version: 66.11
glider: 187
mission: 2
dive: 311
start: 11 24 112 12 5 22
data:
$ID,187
$MISSION,2
$DIVE,311
$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,450
$T_MISSION,500
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$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,150
$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,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$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,-1588149.9
$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,40
$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,22
$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
$GPS1,241112,115839,4749.999,-12517.534,9,2.6,29,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-78.8
$GPS2,241112,120451,4750.030,-12517.600,11,4.1,30,18.7
$SPEED_LIMITS,0.127,0.220
$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,181.6,159101,-13.4,-7.333,-18.42
$D_GRID,478
$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,16,-0.48,-146.0,0.0,0.0,0,80,0.00,0.00,-61.90,0.000,2,0.000,0.000,110,2195,2676,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.48,-146.0,3.2,-4.5,10,119,11.30,2.35,-16.92,0.000,4,0.216,0.073,3024,3612,3391,0,0,0,0,0,0,25.06,25.58,26.15
$GC,186,-0.48,-146.0,22.4,-19.2,27,193,0.00,2.17,0.00,0.000,6,0.000,0.041,3024,2196,3394,0,0,0,0,0,0,28.83,25.73,28.83
$GC,510,-0.48,-146.0,70.0,-13.3,88,518,0.00,2.20,0.00,0.000,4,0.000,0.048,3023,793,3395,0,0,0,0,0,0,28.83,25.76,28.83
$GC,635,-0.48,-146.0,86.2,-11.7,111,642,0.00,2.17,0.00,0.000,6,0.000,0.048,3014,2203,3395,0,0,0,0,0,0,28.83,25.79,28.83
$GC,966,-0.48,-146.0,128.1,-12.7,166,972,0.00,2.22,0.00,0.000,4,0.000,0.060,3004,3613,3396,0,0,0,0,0,0,28.83,25.75,28.83
$GC,996,-0.48,-146.0,132.0,-12.5,168,1003,0.12,2.15,0.00,0.000,6,0.138,0.041,3039,2195,3396,0,0,0,0,0,0,25.75,25.94,28.83
$GC,1315,-0.48,-146.0,163.8,-9.8,189,1316,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2190,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1613,-0.48,-146.0,191.4,-8.8,209,1618,0.00,2.25,0.00,0.000,4,0.000,0.060,3030,3612,3396,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1643,-0.48,-146.0,194.0,-8.7,211,1648,0.00,2.12,0.00,0.000,6,0.000,0.042,3030,2205,3396,0,0,0,0,0,0,28.83,25.99,28.83
$GC,1957,-0.48,-146.0,223.3,-9.5,228,1962,0.00,2.15,0.00,0.000,4,0.000,0.047,3030,795,3396,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1985,-0.48,-146.0,225.3,-9.7,229,1989,0.00,2.17,0.00,0.000,6,0.000,0.049,3022,2209,3395,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2294,-0.48,-146.0,257.0,-9.8,244,2295,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2210,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2592,-0.48,-146.0,285.7,-9.3,259,2593,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2210,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2892,-0.48,-146.0,313.2,-8.8,274,2897,0.00,2.22,0.00,0.000,4,0.000,0.062,3011,3610,3395,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2932,-0.48,-146.0,317.1,-9.4,276,2937,0.00,2.12,0.00,0.000,6,0.000,0.043,3011,2202,3395,0,0,0,0,0,0,28.83,26.01,28.83
