version: 66.11
glider: 187
mission: 2
dive: 312
start: 11 24 112 15 20 2
data:
$ID,187
$MISSION,2
$DIVE,312
$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,-1588151.1
$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,28
$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
$GPS1,241112,151324,4749.278,-12518.836,50,1.4,51,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-77.8
$GPS2,241112,151930,4749.325,-12518.858,12,1.4,16,18.7
$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,170.7,157048,-13.4,-7.333,-18.42
$D_GRID,537
$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,-0.48,-146.0,0.0,0.0,0,80,0.00,0.00,-61.38,0.000,2,0.000,0.000,107,2190,2899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.48,-146.0,3.4,-3.5,10,113,11.48,2.30,-9.85,0.000,4,0.220,0.070,3023,3609,3391,0,0,0,0,0,0,25.05,25.57,26.17
$GC,121,-0.48,-146.0,16.0,-33.2,15,128,0.00,2.17,0.00,0.000,6,0.000,0.042,3023,2196,3393,0,0,0,0,0,0,28.83,25.70,28.83
$GC,448,-0.48,-146.0,69.8,-13.0,76,456,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2189,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,771,-0.48,-146.0,109.0,-11.4,137,777,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2189,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1089,-0.48,-146.0,143.2,-11.1,171,1091,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2189,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1388,-0.48,-146.0,175.6,-10.6,191,1394,0.00,2.12,0.00,0.000,4,0.000,0.049,3023,799,3396,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1432,-0.48,-146.0,180.6,-10.6,194,1438,0.00,2.17,0.00,0.000,6,0.000,0.049,3014,2203,3396,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1753,-0.48,-146.0,216.9,-11.6,213,1758,0.00,2.20,0.00,0.000,4,0.000,0.061,3004,3604,3396,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1801,-0.48,-146.0,221.6,-11.5,215,1806,0.12,2.12,0.00,0.000,6,0.137,0.041,3039,2195,3395,0,0,0,0,0,0,25.77,25.97,28.83
$GC,2107,-0.48,-146.0,251.7,-9.3,230,2113,0.00,2.12,0.00,0.000,4,0.000,0.049,3039,803,3395,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2147,-0.48,-146.0,255.4,-9.1,232,2153,0.00,2.17,0.00,0.000,6,0.000,0.050,3033,2205,3395,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2468,-0.48,-146.0,283.6,-8.7,248,2472,0.00,2.25,0.00,0.000,4,0.000,0.063,3022,3616,3395,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2498,-0.48,-146.0,285.4,-8.6,249,2502,0.00,2.15,0.00,0.000,6,0.000,0.043,3022,2201,3395,0,0,0,0,0,0,28.83,25.97,28.83
$GC,2805,-0.48,-146.0,313.7,-8.8,264,2810,0.00,2.15,0.00,0.000,4,0.000,0.050,3022,799,3395,0,0,0,0,0,0,28.83,25.83,28.83
$GC,2873,-0.48,-146.0,319.2,-9.0,267,2878,0.00,2.17,0.00,0.000,6,0.000,0.050,3013,2207,3395,0,0,0,0,0,0,28.83,25.84,28.83
$GC,3180,-0.48,-146.0,350.6,-10.5,282,3185,0.00,2.22,0.00,0.000,4,0.000,0.063,3003,3609,3395,0,0,0,0,0,0,28.83,25.72,28.83
$GC,3213,-0.48,-146.0,352.7,-10.6,283,3221,0.12,2.15,0.00,0.000,6,0.136,0.043,3039,2190,3395,0,0,0,0,0,0,25.77,25.96,28.83
$GC,3520,-0.48,-146.0,381.3,-8.8,299,3521,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2188,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3830,-0.48,-146.0,407.1,-8.0,313,3831,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2187,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4130,-0.48,-146.0,430.2,-7.4,323,4136,0.00,2.30,0.00,0.000,4,0.000,0.063,3030,3613,3393,0,0,0,0,0,0,28.83,25.70,28.83
