version: 66.11
glider: 187
mission: 2
dive: 684
start: 3 12 113 5 32 56
data:
$ID,187
$MISSION,2
$DIVE,684
$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,-1588900.4
$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,41
$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
$GPS1,120313,052605,4748.178,-12513.861,37,1.0,42,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-74.7
$GPS2,120313,053224,4748.244,-12513.772,12,1.0,17,18.7
$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,200.4,161199,-13.3,-7.021,-18.50
$D_GRID,526
$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,-136.3,0.0,0.0,0,91,0.00,0.00,-71.38,0.000,2,0.000,0.000,108,2190,2523,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.47,-136.3,3.0,-1.2,13,132,11.68,2.30,-20.45,0.000,4,0.214,0.064,3034,794,3352,0,0,0,0,0,0,24.53,25.44,26.27
$GC,161,-0.47,-136.3,14.5,-15.8,24,168,0.00,2.22,0.00,0.000,6,0.000,0.051,3026,2200,3353,0,0,0,0,0,0,28.83,25.44,28.83
$GC,474,-0.47,-136.3,61.0,-16.1,85,480,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2200,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,785,-0.47,-136.3,103.7,-13.2,146,791,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2200,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1094,-0.47,-136.3,137.9,-9.1,183,1095,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2200,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1394,-0.47,-136.3,165.2,-10.2,203,1403,0.00,2.35,0.00,0.000,4,0.000,0.061,3015,3612,3354,0,0,0,0,0,0,28.83,25.36,28.83
$GC,1474,-0.47,-136.3,173.3,-10.1,211,1484,0.00,2.28,0.00,0.000,6,0.000,0.043,3015,2188,3354,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1802,-0.47,-136.3,207.6,-10.7,232,1806,0.00,2.17,0.00,0.000,4,0.000,0.050,3015,802,3354,0,0,0,0,0,0,28.83,25.48,28.83
$GC,1869,-0.47,-136.3,215.3,-10.9,235,1875,0.12,2.25,0.00,0.000,6,0.135,0.050,3042,2199,3354,0,0,0,0,0,0,25.36,25.48,28.83
$GC,2190,-0.47,-136.3,243.4,-8.4,251,2194,0.00,2.33,0.00,0.000,4,0.000,0.063,3033,3609,3354,0,0,0,0,0,0,28.83,25.32,28.83
$GC,2257,-0.47,-136.3,248.4,-8.4,254,2261,0.00,2.25,0.00,0.000,6,0.000,0.043,3033,2200,3354,0,0,0,0,0,0,28.83,25.66,28.83
$GC,2559,-0.47,-136.3,273.0,-8.4,269,2560,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2198,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2860,-0.47,-136.3,297.5,-8.1,284,2861,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2198,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3159,-0.47,-136.3,321.4,-8.2,299,3160,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2199,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3459,-0.47,-136.3,344.0,-7.3,314,3460,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2199,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3760,-0.47,-136.3,364.7,-7.0,329,3761,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2198,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4061,-0.47,-136.3,388.3,-8.1,344,4065,0.00,2.30,0.00,0.000,4,0.000,0.063,3023,3612,3353,0,0,0,0,0,0,28.83,25.26,28.83
$GC,4097,-0.47,-136.3,390.7,-8.2,345,4101,0.00,2.28,0.00,0.000,6,0.000,0.044,3023,2192,3353,0,0,0,0,0,0,28.83,25.60,28.83
$GC,4400,-0.47,-136.3,417.7,-9.1,357,4404,0.00,2.35,0.00,0.000,4,0.000,0.063,3012,3601,3353,0,0,0,0,0,0,28.83,25.25,28.83
