version: 66.11
glider: 187
mission: 2
dive: 559
start: 2 3 113 15 29 2
data:
$ID,187
$MISSION,2
$DIVE,559
$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,-1588705.2
$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,46
$R_STBD_OVSHOOT,27
$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
$GPS1,030213,151500,4749.062,-12515.872,42,1.9,42,18.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-78.4
$GPS2,030213,152831,4749.073,-12515.960,14,1.3,14,18.7
$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,213.1,159775,-13.3,-7.021,-18.50
$D_GRID,514
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-0.47,-136.3,0.0,0.0,0,86,0.00,0.00,-65.60,0.000,2,0.000,0.000,110,2173,2598,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.47,-136.3,3.1,-1.5,12,127,11.85,2.35,-18.08,0.000,4,0.220,0.074,3026,3608,3351,0,0,0,0,0,0,24.56,25.36,26.24
$GC,212,-0.47,-136.3,22.1,-13.6,34,220,0.00,2.17,0.00,0.000,6,0.000,0.044,3025,2206,3353,0,0,0,0,0,0,28.83,25.63,28.83
$GC,526,-0.47,-136.3,66.2,-13.6,95,533,0.00,2.20,0.00,0.000,4,0.000,0.051,3025,796,3353,0,0,0,0,0,0,28.83,25.57,28.83
$GC,666,-0.47,-136.3,83.6,-11.5,122,674,0.00,2.20,0.00,0.000,6,0.000,0.051,3016,2206,3354,0,0,0,0,0,0,28.83,25.60,28.83
$GC,978,-0.47,-136.3,120.6,-10.7,183,987,0.00,2.30,0.00,0.000,4,0.000,0.062,3006,3609,3354,0,0,0,0,0,0,28.83,25.51,28.83
$GC,1068,-0.47,-136.3,130.0,-10.0,192,1077,0.12,2.25,0.00,0.000,6,0.129,0.042,3043,2183,3354,0,0,0,0,0,0,25.62,25.79,28.83
$GC,1380,-0.47,-136.3,156.3,-9.0,213,1381,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2183,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1679,-0.47,-136.3,182.4,-7.6,233,1687,0.00,2.17,0.00,0.000,4,0.000,0.050,3043,807,3354,0,0,0,0,0,0,28.83,25.65,28.83
$GC,1729,-0.47,-136.3,186.4,-7.9,238,1737,0.00,2.22,0.00,0.000,6,0.000,0.050,3037,2202,3354,0,0,0,0,0,0,28.83,25.65,28.83
$GC,2039,-0.47,-136.3,209.6,-7.2,257,2043,0.00,2.30,0.00,0.000,4,0.000,0.062,3026,3612,3354,0,0,0,0,0,0,28.83,25.51,28.83
$GC,2086,-0.47,-136.3,212.3,-7.1,259,2090,0.00,2.22,0.00,0.000,6,0.000,0.043,3026,2201,3354,0,0,0,0,0,0,28.83,25.81,28.83
$GC,2388,-0.47,-136.3,237.3,-8.2,274,2389,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2198,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2690,-0.47,-136.3,261.6,-8.1,289,2691,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2199,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2988,-0.47,-136.3,287.1,-8.8,304,2989,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2199,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3288,-0.47,-136.3,312.6,-8.3,319,3293,0.00,2.33,0.00,0.000,4,0.000,0.063,3016,3609,3354,0,0,0,0,0,0,28.83,25.48,28.83
$GC,3328,-0.47,-136.3,316.0,-8.4,321,3334,0.00,2.22,0.00,0.000,6,0.000,0.044,3016,2197,3354,0,0,0,0,0,0,28.83,25.78,28.83
$GC,3648,-0.47,-136.3,343.4,-8.6,337,3653,0.00,2.22,0.00,0.000,4,0.000,0.050,3016,803,3354,0,0,0,0,0,0,28.83,25.61,28.83
$GC,3676,-0.47,-136.3,345.3,-8.9,338,3680,0.12,2.25,0.00,0.000,6,0.134,0.051,3044,2201,3353,0,0,0,0,0,0,25.49,25.61,28.83
$GC,3979,-0.47,-136.3,368.3,-7.3,353,3983,0.00,2.30,0.00,0.000,4,0.000,0.063,3035,3609,3354,0,0,0,0,0,0,28.83,25.47,28.83
