version: 66.11
glider: 187
mission: 2
dive: 428
start: 12 28 112 9 21 26
data:
$ID,187
$MISSION,2
$DIVE,428
$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,-1588527.1
$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,35
$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,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
$GPS1,281212,091436,4749.200,-12514.151,31,1.5,31,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-72.8
$GPS2,281212,092055,4749.296,-12514.233,14,1.5,14,18.7
$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,71.6,6932,-13.3,-7.021,-18.50
$D_GRID,418
$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,-136.3,0.0,0.0,0,87,0.00,0.00,-68.18,0.000,2,0.000,0.000,115,2207,2685,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.47,-136.3,3.1,-2.1,12,129,11.40,2.30,-16.05,0.000,4,0.213,0.073,3025,3604,3352,0,0,0,0,0,0,24.84,25.58,26.25
$GC,152,-0.47,-136.3,14.5,-16.1,22,160,0.00,2.20,0.00,0.000,6,0.000,0.043,3025,2191,3354,0,0,0,0,0,0,28.83,25.74,28.83
$GC,466,-0.47,-136.3,65.0,-15.1,83,472,0.00,2.15,0.00,0.000,4,0.000,0.049,3025,793,3355,0,0,0,0,0,0,28.83,25.72,28.83
$GC,515,-0.47,-136.3,72.8,-15.3,92,521,0.00,2.17,0.00,0.000,6,0.000,0.050,3016,2199,3355,0,0,0,0,0,0,28.83,25.75,28.83
$GC,826,-0.47,-136.3,114.3,-12.0,153,833,0.00,2.22,0.00,0.000,4,0.000,0.060,3005,3613,3354,0,0,0,0,0,0,28.83,25.69,28.83
$GC,922,-0.47,-136.3,125.1,-11.2,166,928,0.10,2.12,0.00,0.000,6,0.108,0.042,3041,2197,3355,0,0,0,0,0,0,25.69,25.92,28.83
$GC,1239,-0.47,-136.3,150.9,-7.8,187,1244,0.00,2.22,0.00,0.000,4,0.000,0.060,3033,3606,3355,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1275,-0.47,-136.3,153.3,-7.7,189,1282,0.00,2.17,0.00,0.000,6,0.000,0.041,3032,2191,3356,0,0,0,0,0,0,28.83,25.95,28.83
$GC,1583,-0.47,-136.3,180.9,-9.1,210,1588,0.00,2.22,0.00,0.000,4,0.000,0.060,3022,3603,3355,0,0,0,0,0,0,28.83,25.73,28.83
$GC,1605,-0.47,-136.3,182.3,-9.2,211,1612,0.00,2.15,0.00,0.000,6,0.000,0.042,3022,2190,3355,0,0,0,0,0,0,28.83,25.95,28.83
$GC,1918,-0.47,-136.3,213.9,-9.5,230,1923,0.00,2.10,0.00,0.000,4,0.000,0.048,3022,806,3355,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1939,-0.47,-136.3,215.9,-9.6,231,1943,0.00,2.15,0.00,0.000,6,0.000,0.049,3013,2201,3355,0,0,0,0,0,0,28.83,25.83,28.83
$GC,2253,-0.47,-136.3,248.5,-10.9,247,2258,0.00,2.20,0.00,0.000,4,0.000,0.061,3003,3605,3355,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2293,-0.47,-136.3,253.0,-11.1,249,2298,0.10,2.12,0.00,0.000,6,0.103,0.042,3040,2199,3356,0,0,0,0,0,0,25.73,25.96,28.83
$GC,2612,-0.47,-136.3,280.0,-8.3,265,2618,0.00,2.25,0.00,0.000,4,0.000,0.061,3033,3609,3355,0,0,0,0,0,0,28.83,25.70,28.83
$GC,2655,-0.47,-136.3,283.4,-8.2,267,2659,0.00,2.15,0.00,0.000,6,0.000,0.043,3032,2201,3356,0,0,0,0,0,0,28.83,25.95,28.83
$GC,2968,-0.47,-136.3,310.2,-8.8,283,2969,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2198,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3267,-0.47,-136.3,336.4,-8.7,298,3268,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2198,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3569,-0.47,-136.3,361.5,-8.2,313,3574,0.00,2.25,0.00,0.000,4,0.000,0.063,3023,3609,3355,0,0,0,0,0,0,28.83,25.69,28.83
$GC,3591,-0.47,-136.3,363.0,-8.1,314,3595,0.00,2.20,0.00,0.000,6,0.000,0.044,3022,2194,3355,0,0,0,0,0,0,28.83,25.93,28.83
$GC,3909,-0.47,-136.3,389.4,-8.6,330,3910,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2192,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4229,-0.47,-136.3,415.7,-8.6,343,4230,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2192,3354,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4256,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4257,begin apogee
$GC,4264,-0.22,0.0,418.3,-8.6,344,4384,0.30,0.00,114.43,0.807,6,0.109,0.000,3125,2340,2793,0,0,0,0,0,0,25.75,28.83,23.85
$STATE,4387,end apogee,CONTROL_FINISHED_OK
$STATE,4387,begin climb
$GC,4390,0.47,136.3,422.6,0.0,348,4512,0.62,0.00,117.78,0.777,6,0.080,0.000,3344,2340,2237,0,0,0,0,0,0,24.96,28.83,23.50
