version: 66.11
glider: 187
mission: 2
dive: 764
start: 4 4 113 11 12 28
data:
$ID,187
$MISSION,2
$DIVE,764
$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,-1589939.9
$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,44
$R_STBD_OVSHOOT,25
$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
$GPS1,040413,110436,4721.429,-12616.258,42,1.7,42,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-79.1
$GPS2,040413,111155,4721.435,-12616.183,15,1.5,15,18.6
$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,217.1,68109,-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,17,-0.47,-136.3,0.0,0.0,0,85,0.00,0.00,-65.70,0.000,2,0.000,0.000,107,2190,2852,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.47,-136.3,3.6,-4.1,12,121,11.80,2.25,-10.43,0.000,4,0.218,0.064,3034,805,3354,0,0,0,0,0,0,24.48,25.37,26.20
$GC,345,-0.47,-136.3,46.3,-13.5,61,352,0.00,2.22,0.00,0.000,6,0.000,0.051,3026,2201,3357,0,0,0,0,0,0,28.83,25.22,28.83
$GC,657,-0.47,-136.3,86.4,-11.5,122,663,0.00,2.28,0.00,0.000,4,0.000,0.062,3016,3609,3357,0,0,0,0,0,0,28.83,25.04,28.83
$GC,721,-0.47,-136.3,93.9,-11.3,134,728,0.00,2.20,0.00,0.000,6,0.000,0.043,3016,2192,3357,0,0,0,0,0,0,28.83,25.44,28.83
$GC,1039,-0.47,-136.3,126.2,-10.0,188,1047,0.00,2.22,0.00,0.000,4,0.000,0.050,3016,796,3357,0,0,0,0,0,0,28.83,25.20,28.83
$GC,1138,-0.47,-136.3,136.8,-10.0,198,1148,0.12,2.30,0.00,0.000,6,0.132,0.050,3043,2210,3357,0,0,0,0,0,0,25.08,25.20,28.83
$GC,1450,-0.47,-136.3,161.1,-7.3,219,1458,0.00,2.33,0.00,0.000,4,0.000,0.063,3035,3609,3357,0,0,0,0,0,0,28.83,25.00,28.83
$GC,1478,-0.47,-136.3,163.3,-7.5,222,1487,0.00,2.28,0.00,0.000,6,0.000,0.043,3035,2190,3357,0,0,0,0,0,0,28.83,25.41,28.83
$GC,1790,-0.47,-136.3,188.0,-8.1,243,1798,0.00,2.22,0.00,0.000,4,0.000,0.050,3035,800,3357,0,0,0,0,0,0,28.83,25.18,28.83
$GC,1828,-0.47,-136.3,191.2,-8.3,247,1838,0.00,2.28,0.00,0.000,6,0.000,0.050,3026,2200,3357,0,0,0,0,0,0,28.83,25.18,28.83
$GC,2143,-0.47,-136.3,218.6,-8.8,265,2149,0.00,2.35,0.00,0.000,4,0.000,0.062,3017,3620,3357,0,0,0,0,0,0,28.83,24.97,28.83
$GC,2171,-0.47,-136.3,220.5,-8.8,266,2176,0.00,2.28,0.00,0.000,6,0.000,0.042,3017,2203,3357,0,0,0,0,0,0,28.83,25.40,28.83
$GC,2475,-0.47,-136.3,249.8,-9.6,281,2479,0.00,2.25,0.00,0.000,4,0.000,0.050,3016,797,3357,0,0,0,0,0,0,28.83,25.16,28.83
$GC,2534,-0.47,-136.3,256.0,-10.0,284,2540,0.08,2.25,0.00,0.000,6,0.113,0.050,3036,2193,3357,0,0,0,0,0,0,24.98,25.17,28.83
$GC,2855,-0.47,-136.3,284.0,-9.0,300,2859,0.00,2.35,0.00,0.000,4,0.000,0.063,3028,3607,3357,0,0,0,0,0,0,28.83,24.94,28.83
$GC,2934,-0.47,-136.3,291.6,-9.6,304,2939,0.00,2.25,0.00,0.000,6,0.000,0.043,3028,2200,3357,0,0,0,0,0,0,28.83,25.39,28.83
$GC,3254,-0.47,-136.3,321.2,-9.1,320,3255,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2197,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3555,-0.47,-136.3,348.0,-8.9,335,3556,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2197,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3855,-0.47,-136.3,374.7,-8.9,350,3856,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2197,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4153,-0.47,-136.3,401.2,-8.8,365,4159,0.00,2.28,0.00,0.000,4,0.000,0.051,3028,795,3357,0,0,0,0,0,0,28.83,25.10,28.83
$GC,4203,-0.47,-136.3,404.0,-8.9,366,4211,0.00,2.30,0.00,0.000,6,0.000,0.052,3018,2201,3357,0,0,0,0,0,0,28.83,25.10,28.83
$GC,4513,-0.47,-136.3,434.1,-9.1,377,4519,0.00,2.35,0.00,0.000,4,0.000,0.063,3008,3615,3356,0,0,0,0,0,0,28.83,24.90,28.83