$GC,4046,-0.47,-136.3,372.9,-7.7,356,4050,0.00,2.25,0.00,0.000,6,0.000,0.044,3035,2192,3354,0,0,0,0,0,0,28.83,25.77,28.83
$GC,4348,-0.47,-136.3,396.7,-7.7,371,4349,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2188,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4649,-0.47,-136.3,417.1,-6.6,382,4653,0.00,2.33,0.00,0.000,4,0.000,0.063,3025,3605,3353,0,0,0,0,0,0,28.83,25.46,28.83
$GC,4696,-0.47,-136.3,419.2,-6.5,383,4700,0.00,2.25,0.00,0.000,6,0.000,0.044,3025,2190,3353,0,0,0,0,0,0,28.83,25.76,28.83
$GC,4998,-0.47,-136.3,441.5,-6.9,393,4999,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2187,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5299,-0.47,-136.3,465.3,-8.7,403,5300,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2187,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5598,-0.47,-136.3,491.6,-8.3,413,5604,0.00,2.38,0.00,0.000,4,0.000,0.064,3015,3617,3351,0,0,0,0,0,0,28.83,25.43,28.83
$GC,5658,-0.47,-136.3,496.6,-8.3,415,5664,0.00,2.22,0.00,0.000,6,0.000,0.044,3015,2204,3352,0,0,0,0,0,0,28.83,25.77,28.83
$STATE,5865,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5865,begin apogee
$GC,5873,-0.22,0.0,515.1,-8.7,422,5996,0.30,0.00,119.05,0.861,6,0.110,0.000,3118,2334,2794,0,0,0,0,0,0,25.63,28.83,23.27
$STATE,5997,end apogee,CONTROL_FINISHED_OK
$STATE,5997,begin climb
$GC,5999,0.47,136.3,519.9,0.0,426,6129,0.68,2.47,122.20,0.832,4,0.079,0.065,3347,3734,2237,0,0,0,0,0,0,24.82,24.37,23.01
$GC,6158,0.50,200.0,514.5,4.5,432,6220,0.00,2.35,55.97,0.812,6,0.000,0.046,3357,2326,1978,0,0,0,0,0,0,28.83,24.78,23.08
$GC,6538,0.50,200.0,487.2,7.1,445,6543,0.00,2.28,0.00,0.000,4,0.000,0.054,3366,921,1967,0,0,0,0,0,0,28.83,25.53,28.83
$GC,6586,0.50,200.0,484.9,7.1,446,6590,0.00,2.28,0.00,0.000,6,0.000,0.054,3366,2318,1966,0,0,0,0,0,0,28.83,25.56,28.83
$GC,6889,0.50,200.0,460.1,7.9,456,6893,0.00,2.30,0.00,0.000,4,0.000,0.067,3366,3735,1966,0,0,0,0,0,0,28.83,25.55,28.83
$GC,6919,0.50,200.0,457.4,8.2,457,6924,0.00,2.28,0.00,0.000,6,0.000,0.047,3376,2326,1965,0,0,0,0,0,0,28.83,25.75,28.83
$GC,7248,0.50,200.0,427.0,9.5,468,7253,0.00,2.28,0.00,0.000,4,0.000,0.054,3386,918,1964,0,0,0,0,0,0,28.83,25.65,28.83
$GC,7286,0.50,200.0,423.9,9.6,469,7290,0.12,2.28,0.00,0.000,6,0.133,0.054,3352,2326,1964,0,0,0,0,0,0,25.56,25.66,28.83
$GC,7600,0.50,200.0,399.5,7.2,480,7604,0.00,2.28,0.00,0.000,4,0.000,0.054,3360,919,1964,0,0,0,0,0,0,28.83,25.66,28.83
$GC,7626,0.50,200.0,398.1,7.1,481,7630,0.00,2.28,0.00,0.000,6,0.000,0.054,3360,2326,1963,0,0,0,0,0,0,28.83,25.66,28.83
$GC,7929,0.50,205.7,377.4,6.8,496,7935,0.00,0.00,4.00,0.513,6,0.000,0.000,3360,2326,1955,0,0,0,0,0,0,28.83,28.83,23.85
$GC,8229,0.50,205.7,354.4,8.3,511,8234,0.00,2.33,0.00,0.000,4,0.000,0.066,3360,3737,1954,0,0,0,0,0,0,28.83,25.54,28.83
$GC,8256,0.50,205.7,352.6,8.5,512,8261,0.00,2.30,0.00,0.000,6,0.000,0.047,3368,2318,1954,0,0,0,0,0,0,28.83,25.77,28.83
$GC,8559,0.50,205.7,323.8,8.9,527,8564,0.00,2.28,0.00,0.000,4,0.000,0.054,3378,916,1953,0,0,0,0,0,0,28.83,25.63,28.83
$GC,8601,0.50,205.7,320.5,8.5,529,8605,0.00,2.22,0.00,0.000,6,0.000,0.054,3378,2329,1953,0,0,0,0,0,0,28.83,25.63,28.83