$GC,4798,0.48,167.1,401.8,5.8,362,4831,0.00,2.35,26.00,0.759,4,0.000,0.051,3354,924,2111,0,0,0,0,0,0,28.83,25.32,24.17
$GC,4887,0.50,206.2,397.4,5.5,365,4926,0.00,2.22,33.38,0.765,6,0.000,0.051,3354,2327,1953,0,0,0,0,0,0,28.83,25.43,24.04
$GC,5237,0.50,220.4,374.1,6.5,383,5256,0.00,2.33,12.57,0.709,4,0.000,0.063,3354,3724,1894,0,0,0,0,0,0,28.83,25.58,24.34
$GC,5268,0.51,232.8,372.7,6.5,384,5286,0.00,2.20,12.20,0.700,6,0.000,0.046,3363,2328,1844,0,0,0,0,0,0,28.83,25.64,24.27
$GC,5595,0.51,232.8,348.2,7.2,401,5600,0.00,2.20,0.00,0.000,4,0.000,0.054,3372,924,1838,0,0,0,0,0,0,28.83,25.70,28.83
$GC,5648,0.51,232.8,345.3,7.0,403,5654,0.00,2.20,0.00,0.000,6,0.000,0.052,3372,2329,1837,0,0,0,0,0,0,28.83,25.72,28.83
$GC,5955,0.51,232.8,319.5,8.0,419,5956,0.00,0.00,0.00,0.000,6,0.000,0.000,3372,2329,1837,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6254,0.51,232.8,294.2,8.4,434,6256,0.00,0.00,0.00,0.000,6,0.000,0.000,3372,2329,1836,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6554,0.51,232.8,269.5,8.3,449,6556,0.00,0.00,0.00,0.000,6,0.000,0.000,3372,2329,1835,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6855,0.51,232.8,244.8,8.4,464,6861,0.00,2.22,0.00,0.000,4,0.000,0.054,3381,917,1835,0,0,0,0,0,0,28.83,25.81,28.83
$GC,6882,0.51,232.8,243.3,8.2,465,6886,0.00,2.20,0.00,0.000,6,0.000,0.053,3381,2329,1835,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7189,0.51,232.8,215.8,8.8,480,7195,0.00,2.25,0.00,0.000,4,0.000,0.064,3381,3736,1835,0,0,0,0,0,0,28.83,25.73,28.83
$GC,7230,0.51,232.8,211.8,9.2,482,7235,0.00,2.15,0.00,0.000,6,0.000,0.047,3390,2339,1834,0,0,0,0,0,0,28.83,25.92,28.83
$GC,7549,0.51,232.8,181.9,9.2,501,7555,0.00,2.22,0.00,0.000,4,0.000,0.054,3399,913,1834,0,0,0,0,0,0,28.83,25.80,28.83
$GC,7642,0.51,232.8,173.9,8.9,507,7647,0.15,2.20,0.00,0.000,6,0.128,0.052,3355,2326,1834,0,0,0,0,0,0,25.68,25.82,28.83
$GC,7953,0.52,251.7,153.8,6.3,527,7971,0.00,0.00,16.20,0.624,6,0.000,0.000,3355,2326,1767,0,0,0,0,0,0,28.83,28.83,24.48
$GC,8265,0.53,295.0,135.7,5.3,548,8309,0.00,0.00,36.70,0.636,6,0.000,0.000,3355,2326,1590,0,0,0,0,0,0,28.83,28.83,24.49
$GC,8612,0.55,335.6,118.6,5.4,573,8653,0.00,2.25,33.47,0.615,4,0.000,0.052,3355,917,1425,0,0,0,0,0,0,28.83,25.50,24.49
$GC,8687,0.56,350.0,114.1,6.4,586,8706,0.00,2.22,13.25,0.574,6,0.000,0.050,3355,2335,1367,0,0,0,0,0,0,28.83,25.51,24.31
$GC,9011,0.56,350.0,84.9,9.2,649,9018,0.00,2.25,0.00,0.000,4,0.000,0.063,3353,3735,1361,0,0,0,0,0,0,28.83,25.60,28.83
$GC,9102,0.56,350.0,77.0,9.1,666,9109,0.00,2.20,0.00,0.000,6,0.000,0.044,3353,2312,1360,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9414,0.56,350.0,45.2,8.8,727,9421,0.00,2.17,0.00,0.000,4,0.000,0.050,3353,914,1359,0,0,0,0,0,0,28.83,25.77,28.83
$GC,9464,0.56,350.0,40.5,9.4,736,9471,0.00,2.20,0.00,0.000,6,0.000,0.050,3353,2336,1358,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9776,0.56,350.0,10.4,11.0,797,9783,0.00,2.20,0.00,0.000,4,0.000,0.050,3353,921,1358,0,0,0,0,0,0,28.83,25.82,28.83
$STATE,9839,end climb,SURFACE_DEPTH_REACHED
$STATE,9839,begin surface coast
$FINISH,1.3,1.011589
$STATE,9897,end surface coast,CONTROL_FINISHED_OK
$STATE,9897,begin surface
$SM_CCo,9979,0.00,0.000,0,0,1354,353.23
$SM_GC,2.32,8.25,2.08,0.00,0.030,0.054,0.000,112,2205,1354,-9.47,-0.59,353.23,0,0,0,0,0,0,26.10,25.77,28.83
$IRIDIUM_FIX,4729.30,-12515.52,281212,050531
$TT8_MAMPS,0.026964,0.026964
$HUMID,45.51
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,19.40
$XPDR_PINGS,1
$24V_AH,23.5,59.767
$10V_AH,9.8,48.435
$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,20.925,83.925,415.975,0.000,0.000,26.117,41.820,174.241,0.250,0.000,14.907,2051.120,5922.093,482.559,1662.884,239.947,0.000,1295.020,0.000,1393.992,0.000,0.536,0.000
$DEVICE_MAMPS,213.435,77.265,807.075,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,560.746,519.775,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296920
$DATA_FILE_SIZE,43557,820
$CAP_FILE_SIZE,99610,0
$CFSIZE,260165632,221937664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.314,285.2,1
$GPS,281212,120905,4749.657,-12513.127,37,1.2,43,18.7