version: 66.11
glider: 187
mission: 2
dive: 431
start: 12 28 112 16 38 1
data:
$ID,187
$MISSION,2
$DIVE,431
$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,-1588530.9
$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,34
$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
$GPS1,281212,163212,4750.457,-12511.921,10,1.2,10,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-73.7
$GPS2,281212,163730,4750.564,-12511.953,12,1.1,17,18.7
$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,65.9,3283,-13.3,-7.021,-18.50
$D_GRID,229
$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,-136.3,0.0,0.0,0,90,0.00,0.00,-71.90,0.000,2,0.000,0.000,110,2210,2742,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.47,-136.3,3.2,-2.7,13,127,11.48,2.28,-13.70,0.000,4,0.216,0.070,3028,3613,3350,0,0,0,0,0,0,24.88,25.64,26.29
$GC,291,-0.47,-136.3,35.2,-11.8,50,298,0.00,2.17,0.00,0.000,6,0.000,0.041,3028,2192,3353,0,0,0,0,0,0,28.83,25.86,28.83
$GC,604,-0.47,-136.3,77.8,-12.9,111,611,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2186,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,916,-0.47,-136.3,113.1,-9.3,172,923,0.00,2.25,0.00,0.000,4,0.000,0.059,3017,3607,3354,0,0,0,0,0,0,28.83,25.79,28.83
$GC,977,-0.47,-136.3,119.1,-9.8,183,985,0.00,2.15,0.00,0.000,6,0.000,0.041,3017,2188,3353,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1293,-0.47,-136.3,153.5,-11.6,205,1299,0.00,2.10,0.00,0.000,4,0.000,0.047,3017,801,3353,0,0,0,0,0,0,28.83,25.88,28.83
$GC,1331,-0.47,-136.3,157.1,-12.0,207,1339,0.12,2.15,0.00,0.000,6,0.141,0.048,3043,2203,3354,0,0,0,0,0,0,25.75,25.89,28.83
$GC,1639,-0.47,-136.3,185.8,-8.3,228,1644,0.00,2.20,0.00,0.000,4,0.000,0.060,3034,3611,3354,0,0,0,0,0,0,28.83,25.80,28.83
$GC,1682,-0.47,-136.3,189.9,-8.7,231,1688,0.00,2.12,0.00,0.000,6,0.000,0.041,3035,2202,3354,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2003,-0.47,-136.3,217.6,-8.7,249,2008,0.00,2.22,0.00,0.000,4,0.000,0.060,3024,3613,3353,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2046,-0.47,-136.3,221.0,-8.5,251,2050,0.00,2.15,0.00,0.000,6,0.000,0.041,3024,2196,3354,0,0,0,0,0,0,28.83,26.00,28.83
$STATE,2155,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2155,begin apogee
$GC,2162,-0.22,0.0,230.4,-8.1,257,2278,0.28,0.00,111.22,0.682,6,0.112,0.000,3118,2343,2794,0,0,0,0,0,0,25.79,28.83,24.12
$STATE,2279,end apogee,CONTROL_FINISHED_OK
$STATE,2279,begin climb
$GC,2284,0.47,136.3,234.8,0.0,263,2403,0.68,0.00,115.60,0.665,6,0.083,0.000,3347,2343,2238,0,0,0,0,0,0,25.09,28.83,23.91
$GC,2700,0.48,149.1,211.6,6.5,284,2718,0.00,2.22,10.77,0.583,4,0.000,0.047,3357,926,2185,0,0,0,0,0,0,28.83,25.62,24.42
$GC,2807,0.48,156.3,204.6,6.7,289,2821,0.00,2.17,7.75,0.549,6,0.000,0.049,3357,2317,2156,0,0,0,0,0,0,28.83,25.67,24.39
