version: 66.11
glider: 187
mission: 2
dive: 435
start: 12 29 112 0 29 9
data:
$ID,187
$MISSION,2
$DIVE,435
$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,-1588535.9
$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,48
$R_STBD_OVSHOOT,27
$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
$GPS1,291212,002254,4750.350,-12513.269,12,1.9,17,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-72.2
$GPS2,291212,002836,4750.436,-12513.352,15,1.9,32,18.7
$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,171.6,163920,-13.3,-7.021,-18.50
$D_GRID,380
$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,-136.3,0.0,0.0,0,97,0.00,0.00,-77.72,0.000,2,0.000,0.000,115,2195,2741,0,0,0,0,0,0,28.83,28.83,28.83
$GC,101,-0.47,-136.3,3.4,-4.3,14,133,11.35,2.12,-13.85,0.000,4,0.213,0.058,3037,802,3350,0,0,0,0,0,0,24.95,25.75,26.32
$GC,176,-0.47,-136.3,18.5,-16.8,27,183,0.00,2.17,0.00,0.000,6,0.000,0.049,3029,2211,3352,0,0,0,0,0,0,28.83,25.75,28.83
$GC,488,-0.47,-136.3,66.7,-15.4,88,495,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2211,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,800,-0.47,-136.3,107.9,-12.1,149,806,0.00,2.15,0.00,0.000,4,0.000,0.048,3029,806,3352,0,0,0,0,0,0,28.83,25.87,28.83
$GC,918,-0.47,-136.3,120.2,-10.6,170,925,0.00,2.15,0.00,0.000,6,0.000,0.049,3020,2205,3353,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1226,-0.47,-136.3,151.9,-9.9,191,1227,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2205,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1525,-0.47,-136.3,183.5,-10.2,211,1526,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2204,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1825,-0.47,-136.3,212.4,-9.2,229,1827,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2205,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2126,-0.47,-136.3,239.3,-9.2,244,2127,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2205,3353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2425,-0.47,-136.3,267.4,-10.1,259,2431,0.00,2.22,0.00,0.000,4,0.000,0.060,3009,3620,3353,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2493,-0.47,-136.3,273.3,-10.0,262,2498,0.12,2.17,0.00,0.000,6,0.127,0.042,3046,2194,3353,0,0,0,0,0,0,25.86,26.02,28.83
$GC,2801,-0.47,-136.3,296.8,-7.4,277,2805,0.00,2.12,0.00,0.000,4,0.000,0.049,3046,800,3353,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2845,-0.47,-136.3,299.8,-7.2,279,2850,0.00,2.15,0.00,0.000,6,0.000,0.050,3040,2202,3353,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3158,-0.47,-136.3,323.2,-7.8,295,3164,0.00,2.20,0.00,0.000,4,0.000,0.062,3031,3610,3353,0,0,0,0,0,0,28.83,25.79,28.83
$GC,3220,-0.47,-136.3,328.1,-7.8,298,3224,0.00,2.15,0.00,0.000,6,0.000,0.043,3031,2197,3353,0,0,0,0,0,0,28.83,26.01,28.83
$GC,3533,-0.47,-136.3,355.3,-8.5,314,3534,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2194,3353,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3830,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3831,begin apogee
$GC,3838,-0.22,0.0,381.6,-8.8,329,3956,0.28,0.00,113.60,0.785,6,0.112,0.000,3125,2334,2794,0,0,0,0,0,0,25.83,28.83,23.93
$STATE,3959,end apogee,CONTROL_FINISHED_OK
$STATE,3959,begin climb
$GC,3963,0.47,136.3,386.8,0.0,335,4088,0.62,2.42,117.70,0.770,4,0.079,0.062,3345,3724,2236,0,0,0,0,0,0,25.01,24.61,23.65
$GC,4102,0.50,214.2,383.4,3.9,342,4174,0.00,2.25,65.30,0.752,6,0.000,0.044,3354,2327,1918,0,0,0,0,0,0,28.83,24.85,23.57
$GC,4494,0.50,214.2,354.5,7.1,362,4499,0.00,2.20,0.00,0.000,4,0.000,0.052,3363,919,1910,0,0,0,0,0,0,28.83,25.61,28.83
$GC,4545,0.50,215.1,351.7,7.0,364,4553,0.00,2.17,0.00,0.000,6,0.000,0.051,3363,2314,1910,0,0,0,0,0,0,28.83,25.66,28.83
