version: 66.11
glider: 187
mission: 2
dive: 760
start: 4 3 113 5 43 34
data:
$ID,187
$MISSION,2
$DIVE,760
$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,-1589930.4
$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,42
$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
$GPS1,030413,053536,4726.177,-12604.286,33,1.1,33,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-77.2
$GPS2,030413,054301,4726.169,-12604.354,18,1.5,18,18.7
$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,215.0,85374,-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,17,-0.47,-136.3,0.0,0.0,0,97,0.00,0.00,-77.75,0.000,2,0.000,0.000,110,2198,2769,0,0,0,0,0,0,28.83,28.83,28.83
$GC,101,-0.47,-136.3,3.1,-1.3,14,133,11.62,2.40,-13.52,0.000,4,0.212,0.076,3028,3609,3350,0,0,0,0,0,0,24.50,25.25,26.22
$GC,249,-0.47,-136.3,26.6,-12.5,41,256,0.00,2.20,0.00,0.000,6,0.000,0.044,3028,2200,3353,0,0,0,0,0,0,28.83,25.45,28.83
$GC,562,-0.47,-136.3,72.1,-14.8,102,569,0.00,2.20,0.00,0.000,4,0.000,0.051,3027,797,3353,0,0,0,0,0,0,28.83,25.26,28.83
$GC,716,-0.47,-136.3,92.1,-11.3,131,723,0.00,2.20,0.00,0.000,6,0.000,0.050,3018,2200,3354,0,0,0,0,0,0,28.83,25.28,28.83
$GC,1029,-0.47,-136.3,127.0,-11.3,184,1037,0.00,2.33,0.00,0.000,4,0.000,0.062,3008,3609,3354,0,0,0,0,0,0,28.83,25.10,28.83
$GC,1087,-0.47,-136.3,133.8,-11.2,190,1097,0.12,2.28,0.00,0.000,6,0.130,0.042,3044,2188,3354,0,0,0,0,0,0,25.29,25.48,28.83
$GC,1401,-0.47,-136.3,160.4,-7.7,211,1407,0.00,2.17,0.00,0.000,4,0.000,0.050,3045,803,3354,0,0,0,0,0,0,28.83,25.25,28.83
$GC,1458,-0.47,-136.3,165.3,-8.1,217,1467,0.00,2.25,0.00,0.000,6,0.000,0.050,3037,2201,3353,0,0,0,0,0,0,28.83,25.27,28.83
$GC,1770,-0.47,-136.3,189.4,-7.9,238,1771,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2201,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2083,-0.47,-136.3,214.9,-8.1,256,2084,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2201,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2383,-0.47,-136.3,238.8,-7.6,271,2384,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2201,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2684,-0.47,-136.3,261.3,-7.4,286,2685,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2201,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2983,-0.47,-136.3,284.4,-7.8,301,2988,0.00,2.33,0.00,0.000,4,0.000,0.062,3027,3604,3354,0,0,0,0,0,0,28.83,25.02,28.83
$GC,3010,-0.47,-136.3,285.9,-7.8,302,3015,0.00,2.25,0.00,0.000,6,0.000,0.042,3027,2204,3353,0,0,0,0,0,0,28.83,25.44,28.83
$GC,3314,-0.47,-136.3,312.6,-8.8,317,3318,0.00,2.25,0.00,0.000,4,0.000,0.051,3026,801,3354,0,0,0,0,0,0,28.83,25.19,28.83
$GC,3372,-0.47,-136.3,318.1,-9.1,320,3378,0.00,2.28,0.00,0.000,6,0.000,0.050,3017,2201,3353,0,0,0,0,0,0,28.83,25.20,28.83
$GC,3693,-0.47,-136.3,348.9,-10.0,336,3694,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2201,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3995,-0.47,-136.3,377.7,-9.3,351,3996,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2201,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4293,-0.47,-136.3,405.6,-9.2,365,4294,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2201,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4593,-0.47,-136.3,432.6,-9.0,375,4598,0.00,2.38,0.00,0.000,4,0.000,0.063,3007,3629,3352,0,0,0,0,0,0,28.83,24.96,28.83
$GC,4624,-0.47,-136.3,435.3,-9.0,376,4629,0.10,2.30,0.00,0.000,6,0.097,0.044,3045,2198,3352,0,0,0,0,0,0,25.16,25.39,28.83