$GC,4551,-0.47,-136.3,436.8,-9.0,378,4556,0.12,2.30,0.00,0.000,6,0.126,0.044,3045,2194,3356,0,0,0,0,0,0,25.17,25.35,28.83
$GC,4866,-0.47,-136.3,459.2,-6.5,389,4867,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2188,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5165,-0.47,-136.3,478.0,-6.3,399,5170,0.00,2.40,0.00,0.000,4,0.000,0.064,3037,3613,3356,0,0,0,0,0,0,28.83,24.87,28.83
$GC,5197,-0.47,-136.3,480.0,-6.4,400,5201,0.00,2.22,0.00,0.000,6,0.000,0.044,3037,2195,3355,0,0,0,0,0,0,28.83,25.37,28.83
$GC,5516,-0.47,-136.3,502.1,-7.0,411,5520,0.00,2.35,0.00,0.000,4,0.000,0.065,3027,3616,3355,0,0,0,0,0,0,28.83,24.84,28.83
$GC,5562,-0.47,-136.3,504.3,-7.1,412,5567,0.00,2.30,0.00,0.000,6,0.000,0.045,3028,2199,3355,0,0,0,0,0,0,28.83,25.32,28.83
$GC,5864,-0.47,-136.3,528.3,-7.7,422,5870,0.00,2.28,0.00,0.000,4,0.000,0.052,3027,802,3355,0,0,0,0,0,0,28.83,25.06,28.83
$GC,5902,-0.47,-136.3,530.6,-7.6,423,5906,0.00,2.30,0.00,0.000,6,0.000,0.052,3019,2203,3355,0,0,0,0,0,0,28.83,25.06,28.83
$GC,6216,-0.47,-136.3,555.7,-7.7,434,6221,0.00,2.35,0.00,0.000,4,0.000,0.064,3009,3608,3354,0,0,0,0,0,0,28.83,24.84,28.83
$GC,6275,-0.47,-136.3,560.5,-7.9,436,6281,0.08,2.28,0.00,0.000,6,0.103,0.045,3040,2196,3354,0,0,0,0,0,0,25.10,25.31,28.83
$GC,6605,-0.47,-136.3,581.8,-6.3,447,6606,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2194,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6906,-0.47,-136.3,601.5,-6.6,457,6907,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2194,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7204,-0.47,-136.3,622.8,-7.1,467,7210,0.00,2.38,0.00,0.000,4,0.000,0.065,3031,3604,3353,0,0,0,0,0,0,28.83,24.79,28.83
$GC,7235,-0.47,-136.3,625.0,-7.1,468,7240,0.00,2.28,0.00,0.000,6,0.000,0.046,3031,2194,3353,0,0,0,0,0,0,28.83,25.28,28.83
$GC,7566,-0.47,-136.3,649.5,-7.4,479,7567,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2192,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7864,-0.47,-136.3,671.0,-7.1,489,7866,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2192,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8165,-0.47,-136.3,691.8,-6.9,499,8166,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2192,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8466,-0.47,-136.3,712.5,-6.8,509,8471,0.00,2.40,0.00,0.000,4,0.000,0.066,3022,3609,3352,0,0,0,0,0,0,28.83,24.76,28.83
$GC,8513,-0.47,-136.3,714.6,-6.9,510,8517,0.00,2.30,0.00,0.000,6,0.000,0.047,3022,2199,3352,0,0,0,0,0,0,28.83,25.25,28.83
$GC,8815,-0.47,-136.3,738.4,-7.5,520,8816,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2197,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9114,-0.47,-136.3,760.5,-7.6,530,9116,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2197,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9416,-0.47,-136.3,782.2,-7.0,540,9420,0.00,2.35,0.00,0.000,4,0.000,0.067,3013,3609,3351,0,0,0,0,0,0,28.83,24.72,28.83
$GC,9475,-0.47,-136.3,786.4,-6.9,542,9481,0.00,2.28,0.00,0.000,6,0.000,0.047,3013,2207,3351,0,0,0,0,0,0,28.83,25.22,28.83
$GC,9805,-0.47,-136.3,809.3,-7.0,553,9810,0.00,2.38,0.00,0.000,4,0.000,0.067,3004,3605,3350,0,0,0,0,0,0,28.83,24.71,28.83
$GC,9835,-0.47,-136.3,811.5,-7.0,554,9841,0.10,2.28,0.00,0.000,6,0.097,0.047,3042,2199,3351,0,0,0,0,0,0,24.98,25.20,28.83
