version: 66.11
glider: 187
mission: 2
dive: 683
start: 3 12 113 1 43 9
data:
$ID,187
$MISSION,2
$DIVE,683
$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,-1588899.1
$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,48
$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
$GPS1,120313,013553,4747.918,-12516.164,41,0.9,41,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-76.5
$GPS2,120313,014237,4747.987,-12516.173,14,1.5,14,18.7
$SPEED_LIMITS,0.122,0.210
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,10000.000
$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,66.8,10350,-13.3,-7.021,-18.50
$D_GRID,536
$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,-0.47,-136.3,0.0,0.0,0,80,0.00,0.00,-61.15,0.000,2,0.000,0.000,109,2188,2592,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.47,-136.3,3.3,-2.4,11,121,11.68,2.35,-16.73,0.000,4,0.213,0.076,3021,3619,3353,0,0,0,0,0,0,24.44,25.29,26.25
$GC,184,-0.47,-136.3,21.1,-13.2,29,190,0.00,2.22,0.00,0.000,6,0.000,0.044,3020,2202,3355,0,0,0,0,0,0,28.83,25.55,28.83
$GC,497,-0.47,-136.3,73.4,-17.3,90,504,0.00,2.20,0.00,0.000,4,0.000,0.051,3020,792,3355,0,0,0,0,0,0,28.83,25.41,28.83
$GC,553,-0.47,-136.3,80.7,-10.6,100,560,0.12,2.20,0.00,0.000,6,0.139,0.051,3045,2200,3355,0,0,0,0,0,0,25.29,25.44,28.83
$GC,865,-0.47,-136.3,116.3,-10.2,161,872,0.00,2.28,0.00,0.000,4,0.000,0.063,3036,3614,3356,0,0,0,0,0,0,28.83,25.30,28.83
$GC,915,-0.47,-136.3,121.3,-9.4,169,923,0.00,2.25,0.00,0.000,6,0.000,0.041,3037,2189,3355,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1225,-0.47,-136.3,150.9,-9.4,190,1234,0.00,2.35,0.00,0.000,4,0.000,0.061,3026,3607,3355,0,0,0,0,0,0,28.83,25.30,28.83
$GC,1286,-0.47,-136.3,156.5,-9.7,196,1294,0.00,2.20,0.00,0.000,6,0.000,0.043,3026,2208,3355,0,0,0,0,0,0,28.83,25.64,28.83
$GC,1595,-0.47,-136.3,187.2,-9.2,217,1603,0.00,2.25,0.00,0.000,4,0.000,0.049,3026,800,3356,0,0,0,0,0,0,28.83,25.44,28.83
$GC,1665,-0.47,-136.3,193.2,-8.2,224,1673,0.00,2.25,0.00,0.000,6,0.000,0.050,3017,2200,3356,0,0,0,0,0,0,28.83,25.45,28.83
$GC,1990,-0.47,-136.3,223.5,-10.0,242,1991,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2200,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2290,-0.47,-136.3,253.9,-10.5,257,2295,0.00,2.33,0.00,0.000,4,0.000,0.061,3007,3611,3356,0,0,0,0,0,0,28.83,25.28,28.83
$GC,2358,-0.47,-136.3,260.6,-11.1,260,2363,0.12,2.25,0.00,0.000,6,0.126,0.042,3044,2197,3356,0,0,0,0,0,0,25.45,25.63,28.83
$GC,2661,-0.47,-136.3,289.1,-9.4,275,2665,0.00,2.20,0.00,0.000,4,0.000,0.050,3044,803,3356,0,0,0,0,0,0,28.83,25.42,28.83
