version: 66.11
glider: 187
mission: 2
dive: 433
start: 12 28 112 20 13 54
data:
$ID,187
$MISSION,2
$DIVE,433
$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,-1588533.4
$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,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
$GPS1,281212,200720,4751.092,-12512.087,19,2.6,38,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-77.3
$GPS2,281212,201321,4751.194,-12512.143,12,2.6,31,18.7
$SPEED_LIMITS,0.122,0.210
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$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,171.5,165975,-13.3,-7.021,-18.50
$D_GRID,280
$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,-136.3,0.0,0.0,0,76,0.00,0.00,-57.50,0.000,2,0.000,0.000,113,2196,2515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.47,-136.3,3.0,-2.8,10,124,11.32,2.20,-23.17,0.000,4,0.213,0.062,3037,782,3352,0,0,0,0,0,0,24.96,25.72,26.28
$GC,182,-0.47,-136.3,16.7,-15.7,28,190,0.00,2.20,0.00,0.000,6,0.000,0.050,3029,2199,3353,0,0,0,0,0,0,28.83,25.73,28.83
$GC,496,-0.47,-136.3,66.1,-15.6,89,502,0.00,2.22,0.00,0.000,4,0.000,0.059,3018,3608,3353,0,0,0,0,0,0,28.83,25.76,28.83
$GC,525,-0.47,-136.3,70.8,-15.5,94,532,0.00,2.17,0.00,0.000,6,0.000,0.041,3018,2190,3354,0,0,0,0,0,0,28.83,25.93,28.83
$GC,837,-0.47,-136.3,113.2,-9.9,155,844,0.00,2.15,0.00,0.000,4,0.000,0.048,3018,785,3354,0,0,0,0,0,0,28.83,25.88,28.83
$GC,905,-0.47,-136.3,120.3,-10.1,167,910,0.12,2.17,0.00,0.000,6,0.140,0.048,3043,2201,3354,0,0,0,0,0,0,25.76,25.89,28.83
$GC,1215,-0.47,-136.3,148.1,-8.8,187,1220,0.00,2.15,0.00,0.000,4,0.000,0.047,3043,798,3354,0,0,0,0,0,0,28.83,25.90,28.83
$GC,1258,-0.47,-136.3,152.2,-8.8,190,1264,0.00,2.15,0.00,0.000,6,0.000,0.048,3036,2201,3354,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1574,-0.47,-136.3,181.8,-9.9,211,1579,0.00,2.20,0.00,0.000,4,0.000,0.060,3025,3612,3354,0,0,0,0,0,0,28.83,25.83,28.83
$GC,1633,-0.47,-136.3,187.9,-10.2,215,1639,0.00,2.15,0.00,0.000,6,0.000,0.041,3025,2194,3354,0,0,0,0,0,0,28.83,26.02,28.83
$GC,1949,-0.47,-136.3,219.0,-9.7,233,1955,0.00,2.22,0.00,0.000,4,0.000,0.060,3015,3601,3354,0,0,0,0,0,0,28.83,25.83,28.83
$GC,1988,-0.47,-136.3,222.8,-9.6,235,1994,0.00,2.15,0.00,0.000,6,0.000,0.041,3014,2195,3354,0,0,0,0,0,0,28.83,26.02,28.83
$GC,2308,-0.47,-136.3,249.1,-8.0,251,2309,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2191,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2609,-0.47,-136.3,277.2,-9.7,266,2614,0.00,2.22,0.00,0.000,4,0.000,0.060,3004,3607,3354,0,0,0,0,0,0,28.83,25.81,28.83
$GC,2641,-0.47,-136.3,279.1,-9.8,267,2649,0.12,2.15,0.00,0.000,6,0.131,0.042,3041,2192,3354,0,0,0,0,0,0,25.84,26.02,28.83
$STATE,2666,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2666,begin apogee
$GC,2673,-0.22,0.0,283.0,-9.7,269,2790,0.22,0.00,112.03,0.718,6,0.116,0.000,3121,2341,2793,0,0,0,0,0,0,25.90,28.83,24.08
$STATE,2794,end apogee,CONTROL_FINISHED_OK
$STATE,2794,begin climb
$GC,2796,0.47,136.3,288.5,0.0,275,2916,0.62,0.00,114.93,0.702,6,0.080,0.000,3342,2340,2238,0,0,0,0,0,0,25.08,28.83,23.86
