161,-0.47,-136.3,765.2,-7.1,507,9167,0.00,2.30,0.00,0.000,6,0.000,0.047,3031,2200,3348,0,0,0,0,0,0,28.83,25.25,28.83
$GC,9482,-0.47,-136.3,789.7,-7.3,518,9483,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2198,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9782,-0.47,-136.3,809.4,-6.3,528,9783,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2198,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10083,-0.47,-136.3,827.3,-5.7,538,10084,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2198,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10382,-0.47,-136.3,842.5,-4.7,548,10388,0.00,2.40,0.00,0.000,4,0.000,0.067,3021,3610,3347,0,0,0,0,0,0,28.83,24.73,28.83
$GC,10420,-0.47,-136.3,844.0,-4.8,549,10424,0.00,2.30,0.00,0.000,6,0.000,0.048,3021,2201,3346,0,0,0,0,0,0,28.83,25.20,28.83
$GC,10734,-0.47,-136.3,861.1,-5.4,560,10735,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2199,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11033,-0.47,-136.3,878.1,-5.9,570,11038,0.00,2.38,0.00,0.000,4,0.000,0.067,3012,3601,3347,0,0,0,0,0,0,28.83,24.71,28.83
$GC,11071,-0.47,-136.3,880.1,-6.1,571,11075,0.12,2.30,0.00,0.000,6,0.118,0.047,3049,2193,3346,0,0,0,0,0,0,25.06,25.20,28.83
$GC,11385,-0.47,-136.3,896.8,-5.3,582,11386,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2191,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11684,-0.47,-136.3,912.9,-5.6,592,11690,0.00,2.40,0.00,0.000,4,0.000,0.067,3041,3602,3346,0,0,0,0,0,0,28.83,24.70,28.83
$GC,11722,-0.47,-136.3,914.9,-5.8,593,11726,0.00,2.30,0.00,0.000,6,0.000,0.048,3041,2194,3346,0,0,0,0,0,0,28.83,25.20,28.83
$GC,12036,-0.47,-136.3,933.4,-5.7,604,12037,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2192,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12334,-0.47,-136.3,949.2,-5.3,614,12340,0.00,2.40,0.00,0.000,4,0.000,0.067,3032,3604,3346,0,0,0,0,0,0,28.83,24.67,28.83
$GC,12372,-0.47,-136.3,950.8,-5.3,615,12377,0.00,2.30,0.00,0.000,6,0.000,0.047,3032,2197,3346,0,0,0,0,0,0,28.83,25.18,28.83
$GC,12686,-0.47,-136.3,966.7,-4.6,626,12687,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2195,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12985,-0.47,-136.3,980.7,-4.6,636,12986,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2195,3345,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13192,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13192,begin apogee
$GC,13199,-0.22,0.0,990.5,-4.9,643,13330,0.25,0.00,125.70,1.152,6,0.107,0.000,3120,2336,2794,0,0,0,0,0,0,25.48,28.83,22.60
$STATE,13331,end apogee,CONTROL_FINISHED_OK
$STATE,13331,begin climb
$GC,13335,0.47,136.3,992.8,0.0,647,13476,0.68,2.60,134.02,1.118,4,0.070,0.067,3349,3729,2237,0,0,0,0,0,0,24.36,23.41,21.81
$GC,13493,0.48,158.5,985.4,6.1,653,13521,0.00,2.45,23.05,1.038,6,0.000,0.047,3359,2330,2146,0,0,0,0,0,0,28.83,23.86,21.85
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$STATE,25420,end climb,SURFACE_DEPTH_REACHED
$STATE,25421,begin surface coast
$FINISH,1.4,1.014643
$STATE,25460,end surface coast,CONTROL_FINISHED_OK
$STATE,25460,begin surface
$SM_CCo,25540,0.00,0.000,0,0,1260,376.29
$SM_GC,2.31,8.40,0.17,0.00,0.028,0.080,0.000,118,2187,1260,-9.47,0.96,376.29,0,0,0,0,0,0,25.80,25.94,28.83
$IRIDIUM_FIX,4713.38,-12603.75,020413,070720
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.38
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,19.20
$XPDR_PINGS,3
$24V_AH,21.8,106.644
$10V_AH,9.7,80.074
$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
$DEVICE_SECS,22.425,227.400,478.300,0.000,0.000,27.042,35.425,221.776,0.750,0.000,19.362,3625.233,18529.738,769.463,2546.960,496.170,0.000,2040.615,0.000,2247.023,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,963.457,724.123,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296944
$DATA_FILE_SIZE,76847,1399
$CAP_FILE_SIZE,200219,0
$CFSIZE,260165632,193671168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.094, 80.7,1
$GPS,020413,221605,4727.056,-12600.284,42,1.2,47,18.7