version: 66.11
glider: 187
mission: 2
dive: 427
start: 12 28 112 5 40 13
data:
$ID,187
$MISSION,2
$DIVE,427
$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,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,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,-1588525.9
$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,35
$R_STBD_OVSHOOT,28
$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
$GPS1,281212,053329,4748.006,-12515.966,42,1.8,42,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-76.4
$GPS2,281212,053942,4748.112,-12516.051,14,1.7,19,18.7
$SPEED_LIMITS,0.122,0.210
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,3000.000
$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,71.8,10079,-13.3,-7.021,-18.50
$D_GRID,525
$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,-136.3,0.0,0.0,0,80,0.00,0.00,-60.90,0.000,2,0.000,0.000,118,2185,2727,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.47,-136.3,3.2,-2.1,11,116,11.40,2.38,-15.15,0.000,4,0.213,0.075,3027,3610,3352,0,0,0,0,0,0,24.86,25.53,26.25
$GC,206,-0.47,-136.3,22.7,-13.9,33,213,0.00,2.17,0.00,0.000,6,0.000,0.043,3027,2191,3355,0,0,0,0,0,0,28.83,25.72,28.83
$GC,519,-0.47,-136.3,70.8,-13.9,94,526,0.00,2.17,0.00,0.000,4,0.000,0.050,3027,786,3355,0,0,0,0,0,0,28.83,25.69,28.83
$GC,554,-0.47,-136.3,75.5,-13.3,100,561,0.00,2.20,0.00,0.000,6,0.000,0.049,3017,2201,3355,0,0,0,0,0,0,28.83,25.72,28.83
$GC,865,-0.47,-136.3,113.9,-10.8,161,872,0.00,2.22,0.00,0.000,4,0.000,0.060,3006,3609,3356,0,0,0,0,0,0,28.83,25.65,28.83
$GC,921,-0.47,-136.3,120.1,-11.6,171,930,0.12,2.15,0.00,0.000,6,0.131,0.042,3042,2190,3355,0,0,0,0,0,0,25.70,25.87,28.83
$GC,1233,-0.47,-136.3,147.3,-8.7,192,1234,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2190,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1533,-0.47,-136.3,172.9,-8.2,212,1534,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2190,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1831,-0.47,-136.3,197.8,-8.5,232,1836,0.00,2.25,0.00,0.000,4,0.000,0.061,3034,3607,3356,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1873,-0.47,-136.3,201.6,-9.3,235,1877,0.00,2.12,0.00,0.000,6,0.000,0.042,3034,2204,3356,0,0,0,0,0,0,28.83,25.93,28.83
$GC,2186,-0.47,-136.3,231.0,-9.2,251,2188,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2201,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2486,-0.47,-136.3,258.6,-8.9,266,2487,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2201,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2786,-0.47,-136.3,283.9,-8.1,281,2787,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2201,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3086,-0.47,-136.3,308.3,-7.8,296,3091,0.00,2.25,0.00,0.000,4,0.000,0.062,3024,3610,3355,0,0,0,0,0,0,28.83,25.66,28.83
$GC,3119,-0.47,-136.3,309.9,-7.8,297,3126,0.00,2.15,0.00,0.000,6,0.000,0.044,3024,2194,3355,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3426,-0.47,-136.3,336.9,-8.6,313,3432,0.00,2.28,0.00,0.000,4,0.000,0.062,3013,3609,3355,0,0,0,0,0,0,28.83,25.65,28.83
$GC,3459,-0.47,-136.3,338.8,-8.7,314,3465,0.00,2.15,0.00,0.000,6,0.000,0.044,3013,2196,3355,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3768,-0.47,-136.3,367.3,-9.0,330,3773,0.00,2.22,0.00,0.000,4,0.000,0.062,3004,3604,3355,0,0,0,0,0,0,28.83,25.64,28.83
