version: 66.11
glider: 187
mission: 2
dive: 766
start: 4 5 113 1 49 3
data:
$ID,187
$MISSION,2
$DIVE,766
$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,-1589942.4
$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,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
$GPS1,050413,014035,4719.266,-12620.764,41,0.8,46,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-78.4
$GPS2,050413,014830,4719.318,-12620.664,18,0.9,23,18.6
$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,221.4,61225,-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,-136.3,0.0,0.0,0,80,0.00,0.00,-61.00,0.000,2,0.000,0.000,109,2187,2730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.47,-136.3,3.1,-3.1,11,115,11.60,0.00,-14.55,0.000,6,0.213,0.000,3030,2186,3353,0,0,0,0,0,0,24.52,28.83,26.21
$GC,420,-0.47,-136.3,54.6,-14.1,76,425,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2186,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,731,-0.47,-136.3,91.6,-10.9,137,739,0.00,2.20,0.00,0.000,4,0.000,0.051,3030,793,3356,0,0,0,0,0,0,28.83,25.20,28.83
$GC,772,-0.47,-136.3,96.2,-11.6,144,778,0.00,2.22,0.00,0.000,6,0.000,0.051,3023,2199,3356,0,0,0,0,0,0,28.83,25.20,28.83
$GC,1084,-0.47,-136.3,130.7,-11.0,193,1094,0.00,2.35,0.00,0.000,4,0.000,0.062,3012,3615,3356,0,0,0,0,0,0,28.83,25.00,28.83
$GC,1124,-0.47,-136.3,135.2,-11.2,197,1135,0.12,2.28,0.00,0.000,6,0.124,0.043,3049,2197,3356,0,0,0,0,0,0,25.24,25.41,28.83
$GC,1436,-0.47,-136.3,162.4,-8.1,218,1443,0.00,2.33,0.00,0.000,4,0.000,0.063,3041,3622,3357,0,0,0,0,0,0,28.83,24.97,28.83
$GC,1464,-0.47,-136.3,164.9,-8.2,221,1473,0.00,2.30,0.00,0.000,6,0.000,0.043,3040,2191,3357,0,0,0,0,0,0,28.83,25.40,28.83
$GC,1776,-0.47,-136.3,189.4,-7.5,242,1783,0.00,2.22,0.00,0.000,4,0.000,0.050,3040,803,3356,0,0,0,0,0,0,28.83,25.17,28.83
$GC,1807,-0.47,-136.3,191.6,-7.6,245,1814,0.00,2.25,0.00,0.000,6,0.000,0.050,3031,2207,3357,0,0,0,0,0,0,28.83,25.16,28.83
$GC,2119,-0.47,-136.3,216.3,-7.8,263,2125,0.00,2.33,0.00,0.000,4,0.000,0.062,3021,3609,3356,0,0,0,0,0,0,28.83,24.96,28.83
$GC,2167,-0.47,-136.3,219.8,-8.2,265,2171,0.00,2.28,0.00,0.000,6,0.000,0.044,3021,2196,3356,0,0,0,0,0,0,28.83,25.39,28.83
$GC,2470,-0.47,-136.3,248.4,-9.5,280,2471,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2192,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2771,-0.47,-136.3,276.9,-9.6,295,2772,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2192,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3070,-0.47,-136.3,306.8,-9.8,310,3075,0.00,2.25,0.00,0.000,4,0.000,0.050,3021,795,3356,0,0,0,0,0,0,28.83,25.13,28.83
$GC,3097,-0.47,-136.3,308.8,-9.7,311,3101,0.00,2.30,0.00,0.000,6,0.000,0.051,3013,2200,3357,0,0,0,0,0,0,28.83,25.11,28.83
$GC,3400,-0.47,-136.3,339.2,-9.5,326,3405,0.00,2.35,0.00,0.000,4,0.000,0.063,3002,3611,3356,0,0,0,0,0,0,28.83,24.90,28.83
$GC,3447,-0.47,-136.3,343.0,-9.6,328,3452,0.15,2.30,0.00,0.000,6,0.120,0.044,3047,2193,3356,0,0,0,0,0,0,25.13,25.34,28.83
$GC,3751,-0.47,-136.3,364.7,-6.6,343,3752,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2187,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4050,-0.47,-136.3,385.2,-6.5,358,4055,0.00,2.25,0.00,0.000,4,0.000,0.051,3047,792,3356,0,0,0,0,0,0,28.83,25.09,28.83
$GC,4079,-0.47,-136.3,386.5,-6.5,359,4087,0.00,2.33,0.00,0.000,6,0.000,0.052,3040,2210,3356,0,0,0,0,0,0,28.83,25.08,28.83
$GC,4389,-0.47,-136.3,410.0,-7.2,373,4395,0.00,2.35,0.00,0.000,4,0.000,0.065,3030,3620,3356,0,0,0,0,0,0,28.83,24.85,28.83
