version: 66.11
glider: 187
mission: 2
dive: 305
start: 11 23 112 20 57 6
data:
$ID,187
$MISSION,2
$DIVE,305
$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,-1588142.4
$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,49
$R_STBD_OVSHOOT,29
$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
$GPS1,231112,205055,4751.780,-12513.040,12,1.6,12,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-76.0
$GPS2,231112,205636,4751.849,-12513.115,35,1.1,35,18.7
$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,170.9,165669,-13.4,-7.333,-18.42
$D_GRID,280
$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,-146.0,0.0,0.0,0,87,0.00,0.00,-68.35,0.000,2,0.000,0.000,111,2178,2807,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.48,-146.0,3.1,-2.5,11,119,11.32,0.00,-12.52,0.000,6,0.218,0.000,3031,2176,3392,0,0,0,0,0,0,25.08,28.83,26.20
$GC,437,-0.48,-146.0,64.1,-12.9,75,444,0.00,2.12,0.00,0.000,4,0.000,0.047,3031,796,3395,0,0,0,0,0,0,28.83,25.80,28.83
$GC,527,-0.48,-146.0,75.2,-11.7,91,534,0.00,2.17,0.00,0.000,6,0.000,0.047,3025,2203,3395,0,0,0,0,0,0,28.83,25.83,28.83
$GC,839,-0.48,-146.0,110.9,-10.8,152,846,0.00,2.17,0.00,0.000,4,0.000,0.046,3025,810,3396,0,0,0,0,0,0,28.83,25.89,28.83
$GC,874,-0.48,-146.0,115.1,-11.9,158,882,0.00,2.15,0.00,0.000,6,0.000,0.048,3015,2212,3397,0,0,0,0,0,0,28.83,25.88,28.83
$GC,1190,-0.48,-146.0,152.5,-11.4,184,1195,0.00,2.20,0.00,0.000,4,0.000,0.060,3005,3609,3396,0,0,0,0,0,0,28.83,25.83,28.83
$GC,1244,-0.48,-146.0,157.9,-11.6,187,1252,0.12,2.12,0.00,0.000,6,0.136,0.041,3041,2201,3396,0,0,0,0,0,0,25.82,26.01,28.83
$GC,1553,-0.48,-146.0,187.8,-9.7,208,1554,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2198,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1866,-0.48,-146.0,218.3,-9.8,226,1872,0.00,2.12,0.00,0.000,4,0.000,0.048,3041,796,3396,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1899,-0.48,-146.0,220.3,-10.0,227,1905,0.00,2.15,0.00,0.000,6,0.000,0.048,3034,2201,3396,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2206,-0.48,-146.0,253.4,-10.6,243,2212,0.00,2.20,0.00,0.000,4,0.000,0.061,3024,3606,3396,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2249,-0.48,-146.0,257.6,-10.5,245,2253,0.00,2.12,0.00,0.000,6,0.000,0.041,3024,2202,3396,0,0,0,0,0,0,28.83,26.05,28.83
$STATE,2459,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2459,begin apogee
$GC,2466,-0.22,0.0,281.2,-10.9,256,2589,0.28,0.00,119.03,0.718,6,0.116,0.000,3117,2336,2794,0,0,0,0,0,0,25.82,28.83,24.25
$STATE,2593,end apogee,CONTROL_FINISHED_OK
$STATE,2593,begin climb
$GC,2595,0.48,146.0,287.7,0.0,262,2730,0.68,2.40,122.70,0.700,4,0.088,0.060,3347,3721,2197,0,0,0,0,0,0,25.01,24.66,23.97
$GC,2799,0.48,155.8,279.7,7.0,273,2817,0.00,2.20,8.98,0.593,6,0.000,0.042,3357,2323,2158,0,0,0,0,0,0,28.83,25.15,24.16
$GC,3120,0.48,156.5,257.3,7.3,289,3125,0.00,2.17,0.00,0.000,4,0.000,0.050,3367,924,2153,0,0,0,0,0,0,28.83,25.61,28.83
$GC,3167,0.48,159.1,254.4,7.2,291,3171,0.00,2.20,0.00,0.000,6,0.000,0.050,3367,2322,2152,0,0,0,0,0,0,28.83,25.64,28.83
