version: 66.11
glider: 187
mission: 2
dive: 307
start: 11 24 112 1 11 25
data:
$ID,187
$MISSION,2
$DIVE,307
$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,-1588144.9
$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,44
$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
$GPS1,241112,010230,4751.559,-12514.496,9,1.4,68,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-77.2
$GPS2,241112,011055,4751.641,-12514.487,12,1.7,12,18.7
$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,170.6,164035,-13.4,-7.333,-18.42
$D_GRID,360
$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,-146.0,0.0,0.0,0,105,0.00,0.00,-85.55,0.000,2,0.000,0.000,116,2201,2751,0,0,0,0,0,0,28.83,28.83,28.83
$GC,109,-0.48,-146.0,3.1,-3.7,14,143,11.43,2.28,-14.32,0.000,4,0.222,0.072,3023,3609,3392,0,0,0,0,0,0,25.15,25.66,26.22
$GC,237,-0.48,-146.0,28.9,-17.1,36,245,0.00,2.20,0.00,0.000,6,0.000,0.041,3024,2207,3394,0,0,0,0,0,0,28.83,25.82,28.83
$GC,566,-0.48,-146.0,77.5,-12.7,97,572,0.00,2.22,0.00,0.000,4,0.000,0.060,3013,3610,3395,0,0,0,0,0,0,28.83,25.78,28.83
$GC,586,-0.48,-146.0,80.2,-12.7,100,594,0.00,2.20,0.00,0.000,6,0.000,0.041,3012,2191,3395,0,0,0,0,0,0,28.83,25.94,28.83
$GC,918,-0.48,-146.0,122.2,-12.9,161,924,0.00,2.12,0.00,0.000,4,0.000,0.047,3012,798,3396,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1016,-0.48,-146.0,133.1,-12.0,167,1024,0.12,2.15,0.00,0.000,6,0.145,0.047,3040,2202,3396,0,0,0,0,0,0,25.77,25.92,28.83
$GC,1323,-0.48,-146.0,163.1,-9.8,188,1328,0.00,2.22,0.00,0.000,4,0.000,0.060,3031,3616,3396,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1357,-0.48,-146.0,166.4,-10.1,190,1361,0.00,2.15,0.00,0.000,6,0.000,0.041,3031,2198,3396,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1664,-0.48,-146.0,200.9,-11.0,210,1669,0.00,2.12,0.00,0.000,4,0.000,0.048,3031,798,3396,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1724,-0.48,-146.0,207.4,-11.0,213,1730,0.00,2.12,0.00,0.000,6,0.000,0.048,3023,2197,3395,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2046,-0.48,-146.0,241.1,-10.6,229,2047,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2197,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2344,-0.48,-146.0,271.4,-9.7,244,2348,0.00,2.15,0.00,0.000,4,0.000,0.047,3023,800,3395,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2429,-0.48,-146.0,279.8,-10.2,248,2432,0.00,2.17,0.00,0.000,6,0.000,0.049,3014,2208,3395,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2747,-0.48,-146.0,311.9,-10.6,264,2753,0.00,2.20,0.00,0.000,4,0.000,0.060,3003,3613,3395,0,0,0,0,0,0,28.83,25.87,28.83
$GC,2788,-0.48,-146.0,316.3,-11.0,266,2793,0.12,2.15,0.00,0.000,6,0.140,0.041,3039,2198,3395,0,0,0,0,0,0,25.86,26.06,28.83
$GC,3101,-0.48,-146.0,343.5,-8.0,282,3107,0.00,2.12,0.00,0.000,4,0.000,0.048,3039,797,3395,0,0,0,0,0,0,28.83,25.96,28.83
$GC,3129,-0.48,-146.0,345.0,-7.8,283,3133,0.00,2.17,0.00,0.000,6,0.000,0.050,3032,2212,3395,0,0,0,0,0,0,28.83,25.95,28.83
$STATE,3315,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3315,begin apogee
$GC,3322,-0.22,0.0,360.4,-7.9,292,3447,0.25,0.00,119.38,0.775,6,0.116,0.000,3118,2337,2794,0,0,0,0,0,0,25.88,28.83,24.15
$STATE,3450,end apogee,CONTROL_FINISHED_OK
$STATE,3450,begin climb
$GC,3453,0.48,146.0,364.9,0.0,298,3587,0.65,2.33,123.57,0.755,4,0.085,0.060,3343,3720,2196,0,0,0,0,0,0,24.97,24.56,23.85
$GC,3603,0.50,193.9,359.3,5.5,306,3648,0.00,2.25,39.95,0.727,6,0.000,0.043,3352,2323,2003,0,0,0,0,0,0,28.83,24.81,23.84
