version: 66.11
glider: 187
mission: 2
dive: 430
start: 12 28 112 14 39 33
data:
$ID,187
$MISSION,2
$DIVE,430
$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,-1588529.6
$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,37
$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
$GPS1,281212,143333,4749.962,-12512.388,11,6.8,31,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-71.5
$GPS2,281212,143900,4750.039,-12512.455,10,1.1,16,18.7
$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,64.1,4432,-13.3,-7.021,-18.50
$D_GRID,283
$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,-136.3,0.0,0.0,0,95,0.00,0.00,-76.03,0.000,2,0.000,0.000,118,2191,2691,0,0,0,0,0,0,28.83,28.83,28.83
$GC,99,-0.47,-136.3,3.0,-1.8,13,136,11.32,2.35,-16.38,0.000,4,0.213,0.073,3025,3611,3351,0,0,0,0,0,0,24.91,25.62,26.27
$GC,221,-0.47,-136.3,21.8,-13.6,35,228,0.00,2.17,0.00,0.000,6,0.000,0.042,3025,2195,3353,0,0,0,0,0,0,28.83,25.81,28.83
$GC,533,-0.47,-136.3,72.4,-15.7,96,540,0.00,2.15,0.00,0.000,4,0.000,0.048,3025,794,3353,0,0,0,0,0,0,28.83,25.79,28.83
$GC,564,-0.47,-136.3,77.0,-14.9,101,571,0.00,2.17,0.00,0.000,6,0.000,0.048,3015,2200,3353,0,0,0,0,0,0,28.83,25.81,28.83
$GC,877,-0.47,-136.3,118.3,-10.9,162,884,0.00,2.22,0.00,0.000,4,0.000,0.060,3005,3618,3353,0,0,0,0,0,0,28.83,25.76,28.83
$GC,945,-0.47,-136.3,126.3,-12.1,168,950,0.15,2.17,0.00,0.000,6,0.127,0.041,3048,2196,3353,0,0,0,0,0,0,25.75,25.96,28.83
$GC,1254,-0.47,-136.3,156.1,-9.4,188,1259,0.00,2.22,0.00,0.000,4,0.000,0.060,3040,3607,3354,0,0,0,0,0,0,28.83,25.78,28.83
$GC,1298,-0.47,-136.3,160.8,-9.9,191,1303,0.00,2.15,0.00,0.000,6,0.000,0.041,3040,2189,3354,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1615,-0.47,-136.3,192.7,-9.5,212,1620,0.00,2.10,0.00,0.000,4,0.000,0.048,3040,803,3354,0,0,0,0,0,0,28.83,25.87,28.83
$GC,1661,-0.47,-136.3,197.0,-9.4,215,1665,0.00,2.15,0.00,0.000,6,0.000,0.048,3031,2203,3354,0,0,0,0,0,0,28.83,25.88,28.83
$GC,1979,-0.47,-136.3,225.9,-8.6,231,1984,0.00,2.20,0.00,0.000,4,0.000,0.060,3020,3607,3353,0,0,0,0,0,0,28.83,25.78,28.83
$GC,2011,-0.47,-136.3,227.6,-8.4,232,2018,0.00,2.15,0.00,0.000,6,0.000,0.041,3020,2187,3353,0,0,0,0,0,0,28.83,25.99,28.83
$GC,2318,-0.47,-136.3,258.4,-9.7,248,2319,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2187,3354,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2595,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2595,begin apogee
$GC,2603,-0.22,0.0,283.8,-8.3,262,2720,0.30,0.00,111.90,0.715,6,0.112,0.000,3123,2339,2795,0,0,0,0,0,0,25.77,28.83,24.06
$STATE,2721,end apogee,CONTROL_FINISHED_OK
$STATE,2723,begin climb
$GC,2726,0.47,136.3,287.8,0.0,268,2850,0.62,2.38,116.30,0.700,4,0.082,0.060,3342,3720,2237,0,0,0,0,0,0,25.06,24.72,23.81
$GC,2869,0.50,211.4,283.7,4.0,275,2938,0.00,2.20,61.92,0.682,6,0.000,0.043,3351,2336,1931,0,0,0,0,0,0,28.83,24.98,23.78
