version: 66.11
glider: 187
mission: 2
dive: 763
start: 4 4 113 3 45 4
data:
$ID,187
$MISSION,2
$DIVE,763
$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,-1589938.6
$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,46
$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
$GPS1,040413,033636,4722.123,-12612.735,28,1.6,28,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-78.3
$GPS2,040413,034431,4722.183,-12612.760,13,1.6,13,18.6
$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,229.3,72443,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-0.47,-136.3,0.0,0.0,0,92,0.00,0.00,-71.68,0.000,2,0.000,0.000,105,2185,2862,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.47,-136.3,3.5,-3.6,13,127,11.65,2.25,-10.40,0.000,4,0.215,0.063,3032,800,3354,0,0,0,0,0,0,24.55,25.39,26.20
$GC,337,-0.47,-136.3,42.4,-12.9,59,344,0.00,2.22,0.00,0.000,6,0.000,0.052,3024,2206,3356,0,0,0,0,0,0,28.83,25.22,28.83
$GC,650,-0.47,-136.3,83.5,-11.5,120,659,0.00,2.20,0.00,0.000,4,0.000,0.050,3024,805,3357,0,0,0,0,0,0,28.83,25.23,28.83
$GC,697,-0.47,-136.3,88.8,-10.3,128,705,0.00,2.20,0.00,0.000,6,0.000,0.051,3015,2200,3357,0,0,0,0,0,0,28.83,25.22,28.83
$GC,1017,-0.47,-136.3,123.4,-10.2,186,1018,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2200,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1317,-0.47,-136.3,155.1,-10.8,206,1318,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2200,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1618,-0.47,-136.3,187.6,-10.3,226,1619,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2200,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1917,-0.47,-136.3,218.7,-10.5,243,1918,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2200,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2218,-0.47,-136.3,250.1,-10.2,258,2219,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2200,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2517,-0.47,-136.3,278.8,-9.1,273,2518,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2200,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2818,-0.47,-136.3,306.1,-9.3,288,2822,0.00,2.20,0.00,0.000,4,0.000,0.050,3015,801,3356,0,0,0,0,0,0,28.83,25.17,28.83
$GC,2858,-0.47,-136.3,309.8,-9.1,290,2863,0.10,2.25,0.00,0.000,6,0.107,0.050,3041,2195,3356,0,0,0,0,0,0,24.96,25.16,28.83
$GC,3177,-0.47,-136.3,333.9,-7.5,306,3182,0.00,2.35,0.00,0.000,4,0.000,0.063,3033,3613,3356,0,0,0,0,0,0,28.83,24.94,28.83
$GC,3256,-0.47,-136.3,340.4,-8.1,310,3262,0.00,2.28,0.00,0.000,6,0.000,0.041,3033,2194,3356,0,0,0,0,0,0,28.83,25.42,28.83
$GC,3578,-0.47,-136.3,366.8,-8.4,326,3582,0.00,2.22,0.00,0.000,4,0.000,0.051,3033,805,3356,0,0,0,0,0,0,28.83,25.13,28.83
$GC,3604,-0.47,-136.3,368.4,-8.5,327,3609,0.00,2.28,0.00,0.000,6,0.000,0.051,3025,2200,3356,0,0,0,0,0,0,28.83,25.13,28.83
$GC,3907,-0.47,-136.3,396.0,-8.6,342,3912,0.00,2.33,0.00,0.000,4,0.000,0.063,3014,3605,3356,0,0,0,0,0,0,28.83,24.91,28.83
$GC,3956,-0.47,-136.3,399.5,-8.7,344,3966,0.00,2.28,0.00,0.000,6,0.000,0.044,3014,2186,3356,0,0,0,0,0,0,28.83,25.37,28.83
$GC,4267,-0.47,-136.3,427.7,-8.6,355,4272,0.00,2.38,0.00,0.000,4,0.000,0.063,3004,3603,3356,0,0,0,0,0,0,28.83,24.89,28.83
$GC,4296,-0.47,-136.3,430.2,-8.5,356,4303,0.15,2.25,0.00,0.000,6,0.118,0.044,3049,2207,3356,0,0,0,0,0,0,25.15,25.35,28.83