$GC,10165,-0.47,-136.3,831.3,-6.2,565,10166,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2198,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10465,-0.47,-136.3,849.6,-6.0,575,10466,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2197,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10766,-0.47,-136.3,868.2,-6.4,585,10767,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2197,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11065,-0.47,-136.3,886.6,-6.1,595,11071,0.00,2.40,0.00,0.000,4,0.000,0.067,3040,3606,3349,0,0,0,0,0,0,28.83,24.66,28.83
$GC,11103,-0.47,-136.3,888.5,-6.2,596,11107,0.00,2.30,0.00,0.000,6,0.000,0.048,3040,2199,3349,0,0,0,0,0,0,28.83,25.17,28.83
$GC,11417,-0.47,-136.3,907.6,-5.7,607,11418,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2197,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11715,-0.47,-136.3,924.0,-5.3,617,11717,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2197,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12015,-0.47,-136.3,939.9,-5.2,627,12021,0.00,2.40,0.00,0.000,4,0.000,0.068,3031,3605,3348,0,0,0,0,0,0,28.83,24.63,28.83
$GC,12064,-0.47,-136.3,941.4,-5.2,628,12073,0.00,2.30,0.00,0.000,6,0.000,0.048,3031,2196,3348,0,0,0,0,0,0,28.83,25.16,28.83
$GC,12375,-0.47,-136.3,959.0,-5.2,639,12377,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2196,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12675,-0.47,-136.3,973.9,-5.0,649,12681,0.00,2.40,0.00,0.000,4,0.000,0.067,3022,3605,3348,0,0,0,0,0,0,28.83,24.62,28.83
$GC,12715,-0.47,-136.3,975.3,-4.9,650,12720,0.00,2.30,0.00,0.000,6,0.000,0.048,3022,2200,3348,0,0,0,0,0,0,28.83,25.13,28.83
$STATE,12972,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12972,begin apogee
$GC,12979,-0.22,0.0,990.2,-5.5,659,13111,0.30,0.00,126.03,1.156,6,0.104,0.000,3126,2339,2794,0,0,0,0,0,0,25.37,28.83,22.58
$STATE,13112,end apogee,CONTROL_FINISHED_OK
$STATE,13112,begin climb
$GC,13116,0.47,136.3,992.4,0.0,663,13257,0.65,2.60,133.68,1.118,4,0.069,0.067,3348,3733,2237,0,0,0,0,0,0,24.36,23.39,21.82
$GC,13297,0.47,136.3,982.4,7.3,670,13301,0.00,2.38,0.00,0.000,6,0.000,0.048,3358,2329,2233,0,0,0,0,0,0,28.83,24.15,28.83
$GC,13616,0.47,136.3,954.2,8.6,681,13621,0.00,2.30,0.00,0.000,4,0.000,0.058,3369,915,2228,0,0,0,0,0,0,28.83,25.40,28.83
$GC,13676,0.47,136.3,949.2,8.6,683,13681,0.00,2.30,0.00,0.000,6,0.000,0.057,3369,2319,2227,0,0,0,0,0,0,28.83,25.41,28.83
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$STATE,25313,end climb,SURFACE_DEPTH_REACHED
$STATE,25313,begin surface coast
$FINISH,1.2,1.003717
$STATE,25371,end surface coast,CONTROL_FINISHED_OK
$STATE,25372,begin surface
$SM_CCo,25451,0.00,0.000,0,0,1501,317.17
$SM_GC,2.03,8.25,0.20,0.00,0.024,0.073,0.000,116,2194,1501,-9.47,1.33,317.17,0,0,0,0,0,0,25.79,25.94,28.83
$IRIDIUM_FIX,4703.87,-12603.28,040413,030301
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.66
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,18.70
$XPDR_PINGS,0
$24V_AH,21.8,107.492
$10V_AH,9.8,80.665
$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,22.300,236.900,419.800,0.000,0.000,28.393,44.692,211.818,0.000,0.000,15.964,3669.636,18346.551,754.954,2598.474,509.225,0.000,2058.386,0.000,2298.680,0.000,0.535,0.000
$DEVICE_MAMPS,218.025,84.150,1155.915,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,965.408,728.195,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,76761,1400
$CAP_FILE_SIZE,201000,0
$CFSIZE,260165632,193142784
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.270, 54.2,1
$GPS,040413,181800,4720.438,-12618.545,41,1.4,41,18.6