$GC,3474,0.48,159.1,230.1,7.7,306,3479,0.00,2.28,0.00,0.000,4,0.000,0.062,3367,3747,2152,0,0,0,0,0,0,28.83,25.72,28.83
$GC,3541,0.48,159.1,224.9,8.3,309,3546,0.00,2.20,0.00,0.000,6,0.000,0.043,3376,2319,2151,0,0,0,0,0,0,28.83,25.87,28.83
$GC,3849,0.48,159.1,200.8,7.4,324,3855,0.00,2.12,0.00,0.000,4,0.000,0.050,3386,928,2151,0,0,0,0,0,0,28.83,25.85,28.83
$GC,3932,0.48,159.1,194.9,8.0,329,3939,0.12,2.17,0.00,0.000,6,0.139,0.050,3353,2333,2150,0,0,0,0,0,0,25.73,25.86,28.83
$GC,4241,0.49,168.2,172.8,7.0,350,4257,0.00,2.22,10.90,0.596,4,0.000,0.063,3353,3733,2107,0,0,0,0,0,0,28.83,25.90,24.89
$GC,4308,0.49,168.2,168.1,7.9,354,4316,0.00,2.22,0.00,0.000,6,0.000,0.043,3359,2313,2106,0,0,0,0,0,0,28.83,25.94,28.83
$GC,4616,0.49,174.9,145.7,7.1,375,4630,0.00,0.00,6.68,0.533,6,0.000,0.000,3359,2313,2080,0,0,0,0,0,0,28.83,28.83,24.84
$GC,4931,0.49,174.9,122.9,7.5,396,4936,0.00,2.12,0.00,0.000,4,0.000,0.050,3369,926,2079,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4960,0.49,174.9,120.6,7.4,398,4966,0.00,2.17,0.00,0.000,6,0.000,0.050,3369,2323,2079,0,0,0,0,0,0,28.83,25.88,28.83
$GC,5273,0.49,185.3,98.6,6.9,458,5294,0.00,2.28,10.20,0.559,4,0.000,0.062,3369,3726,2038,0,0,0,0,0,0,28.83,25.94,24.96
$GC,5338,0.49,185.3,93.4,8.5,469,5344,0.00,2.15,0.00,0.000,6,0.000,0.044,3375,2322,2037,0,0,0,0,0,0,28.83,25.94,28.83
$GC,5650,0.49,185.3,71.4,8.0,530,5657,0.00,2.20,0.00,0.000,4,0.000,0.050,3385,922,2034,0,0,0,0,0,0,28.83,25.89,28.83
$GC,5756,0.49,185.3,63.3,7.4,550,5764,0.08,2.20,0.00,0.000,6,0.105,0.050,3340,2319,2034,0,0,0,0,0,0,25.75,25.90,28.83
$GC,6076,0.54,292.4,53.3,3.2,611,6170,0.00,2.33,85.32,0.587,4,0.000,0.063,3340,3737,1601,0,0,0,0,0,0,28.83,25.27,24.61
$GC,6215,0.55,325.1,46.8,6.1,634,6249,0.00,2.25,26.88,0.555,6,0.000,0.041,3340,2320,1467,0,0,0,0,0,0,28.83,25.48,24.54
$GC,6567,0.55,325.1,17.3,9.2,699,6573,0.00,0.00,0.00,0.000,6,0.000,0.000,3340,2320,1459,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6707,end climb,SURFACE_DEPTH_REACHED
$STATE,6707,begin surface coast
$FINISH,1.2,1.002270
$STATE,6758,end surface coast,CONTROL_FINISHED_OK
$STATE,6758,begin surface
$SM_CCo,6837,0.00,0.000,0,0,1455,328.46
$SM_GC,2.19,8.23,0.17,0.00,0.028,0.071,0.000,104,2188,1455,-9.48,1.19,328.46,0,0,0,0,0,0,25.99,25.96,28.83
$IRIDIUM_FIX,4758.15,-12437.01,231112,191916
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.80
$INTERNAL_PRESSURE,9.13782
$TCM_TEMP,16.70
$XPDR_PINGS,0
$24V_AH,24.0,42.620
$10V_AH,10.1,35.314
$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,20.825,61.825,390.675,0.000,0.000,25.638,38.289,142.971,0.000,0.000,36.721,1791.185,3066.961,428.193,1702.113,197.315,0.000,1161.491,0.000,1467.153,0.000,0.535,0.000
$DEVICE_MAMPS,218.025,78.030,717.570,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,500.531,515.564,559.244,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296768
$DATA_FILE_SIZE,40109,735
$CAP_FILE_SIZE,81312,0
$CFSIZE,260165632,232665088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.321,351.6,1
$GPS,231112,225233,4751.746,-12513.797,33,6.2,52,18.7