$GC,3209,0.48,156.1,267.8,6.2,296,3231,0.00,2.28,16.62,0.652,4,0.000,0.050,3353,935,2156,0,0,0,0,0,0,28.83,25.56,24.42
$GC,3269,0.48,168.3,263.9,6.5,299,3290,0.00,2.17,11.88,0.627,6,0.000,0.050,3352,2317,2106,0,0,0,0,0,0,28.83,25.58,24.34
$GC,3591,0.49,183.1,242.7,6.4,315,3609,0.00,2.35,13.10,0.634,4,0.000,0.062,3353,3735,2046,0,0,0,0,0,0,28.83,25.67,24.51
$GC,3673,0.49,183.1,236.6,7.3,319,3678,0.00,2.17,0.00,0.000,6,0.000,0.044,3361,2328,2045,0,0,0,0,0,0,28.83,25.76,28.83
$GC,3992,0.49,183.1,213.4,7.3,335,3998,0.00,2.20,0.00,0.000,4,0.000,0.051,3371,917,2042,0,0,0,0,0,0,28.83,25.81,28.83
$GC,4093,0.49,183.1,206.2,7.1,340,4098,0.00,2.20,0.00,0.000,6,0.000,0.050,3371,2335,2041,0,0,0,0,0,0,28.83,25.84,28.83
$GC,4403,0.49,183.8,183.9,7.0,359,4408,0.00,2.20,0.00,0.000,4,0.000,0.063,3371,3727,2040,0,0,0,0,0,0,28.83,25.80,28.83
$GC,4457,0.49,183.8,180.3,8.0,362,4464,0.00,2.17,0.00,0.000,6,0.000,0.044,3380,2318,2040,0,0,0,0,0,0,28.83,25.96,28.83
$GC,4764,0.49,183.8,156.3,7.5,383,4765,0.00,0.00,0.00,0.000,6,0.000,0.000,3380,2317,2040,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5063,0.50,198.0,135.6,6.5,403,5080,0.00,2.17,13.02,0.591,4,0.000,0.050,3391,923,1985,0,0,0,0,0,0,28.83,25.89,24.57
$GC,5166,0.51,229.1,129.5,5.8,410,5201,0.10,2.20,27.05,0.618,6,0.144,0.050,3359,2334,1858,0,0,0,0,0,0,25.74,25.83,24.61
$GC,5505,0.53,270.9,109.8,5.4,454,5548,0.00,2.25,34.60,0.608,4,0.000,0.050,3362,920,1687,0,0,0,0,0,0,28.83,25.55,24.56
$GC,5596,0.55,325.0,105.5,4.9,470,5650,0.00,2.20,44.15,0.592,6,0.000,0.050,3362,2325,1467,0,0,0,0,0,0,28.83,25.58,24.35
$GC,5957,0.55,325.0,85.1,9.2,539,5963,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,2325,1459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6267,0.55,325.0,56.4,9.6,600,6273,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,2325,1457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6578,0.55,325.0,27.3,8.8,661,6584,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,2325,1456,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6846,end climb,SURFACE_DEPTH_REACHED
$STATE,6846,begin surface coast
$FINISH,1.1,1.002728
$STATE,6883,end surface coast,CONTROL_FINISHED_OK
$STATE,6883,begin surface
$SM_CCo,6963,0.00,0.000,0,0,1454,328.70
$SM_GC,2.01,8.18,0.20,0.00,0.024,0.080,0.000,105,2193,1454,-9.48,1.07,328.70,0,0,0,0,0,0,26.20,26.10,28.83
$IRIDIUM_FIX,4735.69,-12511.36,281212,181801
$TT8_MAMPS,0.026964,0.026964
$HUMID,45.58
$INTERNAL_PRESSURE,9.12806
$TCM_TEMP,19.70
$XPDR_PINGS,0
$24V_AH,23.9,60.225
$10V_AH,9.8,48.680
$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,20.700,57.525,387.375,0.000,0.000,26.043,39.797,158.206,0.000,0.000,33.492,1767.425,3444.818,425.325,1500.073,195.360,0.000,1142.656,0.000,1236.062,0.000,0.535,0.000
$DEVICE_MAMPS,213.435,79.560,717.570,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,491.631,494.891,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40307,721
$CAP_FILE_SIZE,81346,0
$CFSIZE,260165632,221732864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.346,  4.7,1
$GPS,281212,221106,4750.857,-12512.608,31,1.2,31,18.7