version: 66.11
glider: 187
mission: 2
dive: 429
start: 12 28 112 12 15 50
data:
$ID,187
$MISSION,2
$DIVE,429
$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,-1588528.4
$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,41
$R_STBD_OVSHOOT,22
$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
$GPS1,281212,120905,4749.657,-12513.127,37,1.2,43,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-75.2
$GPS2,281212,121519,4749.736,-12513.252,8,1.5,8,18.7
$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,68.7,5500,-13.3,-7.021,-18.50
$D_GRID,338
$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,-136.3,0.0,0.0,0,82,0.00,0.00,-63.12,0.000,2,0.000,0.000,112,2209,2744,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.47,-136.3,3.1,-1.5,11,117,11.55,0.00,-14.35,0.000,6,0.217,0.000,3034,2209,3352,0,0,0,0,0,0,24.87,28.83,26.26
$GC,422,-0.47,-136.3,56.9,-15.2,76,427,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2209,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,733,-0.47,-136.3,94.7,-11.0,137,741,0.00,2.25,0.00,0.000,4,0.000,0.060,3025,3618,3355,0,0,0,0,0,0,28.83,25.70,28.83
$GC,754,-0.47,-136.3,96.9,-10.5,140,761,0.00,2.20,0.00,0.000,6,0.000,0.042,3025,2187,3356,0,0,0,0,0,0,28.83,25.90,28.83
$GC,1070,-0.47,-136.3,131.3,-9.7,188,1076,0.00,2.12,0.00,0.000,4,0.000,0.049,3025,790,3356,0,0,0,0,0,0,28.83,25.81,28.83
$GC,1102,-0.47,-136.3,134.3,-9.9,190,1106,0.00,2.20,0.00,0.000,6,0.000,0.050,3016,2211,3356,0,0,0,0,0,0,28.83,25.81,28.83
$GC,1412,-0.47,-136.3,168.4,-11.2,210,1417,0.00,2.20,0.00,0.000,4,0.000,0.060,3007,3608,3356,0,0,0,0,0,0,28.83,25.73,28.83
$GC,1501,-0.47,-136.3,178.8,-11.3,216,1507,0.10,2.12,0.00,0.000,6,0.103,0.041,3044,2196,3356,0,0,0,0,0,0,25.74,25.95,28.83
$GC,1822,-0.47,-136.3,207.5,-8.6,236,1827,0.00,2.12,0.00,0.000,4,0.000,0.048,3044,799,3356,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1854,-0.47,-136.3,209.3,-8.4,237,1861,0.00,2.15,0.00,0.000,6,0.000,0.048,3037,2201,3356,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2161,-0.47,-136.3,237.7,-8.7,253,2162,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2201,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2461,-0.47,-136.3,263.9,-8.7,268,2466,0.00,2.25,0.00,0.000,4,0.000,0.061,3026,3614,3357,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2514,-0.47,-136.3,267.4,-8.7,270,2521,0.00,2.17,0.00,0.000,6,0.000,0.042,3026,2187,3356,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2821,-0.47,-136.3,297.6,-9.0,286,2822,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2186,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3122,-0.47,-136.3,324.8,-9.2,301,3127,0.00,2.25,0.00,0.000,4,0.000,0.061,3017,3612,3356,0,0,0,0,0,0,28.83,25.71,28.83
$GC,3161,-0.47,-136.3,328.7,-9.8,303,3167,0.00,2.15,0.00,0.000,6,0.000,0.043,3017,2204,3356,0,0,0,0,0,0,28.83,25.95,28.83
$STATE,3258,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3258,begin apogee
$GC,3265,-0.22,0.0,338.9,-10.2,308,3383,0.30,0.00,113.62,0.752,6,0.113,0.000,3120,2339,2793,0,0,0,0,0,0,25.73,28.83,23.95
$STATE,3384,end apogee,CONTROL_FINISHED_OK
$STATE,3387,begin climb
$GC,3390,0.47,136.3,344.8,0.0,314,3516,0.65,2.33,116.47,0.723,4,0.082,0.060,3346,3720,2236,0,0,0,0,0,0,25.01,24.63,23.69
$GC,3539,0.50,210.8,340.9,4.1,321,3607,0.00,2.25,62.03,0.720,6,0.000,0.044,3356,2327,1934,0,0,0,0,0,0,28.83,24.93,23.63
$GC,3915,0.50,210.8,314.4,7.3,340,3920,0.00,2.22,0.00,0.000,4,0.000,0.052,3361,925,1925,0,0,0,0,0,0,28.83,25.57,28.83