$GC,4173,-0.48,-146.0,432.4,-7.3,324,4178,0.00,2.15,0.00,0.000,6,0.000,0.044,3030,2204,3393,0,0,0,0,0,0,28.83,25.96,28.83
$GC,4486,-0.48,-146.0,456.7,-7.7,335,4487,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2202,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4786,-0.48,-146.0,479.9,-7.8,345,4788,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2202,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5086,-0.48,-146.0,504.6,-8.2,355,5087,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2202,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5386,-0.48,-146.0,528.1,-7.8,365,5390,0.00,2.17,0.00,0.000,4,0.000,0.052,3031,803,3391,0,0,0,0,0,0,28.83,25.78,28.83
$GC,5426,-0.48,-146.0,530.9,-8.1,366,5430,0.00,2.20,0.00,0.000,6,0.000,0.053,3022,2206,3391,0,0,0,0,0,0,28.83,25.77,28.83
$STATE,5505,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5505,begin apogee
$GC,5513,-0.22,0.0,538.4,-8.3,369,5640,0.30,0.00,122.45,0.894,6,0.110,0.000,3125,2342,2794,0,0,0,0,0,0,25.75,28.83,23.87
$STATE,5643,end apogee,CONTROL_FINISHED_OK
$STATE,5643,begin climb
$GC,5646,0.48,146.0,542.3,0.0,373,5777,0.62,0.00,127.72,0.859,6,0.080,0.000,3342,2341,2198,0,0,0,0,0,0,24.81,28.83,23.39
$GC,6077,0.48,146.0,514.5,7.4,388,6082,0.00,2.25,0.00,0.000,4,0.000,0.053,3352,921,2188,0,0,0,0,0,0,28.83,25.30,28.83
$GC,6106,0.48,146.0,512.0,7.6,389,6111,0.00,2.25,0.00,0.000,6,0.000,0.054,3352,2325,2188,0,0,0,0,0,0,28.83,25.34,28.83
$GC,6435,0.48,146.0,485.1,7.9,400,6441,0.00,2.25,0.00,0.000,4,0.000,0.066,3352,3727,2186,0,0,0,0,0,0,28.83,25.53,28.83
$GC,6468,0.48,146.0,482.6,7.9,401,6472,0.00,2.17,0.00,0.000,6,0.000,0.047,3362,2329,2186,0,0,0,0,0,0,28.83,25.69,28.83
$GC,6791,0.48,146.0,457.2,7.7,412,6792,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,2327,2186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7091,0.48,146.0,432.5,8.5,422,7092,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,2328,2185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7390,0.48,146.0,408.3,8.1,432,7396,0.00,2.28,0.00,0.000,4,0.000,0.066,3362,3736,2184,0,0,0,0,0,0,28.83,25.67,28.83
$GC,7450,0.48,146.0,402.8,8.6,434,7456,0.00,2.20,0.00,0.000,6,0.000,0.046,3372,2322,2184,0,0,0,0,0,0,28.83,25.87,28.83
$GC,7771,0.48,146.0,376.2,8.5,449,7776,0.00,2.17,0.00,0.000,4,0.000,0.054,3383,915,2184,0,0,0,0,0,0,28.83,25.77,28.83
$GC,7818,0.48,146.0,372.8,8.5,451,7823,0.12,2.22,0.00,0.000,6,0.145,0.054,3350,2335,2183,0,0,0,0,0,0,25.63,25.76,28.83
$GC,8125,0.48,148.6,349.9,7.2,466,8131,0.00,2.22,0.00,0.000,4,0.000,0.067,3350,3733,2183,0,0,0,0,0,0,28.83,25.69,28.83
$GC,8206,0.48,148.6,343.4,8.1,470,8212,0.00,2.15,0.00,0.000,6,0.000,0.047,3357,2323,2183,0,0,0,0,0,0,28.83,25.90,28.83
$GC,8526,0.48,152.0,320.2,7.2,486,8532,0.00,0.00,3.80,0.493,6,0.000,0.000,3357,2323,2174,0,0,0,0,0,0,28.83,28.83,24.41
$GC,8827,0.48,152.0,297.8,7.5,501,8832,0.00,2.15,0.00,0.000,4,0.000,0.052,3367,925,2174,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8859,0.48,152.0,296.2,7.6,502,8865,0.00,2.20,0.00,0.000,6,0.000,0.054,3367,2334,2174,0,0,0,0,0,0,28.83,25.81,28.83
$GC,9166,0.48,152.0,271.0,7.5,518,9172,0.00,2.25,0.00,0.000,4,0.000,0.066,3367,3738,2174,0,0,0,0,0,0,28.83,25.72,28.83
$GC,9206,0.48,152.0,267.6,8.1,520,9212,0.00,2.17,0.00,0.000,6,0.000,0.046,3376,2324,2173,0,0,0,0,0,0,28.83,25.93,28.83