$GC,4428,-0.47,-136.3,420.6,-9.2,358,4435,0.12,2.25,0.00,0.000,6,0.121,0.044,3049,2197,3353,0,0,0,0,0,0,25.45,25.60,28.83
$GC,4759,-0.47,-136.3,447.1,-7.7,369,4760,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2195,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5060,-0.47,-136.3,469.6,-7.6,379,5064,0.00,2.35,0.00,0.000,4,0.000,0.064,3042,3609,3353,0,0,0,0,0,0,28.83,25.22,28.83
$GC,5089,-0.47,-136.3,471.8,-7.5,380,5094,0.00,2.28,0.00,0.000,6,0.000,0.045,3041,2183,3353,0,0,0,0,0,0,28.83,25.58,28.83
$GC,5419,-0.47,-136.3,494.2,-7.3,391,5425,0.00,2.38,0.00,0.000,4,0.000,0.064,3031,3608,3352,0,0,0,0,0,0,28.83,25.21,28.83
$GC,5479,-0.47,-136.3,499.2,-7.8,393,5485,0.00,2.28,0.00,0.000,6,0.000,0.046,3031,2191,3352,0,0,0,0,0,0,28.83,25.58,28.83
$GC,5810,-0.47,-136.3,525.1,-7.5,404,5814,0.00,2.35,0.00,0.000,4,0.000,0.064,3021,3602,3352,0,0,0,0,0,0,28.83,25.20,28.83
$STATE,5836,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5836,begin apogee
$GC,5845,-0.22,0.0,527.4,-7.6,405,5968,0.30,0.00,119.47,0.869,6,0.106,0.000,3125,2323,2794,0,0,0,0,0,0,25.51,28.83,23.15
$STATE,5969,end apogee,CONTROL_FINISHED_OK
$STATE,5969,begin climb
$GC,5973,0.47,136.3,531.9,0.0,409,6102,0.62,2.50,122.38,0.842,4,0.078,0.065,3345,3739,2237,0,0,0,0,0,0,24.85,24.58,23.08
$GC,6121,0.50,202.6,526.8,4.4,415,6184,0.00,2.33,57.62,0.830,6,0.000,0.046,3355,2337,1968,0,0,0,0,0,0,28.83,24.94,23.20
$GC,6503,0.50,202.6,496.2,7.8,428,6507,0.00,2.28,0.00,0.000,4,0.000,0.056,3363,914,1957,0,0,0,0,0,0,28.83,25.48,28.83
$GC,6540,0.50,202.6,494.0,7.6,429,6544,0.00,2.30,0.00,0.000,6,0.000,0.054,3363,2323,1957,0,0,0,0,0,0,28.83,25.49,28.83
$GC,6853,0.50,202.6,469.2,8.1,440,6858,0.00,2.35,0.00,0.000,4,0.000,0.066,3363,3737,1956,0,0,0,0,0,0,28.83,25.44,28.83
$GC,6912,0.50,202.6,463.6,8.8,442,6918,0.00,2.30,0.00,0.000,6,0.000,0.047,3373,2319,1955,0,0,0,0,0,0,28.83,25.66,28.83
$GC,7243,0.50,202.6,431.9,10.1,453,7248,0.00,2.25,0.00,0.000,4,0.000,0.055,3382,925,1955,0,0,0,0,0,0,28.83,25.51,28.83
$GC,7272,0.50,202.6,428.9,10.1,454,7277,0.00,2.28,0.00,0.000,6,0.000,0.054,3383,2325,1955,0,0,0,0,0,0,28.83,25.51,28.83
$GC,7592,0.50,202.6,395.6,9.9,465,7598,0.00,2.38,0.00,0.000,4,0.000,0.066,3382,3745,1955,0,0,0,0,0,0,28.83,25.38,28.83
$GC,7621,0.50,202.6,393.5,9.8,466,7631,0.12,2.30,0.00,0.000,6,0.142,0.047,3357,2323,1954,0,0,0,0,0,0,25.46,25.64,28.83
$GC,7935,0.50,202.6,367.7,7.8,482,7939,0.00,2.22,0.00,0.000,4,0.000,0.055,3365,913,1954,0,0,0,0,0,0,28.83,25.46,28.83
$GC,7982,0.50,202.6,363.6,8.0,484,7988,0.00,2.28,0.00,0.000,6,0.000,0.054,3365,2321,1954,0,0,0,0,0,0,28.83,25.48,28.83
$GC,8305,0.50,202.6,338.5,7.5,500,8309,0.00,2.30,0.00,0.000,4,0.000,0.067,3365,3736,1954,0,0,0,0,0,0,28.83,25.32,28.83
$GC,8353,0.50,202.6,334.3,8.0,502,8358,0.00,2.28,0.00,0.000,6,0.000,0.047,3375,2323,1953,0,0,0,0,0,0,28.83,25.61,28.83
$GC,8672,0.50,202.6,310.4,7.6,518,8678,0.00,2.28,0.00,0.000,4,0.000,0.054,3385,918,1953,0,0,0,0,0,0,28.83,25.44,28.83
$GC,8753,0.50,202.6,304.4,7.6,522,8758,0.00,2.28,0.00,0.000,6,0.000,0.054,3385,2328,1953,0,0,0,0,0,0,28.83,25.45,28.83