$GC,3807,-0.47,-136.3,371.0,-9.1,332,3813,0.10,2.12,0.00,0.000,6,0.102,0.044,3042,2200,3355,0,0,0,0,0,0,25.69,25.90,28.83
$GC,4126,-0.47,-136.3,393.7,-7.0,348,4128,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2198,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4436,-0.47,-136.3,414.5,-6.6,360,4442,0.00,2.28,0.00,0.000,4,0.000,0.063,3034,3615,3354,0,0,0,0,0,0,28.83,25.61,28.83
$GC,4490,-0.47,-136.3,416.7,-6.7,361,4497,0.00,2.17,0.00,0.000,6,0.000,0.044,3034,2193,3354,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4796,-0.47,-136.3,441.8,-7.8,372,4802,0.00,2.28,0.00,0.000,4,0.000,0.063,3024,3612,3353,0,0,0,0,0,0,28.83,25.60,28.83
$GC,4826,-0.47,-136.3,444.4,-7.9,373,4832,0.00,2.17,0.00,0.000,6,0.000,0.045,3024,2204,3353,0,0,0,0,0,0,28.83,25.87,28.83
$GC,5157,-0.47,-136.3,471.8,-7.9,384,5162,0.00,2.15,0.00,0.000,4,0.000,0.051,3024,802,3353,0,0,0,0,0,0,28.83,25.71,28.83
$GC,5194,-0.47,-136.3,474.2,-7.9,385,5198,0.00,2.17,0.00,0.000,6,0.000,0.051,3015,2203,3353,0,0,0,0,0,0,28.83,25.72,28.83
$GC,5511,-0.47,-136.3,500.6,-7.9,396,5512,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2203,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5812,-0.47,-136.3,523.4,-7.5,406,5813,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2203,3352,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5838,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5838,begin apogee
$GC,5845,-0.22,0.0,525.6,-7.5,407,5967,0.32,0.00,116.15,0.877,6,0.112,0.000,3124,2342,2794,0,0,0,0,0,0,25.66,28.83,23.66
$STATE,5970,end apogee,CONTROL_FINISHED_OK
$STATE,5970,begin climb
$GC,5974,0.47,136.3,529.8,0.0,411,6103,0.62,2.42,120.45,0.845,4,0.077,0.063,3344,3719,2236,0,0,0,0,0,0,24.87,24.27,23.20
$GC,6117,0.49,170.7,523.8,5.7,416,6154,0.00,2.30,30.95,0.820,6,0.000,0.046,3354,2322,2096,0,0,0,0,0,0,28.83,24.49,23.15
$GC,6476,0.49,170.7,493.8,8.4,428,6481,0.00,2.20,0.00,0.000,4,0.000,0.054,3364,922,2087,0,0,0,0,0,0,28.83,25.46,28.83
$GC,6547,0.49,170.7,488.9,8.2,430,6551,0.00,2.20,0.00,0.000,6,0.000,0.054,3364,2313,2086,0,0,0,0,0,0,28.83,25.53,28.83
$GC,6859,0.49,170.7,461.1,8.7,441,6865,0.00,2.30,0.00,0.000,4,0.000,0.065,3364,3739,2085,0,0,0,0,0,0,28.83,25.60,28.83
$GC,6898,0.49,170.7,458.3,8.8,442,6902,0.00,2.22,0.00,0.000,6,0.000,0.048,3374,2319,2085,0,0,0,0,0,0,28.83,25.77,28.83
$GC,7215,0.49,170.7,429.7,8.3,453,7221,0.00,2.20,0.00,0.000,4,0.000,0.055,3384,917,2085,0,0,0,0,0,0,28.83,25.72,28.83
$GC,7253,0.49,170.7,427.3,8.3,454,7258,0.12,2.22,0.00,0.000,6,0.138,0.054,3351,2333,2084,0,0,0,0,0,0,25.61,25.72,28.83
$GC,7572,0.49,170.7,403.7,7.3,465,7573,0.00,0.00,0.00,0.000,6,0.000,0.000,3351,2333,2083,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7871,0.49,183.5,383.2,6.5,479,7891,0.00,2.30,10.35,0.716,4,0.000,0.066,3351,3727,2045,0,0,0,0,0,0,28.83,25.79,24.28
$GC,7907,0.50,198.5,381.8,6.4,480,7927,0.00,2.20,14.38,0.746,6,0.000,0.048,3357,2313,1984,0,0,0,0,0,0,28.83,25.84,24.38
$GC,8230,0.50,198.5,355.1,7.7,496,8235,0.00,2.15,0.00,0.000,4,0.000,0.054,3366,932,1979,0,0,0,0,0,0,28.83,25.67,28.83
$GC,8282,0.50,198.5,352.0,7.6,498,8289,0.00,2.20,0.00,0.000,6,0.000,0.054,3366,2332,1978,0,0,0,0,0,0,28.83,25.70,28.83
$GC,8592,0.50,198.5,325.0,8.2,514,8597,0.00,2.22,0.00,0.000,4,0.000,0.066,3366,3727,1978,0,0,0,0,0,0,28.83,25.65,28.83