$GC,3968,0.50,210.8,311.6,7.3,342,3975,0.00,2.17,0.00,0.000,6,0.000,0.050,3362,2314,1925,0,0,0,0,0,0,28.83,25.63,28.83
$GC,4276,0.51,222.0,289.5,6.6,358,4295,0.00,2.33,9.60,0.632,4,0.000,0.063,3361,3729,1887,0,0,0,0,0,0,28.83,25.73,24.42
$GC,4306,0.51,231.9,288.1,6.6,359,4321,0.00,2.17,10.07,0.634,6,0.000,0.045,3369,2326,1848,0,0,0,0,0,0,28.83,25.79,24.40
$GC,4636,0.51,238.4,264.4,6.8,376,4653,0.00,2.28,6.85,0.579,4,0.000,0.052,3379,924,1821,0,0,0,0,0,0,28.83,25.78,24.37
$GC,4725,0.52,252.7,259.1,6.5,380,4743,0.00,2.20,13.35,0.653,6,0.000,0.050,3379,2337,1764,0,0,0,0,0,0,28.83,25.75,24.49
$GC,5053,0.52,252.7,234.8,7.5,397,5054,0.00,0.00,0.00,0.000,6,0.000,0.000,3378,2336,1760,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5352,0.52,252.7,211.2,8.4,412,5357,0.00,2.20,0.00,0.000,4,0.000,0.051,3388,921,1759,0,0,0,0,0,0,28.83,25.80,28.83
$GC,5379,0.52,252.7,209.6,8.4,413,5384,0.00,2.17,0.00,0.000,6,0.000,0.050,3388,2323,1758,0,0,0,0,0,0,28.83,25.82,28.83
$GC,5697,0.52,252.7,180.6,8.9,432,5702,0.00,2.22,0.00,0.000,4,0.000,0.063,3388,3728,1758,0,0,0,0,0,0,28.83,25.76,28.83
$GC,5741,0.52,252.7,176.2,9.5,435,5748,0.12,2.17,0.00,0.000,6,0.141,0.045,3360,2326,1758,0,0,0,0,0,0,25.75,25.94,28.83
$GC,6059,0.52,257.9,154.4,6.8,456,6071,0.00,2.20,5.50,0.503,4,0.000,0.050,3368,913,1740,0,0,0,0,0,0,28.83,25.88,24.30
$GC,6098,0.52,263.7,152.2,6.8,458,6111,0.00,2.20,6.28,0.524,6,0.000,0.050,3368,2336,1719,0,0,0,0,0,0,28.83,25.86,24.44
$GC,6421,0.52,263.7,128.4,7.6,480,6422,0.00,0.00,0.00,0.000,6,0.000,0.000,3368,2336,1717,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6721,0.53,283.8,107.6,6.2,524,6745,0.00,0.00,18.27,0.597,6,0.000,0.000,3368,2336,1636,0,0,0,0,0,0,28.83,28.83,24.65
$GC,7052,0.54,319.6,89.1,5.6,588,7088,0.00,0.00,30.05,0.597,6,0.000,0.000,3368,2336,1490,0,0,0,0,0,0,28.83,28.83,24.60
$GC,7395,0.56,370.2,72.1,5.0,654,7444,0.00,2.33,41.45,0.587,4,0.000,0.050,3368,918,1282,0,0,0,0,0,0,28.83,25.48,24.51
$GC,7477,0.59,444.2,68.7,4.1,668,7542,0.00,2.20,59.25,0.578,6,0.000,0.048,3368,2325,983,0,0,0,0,0,0,28.83,25.51,24.23
$GC,7848,0.59,444.2,31.8,12.1,739,7855,0.00,2.20,0.00,0.000,4,0.000,0.049,3368,916,974,0,0,0,0,0,0,28.83,25.67,28.83
$GC,7899,0.59,444.2,26.1,11.0,748,7906,0.00,2.17,0.00,0.000,6,0.000,0.047,3368,2326,974,0,0,0,0,0,0,28.83,25.72,28.83
$STATE,8081,end climb,SURFACE_DEPTH_REACHED
$STATE,8082,begin surface coast
$FINISH,1.4,1.024623
$STATE,8114,end surface coast,CONTROL_FINISHED_OK
$STATE,8114,begin surface
$SM_CCo,8194,0.00,0.000,0,0,972,446.94
$SM_GC,2.13,8.20,0.20,0.00,0.023,0.067,0.000,118,2189,972,-9.46,0.90,446.94,0,0,0,0,0,0,26.06,26.02,28.83
$IRIDIUM_FIX,4729.30,-12515.52,281212,090930
$TT8_MAMPS,0.026964,0.026964
$HUMID,45.15
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,19.60
$XPDR_PINGS,1
$24V_AH,23.6,59.875
$10V_AH,9.8,48.490
$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,20.925,66.625,492.800,0.000,0.000,28.213,49.010,173.149,0.250,0.000,11.570,1909.721,4312.430,500.438,1624.281,224.806,0.000,1301.205,0.000,1352.207,0.000,0.536,0.000
$DEVICE_MAMPS,217.260,80.325,751.995,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,537.581,518.313,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296948
$DATA_FILE_SIZE,43576,790
$CAP_FILE_SIZE,91365,0
$CFSIZE,260165632,221888512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.273,281.2,1
$GPS,281212,143333,4749.962,-12512.388,11,6.8,31,18.7