$GC,8909,0.50,205.7,293.9,8.4,544,8911,0.00,0.00,0.00,0.000,6,0.000,0.000,3378,2329,1953,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9208,0.50,205.7,268.5,8.7,559,9215,0.00,2.30,0.00,0.000,4,0.000,0.054,3387,916,1953,0,0,0,0,0,0,28.83,25.62,28.83
$GC,9237,0.50,205.7,266.9,8.5,560,9242,0.12,2.30,0.00,0.000,6,0.130,0.054,3352,2333,1952,0,0,0,0,0,0,25.53,25.62,28.83
$GC,9539,0.51,222.6,246.0,6.3,575,9558,0.00,0.00,16.70,0.682,6,0.000,0.000,3353,2333,1886,0,0,0,0,0,0,28.83,28.83,23.94
$GC,9860,0.51,240.2,226.4,6.3,591,9881,0.00,2.35,16.70,0.672,4,0.000,0.054,3359,910,1813,0,0,0,0,0,0,28.83,25.60,23.98
$GC,9938,0.52,254.2,221.8,6.5,595,9956,0.00,2.30,13.57,0.650,6,0.000,0.053,3359,2326,1756,0,0,0,0,0,0,28.83,25.56,23.94
$GC,10270,0.52,254.2,197.3,7.5,612,10271,0.00,0.00,0.00,0.000,6,0.000,0.000,3359,2326,1752,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10571,0.52,254.2,175.2,7.6,632,10578,0.00,2.25,0.00,0.000,4,0.000,0.054,3363,924,1751,0,0,0,0,0,0,28.83,25.62,28.83
$GC,10630,0.53,280.7,171.4,6.0,638,10659,0.00,2.25,23.15,0.649,6,0.000,0.054,3363,2319,1649,0,0,0,0,0,0,28.83,25.63,24.10
$GC,10963,0.53,280.9,147.3,7.0,661,10969,0.00,2.30,0.00,0.000,4,0.000,0.064,3364,3742,1643,0,0,0,0,0,0,28.83,25.49,28.83
$GC,10999,0.53,280.9,144.0,8.1,665,11008,0.00,2.30,0.00,0.000,6,0.000,0.045,3369,2312,1642,0,0,0,0,0,0,28.83,25.72,28.83
$GC,11309,0.53,280.9,121.7,7.5,686,11318,0.00,2.25,0.00,0.000,4,0.000,0.054,3373,921,1642,0,0,0,0,0,0,28.83,25.62,28.83
$GC,11390,0.53,280.9,115.9,7.3,699,11398,0.00,2.20,0.00,0.000,6,0.000,0.052,3373,2330,1641,0,0,0,0,0,0,28.83,25.65,28.83
$GC,11704,0.55,341.5,97.2,4.6,760,11762,0.00,0.00,51.08,0.610,6,0.000,0.000,3374,2330,1399,0,0,0,0,0,0,28.83,28.83,24.13
$GC,12069,0.56,354.6,73.6,6.5,830,12088,0.00,2.25,11.43,0.548,4,0.000,0.054,3373,921,1347,0,0,0,0,0,0,28.83,25.61,24.13
$GC,12131,0.56,356.5,69.5,6.9,841,12137,0.00,2.20,0.00,0.000,6,0.000,0.050,3374,2326,1345,0,0,0,0,0,0,28.83,25.58,28.83
$GC,12443,0.56,356.5,42.1,9.6,902,12450,0.00,2.28,0.00,0.000,4,0.000,0.064,3374,3737,1342,0,0,0,0,0,0,28.83,25.53,28.83
$GC,12680,0.56,356.5,19.0,9.5,948,12687,0.00,2.20,0.00,0.000,6,0.000,0.044,3374,2313,1341,0,0,0,0,0,0,28.83,25.82,28.83
$STATE,12851,end climb,SURFACE_DEPTH_REACHED
$STATE,12851,begin surface coast
$FINISH,1.5,1.012439
$STATE,12907,end surface coast,CONTROL_FINISHED_OK
$STATE,12907,begin surface
$SM_CCo,12986,0.00,0.000,0,0,1338,356.91
$SM_GC,2.35,8.30,0.15,0.00,0.028,0.080,0.000,107,2207,1338,-9.46,1.41,356.91,0,0,0,0,0,0,26.05,26.14,28.83
$IRIDIUM_FIX,4732.49,-12519.22,030213,151546
$TT8_MAMPS,0.026964,0.026964
$HUMID,46.88
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,19.00
$XPDR_PINGS,4
$24V_AH,23.0,78.060
$10V_AH,9.8,61.059
$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,21.625,109.400,433.850,0.000,0.000,81.199,164.745,231.790,1.000,0.000,15.530,2469.115,8342.475,608.526,2077.161,299.682,0.000,1451.881,0.000,1521.138,0.000,0.536,0.000
$DEVICE_MAMPS,220.320,81.855,860.625,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,680.091,611.965,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53438,992
$CAP_FILE_SIZE,121595,0
$CFSIZE,260165632,210771968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.063, 34.7,1
$GPS,030213,190636,4747.783,-12517.936,29,1.7,29,18.7