$GC,8630,0.50,198.5,321.1,9.0,516,8636,0.00,2.20,0.00,0.000,6,0.000,0.047,3376,2320,1978,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8950,0.50,198.5,290.9,9.5,532,8951,0.00,0.00,0.00,0.000,6,0.000,0.000,3376,2319,1977,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9251,0.50,198.5,264.3,9.0,547,9256,0.00,2.28,0.00,0.000,4,0.000,0.064,3376,3738,1976,0,0,0,0,0,0,28.83,25.67,28.83
$GC,9290,0.50,198.5,260.1,9.5,549,9296,0.00,2.20,0.00,0.000,6,0.000,0.047,3385,2324,1977,0,0,0,0,0,0,28.83,25.87,28.83
$GC,9610,0.50,198.5,232.0,8.4,565,9616,0.00,2.20,0.00,0.000,4,0.000,0.054,3396,922,1977,0,0,0,0,0,0,28.83,25.75,28.83
$GC,9633,0.50,198.5,230.4,8.5,566,9638,0.15,2.20,0.00,0.000,6,0.129,0.054,3353,2328,1976,0,0,0,0,0,0,25.61,25.75,28.83
$GC,9947,0.51,233.8,211.1,5.6,582,9979,0.00,0.00,30.42,0.686,6,0.000,0.000,3353,2328,1841,0,0,0,0,0,0,28.83,28.83,24.47
$GC,10268,0.52,253.3,191.5,6.2,600,10290,0.00,2.22,17.40,0.651,4,0.000,0.052,3357,921,1760,0,0,0,0,0,0,28.83,25.66,24.48
$GC,10332,0.53,271.7,187.9,6.3,603,10354,0.00,2.22,16.60,0.643,6,0.000,0.052,3357,2337,1686,0,0,0,0,0,0,28.83,25.60,24.35
$GC,10656,0.53,291.8,167.6,6.2,625,10683,0.00,2.30,17.30,0.631,4,0.000,0.053,3363,927,1603,0,0,0,0,0,0,28.83,25.63,24.48
$GC,10710,0.54,310.2,164.5,6.3,628,10732,0.00,2.22,16.85,0.620,6,0.000,0.051,3362,2328,1528,0,0,0,0,0,0,28.83,25.58,24.38
$GC,11034,0.54,310.2,141.7,7.2,650,11035,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,2328,1522,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11333,0.54,318.7,120.9,6.7,670,11346,0.00,2.30,7.60,0.535,4,0.000,0.053,3368,919,1493,0,0,0,0,0,0,28.83,25.79,24.42
$GC,11395,0.55,344.8,117.0,6.0,678,11425,0.00,2.20,22.95,0.608,6,0.000,0.050,3368,2335,1387,0,0,0,0,0,0,28.83,25.75,24.56
$GC,11731,0.57,393.6,98.7,5.1,743,11778,0.00,0.00,40.00,0.608,6,0.000,0.000,3368,2335,1188,0,0,0,0,0,0,28.83,28.83,24.49
$GC,12086,0.57,393.6,69.6,10.5,811,12093,0.00,2.25,0.00,0.000,4,0.000,0.063,3368,3738,1181,0,0,0,0,0,0,28.83,25.59,28.83
$GC,12146,0.57,393.6,62.4,12.0,822,12153,0.00,2.20,0.00,0.000,6,0.000,0.044,3368,2315,1180,0,0,0,0,0,0,28.83,25.80,28.83
$GC,12458,0.57,393.6,27.9,11.1,883,12465,0.00,2.17,0.00,0.000,4,0.000,0.050,3368,917,1179,0,0,0,0,0,0,28.83,25.76,28.83
$GC,12578,0.57,393.6,14.6,11.4,906,12585,0.00,2.17,0.00,0.000,6,0.000,0.050,3368,2328,1179,0,0,0,0,0,0,28.83,25.79,28.83
$STATE,12681,end climb,SURFACE_DEPTH_REACHED
$STATE,12681,begin surface coast
$FINISH,1.4,1.024017
$STATE,12714,end surface coast,CONTROL_FINISHED_OK
$STATE,12714,begin surface
$SM_CCo,12794,0.00,0.000,0,0,1176,396.90
$SM_GC,2.34,8.23,0.17,0.00,0.026,0.073,0.000,115,2207,1176,-9.46,1.41,396.90,0,0,0,0,0,0,26.11,26.12,28.83
$IRIDIUM_FIX,4732.49,-12521.83,281212,000012
$TT8_MAMPS,0.026964,0.026964
$HUMID,46.25
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,19.50
$XPDR_PINGS,2
$24V_AH,23.1,59.666
$10V_AH,9.8,48.378
$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,21.075,106.950,461.400,0.000,0.000,28.021,35.416,168.791,0.500,0.000,20.525,2354.842,8101.506,526.730,1891.133,287.915,0.000,1485.168,0.000,1629.180,0.000,0.536,0.000
$DEVICE_MAMPS,212.670,82.620,876.690,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,637.981,561.238,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296868
$DATA_FILE_SIZE,50221,932
$CAP_FILE_SIZE,121619,0
$CFSIZE,260165632,221966336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.270,314.5,1
$GPS,281212,091436,4749.200,-12514.151,31,1.5,31,18.7