$GC,4953,-0.47,-136.3,458.2,-6.6,387,4954,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2196,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5253,-0.47,-136.3,477.3,-6.2,397,5254,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2196,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5554,-0.47,-136.3,495.0,-5.7,407,5559,0.00,2.25,0.00,0.000,4,0.000,0.053,3045,803,3351,0,0,0,0,0,0,28.83,25.11,28.83
$GC,5583,-0.47,-136.3,496.7,-5.7,408,5588,0.00,2.28,0.00,0.000,6,0.000,0.052,3040,2203,3351,0,0,0,0,0,0,28.83,25.12,28.83
$GC,5913,-0.47,-136.3,515.7,-5.7,419,5918,0.00,2.35,0.00,0.000,4,0.000,0.064,3030,3611,3351,0,0,0,0,0,0,28.83,24.89,28.83
$GC,5961,-0.47,-136.3,517.4,-5.6,420,5965,0.00,2.30,0.00,0.000,6,0.000,0.045,3030,2194,3351,0,0,0,0,0,0,28.83,25.34,28.83
$GC,6264,-0.47,-136.3,537.2,-6.4,430,6268,0.00,2.25,0.00,0.000,4,0.000,0.052,3030,804,3350,0,0,0,0,0,0,28.83,25.10,28.83
$GC,6301,-0.47,-136.3,539.2,-6.5,431,6306,0.00,2.30,0.00,0.000,6,0.000,0.052,3022,2207,3350,0,0,0,0,0,0,28.83,25.10,28.83
$GC,6614,-0.47,-136.3,564.8,-8.5,442,6619,0.00,2.38,0.00,0.000,4,0.000,0.064,3011,3625,3349,0,0,0,0,0,0,28.83,24.88,28.83
$GC,6675,-0.47,-136.3,570.3,-9.0,444,6680,0.08,2.30,0.00,0.000,6,0.099,0.045,3042,2205,3349,0,0,0,0,0,0,25.15,25.33,28.83
$GC,7004,-0.47,-136.3,593.8,-7.1,455,7005,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2203,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7304,-0.47,-136.3,615.1,-7.1,465,7309,0.00,2.28,0.00,0.000,4,0.000,0.053,3042,801,3349,0,0,0,0,0,0,28.83,25.06,28.83
$GC,7343,-0.47,-136.3,617.2,-7.1,466,7349,0.00,2.30,0.00,0.000,6,0.000,0.054,3042,2199,3349,0,0,0,0,0,0,28.83,25.06,28.83
$GC,7664,-0.47,-136.3,640.6,-7.1,477,7669,0.00,2.38,0.00,0.000,4,0.000,0.067,3040,3609,3349,0,0,0,0,0,0,28.83,24.82,28.83
$GC,7742,-0.47,-136.3,645.0,-7.2,479,7746,0.00,2.33,0.00,0.000,6,0.000,0.046,3040,2188,3349,0,0,0,0,0,0,28.83,25.31,28.83
$GC,8044,-0.47,-136.3,666.6,-6.7,489,8050,0.00,2.25,0.00,0.000,4,0.000,0.053,3040,800,3348,0,0,0,0,0,0,28.83,25.06,28.83
$GC,8112,-0.47,-136.3,670.9,-6.9,491,8116,0.00,2.33,0.00,0.000,6,0.000,0.054,3033,2210,3348,0,0,0,0,0,0,28.83,25.03,28.83
$GC,8424,-0.47,-136.3,692.0,-6.3,502,8430,0.00,2.35,0.00,0.000,4,0.000,0.067,3025,3609,3347,0,0,0,0,0,0,28.83,24.79,28.83
$GC,8504,-0.47,-136.3,695.7,-6.3,504,8513,0.00,2.30,0.00,0.000,6,0.000,0.047,3025,2196,3347,0,0,0,0,0,0,28.83,25.29,28.83
$GC,8815,-0.47,-136.3,714.9,-5.6,515,8820,0.00,2.25,0.00,0.000,4,0.000,0.054,3025,805,3347,0,0,0,0,0,0,28.83,25.03,28.83
$GC,8934,-0.47,-136.3,722.4,-6.3,519,8940,0.00,2.30,0.00,0.000,6,0.000,0.054,3016,2203,3347,0,0,0,0,0,0,28.83,25.01,28.83
$GC,9266,-0.47,-136.3,745.0,-6.8,530,9270,0.00,2.33,0.00,0.000,4,0.000,0.066,3007,3610,3346,0,0,0,0,0,0,28.83,24.78,28.83
$GC,9384,-0.47,-136.3,754.1,-7.6,534,9391,0.12,2.30,0.00,0.000,6,0.126,0.047,3043,2200,3346,0,0,0,0,0,0,25.09,25.27,28.83
$GC,9716,-0.47,-136.3,774.4,-6.2,545,9717,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2199,3346,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10015,-0.47,-136.3,793.0,-6.1,555,10016,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2199,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10315,-0.47,-136.3,811.5,-6.0,565,10316,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2199,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10616,-0.47,-136.3,829.6,-6.2,575,10620,0.00,2.40,0.00,0.000,4,0.000,0.067,3035,3610,3345,0,0,0,0,0,0,28.83,24.73,28.83