$GC,3252,-0.48,-146.0,349.8,-10.5,292,3253,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2195,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3552,-0.48,-146.0,380.1,-10.0,307,3558,0.10,2.12,0.00,0.000,4,0.161,0.047,3039,802,3395,0,0,0,0,0,0,26.17,25.89,28.83
$GC,3625,-0.48,-146.0,385.7,-9.4,310,3631,0.00,2.15,0.00,0.000,6,0.000,0.050,3032,2200,3394,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3942,-0.48,-146.0,413.6,-8.7,324,3947,0.00,2.22,0.00,0.000,4,0.000,0.063,3021,3612,3394,0,0,0,0,0,0,28.83,25.76,28.83
$GC,3986,-0.48,-146.0,416.3,-8.8,325,3990,0.00,2.17,0.00,0.000,6,0.000,0.044,3021,2184,3394,0,0,0,0,0,0,28.83,25.99,28.83
$GC,4298,-0.48,-146.0,446.3,-9.3,336,4299,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2182,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4598,-0.48,-146.0,474.3,-9.3,346,4599,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2182,3393,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4655,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4655,begin apogee
$GC,4663,-0.22,0.0,479.8,-9.2,348,4789,0.30,0.00,121.80,0.851,6,0.112,0.000,3123,2332,2794,0,0,0,0,0,0,25.77,28.83,23.98
$STATE,4792,end apogee,CONTROL_FINISHED_OK
$STATE,4792,begin climb
$GC,4795,0.48,146.0,485.0,0.0,352,4928,0.65,0.00,126.35,0.837,6,0.084,0.000,3347,2332,2198,0,0,0,0,0,0,24.87,28.83,23.54
$GC,5230,0.49,166.8,461.6,6.5,367,5251,0.00,0.00,18.40,0.783,6,0.000,0.000,3347,2332,2113,0,0,0,0,0,0,28.83,28.83,24.30
$GC,5529,0.49,166.8,439.6,7.5,377,5532,0.00,2.22,0.00,0.000,4,0.000,0.052,3357,930,2107,0,0,0,0,0,0,28.83,25.58,28.83
$GC,5561,0.49,166.8,437.2,7.5,378,5567,0.00,2.17,0.00,0.000,6,0.000,0.053,3357,2315,2107,0,0,0,0,0,0,28.83,25.60,28.83
$GC,5891,0.49,166.8,409.9,8.6,389,5896,0.00,2.28,0.00,0.000,4,0.000,0.066,3357,3738,2106,0,0,0,0,0,0,28.83,25.65,28.83
$GC,5933,0.49,166.8,407.0,8.6,390,5938,0.00,2.20,0.00,0.000,6,0.000,0.045,3367,2321,2105,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6246,0.49,166.8,377.5,9.1,405,6247,0.00,0.00,0.00,0.000,6,0.000,0.000,3367,2319,2104,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6546,0.49,166.8,349.6,9.1,420,6551,0.00,2.15,0.00,0.000,4,0.000,0.052,3377,926,2104,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6594,0.49,166.8,346.0,9.1,422,6598,0.00,2.20,0.00,0.000,6,0.000,0.054,3377,2334,2104,0,0,0,0,0,0,28.83,25.80,28.83
$GC,6901,0.49,166.8,317.1,9.4,437,6902,0.00,0.00,0.00,0.000,6,0.000,0.000,3377,2333,2103,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7201,0.49,166.8,290.0,9.0,452,7206,0.00,2.22,0.00,0.000,4,0.000,0.066,3377,3736,2102,0,0,0,0,0,0,28.83,25.75,28.83
$GC,7220,0.49,166.8,288.0,9.2,453,7227,0.12,2.20,0.00,0.000,6,0.151,0.046,3354,2319,2102,0,0,0,0,0,0,25.72,25.94,28.83
$GC,7541,0.49,166.8,262.7,7.8,469,7547,0.00,2.15,0.00,0.000,4,0.000,0.053,3362,920,2102,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7594,0.49,166.8,259.4,7.9,471,7600,0.00,2.20,0.00,0.000,6,0.000,0.053,3362,2333,2102,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7901,0.49,166.8,233.1,8.1,487,7902,0.00,0.00,0.00,0.000,6,0.000,0.000,3363,2333,2101,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8202,0.49,166.8,209.3,8.0,502,8207,0.00,2.20,0.00,0.000,4,0.000,0.065,3362,3726,2101,0,0,0,0,0,0,28.83,25.73,28.83