$GC,3239,0.51,243.0,262.1,5.8,294,3271,0.00,2.25,26.73,0.666,4,0.000,0.050,3360,925,1802,0,0,0,0,0,0,28.83,25.42,24.37
$GC,3356,0.53,274.0,255.4,5.8,299,3388,0.00,2.15,26.30,0.662,6,0.000,0.049,3360,2308,1677,0,0,0,0,0,0,28.83,25.57,24.32
$GC,3691,0.53,284.8,233.5,6.6,315,3708,0.00,0.00,9.68,0.596,6,0.000,0.000,3360,2308,1633,0,0,0,0,0,0,28.83,28.83,24.44
$GC,4010,0.54,298.8,213.1,6.5,331,4029,0.00,2.28,13.07,0.620,4,0.000,0.050,3368,918,1575,0,0,0,0,0,0,28.83,25.75,24.54
$GC,4061,0.54,314.9,210.3,6.4,333,4080,0.00,2.20,14.75,0.623,6,0.000,0.050,3368,2331,1510,0,0,0,0,0,0,28.83,25.72,24.49
$GC,4391,0.54,314.9,187.1,7.4,353,4392,0.00,0.00,0.00,0.000,6,0.000,0.000,3368,2331,1505,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4688,0.54,314.9,164.0,7.1,373,4694,0.00,2.22,0.00,0.000,4,0.000,0.052,3368,920,1503,0,0,0,0,0,0,28.83,25.82,28.83
$GC,4749,0.54,320.2,159.8,6.8,377,4764,0.00,2.15,5.40,0.490,6,0.000,0.050,3368,2327,1486,0,0,0,0,0,0,28.83,25.86,24.32
$GC,5066,0.54,320.2,137.6,7.4,398,5071,0.00,2.17,0.00,0.000,4,0.000,0.051,3368,925,1485,0,0,0,0,0,0,28.83,25.85,28.83
$GC,5097,0.54,320.2,135.5,7.2,400,5101,0.00,2.17,0.00,0.000,6,0.000,0.050,3369,2332,1485,0,0,0,0,0,0,28.83,25.87,28.83
$GC,5408,0.56,347.1,113.8,6.0,432,5438,0.00,2.22,23.65,0.603,4,0.000,0.050,3368,922,1377,0,0,0,0,0,0,28.83,25.77,24.65
$GC,5461,0.58,402.7,110.9,4.8,441,5514,0.00,2.17,45.38,0.602,6,0.000,0.049,3368,2325,1151,0,0,0,0,0,0,28.83,25.74,24.42
$GC,5821,0.58,402.7,76.1,10.2,510,5828,0.00,2.25,0.00,0.000,4,0.000,0.062,3368,3733,1145,0,0,0,0,0,0,28.83,25.65,28.83
$GC,5969,0.58,402.7,60.6,12.1,538,5976,0.00,2.17,0.00,0.000,6,0.000,0.043,3368,2319,1144,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6281,0.58,402.7,29.5,7.9,599,6287,0.00,0.00,0.00,0.000,6,0.000,0.000,3368,2319,1143,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6584,end climb,SURFACE_DEPTH_REACHED
$STATE,6584,begin surface coast
$FINISH,1.4,1.014796
$STATE,6633,end surface coast,CONTROL_FINISHED_OK
$STATE,6633,begin surface
$SM_CCo,6712,0.00,0.000,0,0,1140,405.73
$SM_GC,1.99,8.25,0.15,0.00,0.028,0.075,0.000,110,2210,1140,-9.47,1.47,405.73,0,0,0,0,0,0,26.17,26.20,28.83
$IRIDIUM_FIX,4729.30,-12510.28,281212,121206
$TT8_MAMPS,0.026964,0.026964
$HUMID,45.66
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,19.60
$XPDR_PINGS,0
$24V_AH,23.8,59.972
$10V_AH,9.8,48.537
$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,20.650,57.600,455.075,0.000,0.000,25.116,43.682,135.488,0.000,0.000,16.929,1626.413,3363.739,494.530,1361.737,200.278,0.000,1168.245,0.000,1137.366,0.000,0.535,0.000
$DEVICE_MAMPS,212.670,74.970,715.275,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,454.445,451.810,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296940
$DATA_FILE_SIZE,36995,668
$CAP_FILE_SIZE,76688,0
$CFSIZE,260165632,221859840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.387,272.8,1
$GPS,281212,163212,4750.457,-12511.921,10,1.2,10,18.7