version: 66.11
glider: 187
mission: 2
dive: 499
start: 1 16 113 9 13 41
data:
$ID,187
$MISSION,2
$DIVE,499
$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,-1588617.2
$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,45
$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
$GPS1,160113,090605,4745.269,-12520.692,35,1.0,35,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-78.5
$GPS2,160113,091307,4745.275,-12520.727,13,1.5,13,18.7
$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,208.6,150840,-13.3,-7.021,-18.50
$D_GRID,901
$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,14,begin dive
$GC,17,-0.47,-136.3,0.0,0.0,0,80,0.00,0.00,-60.38,0.000,2,0.000,0.000,113,2196,2711,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.47,-136.3,3.2,-1.6,11,121,11.62,2.25,-15.82,0.000,4,0.216,0.064,3030,804,3353,0,0,0,0,0,0,24.68,25.53,26.23
$GC,352,-0.47,-136.3,43.3,-13.7,62,359,0.00,2.20,0.00,0.000,6,0.000,0.052,3023,2208,3354,0,0,0,0,0,0,28.83,25.58,28.83
$GC,664,-0.47,-136.3,84.2,-12.1,123,671,0.00,2.25,0.00,0.000,4,0.000,0.063,3012,3615,3355,0,0,0,0,0,0,28.83,25.53,28.83
$GC,708,-0.47,-136.3,90.1,-13.3,131,716,0.12,2.17,0.00,0.000,6,0.129,0.044,3047,2203,3355,0,0,0,0,0,0,25.62,25.79,28.83
$GC,1031,-0.47,-136.3,121.3,-8.1,192,1032,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2198,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1333,-0.47,-136.3,145.9,-7.9,212,1334,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2198,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1632,-0.47,-136.3,166.7,-6.4,232,1640,0.00,2.20,0.00,0.000,4,0.000,0.050,3048,803,3355,0,0,0,0,0,0,28.83,25.69,28.83
$GC,1681,-0.47,-136.3,170.1,-7.2,237,1691,0.00,2.25,0.00,0.000,6,0.000,0.050,3042,2204,3355,0,0,0,0,0,0,28.83,25.69,28.83
$GC,1992,-0.47,-136.3,194.0,-8.3,258,2000,0.00,2.28,0.00,0.000,4,0.000,0.063,3031,3604,3356,0,0,0,0,0,0,28.83,25.56,28.83
$GC,2051,-0.47,-136.3,199.0,-8.3,264,2060,0.00,2.22,0.00,0.000,6,0.000,0.043,3030,2192,3356,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2378,-0.47,-136.3,225.9,-8.1,281,2382,0.00,2.28,0.00,0.000,4,0.000,0.063,3020,3616,3356,0,0,0,0,0,0,28.83,25.56,28.83
$GC,2427,-0.47,-136.3,229.3,-8.4,283,2435,0.00,2.22,0.00,0.000,6,0.000,0.043,3020,2200,3355,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2736,-0.47,-136.3,258.5,-9.2,299,2742,0.00,2.22,0.00,0.000,4,0.000,0.050,3021,802,3356,0,0,0,0,0,0,28.83,25.67,28.83
$GC,2764,-0.47,-136.3,260.5,-9.2,300,2768,0.00,2.25,0.00,0.000,6,0.000,0.051,3014,2203,3355,0,0,0,0,0,0,28.83,25.68,28.83
$GC,3067,-0.47,-136.3,290.9,-10.1,315,3072,0.00,2.28,0.00,0.000,4,0.000,0.063,3003,3606,3355,0,0,0,0,0,0,28.83,25.55,28.83
$GC,3127,-0.47,-136.3,297.3,-10.4,318,3133,0.10,2.20,0.00,0.000,6,0.101,0.043,3041,2203,3355,0,0,0,0,0,0,25.62,25.84,28.83
$GC,3447,-0.47,-136.3,324.1,-7.9,334,3452,0.00,2.20,0.00,0.000,4,0.000,0.050,3040,806,3356,0,0,0,0,0,0,28.83,25.66,28.83
$GC,3495,-0.47,-136.3,327.4,-7.9,336,3499,0.00,2.25,0.00,0.000,6,0.000,0.052,3041,2202,3355,0,0,0,0,0,0,28.83,25.66,28.83
$GC,3796,-0.47,-136.3,351.1,-7.5,351,3802,0.00,2.33,0.00,0.000,4,0.000,0.063,3033,3618,3355,0,0,0,0,0,0,28.83,25.51,28.83
$GC,3856,-0.47,-136.3,356.2,-8.1,354,3862,0.00,2.22,0.00,0.000,6,0.000,0.044,3033,2201,3355,0,0,0,0,0,0,28.83,25.83,28.83