$GC,3124,0.48,164.1,183.1,6.7,309,3137,0.00,2.33,7.57,0.544,4,0.000,0.061,3357,3734,2125,0,0,0,0,0,0,28.83,25.75,24.46
$GC,3170,0.48,164.1,179.4,7.1,312,3176,0.00,2.15,0.00,0.000,6,0.000,0.044,3366,2324,2124,0,0,0,0,0,0,28.83,25.83,28.83
$GC,3485,0.49,185.1,158.1,6.2,333,3514,0.00,2.28,18.98,0.611,4,0.000,0.050,3375,915,2037,0,0,0,0,0,0,28.83,25.75,24.63
$GC,3566,0.50,201.3,153.2,6.4,338,3585,0.00,2.20,14.35,0.592,6,0.000,0.050,3375,2330,1973,0,0,0,0,0,0,28.83,25.72,24.52
$GC,3890,0.51,221.6,132.3,6.2,359,3917,0.00,2.28,17.75,0.594,4,0.000,0.050,3383,918,1889,0,0,0,0,0,0,28.83,25.70,24.61
$GC,3936,0.51,243.3,129.5,6.2,362,3965,0.00,2.20,19.17,0.591,6,0.000,0.050,3383,2330,1801,0,0,0,0,0,0,28.83,25.67,24.49
$GC,4267,0.51,243.3,105.3,8.1,408,4274,0.00,2.20,0.00,0.000,4,0.000,0.050,3391,920,1796,0,0,0,0,0,0,28.83,25.75,28.83
$GC,4297,0.51,243.3,102.9,8.0,413,4305,0.00,2.17,0.00,0.000,6,0.000,0.050,3391,2322,1795,0,0,0,0,0,0,28.83,25.77,28.83
$GC,4610,0.53,272.2,81.3,5.9,474,4642,0.00,2.25,24.05,0.578,4,0.000,0.060,3391,3735,1682,0,0,0,0,0,0,28.83,25.70,24.66
$GC,4695,0.53,272.2,75.6,7.7,489,4702,0.12,2.17,0.00,0.000,6,0.133,0.044,3358,2325,1678,0,0,0,0,0,0,25.63,25.77,28.83
$GC,5008,0.53,285.4,57.6,6.5,550,5027,0.00,2.20,11.43,0.531,4,0.000,0.050,3358,914,1628,0,0,0,0,0,0,28.83,25.82,24.62
$GC,5085,0.53,285.4,51.1,9.7,564,5092,0.00,2.17,0.00,0.000,6,0.000,0.048,3358,2329,1626,0,0,0,0,0,0,28.83,25.79,28.83
$GC,5397,0.53,285.4,25.0,9.3,625,5404,0.00,2.17,0.00,0.000,4,0.000,0.048,3358,921,1625,0,0,0,0,0,0,28.83,25.85,28.83
$GC,5528,0.53,285.4,13.4,8.5,650,5535,0.00,2.17,0.00,0.000,6,0.000,0.049,3358,2335,1624,0,0,0,0,0,0,28.83,25.88,28.83
$STATE,5651,end climb,SURFACE_DEPTH_REACHED
$STATE,5651,begin surface coast
$FINISH,1.2,1.023550
$STATE,5688,end surface coast,CONTROL_FINISHED_OK
$STATE,5688,begin surface
$SM_CCo,5707,10.98,0.170,1,0,1571,300.00
$SM_GC,2.11,8.15,0.20,10.98,0.024,0.067,0.170,115,2198,1571,-9.45,1.10,300.00,0,0,0,0,1,0,26.16,26.14,24.35
$IRIDIUM_FIX,4735.69,-12530.02,281212,141418
$TT8_MAMPS,0.026964,0.026964
$HUMID,45.15
$INTERNAL_PRESSURE,9.13782
$TCM_TEMP,19.80
$XPDR_PINGS,1
$24V_AH,23.9,60.049
$10V_AH,9.9,48.582
$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,20.825,57.575,358.650,10.975,0.000,27.875,36.930,133.349,0.250,0.000,18.144,1654.317,2426.676,460.131,1322.099,190.739,0.000,1094.972,0.000,1109.798,0.000,0.536,0.000
$DEVICE_MAMPS,216.495,74.205,682.380,169.830,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,463.999,490.347,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296924
$DATA_FILE_SIZE,36902,681
$CAP_FILE_SIZE,74584,0
$CFSIZE,260165632,221818880
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.427,304.6,1
$GPS,281212,181523,4751.126,-12511.595,77,1.0,77,18.7