$GC,2700,-0.47,-136.3,293.0,-9.5,277,2706,0.00,2.25,0.00,0.000,6,0.000,0.050,3038,2200,3356,0,0,0,0,0,0,28.83,25.43,28.83
$GC,3021,-0.47,-136.3,323.3,-9.1,293,3025,0.00,2.28,0.00,0.000,4,0.000,0.063,3026,3614,3356,0,0,0,0,0,0,28.83,25.25,28.83
$GC,3070,-0.47,-136.3,326.9,-9.1,295,3079,0.00,2.25,0.00,0.000,6,0.000,0.043,3027,2194,3356,0,0,0,0,0,0,28.83,25.61,28.83
$GC,3380,-0.47,-136.3,355.0,-8.5,311,3381,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2195,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3681,-0.47,-136.3,378.5,-7.1,326,3685,0.00,2.30,0.00,0.000,4,0.000,0.063,3017,3612,3356,0,0,0,0,0,0,28.83,25.23,28.83
$GC,3709,-0.47,-136.3,379.9,-7.1,327,3713,0.00,2.28,0.00,0.000,6,0.000,0.044,3017,2194,3355,0,0,0,0,0,0,28.83,25.58,28.83
$GC,4020,-0.47,-136.3,403.7,-7.6,342,4025,0.00,2.25,0.00,0.000,4,0.000,0.051,3017,794,3355,0,0,0,0,0,0,28.83,25.38,28.83
$GC,4068,-0.47,-136.3,406.3,-7.9,343,4073,0.12,2.28,0.00,0.000,6,0.136,0.051,3043,2198,3355,0,0,0,0,0,0,25.26,25.38,28.83
$GC,4371,-0.47,-136.3,426.0,-5.6,353,4375,0.00,2.33,0.00,0.000,4,0.000,0.063,3035,3612,3355,0,0,0,0,0,0,28.83,25.21,28.83
$GC,4430,-0.47,-136.3,429.3,-5.4,355,4435,0.00,2.25,0.00,0.000,6,0.000,0.044,3035,2199,3355,0,0,0,0,0,0,28.83,25.59,28.83
$GC,4760,-0.47,-136.3,448.2,-5.7,366,4761,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2198,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5061,-0.47,-136.3,466.7,-6.4,376,5062,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2197,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5360,-0.47,-136.3,485.7,-6.2,386,5365,0.00,2.35,0.00,0.000,4,0.000,0.063,3025,3607,3354,0,0,0,0,0,0,28.83,25.18,28.83
$GC,5408,-0.47,-136.3,487.7,-6.3,387,5412,0.00,2.28,0.00,0.000,6,0.000,0.045,3025,2195,3354,0,0,0,0,0,0,28.83,25.55,28.83
$GC,5711,-0.47,-136.3,511.3,-7.3,397,5712,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2191,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6010,-0.47,-136.3,531.9,-6.9,407,6012,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2191,3353,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6097,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6097,begin apogee
$GC,6104,-0.22,0.0,537.8,-6.6,410,6228,0.28,0.00,120.32,0.873,6,0.108,0.000,3120,2336,2794,0,0,0,0,0,0,25.56,28.83,23.09
$STATE,6229,end apogee,CONTROL_FINISHED_OK
$STATE,6229,begin climb
$GC,6233,0.47,136.3,540.9,0.0,414,6363,0.65,2.45,123.22,0.845,4,0.080,0.064,3345,3733,2238,0,0,0,0,0,0,24.82,24.53,23.01
$GC,6389,0.49,182.6,534.6,5.2,420,6442,0.00,2.35,41.25,0.827,6,0.000,0.046,3355,2322,2048,0,0,0,0,0,0,28.83,24.96,23.20