$GC,10662,-0.47,-136.3,831.4,-5.9,576,10667,0.00,2.33,0.00,0.000,6,0.000,0.047,3035,2194,3345,0,0,0,0,0,0,28.83,25.22,28.83
$GC,10965,-0.47,-136.3,851.6,-6.3,586,10970,0.00,2.28,0.00,0.000,4,0.000,0.054,3035,801,3345,0,0,0,0,0,0,28.83,24.96,28.83
$GC,10994,-0.47,-136.3,853.7,-6.3,587,11000,0.00,2.30,0.00,0.000,6,0.000,0.054,3029,2204,3344,0,0,0,0,0,0,28.83,24.95,28.83
$GC,11326,-0.47,-136.3,875.3,-6.4,598,11330,0.00,2.33,0.00,0.000,4,0.000,0.067,3020,3611,3344,0,0,0,0,0,0,28.83,24.72,28.83
$GC,11384,-0.47,-136.3,879.4,-6.5,600,11390,0.00,2.30,0.00,0.000,6,0.000,0.047,3019,2203,3344,0,0,0,0,0,0,28.83,25.21,28.83
$GC,11715,-0.47,-136.3,901.6,-6.7,611,11716,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2202,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12014,-0.47,-136.3,923.0,-7.3,621,12016,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2201,3343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12314,-0.47,-136.3,944.9,-7.3,631,12315,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2202,3343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12615,-0.47,-136.3,965.9,-6.9,641,12620,0.00,2.38,0.00,0.000,4,0.000,0.067,3011,3602,3343,0,0,0,0,0,0,28.83,24.69,28.83
$GC,12654,-0.47,-136.3,968.0,-6.9,642,12660,0.12,2.33,0.00,0.000,6,0.119,0.047,3047,2188,3343,0,0,0,0,0,0,25.03,25.17,28.83
$GC,12975,-0.47,-136.3,986.2,-5.4,653,12976,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2186,3343,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13061,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13061,begin apogee
$GC,13070,-0.22,0.0,990.5,-5.0,656,13201,0.22,0.00,125.50,1.151,6,0.106,0.000,3129,2341,2794,0,0,0,0,0,0,25.61,28.83,22.60
$STATE,13202,end apogee,CONTROL_FINISHED_OK
$STATE,13202,begin climb
$GC,13204,0.47,136.3,994.3,0.0,660,13345,0.65,2.58,133.65,1.118,4,0.068,0.054,3362,925,2237,0,0,0,0,0,0,24.39,23.46,21.83
$GC,13386,0.48,153.7,986.4,6.3,667,13415,0.00,2.38,17.58,1.030,6,0.000,0.056,3362,2321,2165,0,0,0,0,0,0,28.83,24.13,22.23
$GC,13716,0.48,153.7,956.8,9.1,678,13720,0.00,2.38,0.00,0.000,4,0.000,0.069,3362,3737,2159,0,0,0,0,0,0,28.83,25.33,28.83
$GC,13792,0.48,153.7,950.4,9.6,680,13797,0.00,2.33,0.00,0.000,6,0.000,0.050,3373,2323,2158,0,0,0,0,0,0,28.83,25.53,28.83
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$STATE,25760,end climb,SURFACE_DEPTH_REACHED
$STATE,25760,begin surface coast
$FINISH,1.4,1.000379
$STATE,25799,end surface coast,CONTROL_FINISHED_OK
$STATE,25799,begin surface
$SM_CCo,25880,0.00,0.000,0,0,1111,412.84
$SM_GC,2.32,8.45,2.10,0.00,0.029,0.051,0.000,114,2204,1111,-9.46,-0.74,412.84,0,0,0,0,0,0,25.78,25.32,28.83
$IRIDIUM_FIX,4651.23,-12623.73,020413,222225
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.66
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,19.10
$XPDR_PINGS,3
$24V_AH,21.8,106.938
$10V_AH,9.8,80.273
$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,22.300,226.900,507.625,0.000,0.000,27.990,40.813,215.865,0.750,0.000,21.760,3656.335,18738.045,808.759,2600.402,508.202,0.000,2117.158,0.000,2294.636,0.000,0.535,0.000
$DEVICE_MAMPS,211.905,80.325,1151.325,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,977.803,748.946,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296928
$DATA_FILE_SIZE,76809,1423
$CAP_FILE_SIZE,203482,0
$CFSIZE,260165632,193486848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.096, 52.3,1
$GPS,030413,125624,4724.858,-12607.433,51,1.1,51,18.7