$GC,4628,-0.47,-136.3,450.0,-5.9,367,4629,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2203,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4927,-0.47,-136.3,467.5,-5.9,377,4928,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2203,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5227,-0.47,-136.3,485.7,-6.1,387,5228,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2203,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5528,-0.47,-136.3,504.4,-6.3,397,5533,0.00,2.35,0.00,0.000,4,0.000,0.065,3041,3602,3354,0,0,0,0,0,0,28.83,24.85,28.83
$GC,5565,-0.47,-136.3,506.4,-6.4,398,5569,0.00,2.28,0.00,0.000,6,0.000,0.044,3041,2198,3354,0,0,0,0,0,0,28.83,25.33,28.83
$GC,5878,-0.47,-136.3,528.4,-6.9,409,5879,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2196,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6179,-0.47,-136.3,548.4,-6.6,419,6183,0.00,2.35,0.00,0.000,4,0.000,0.066,3031,3618,3354,0,0,0,0,0,0,28.83,24.81,28.83
$GC,6226,-0.47,-136.3,550.4,-6.6,420,6230,0.00,2.33,0.00,0.000,6,0.000,0.045,3031,2190,3353,0,0,0,0,0,0,28.83,25.29,28.83
$GC,6528,-0.47,-136.3,572.7,-6.8,430,6529,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2188,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6828,-0.47,-136.3,593.1,-6.8,440,6833,0.00,2.40,0.00,0.000,4,0.000,0.065,3021,3607,3353,0,0,0,0,0,0,28.83,24.81,28.83
$GC,6877,-0.47,-136.3,595.1,-6.8,441,6885,0.00,2.30,0.00,0.000,6,0.000,0.045,3021,2193,3353,0,0,0,0,0,0,28.83,25.29,28.83
$GC,7188,-0.47,-136.3,618.1,-6.9,452,7193,0.00,2.40,0.00,0.000,4,0.000,0.065,3011,3611,3353,0,0,0,0,0,0,28.83,24.79,28.83
$GC,7226,-0.47,-136.3,620.2,-7.0,453,7231,0.12,2.30,0.00,0.000,6,0.121,0.046,3048,2201,3353,0,0,0,0,0,0,25.11,25.27,28.83
$GC,7540,-0.47,-136.3,637.6,-5.4,464,7541,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2198,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7839,-0.47,-136.3,654.9,-5.9,474,7844,0.00,2.38,0.00,0.000,4,0.000,0.066,3041,3602,3352,0,0,0,0,0,0,28.83,24.77,28.83
$GC,7907,-0.47,-136.3,658.8,-6.2,476,7911,0.00,2.30,0.00,0.000,6,0.000,0.046,3041,2190,3352,0,0,0,0,0,0,28.83,25.27,28.83
$GC,8221,-0.47,-136.3,679.6,-6.4,487,8222,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2188,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8520,-0.47,-136.3,698.6,-6.2,497,8525,0.00,2.40,0.00,0.000,4,0.000,0.066,3031,3605,3351,0,0,0,0,0,0,28.83,24.74,28.83
$GC,8580,-0.47,-136.3,702.2,-6.1,499,8585,0.00,2.28,0.00,0.000,6,0.000,0.047,3031,2209,3351,0,0,0,0,0,0,28.83,25.25,28.83
$GC,8911,-0.47,-136.3,723.3,-6.3,510,8912,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2206,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9210,-0.47,-136.3,742.2,-6.3,520,9211,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2206,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9510,-0.47,-136.3,760.8,-6.2,530,9511,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2206,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9811,-0.47,-136.3,780.7,-6.7,540,9812,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2206,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10111,-0.47,-136.3,800.2,-6.5,550,10115,0.00,2.35,0.00,0.000,4,0.000,0.066,3022,3607,3350,0,0,0,0,0,0,28.83,24.71,28.83
$GC,10158,-0.47,-136.3,802.3,-6.6,551,10162,0.00,2.33,0.00,0.000,6,0.000,0.046,3022,2188,3349,0,0,0,0,0,0,28.83,25.21,28.83
$GC,10461,-0.47,-136.3,825.7,-7.1,561,10462,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2187,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10760,-0.47,-136.3,846.1,-6.6,571,10765,0.00,2.42,0.00,0.000,4,0.000,0.067,3012,3607,3349,0,0,0,0,0,0,28.83,24.68,28.83