$GC,6743,0.49,182.6,504.5,8.2,432,6747,0.00,2.28,0.00,0.000,4,0.000,0.054,3365,921,2040,0,0,0,0,0,0,28.83,25.46,28.83
$GC,6801,0.49,182.6,499.7,8.1,434,6807,0.00,2.28,0.00,0.000,6,0.000,0.054,3365,2318,2039,0,0,0,0,0,0,28.83,25.49,28.83
$GC,7131,0.49,182.6,474.9,7.7,445,7137,0.00,2.38,0.00,0.000,4,0.000,0.066,3365,3749,2038,0,0,0,0,0,0,28.83,25.41,28.83
$GC,7170,0.49,182.6,472.3,8.0,446,7174,0.00,2.30,0.00,0.000,6,0.000,0.047,3374,2329,2037,0,0,0,0,0,0,28.83,25.64,28.83
$GC,7482,0.49,182.6,446.3,7.6,457,7488,0.00,2.30,0.00,0.000,4,0.000,0.055,3385,917,2037,0,0,0,0,0,0,28.83,25.48,28.83
$GC,7520,0.49,182.6,444.0,7.5,458,7525,0.12,2.30,0.00,0.000,6,0.134,0.054,3351,2328,2037,0,0,0,0,0,0,25.39,25.49,28.83
$GC,7834,0.50,204.5,423.5,6.2,469,7863,0.00,2.38,18.58,0.779,4,0.000,0.067,3351,3735,1959,0,0,0,0,0,0,28.83,25.41,23.78
$GC,7893,0.50,217.4,419.4,6.5,471,7911,0.00,2.30,12.98,0.744,6,0.000,0.047,3358,2303,1907,0,0,0,0,0,0,28.83,25.60,23.77
$GC,8213,0.51,229.4,398.1,6.5,481,8233,0.00,2.22,11.77,0.731,4,0.000,0.055,3367,918,1858,0,0,0,0,0,0,28.83,25.52,23.89
$GC,8275,0.51,244.5,394.3,6.4,484,8294,0.00,2.28,14.62,0.742,6,0.000,0.054,3367,2353,1797,0,0,0,0,0,0,28.83,25.51,23.79
$GC,8603,0.52,253.7,372.0,6.7,501,8615,0.00,0.00,9.25,0.690,6,0.000,0.000,3367,2353,1759,0,0,0,0,0,0,28.83,28.83,23.93
$GC,8905,0.52,261.6,351.7,6.7,516,8922,0.00,2.38,8.12,0.663,4,0.000,0.055,3375,914,1727,0,0,0,0,0,0,28.83,25.58,23.97
$GC,8943,0.52,269.5,349.1,6.7,518,8962,0.00,2.30,8.80,0.668,6,0.000,0.054,3375,2334,1695,0,0,0,0,0,0,28.83,25.58,23.87
$GC,9263,0.52,269.5,325.1,8.0,534,9264,0.00,0.00,0.00,0.000,6,0.000,0.000,3375,2335,1691,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9564,0.52,269.5,299.5,8.8,549,9569,0.00,2.28,0.00,0.000,4,0.000,0.054,3384,928,1690,0,0,0,0,0,0,28.83,25.48,28.83
$GC,9611,0.52,269.5,296.2,8.6,551,9616,0.00,2.28,0.00,0.000,6,0.000,0.054,3384,2327,1689,0,0,0,0,0,0,28.83,25.49,28.83
$GC,9915,0.52,269.5,265.9,10.4,566,9919,0.00,2.25,0.00,0.000,4,0.000,0.054,3393,908,1689,0,0,0,0,0,0,28.83,25.47,28.83
$GC,9942,0.52,269.5,263.9,10.2,567,9946,0.00,2.33,0.00,0.000,6,0.000,0.054,3393,2334,1689,0,0,0,0,0,0,28.83,25.47,28.83
$GC,10243,0.52,269.5,232.0,10.0,582,10249,0.00,2.35,0.00,0.000,4,0.000,0.066,3393,3744,1689,0,0,0,0,0,0,28.83,25.32,28.83
$GC,10291,0.52,269.5,227.3,10.8,584,10296,0.15,2.30,0.00,0.000,6,0.132,0.047,3358,2326,1688,0,0,0,0,0,0,25.40,25.61,28.83
$GC,10594,0.52,269.5,202.8,8.1,599,10599,0.00,2.28,0.00,0.000,4,0.000,0.054,3366,915,1689,0,0,0,0,0,0,28.83,25.44,28.83