$GC,4427,-0.47,-136.3,412.3,-7.2,374,4432,0.00,2.30,0.00,0.000,6,0.000,0.044,3030,2195,3355,0,0,0,0,0,0,28.83,25.32,28.83
$GC,4741,-0.47,-136.3,436.4,-7.3,385,4742,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2193,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5040,-0.47,-136.3,457.3,-7.1,395,5041,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2193,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5340,-0.47,-136.3,479.4,-7.6,405,5345,0.00,2.38,0.00,0.000,4,0.000,0.064,3020,3609,3354,0,0,0,0,0,0,28.83,24.83,28.83
$GC,5388,-0.47,-136.3,481.9,-7.8,406,5392,0.00,2.30,0.00,0.000,6,0.000,0.045,3020,2190,3354,0,0,0,0,0,0,28.83,25.30,28.83
$GC,5691,-0.47,-136.3,509.1,-8.5,416,5692,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2189,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5990,-0.47,-136.3,533.6,-8.2,426,5991,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2189,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6290,-0.47,-136.3,558.1,-8.1,436,6291,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2189,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6591,-0.47,-136.3,582.0,-7.9,446,6592,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2189,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6890,-0.47,-136.3,605.1,-7.6,456,6896,0.00,2.38,0.00,0.000,4,0.000,0.065,3011,3604,3353,0,0,0,0,0,0,28.83,24.79,28.83
$GC,6938,-0.47,-136.3,607.5,-7.6,457,6943,0.12,2.28,0.00,0.000,6,0.120,0.045,3047,2202,3352,0,0,0,0,0,0,25.11,25.26,28.83
$GC,7241,-0.47,-136.3,627.0,-6.0,467,7242,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2200,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7540,-0.47,-136.3,645.5,-6.4,477,7541,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2199,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7840,-0.47,-136.3,665.7,-6.9,487,7846,0.00,2.38,0.00,0.000,4,0.000,0.067,3040,3608,3352,0,0,0,0,0,0,28.83,24.75,28.83
$GC,7888,-0.47,-136.3,667.9,-7.0,488,7892,0.00,2.30,0.00,0.000,6,0.000,0.046,3040,2194,3351,0,0,0,0,0,0,28.83,25.24,28.83
$GC,8191,-0.47,-136.3,692.3,-7.9,498,8192,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2193,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8490,-0.47,-136.3,715.4,-7.8,508,8491,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2193,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8790,-0.47,-136.3,738.0,-7.5,518,8796,0.00,2.40,0.00,0.000,4,0.000,0.067,3030,3609,3351,0,0,0,0,0,0,28.83,24.70,28.83
$GC,8821,-0.47,-136.3,740.2,-7.4,519,8826,0.00,2.28,0.00,0.000,6,0.000,0.047,3029,2207,3351,0,0,0,0,0,0,28.83,25.21,28.83
$GC,9150,-0.47,-136.3,765.2,-7.5,530,9151,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2205,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9450,-0.47,-136.3,787.1,-7.2,540,9451,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2205,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9752,-0.47,-136.3,807.3,-6.5,550,9756,0.00,2.33,0.00,0.000,4,0.000,0.067,3021,3608,3350,0,0,0,0,0,0,28.83,24.68,28.83
$GC,9808,-0.47,-136.3,810.8,-6.7,552,9812,0.00,2.30,0.00,0.000,6,0.000,0.047,3021,2195,3349,0,0,0,0,0,0,28.83,25.19,28.83
$GC,10121,-0.47,-136.3,833.1,-6.9,563,10122,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2193,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10422,-0.47,-136.3,853.9,-7.1,573,10426,0.00,2.40,0.00,0.000,4,0.000,0.067,3011,3607,3349,0,0,0,0,0,0,28.83,24.66,28.83