$GC,9526,0.48,152.0,241.5,8.1,536,9529,0.00,2.17,0.00,0.000,4,0.000,0.052,3387,921,2173,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9550,0.48,152.0,239.8,7.9,537,9555,0.15,2.20,0.00,0.000,6,0.136,0.054,3346,2327,2173,0,0,0,0,0,0,25.64,25.79,28.83
$GC,9864,0.49,175.0,219.3,6.4,553,9890,0.00,2.25,21.30,0.691,4,0.000,0.064,3346,3734,2079,0,0,0,0,0,0,28.83,25.81,24.82
$GC,9918,0.49,182.6,215.2,7.0,556,9931,0.00,2.17,8.02,0.606,6,0.000,0.045,3353,2322,2049,0,0,0,0,0,0,28.83,25.80,24.61
$GC,10242,0.49,187.9,192.5,7.1,573,10254,0.00,2.17,5.35,0.533,4,0.000,0.050,3362,925,2027,0,0,0,0,0,0,28.83,25.82,24.58
$GC,10287,0.50,204.0,189.4,6.7,576,10308,0.00,2.22,15.23,0.654,6,0.000,0.053,3362,2335,1961,0,0,0,0,0,0,28.83,25.71,24.70
$GC,10617,0.51,218.8,166.7,6.8,598,10635,0.00,2.22,13.38,0.633,4,0.000,0.053,3371,926,1902,0,0,0,0,0,0,28.83,25.71,24.72
$GC,10667,0.51,230.2,163.8,6.9,601,10689,0.00,2.20,11.23,0.614,6,0.000,0.053,3370,2326,1853,0,0,0,0,0,0,28.83,25.63,24.60
$GC,10992,0.51,230.2,137.5,8.4,623,10998,0.00,2.25,0.00,0.000,4,0.000,0.065,3370,3736,1850,0,0,0,0,0,0,28.83,25.60,28.83
$GC,11014,0.51,230.2,136.0,8.5,624,11022,0.00,2.22,0.00,0.000,6,0.000,0.046,3379,2329,1850,0,0,0,0,0,0,28.83,25.76,28.83
$GC,11328,0.51,234.9,110.2,7.2,661,11341,0.00,2.25,4.65,0.467,4,0.000,0.053,3389,925,1836,0,0,0,0,0,0,28.83,25.85,24.62
$GC,11356,0.52,260.3,108.3,6.4,665,11387,0.00,2.20,23.02,0.620,6,0.000,0.053,3389,2334,1730,0,0,0,0,0,0,28.83,25.77,24.77
$GC,11704,0.52,260.3,79.8,8.9,730,11711,0.00,2.28,0.00,0.000,4,0.000,0.064,3389,3737,1725,0,0,0,0,0,0,28.83,25.61,28.83
$GC,11739,0.52,260.3,76.3,10.2,736,11748,0.08,2.22,0.00,0.000,6,0.116,0.044,3360,2326,1725,0,0,0,0,0,0,25.58,25.79,28.83
$GC,12066,0.56,351.9,59.4,3.8,797,12147,0.00,2.25,72.55,0.591,4,0.000,0.052,3360,923,1357,0,0,0,0,0,0,28.83,25.27,24.55
$GC,12200,0.58,413.1,53.2,5.0,819,12256,0.00,2.22,48.67,0.581,6,0.000,0.049,3360,2334,1108,0,0,0,0,0,0,28.83,25.37,24.37
$GC,12573,0.58,413.1,16.2,10.9,888,12581,0.00,2.30,0.00,0.000,4,0.000,0.064,3360,3725,1099,0,0,0,0,0,0,28.83,25.50,28.83
$GC,12616,0.58,413.1,11.4,11.5,895,12623,0.00,2.17,0.00,0.000,6,0.000,0.044,3361,2320,1098,0,0,0,0,0,0,28.83,25.69,28.83
$STATE,12685,end climb,SURFACE_DEPTH_REACHED
$STATE,12685,begin surface coast
$FINISH,1.1,1.016169
$STATE,12726,end surface coast,CONTROL_FINISHED_OK
$STATE,12726,begin surface
$SM_CCo,12805,0.00,0.000,0,0,1095,416.76
$SM_GC,2.15,8.32,0.17,0.00,0.028,0.072,0.000,105,2193,1095,-9.47,1.16,416.76,0,0,0,0,0,0,25.91,25.87,28.83
$IRIDIUM_FIX,4732.49,-12514.75,241112,121224
$TT8_MAMPS,0.026964,0.026964
$HUMID,45.94
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,15.30
$XPDR_PINGS,4
$24V_AH,23.4,43.351
$10V_AH,10.1,35.843
$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,21.325,110.650,477.375,0.000,0.000,27.886,43.974,171.310,1.000,0.000,17.699,2314.797,7971.840,526.983,2079.751,280.684,0.000,1496.798,0.000,1819.719,0.000,0.535,0.000
$DEVICE_MAMPS,220.320,82.620,894.285,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,625.846,565.009,494.336,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296792
$DATA_FILE_SIZE,50122,915
$CAP_FILE_SIZE,121332,0
$CFSIZE,260165632,232239104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.188,351.7,1
$GPS,241112,185435,4748.469,-12519.368,30,0.9,30,18.7