$GC,10798,-0.47,-136.3,848.1,-6.6,572,10803,0.12,2.33,0.00,0.000,6,0.117,0.047,3049,2192,3349,0,0,0,0,0,0,25.04,25.18,28.83
$GC,11112,-0.47,-136.3,864.7,-4.8,583,11113,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2189,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11411,-0.47,-136.3,878.5,-4.7,593,11416,0.00,2.42,0.00,0.000,4,0.000,0.067,3041,3610,3348,0,0,0,0,0,0,28.83,24.66,28.83
$GC,11449,-0.47,-136.3,879.9,-4.7,594,11453,0.00,2.33,0.00,0.000,6,0.000,0.047,3041,2195,3348,0,0,0,0,0,0,28.83,25.18,28.83
$GC,11763,-0.47,-136.3,895.2,-4.7,605,11764,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2194,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12062,-0.47,-136.3,909.8,-5.0,615,12067,0.00,2.42,0.00,0.000,4,0.000,0.067,3032,3612,3347,0,0,0,0,0,0,28.83,24.63,28.83
$GC,12122,-0.47,-136.3,913.1,-5.1,617,12128,0.00,2.30,0.00,0.000,6,0.000,0.048,3031,2205,3347,0,0,0,0,0,0,28.83,25.15,28.83
$GC,12453,-0.47,-136.3,932.8,-6.1,628,12454,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2204,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12752,-0.47,-136.3,950.7,-5.7,638,12757,0.00,2.40,0.00,0.000,4,0.000,0.067,3022,3611,3347,0,0,0,0,0,0,28.83,24.63,28.83
$GC,12800,-0.47,-136.3,952.5,-5.6,639,12804,0.00,2.33,0.00,0.000,6,0.000,0.047,3022,2194,3347,0,0,0,0,0,0,28.83,25.14,28.83
$GC,13103,-0.47,-136.3,971.4,-5.9,649,13107,0.00,2.38,0.00,0.000,4,0.000,0.068,3013,3614,3347,0,0,0,0,0,0,28.83,24.60,28.83
$GC,13152,-0.47,-136.3,974.4,-5.9,651,13157,0.00,2.30,0.00,0.000,6,0.000,0.046,3013,2200,3347,0,0,0,0,0,0,28.83,25.18,28.83
$STATE,13418,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13419,begin apogee
$GC,13426,-0.22,0.0,991.0,-6.0,660,13557,0.32,0.00,126.15,1.157,6,0.106,0.000,3124,2340,2794,0,0,0,0,0,0,25.33,28.83,22.60
$STATE,13558,end apogee,CONTROL_FINISHED_OK
$STATE,13558,begin climb
$GC,13562,0.47,136.3,993.6,0.0,664,13700,0.65,0.00,134.43,1.117,6,0.070,0.000,3346,2340,2238,0,0,0,0,0,0,24.35,28.83,21.82
$GC,13993,0.47,136.3,961.4,8.9,679,13994,0.00,0.00,0.00,0.000,6,0.000,0.000,3346,2340,2228,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14292,0.47,136.3,935.4,8.4,689,14297,0.00,2.33,0.00,0.000,4,0.000,0.067,3346,3729,2226,0,0,0,0,0,0,28.83,25.32,28.83
$GC,14329,0.47,136.3,932.7,8.6,690,14334,0.00,2.30,0.00,0.000,6,0.000,0.049,3356,2328,2226,0,0,0,0,0,0,28.83,25.54,28.83
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$STATE,26162,end climb,SURFACE_DEPTH_REACHED
$STATE,26162,begin surface coast
$FINISH,1.2,1.011802
$STATE,26212,end surface coast,CONTROL_FINISHED_OK
$STATE,26212,begin surface
$SM_CCo,26292,0.00,0.000,0,0,1430,334.59
$SM_GC,2.29,8.32,0.17,0.00,0.027,0.078,0.000,108,2188,1430,-9.46,1.05,334.59,0,0,0,0,0,0,25.85,25.99,28.83
$IRIDIUM_FIX,4703.87,-12607.72,030413,202027
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.50
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,18.90
$XPDR_PINGS,1
$24V_AH,21.8,107.356
$10V_AH,9.8,80.566
$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,22.025,190.400,436.550,0.000,0.000,24.835,46.919,247.121,0.250,0.000,14.112,3629.645,19389.861,698.306,2535.493,500.034,0.000,1943.026,0.000,2211.600,0.000,0.535,0.000
$DEVICE_MAMPS,214.965,81.090,1157.445,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,964.426,723.137,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,76847,1399
$CAP_FILE_SIZE,194302,0
$CFSIZE,260165632,193236992
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.142, 56.4,1
$GPS,040413,110436,4721.429,-12616.258,42,1.7,42,18.6