$GC,10490,-0.47,-136.3,858.4,-7.2,575,10497,0.12,2.30,0.00,0.000,6,0.119,0.047,3048,2194,3348,0,0,0,0,0,0,25.02,25.16,28.83
$GC,10811,-0.47,-136.3,878.0,-6.0,586,10812,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2192,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11112,-0.47,-136.3,895.9,-6.0,596,11117,0.00,2.40,0.00,0.000,4,0.000,0.067,3040,3609,3348,0,0,0,0,0,0,28.83,24.64,28.83
$GC,11149,-0.47,-136.3,897.8,-5.9,597,11153,0.00,2.30,0.00,0.000,6,0.000,0.048,3041,2198,3348,0,0,0,0,0,0,28.83,25.15,28.83
$GC,11461,-0.47,-136.3,917.4,-6.1,608,11463,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2196,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11763,-0.47,-136.3,935.3,-5.9,618,11767,0.00,2.35,0.00,0.000,4,0.000,0.068,3031,3608,3347,0,0,0,0,0,0,28.83,24.60,28.83
$GC,11799,-0.47,-136.3,936.4,-5.9,619,11804,0.00,2.30,0.00,0.000,6,0.000,0.048,3030,2199,3347,0,0,0,0,0,0,28.83,25.13,28.83
$GC,12101,-0.47,-136.3,956.1,-6.1,629,12103,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2197,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12402,-0.47,-136.3,973.9,-5.8,639,12407,0.00,2.35,0.00,0.000,4,0.000,0.067,3022,3607,3347,0,0,0,0,0,0,28.83,24.60,28.83
$GC,12449,-0.47,-136.3,975.6,-5.7,640,12453,0.00,2.30,0.00,0.000,6,0.000,0.048,3022,2200,3347,0,0,0,0,0,0,28.83,25.11,28.83
$STATE,12688,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12688,begin apogee
$GC,12695,-0.22,0.0,991.0,-5.8,648,12827,0.30,0.00,125.85,1.152,6,0.105,0.000,3125,2339,2793,0,0,0,0,0,0,25.36,28.83,22.61
$STATE,12827,end apogee,CONTROL_FINISHED_OK
$STATE,12828,begin climb
$GC,12832,0.47,136.3,994.1,0.0,652,12969,0.65,0.00,133.90,1.118,6,0.069,0.000,3347,2339,2238,0,0,0,0,0,0,24.34,28.83,21.83
$GC,13261,0.47,136.3,965.6,7.9,667,13262,0.00,0.00,0.00,0.000,6,0.000,0.000,3347,2339,2228,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13561,0.47,136.3,942.1,7.7,677,13562,0.00,0.00,0.00,0.000,6,0.000,0.000,3347,2339,2226,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13861,0.47,136.3,919.7,7.4,687,13867,0.00,2.33,0.00,0.000,4,0.000,0.057,3357,925,2225,0,0,0,0,0,0,28.83,25.34,28.83
$GC,13891,0.47,136.3,917.4,7.3,688,13897,0.00,2.30,0.00,0.000,6,0.000,0.057,3357,2321,2225,0,0,0,0,0,0,28.83,25.35,28.83
$GC,14221,0.47,136.3,891.7,7.9,699,14227,0.00,2.38,0.00,0.000,4,0.000,0.068,3357,3736,2224,0,0,0,0,0,0,28.83,25.18,28.83
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$STATE,25656,end climb,SURFACE_DEPTH_REACHED
$STATE,25656,begin surface coast
$FINISH,1.2,1.024832
$STATE,25694,end surface coast,CONTROL_FINISHED_OK
$STATE,25694,begin surface
$SM_CCo,25774,0.00,0.000,0,0,1161,400.82
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$IRIDIUM_FIX,4700.70,-12614.72,040413,181819
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.34
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,19.00
$XPDR_PINGS,0
$24V_AH,21.8,107.770
$10V_AH,9.7,80.864
$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
$DEVICE_SECS,22.050,199.350,491.900,0.000,0.000,26.734,42.780,242.240,0.000,0.000,26.403,3660.079,18730.381,782.412,2571.960,491.847,0.000,2042.644,0.000,2241.667,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,988.917,756.483,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,76946,1437
$CAP_FILE_SIZE,196411,0
$CFSIZE,260165632,192974848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.109, 47.8,1
$GPS,050413,085954,4718.442,-12624.321,39,1.7,39,18.6