$GC,4852,0.50,215.1,324.9,8.6,380,4853,0.00,0.00,0.00,0.000,6,0.000,0.000,3364,2314,1909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5153,0.50,215.1,301.4,7.6,395,5158,0.00,2.25,0.00,0.000,4,0.000,0.064,3364,3735,1908,0,0,0,0,0,0,28.83,25.77,28.83
$GC,5192,0.50,215.1,297.9,8.2,397,5198,0.00,2.20,0.00,0.000,6,0.000,0.045,3372,2315,1907,0,0,0,0,0,0,28.83,25.92,28.83
$GC,5513,0.50,215.1,272.3,7.6,413,5518,0.00,2.15,0.00,0.000,4,0.000,0.053,3382,915,1907,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5560,0.50,215.1,269.2,7.8,415,5564,0.00,2.20,0.00,0.000,6,0.000,0.052,3382,2330,1907,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5867,0.50,215.1,244.5,7.6,430,5873,0.00,2.25,0.00,0.000,4,0.000,0.063,3382,3737,1907,0,0,0,0,0,0,28.83,25.79,28.83
$GC,5891,0.50,215.1,242.8,7.6,431,5896,0.12,2.20,0.00,0.000,6,0.141,0.046,3357,2317,1907,0,0,0,0,0,0,25.79,25.96,28.83
$GC,6204,0.50,215.1,221.0,7.3,447,6209,0.00,2.17,0.00,0.000,4,0.000,0.053,3364,913,1907,0,0,0,0,0,0,28.83,25.86,28.83
$GC,6244,0.50,215.1,218.2,7.1,449,6250,0.00,2.20,0.00,0.000,6,0.000,0.052,3364,2337,1907,0,0,0,0,0,0,28.83,25.87,28.83
$GC,6560,0.51,222.6,197.9,6.7,465,6574,0.00,2.22,6.30,0.547,4,0.000,0.050,3371,920,1886,0,0,0,0,0,0,28.83,25.86,24.20
$GC,6594,0.51,223.6,195.6,7.0,467,6598,0.00,2.17,0.00,0.000,6,0.000,0.051,3371,2325,1885,0,0,0,0,0,0,28.83,25.87,28.83
$GC,6903,0.51,242.6,174.0,6.3,487,6924,0.00,0.00,18.88,0.641,6,0.000,0.000,3372,2325,1804,0,0,0,0,0,0,28.83,28.83,24.53
$GC,7219,0.52,247.1,151.8,6.8,508,7231,0.00,0.00,4.88,0.483,6,0.000,0.000,3372,2325,1786,0,0,0,0,0,0,28.83,28.83,24.31
$GC,7533,0.52,247.1,131.8,7.3,529,7538,0.00,2.17,0.00,0.000,4,0.000,0.052,3380,920,1784,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7585,0.52,247.1,128.3,7.6,532,7592,0.00,2.20,0.00,0.000,6,0.000,0.051,3380,2336,1784,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7894,0.52,247.1,105.7,8.0,579,7900,0.00,0.00,0.00,0.000,6,0.000,0.000,3380,2336,1783,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8204,0.53,289.0,85.1,5.4,640,8246,0.00,2.33,35.65,0.602,4,0.000,0.051,3382,914,1614,0,0,0,0,0,0,28.83,25.66,24.58
$GC,8300,0.56,355.8,80.2,4.4,657,8364,0.00,2.20,54.90,0.591,6,0.000,0.050,3381,2327,1340,0,0,0,0,0,0,28.83,25.64,24.34
$GC,8670,0.57,385.8,61.1,5.8,728,8701,0.00,2.30,23.92,0.568,4,0.000,0.050,3382,919,1218,0,0,0,0,0,0,28.83,25.58,24.54
$GC,8760,0.57,385.8,54.2,10.1,744,8767,0.00,2.20,0.00,0.000,6,0.000,0.048,3382,2329,1216,0,0,0,0,0,0,28.83,25.60,28.83
$GC,9071,0.57,385.8,20.8,10.6,805,9078,0.00,2.25,0.00,0.000,4,0.000,0.062,3382,3736,1214,0,0,0,0,0,0,28.83,25.68,28.83
$GC,9132,0.57,385.8,14.7,9.9,816,9139,0.00,2.20,0.00,0.000,6,0.000,0.043,3382,2308,1213,0,0,0,0,0,0,28.83,25.86,28.83
$STATE,9254,end climb,SURFACE_DEPTH_REACHED
$STATE,9254,begin surface coast
$FINISH,1.3,1.002464
$STATE,9288,end surface coast,CONTROL_FINISHED_OK
$STATE,9288,begin surface
$SM_CCo,9368,0.00,0.000,0,0,1211,388.56
$SM_GC,2.10,8.27,0.15,0.00,0.026,0.081,0.000,106,2199,1211,-9.46,1.30,388.56,0,0,0,0,0,0,26.12,26.09,28.83
$IRIDIUM_FIX,4738.89,-12506.88,281212,222200
$TT8_MAMPS,0.026964,0.026964
$HUMID,45.62
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,19.70
$XPDR_PINGS,0
$24V_AH,23.6,60.433
$10V_AH,9.9,48.787
$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,20.775,70.900,441.125,0.000,0.000,28.958,38.281,139.602,0.000,0.000,33.480,2049.237,5294.841,500.557,1651.305,223.887,0.000,1307.846,0.000,1403.658,0.000,0.535,0.000
$DEVICE_MAMPS,213.435,81.090,784.890,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,576.814,547.720,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296892
$DATA_FILE_SIZE,46919,846
$CAP_FILE_SIZE,95129,0
$CFSIZE,260165632,221614080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.200,339.0,1
$GPS,291212,030636,4749.498,-12514.403,41,1.2,42,18.7