$GC,3950,0.50,193.9,330.9,7.7,323,3955,0.00,2.22,0.00,0.000,4,0.000,0.050,3362,919,1993,0,0,0,0,0,0,28.83,25.50,28.83
$GC,3991,0.50,193.9,327.8,7.6,325,3996,0.00,2.17,0.00,0.000,6,0.000,0.050,3362,2311,1992,0,0,0,0,0,0,28.83,25.55,28.83
$GC,4310,0.50,193.9,302.9,7.7,341,4316,0.00,2.28,0.00,0.000,4,0.000,0.064,3362,3735,1992,0,0,0,0,0,0,28.83,25.68,28.83
$GC,4338,0.50,193.9,301.3,7.9,342,4342,0.00,2.20,0.00,0.000,6,0.000,0.044,3371,2318,1992,0,0,0,0,0,0,28.83,25.82,28.83
$GC,4646,0.50,193.9,272.5,9.0,357,4647,0.00,0.00,0.00,0.000,6,0.000,0.000,3371,2314,1991,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4945,0.50,193.9,245.2,8.7,372,4950,0.00,2.17,0.00,0.000,4,0.000,0.052,3381,921,1990,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5005,0.50,193.9,240.1,8.6,375,5011,0.00,2.20,0.00,0.000,6,0.000,0.051,3381,2338,1990,0,0,0,0,0,0,28.83,25.87,28.83
$GC,5327,0.50,193.9,210.3,9.4,391,5332,0.00,2.20,0.00,0.000,4,0.000,0.063,3381,3736,1990,0,0,0,0,0,0,28.83,25.83,28.83
$GC,5355,0.50,193.9,208.3,9.7,392,5365,0.12,2.17,0.00,0.000,6,0.147,0.044,3357,2313,1989,0,0,0,0,0,0,25.79,25.99,28.83
$GC,5672,0.50,193.9,182.4,7.7,412,5676,0.00,2.15,0.00,0.000,4,0.000,0.051,3364,927,1989,0,0,0,0,0,0,28.83,25.91,28.83
$GC,5697,0.50,193.9,180.9,7.7,413,5704,0.00,2.17,0.00,0.000,6,0.000,0.052,3364,2327,1989,0,0,0,0,0,0,28.83,25.90,28.83
$GC,6005,0.50,193.9,156.2,7.4,434,6006,0.00,0.00,0.00,0.000,6,0.000,0.000,3364,2327,1988,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6305,0.50,204.4,135.0,6.9,454,6321,0.00,2.25,8.05,0.555,4,0.000,0.062,3364,3742,1959,0,0,0,0,0,0,28.83,25.96,24.77
$GC,6341,0.50,204.4,132.3,7.4,456,6345,0.00,2.17,0.00,0.000,6,0.000,0.044,3371,2330,1958,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6653,0.50,205.8,109.5,7.3,494,6660,0.00,2.17,0.00,0.000,4,0.000,0.051,3382,915,1958,0,0,0,0,0,0,28.83,25.90,28.83
$GC,6704,0.50,215.6,106.2,7.0,503,6724,0.00,2.17,11.00,0.575,6,0.000,0.051,3382,2324,1913,0,0,0,0,0,0,28.83,25.90,24.94
$GC,7038,0.50,215.6,80.4,7.6,566,7044,0.00,0.00,0.00,0.000,6,0.000,0.000,3381,2324,1911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7362,0.50,215.6,55.2,7.5,627,7368,0.00,0.00,0.00,0.000,6,0.000,0.000,3381,2324,1910,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7691,0.54,294.1,35.5,4.3,688,7762,0.00,2.30,63.05,0.580,4,0.000,0.061,3382,3737,1593,0,0,0,0,0,0,28.83,25.46,24.75
$GC,7786,0.56,343.5,31.2,5.4,703,7837,0.00,2.20,39.85,0.552,6,0.000,0.043,3382,2319,1391,0,0,0,0,0,0,28.83,25.55,24.58
$STATE,8129,end climb,SURFACE_DEPTH_REACHED
$STATE,8131,begin surface coast
$FINISH,1.2,1.024582
$STATE,8174,end surface coast,CONTROL_FINISHED_OK
$STATE,8174,begin surface
$SM_CCo,8254,0.00,0.000,0,0,1380,346.85
$SM_GC,2.04,8.40,0.17,0.00,0.031,0.074,0.000,107,2194,1380,-9.46,1.16,346.85,0,0,0,0,0,0,25.91,25.85,28.83
$IRIDIUM_FIX,4735.69,-12516.60,241112,010107
$TT8_MAMPS,0.026964,0.026964
$HUMID,45.19
$INTERNAL_PRESSURE,9.12806
$TCM_TEMP,16.80
$XPDR_PINGS,2
$24V_AH,23.8,42.834
$10V_AH,10.1,35.451
$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,21.100,74.925,404.850,0.000,0.000,51.045,71.884,176.356,0.500,0.000,13.156,1909.178,4293.821,449.450,1891.933,222.212,0.000,1249.569,0.000,1558.375,0.000,0.535,0.000
$DEVICE_MAMPS,221.850,86.445,774.945,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,528.369,517.251,525.854,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43572,775
$CAP_FILE_SIZE,91625,0
$CFSIZE,260165632,232554496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.252,357.9,1
$GPS,241112,033005,4751.434,-12515.079,13,1.5,29,18.7