$GC,4177,-0.47,-136.3,381.8,-7.7,370,4178,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2199,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4496,-0.47,-136.3,405.4,-7.4,385,4497,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2199,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4796,-0.47,-136.3,427.5,-7.3,395,4802,0.00,2.35,0.00,0.000,4,0.000,0.065,3023,3617,3354,0,0,0,0,0,0,28.83,25.49,28.83
$GC,4857,-0.47,-136.3,432.2,-7.7,397,4862,0.00,2.25,0.00,0.000,6,0.000,0.045,3023,2198,3354,0,0,0,0,0,0,28.83,25.80,28.83
$GC,5186,-0.47,-136.3,459.0,-8.1,408,5187,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2197,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5486,-0.47,-136.3,483.5,-8.3,418,5492,0.00,2.33,0.00,0.000,4,0.000,0.065,3013,3608,3353,0,0,0,0,0,0,28.83,25.48,28.83
$GC,5518,-0.47,-136.3,486.1,-8.4,419,5522,0.00,2.22,0.00,0.000,6,0.000,0.045,3013,2207,3353,0,0,0,0,0,0,28.83,25.79,28.83
$GC,5847,-0.47,-136.3,513.3,-7.9,430,5852,0.00,2.22,0.00,0.000,4,0.000,0.051,3013,804,3353,0,0,0,0,0,0,28.83,25.61,28.83
$GC,5884,-0.47,-136.3,515.8,-7.9,431,5889,0.15,2.25,0.00,0.000,6,0.129,0.052,3047,2201,3353,0,0,0,0,0,0,25.48,25.61,28.83
$GC,6198,-0.47,-136.3,534.4,-5.6,442,6203,0.00,2.30,0.00,0.000,4,0.000,0.066,3038,3602,3352,0,0,0,0,0,0,28.83,25.46,28.83
$GC,6258,-0.47,-136.3,537.9,-5.6,444,6263,0.00,2.22,0.00,0.000,6,0.000,0.045,3039,2193,3352,0,0,0,0,0,0,28.83,25.79,28.83
$GC,6587,-0.47,-136.3,558.3,-6.4,455,6589,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2191,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6887,-0.47,-136.3,576.3,-6.0,465,6889,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2191,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7188,-0.47,-136.3,594.8,-6.4,475,7193,0.00,2.35,0.00,0.000,4,0.000,0.066,3029,3611,3352,0,0,0,0,0,0,28.83,25.44,28.83
$GC,7226,-0.47,-136.3,596.8,-6.5,476,7230,0.00,2.28,0.00,0.000,6,0.000,0.046,3029,2191,3352,0,0,0,0,0,0,28.83,25.75,28.83
$GC,7539,-0.47,-136.3,618.5,-6.8,487,7540,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2189,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7840,-0.47,-136.3,638.2,-6.5,497,7844,0.00,2.35,0.00,0.000,4,0.000,0.066,3019,3612,3351,0,0,0,0,0,0,28.83,25.41,28.83
$GC,7887,-0.47,-136.3,640.2,-6.5,498,7891,0.00,2.28,0.00,0.000,6,0.000,0.046,3019,2193,3351,0,0,0,0,0,0,28.83,25.75,28.83
$GC,8189,-0.47,-136.3,662.8,-7.2,508,8194,0.00,2.25,0.00,0.000,4,0.000,0.053,3019,791,3351,0,0,0,0,0,0,28.83,25.56,28.83
$GC,8219,-0.47,-136.3,665.1,-7.3,509,8225,0.00,2.28,0.00,0.000,6,0.000,0.054,3015,2203,3351,0,0,0,0,0,0,28.83,25.56,28.83
$GC,8549,-0.47,-136.3,687.4,-6.4,520,8555,0.00,2.33,0.00,0.000,4,0.000,0.066,3006,3613,3351,0,0,0,0,0,0,28.83,25.40,28.83
$GC,8617,-0.47,-136.3,691.5,-6.6,522,8622,0.12,2.28,0.00,0.000,6,0.127,0.046,3043,2194,3351,0,0,0,0,0,0,25.58,25.74,28.83
$GC,8931,-0.47,-136.3,709.7,-5.8,533,8932,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2192,3351,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9230,-0.47,-136.3,726.4,-5.7,543,9236,0.00,2.35,0.00,0.000,4,0.000,0.066,3034,3609,3350,0,0,0,0,0,0,28.83,25.38,28.83
$GC,9278,-0.47,-136.3,728.0,-5.7,544,9283,0.00,2.28,0.00,0.000,6,0.000,0.047,3034,2193,3350,0,0,0,0,0,0,28.83,25.73,28.83
$GC,9582,-0.47,-136.3,747.2,-5.7,554,9583,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2192,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9880,-0.47,-136.3,763.6,-5.3,564,9886,0.00,2.35,0.00,0.000,4,0.000,0.067,3025,3607,3349,0,0,0,0,0,0,28.83,25.37,28.83
$GC,9910,-0.47,-136.3,765.5,-5.5,565,9916,0.00,2.25,0.00,0.000,6,0.000,0.047,3025,2198,3349,0,0,0,0,0,0,28.83,25.72,28.83