$GC,9072,0.50,202.6,277.3,8.5,538,9073,0.00,0.00,0.00,0.000,6,0.000,0.000,3385,2329,1953,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9372,0.50,202.6,251.7,8.6,553,9378,0.00,2.30,0.00,0.000,4,0.000,0.054,3395,918,1953,0,0,0,0,0,0,28.83,25.41,28.83
$GC,9402,0.50,202.6,250.1,8.6,554,9411,0.10,2.28,0.00,0.000,6,0.103,0.054,3359,2326,1953,0,0,0,0,0,0,25.25,25.41,28.83
$GC,9712,0.51,221.1,228.3,6.3,570,9733,0.00,2.40,15.40,0.666,4,0.000,0.066,3359,3743,1892,0,0,0,0,0,0,28.83,25.30,23.87
$GC,9770,0.51,230.6,224.8,6.6,573,9785,0.00,2.30,10.10,0.623,6,0.000,0.047,3365,2318,1853,0,0,0,0,0,0,28.83,25.59,23.85
$GC,10094,0.51,230.6,200.7,7.6,590,10099,0.00,2.22,0.00,0.000,4,0.000,0.054,3372,929,1849,0,0,0,0,0,0,28.83,25.44,28.83
$GC,10143,0.51,230.6,196.9,7.5,594,10152,0.00,2.28,0.00,0.000,6,0.000,0.053,3372,2328,1848,0,0,0,0,0,0,28.83,25.45,28.83
$GC,10455,0.51,238.8,174.8,6.7,615,10472,0.00,2.38,8.15,0.575,4,0.000,0.065,3372,3743,1820,0,0,0,0,0,0,28.83,25.49,24.03
$GC,10493,0.51,238.8,171.7,7.6,619,10503,0.00,2.30,0.00,0.000,6,0.000,0.047,3380,2316,1818,0,0,0,0,0,0,28.83,25.67,28.83
$GC,10805,0.51,238.8,148.8,7.6,640,10812,0.00,2.22,0.00,0.000,4,0.000,0.054,3388,928,1817,0,0,0,0,0,0,28.83,25.45,28.83
$GC,10844,0.51,238.8,145.8,7.5,644,10852,0.00,2.25,0.00,0.000,6,0.000,0.053,3389,2325,1817,0,0,0,0,0,0,28.83,25.46,28.83
$GC,11155,0.51,238.8,121.2,8.5,665,11162,0.00,2.30,0.00,0.000,4,0.000,0.065,3388,3745,1816,0,0,0,0,0,0,28.83,25.29,28.83
$GC,11260,0.51,238.8,110.5,10.2,684,11268,0.15,2.22,0.00,0.000,6,0.125,0.046,3354,2325,1816,0,0,0,0,0,0,25.41,25.60,28.83
$GC,11574,0.54,296.6,91.8,4.7,745,11633,0.00,2.30,49.40,0.605,4,0.000,0.053,3353,918,1583,0,0,0,0,0,0,28.83,25.31,23.85
$GC,11666,0.57,372.4,87.7,4.0,761,11739,0.00,2.22,62.83,0.578,6,0.000,0.050,3353,2332,1274,0,0,0,0,0,0,28.83,25.41,23.71
$GC,12044,0.57,372.4,56.7,11.0,833,12051,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,2332,1266,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12356,0.57,372.4,26.0,9.5,894,12363,0.00,2.22,0.00,0.000,4,0.000,0.052,3353,915,1264,0,0,0,0,0,0,28.83,25.48,28.83
$GC,12483,0.57,372.4,14.6,8.7,918,12490,0.00,2.20,0.00,0.000,6,0.000,0.051,3353,2325,1264,0,0,0,0,0,0,28.83,25.50,28.83
$STATE,12626,end climb,SURFACE_DEPTH_REACHED
$STATE,12627,begin surface coast
$FINISH,1.2,1.024489
$STATE,12672,end surface coast,CONTROL_FINISHED_OK
$STATE,12672,begin surface
$SM_CCo,12753,0.00,0.000,0,0,1261,375.80
$SM_GC,2.14,8.20,0.20,0.00,0.024,0.070,0.000,113,2186,1261,-9.47,0.88,375.80,0,0,0,0,0,0,25.96,26.03,28.83
$IRIDIUM_FIX,4732.49,-12505.82,120313,010102
$TT8_MAMPS,0.027713,0.027713
$HUMID,47.95
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,19.10
$XPDR_PINGS,1
$24V_AH,23.1,96.189
$10V_AH,9.8,72.982
$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,21.425,114.475,445.350,0.000,0.000,28.208,38.665,173.861,0.250,0.000,18.537,2373.559,8090.700,631.553,1743.536,292.862,0.000,1474.260,0.000,1488.343,0.000,0.535,0.000
$DEVICE_MAMPS,214.200,70.380,869.040,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,653.084,576.860,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296904
$DATA_FILE_SIZE,50183,955
$CAP_FILE_SIZE,115845,0
$CFSIZE,260165632,200105984
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.217, 38.9,1
$GPS,120313,090635,4747.651,-12515.117,27,1.4,27,18.7