$GC,10653,0.52,269.5,197.8,8.3,603,10662,0.00,2.30,0.00,0.000,6,0.000,0.053,3366,2331,1688,0,0,0,0,0,0,28.83,25.46,28.83
$GC,10963,0.52,269.5,169.7,9.0,624,10972,0.00,2.30,0.00,0.000,4,0.000,0.054,3373,911,1688,0,0,0,0,0,0,28.83,25.41,28.83
$GC,10994,0.52,269.5,167.0,8.9,627,11003,0.00,2.28,0.00,0.000,6,0.000,0.054,3373,2320,1688,0,0,0,0,0,0,28.83,25.44,28.83
$GC,11304,0.53,278.9,143.4,6.6,648,11323,0.00,2.33,8.82,0.567,4,0.000,0.054,3381,918,1655,0,0,0,0,0,0,28.83,25.45,24.05
$GC,11344,0.53,290.0,140.8,6.6,652,11363,0.00,2.28,11.40,0.588,6,0.000,0.052,3381,2331,1610,0,0,0,0,0,0,28.83,25.51,24.00
$GC,11666,0.54,305.4,121.4,6.4,674,11683,0.00,0.00,14.23,0.594,6,0.000,0.000,3381,2330,1548,0,0,0,0,0,0,28.83,28.83,24.03
$GC,11980,0.55,343.2,105.3,5.5,733,12022,0.00,2.30,32.75,0.608,4,0.000,0.054,3384,910,1393,0,0,0,0,0,0,28.83,25.42,24.02
$GC,12050,0.58,404.3,102.0,4.6,745,12109,0.00,2.25,51.10,0.592,6,0.000,0.052,3383,2332,1144,0,0,0,0,0,0,28.83,25.44,23.83
$GC,12416,0.59,430.9,83.7,6.0,815,12447,0.00,2.28,22.05,0.575,4,0.000,0.054,3383,916,1035,0,0,0,0,0,0,28.83,25.46,24.03
$GC,12487,0.60,455.8,79.8,6.0,827,12519,0.00,2.22,21.35,0.569,6,0.000,0.050,3383,2333,934,0,0,0,0,0,0,28.83,25.47,23.99
$GC,12826,0.60,455.8,45.0,12.1,892,12833,0.00,2.28,0.00,0.000,4,0.000,0.064,3384,3737,928,0,0,0,0,0,0,28.83,25.37,28.83
$GC,12948,0.60,455.8,29.4,12.6,915,12955,0.00,2.22,0.00,0.000,6,0.000,0.044,3384,2302,928,0,0,0,0,0,0,28.83,25.67,28.83
$STATE,13177,end climb,SURFACE_DEPTH_REACHED
$STATE,13178,begin surface coast
$FINISH,1.3,1.012576
$STATE,13214,end surface coast,CONTROL_FINISHED_OK
$STATE,13214,begin surface
$SM_CCo,13295,0.00,0.000,0,0,925,458.47
$SM_GC,2.09,8.35,0.15,0.00,0.028,0.080,0.000,108,2192,925,-9.47,1.07,458.47,0,0,0,0,0,0,25.96,26.08,28.83
$IRIDIUM_FIX,4729.30,-12519.98,110313,212110
$TT8_MAMPS,0.027713,0.027713
$HUMID,47.44
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,19.10
$XPDR_PINGS,8
$24V_AH,23.0,96.078
$10V_AH,9.8,72.917
$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,21.600,128.325,530.625,0.000,0.000,24.809,44.861,193.161,2.000,0.000,15.574,2397.978,8481.132,732.904,1771.050,312.768,0.000,1593.351,0.000,1497.218,0.000,0.535,0.000
$DEVICE_MAMPS,213.435,80.325,872.865,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,660.804,579.640,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296912
$DATA_FILE_SIZE,53505,967
$CAP_FILE_SIZE,123832,0
$CFSIZE,260165632,200155136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.108,271.6,1
$GPS,120313,052605,4748.178,-12513.861,37,1.0,42,18.7