$GC,10241,-0.47,-136.3,785.2,-6.4,576,10246,0.00,2.35,0.00,0.000,4,0.000,0.067,3016,3611,3349,0,0,0,0,0,0,28.83,25.35,28.83
$GC,10288,-0.47,-136.3,787.2,-6.4,577,10293,0.00,2.28,0.00,0.000,6,0.000,0.048,3016,2197,3348,0,0,0,0,0,0,28.83,25.70,28.83
$GC,10590,-0.47,-136.3,810.7,-7.7,587,10596,0.00,2.38,0.00,0.000,4,0.000,0.067,3007,3613,3348,0,0,0,0,0,0,28.83,25.34,28.83
$GC,10639,-0.47,-136.3,812.9,-7.4,588,10644,0.12,2.28,0.00,0.000,6,0.125,0.047,3044,2198,3348,0,0,0,0,0,0,25.53,25.69,28.83
$GC,10941,-0.47,-136.3,833.1,-6.0,598,10946,0.00,2.35,0.00,0.000,4,0.000,0.067,3036,3605,3348,0,0,0,0,0,0,28.83,25.34,28.83
$GC,10970,-0.47,-136.3,835.2,-6.2,599,10976,0.00,2.25,0.00,0.000,6,0.000,0.048,3036,2197,3348,0,0,0,0,0,0,28.83,25.68,28.83
$GC,11302,-0.47,-136.3,857.5,-6.8,610,11303,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2196,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11600,-0.47,-136.3,876.5,-6.2,620,11602,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2196,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11901,-0.47,-136.3,894.5,-5.9,630,11902,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2196,3347,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12018,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12018,begin apogee
$GC,12026,-0.22,0.0,901.5,-5.9,634,12156,0.25,0.00,124.82,1.108,6,0.109,0.000,3124,2339,2793,0,0,0,0,0,0,25.75,28.83,22.80
$STATE,12157,end apogee,CONTROL_FINISHED_OK
$STATE,12157,begin climb
$GC,12159,0.47,136.3,905.6,0.0,638,12295,0.65,0.00,132.10,1.072,6,0.073,0.000,3345,2339,2238,0,0,0,0,0,0,24.47,28.83,22.01
$GC,12590,0.47,136.3,879.1,7.9,653,12596,0.00,2.35,0.00,0.000,4,0.000,0.055,3355,924,2227,0,0,0,0,0,0,28.83,25.25,28.83
$GC,12621,0.47,136.3,876.8,7.9,654,12626,0.00,2.28,0.00,0.000,6,0.000,0.056,3355,2312,2226,0,0,0,0,0,0,28.83,25.30,28.83
$GC,12950,0.47,136.3,849.3,8.2,665,12956,0.00,2.38,0.00,0.000,4,0.000,0.068,3355,3733,2225,0,0,0,0,0,0,28.83,25.47,28.83
$GC,12988,0.47,136.3,846.5,8.4,666,12992,0.00,2.28,0.00,0.000,6,0.000,0.049,3366,2330,2224,0,0,0,0,0,0,28.83,25.67,28.83
$GC,13301,0.47,136.3,819.3,8.2,677,13306,0.00,2.35,0.00,0.000,4,0.000,0.068,3366,3734,2224,0,0,0,0,0,0,28.83,25.54,28.83
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$STATE,23686,end climb,SURFACE_DEPTH_REACHED
$STATE,23686,begin surface coast
$FINISH,1.5,1.025084
$STATE,23728,end surface coast,CONTROL_FINISHED_OK
$STATE,23728,begin surface
$SM_CCo,23809,0.00,0.000,0,0,1317,362.31
$SM_GC,2.61,8.32,0.17,0.00,0.030,0.076,0.000,111,2192,1317,-9.46,1.13,362.31,0,0,0,0,0,0,26.05,26.08,28.83
$IRIDIUM_FIX,4729.30,-12515.52,160113,030353
$TT8_MAMPS,0.026964,0.026964
$HUMID,46.45
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,19.00
$XPDR_PINGS,0
$24V_AH,22.0,69.260
$10V_AH,9.7,55.129
$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,22.100,214.950,452.975,0.000,0.000,25.207,38.903,217.277,0.000,0.000,14.702,3467.448,17122.580,754.869,2430.676,452.119,0.000,1966.362,0.000,2139.671,0.000,0.535,0.000
$DEVICE_MAMPS,216.495,81.855,1107.720,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,920.664,719.413,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296900
$DATA_FILE_SIZE,73470,1338
$CAP_FILE_SIZE,189856,0
$CFSIZE,260165632,215916544
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.118, 57.4,1
$GPS,160113,155136,4743.334,-12523.374,28,1.2,28,18.7