$GC,8249,0.49,166.8,205.7,8.5,504,8253,0.00,2.17,0.00,0.000,6,0.000,0.046,3371,2316,2101,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8556,0.49,166.8,179.7,7.7,523,8558,0.00,0.00,0.00,0.000,6,0.000,0.000,3371,2311,2101,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8857,0.49,166.8,157.3,7.4,543,8858,0.00,0.00,0.00,0.000,6,0.000,0.000,3371,2310,2101,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9157,0.49,174.6,135.8,7.0,563,9170,0.00,2.17,5.88,0.520,4,0.000,0.053,3382,919,2082,0,0,0,0,0,0,28.83,25.98,24.56
$GC,9197,0.49,179.2,133.5,7.2,565,9208,0.00,2.20,6.07,0.524,6,0.000,0.052,3382,2336,2063,0,0,0,0,0,0,28.83,25.89,24.73
$GC,9515,0.49,179.2,108.6,7.8,605,9523,0.00,2.22,0.00,0.000,4,0.000,0.064,3381,3734,2060,0,0,0,0,0,0,28.83,25.75,28.83
$GC,9546,0.49,179.2,105.8,9.3,610,9554,0.15,2.17,0.00,0.000,6,0.139,0.045,3349,2321,2060,0,0,0,0,0,0,25.71,25.94,28.83
$GC,9859,0.51,218.8,86.1,5.8,671,9896,0.00,0.00,33.55,0.614,6,0.000,0.000,3349,2319,1901,0,0,0,0,0,0,28.83,28.83,24.84
$GC,10208,0.52,262.0,66.7,5.7,737,10253,0.00,2.28,35.83,0.597,4,0.000,0.052,3353,919,1723,0,0,0,0,0,0,28.83,25.52,24.72
$GC,10271,0.54,309.3,63.2,5.5,747,10316,0.00,2.22,38.65,0.578,6,0.000,0.050,3353,2332,1532,0,0,0,0,0,0,28.83,25.50,24.52
$GC,10630,0.55,317.0,39.0,7.0,814,10644,0.00,2.33,6.20,0.470,4,0.000,0.065,3353,3731,1501,0,0,0,0,0,0,28.83,25.62,24.61
$GC,10673,0.55,317.0,35.5,8.2,821,10681,0.00,2.20,0.00,0.000,6,0.000,0.043,3353,2308,1500,0,0,0,0,0,0,28.83,25.69,28.83
$GC,10995,0.55,317.0,10.0,7.9,882,11003,0.00,2.20,0.00,0.000,4,0.000,0.050,3353,923,1497,0,0,0,0,0,0,28.83,25.70,28.83
$GC,11027,0.55,317.0,7.5,8.6,887,11035,0.00,2.17,0.00,0.000,6,0.000,0.049,3353,2327,1497,0,0,0,0,0,0,28.83,25.71,28.83
$STATE,11065,end climb,SURFACE_DEPTH_REACHED
$STATE,11065,begin surface coast
$FINISH,1.1,1.011956
$STATE,11114,end surface coast,CONTROL_FINISHED_OK
$STATE,11114,begin surface
$SM_CCo,11194,0.00,0.000,0,0,1493,318.89
$SM_GC,1.83,8.23,0.20,0.00,0.026,0.070,0.000,107,2191,1493,-9.46,1.02,318.89,0,0,0,0,0,0,26.00,25.98,28.83
$IRIDIUM_FIX,4732.49,-12510.28,241112,080805
$TT8_MAMPS,0.027713,0.027713
$HUMID,45.51
$INTERNAL_PRESSURE,9.12806
$TCM_TEMP,16.20
$XPDR_PINGS,3
$24V_AH,23.5,43.236
$10V_AH,10.1,35.760
$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,20.975,83.975,392.725,0.000,0.000,28.289,35.424,173.023,0.750,0.000,32.475,2255.438,6622.057,462.427,1981.645,247.244,0.000,1326.280,0.000,1721.406,0.000,0.535,0.000
$DEVICE_MAMPS,215.730,78.030,851.445,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,618.128,582.386,538.664,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296760
$DATA_FILE_SIZE,50289,903
$CAP_FILE_SIZE,106427,0
$CFSIZE,260165632,232316928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.182,350.2,1
$GPS,241112,151324,4749.278,-12518.836,50,1.4,51,18.7