version: 66.11
glider: 187
mission: 2
dive: 436
start: 12 29 112 3 12 57
data:
$ID,187
$MISSION,2
$DIVE,436
$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,-1588537.1
$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,43
$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
$GPS1,291212,030636,4749.498,-12514.403,41,1.2,42,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-75.6
$GPS2,291212,031224,4749.574,-12514.522,13,2.0,19,18.7
$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,171.7,161796,-13.3,-7.021,-18.50
$D_GRID,462
$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,-136.3,0.0,0.0,0,91,0.00,0.00,-72.57,0.000,2,0.000,0.000,105,2197,2832,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.47,-136.3,3.3,-3.0,13,127,11.48,2.25,-11.48,0.000,4,0.216,0.065,3039,800,3353,0,0,0,0,0,0,24.88,25.67,26.27
$GC,223,-0.47,-136.3,25.7,-12.2,36,230,0.00,2.17,0.00,0.000,6,0.000,0.047,3030,2208,3354,0,0,0,0,0,0,28.83,25.74,28.83
$GC,536,-0.47,-136.3,72.1,-14.2,97,542,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2208,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,847,-0.47,-136.3,110.1,-9.8,158,853,0.00,2.17,0.00,0.000,4,0.000,0.047,3030,792,3355,0,0,0,0,0,0,28.83,25.84,28.83
$GC,931,-0.47,-136.3,118.5,-9.5,174,938,0.00,2.20,0.00,0.000,6,0.000,0.049,3022,2207,3355,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1252,-0.47,-136.3,149.9,-9.9,197,1253,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2207,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1551,-0.47,-136.3,180.0,-9.8,217,1557,0.00,2.22,0.00,0.000,4,0.000,0.060,3012,3620,3355,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1627,-0.47,-136.3,187.2,-9.6,222,1632,0.00,2.15,0.00,0.000,6,0.000,0.042,3012,2193,3356,0,0,0,0,0,0,28.83,26.00,28.83
$GC,1943,-0.47,-136.3,219.3,-10.6,240,1949,0.12,2.12,0.00,0.000,4,0.145,0.047,3053,794,3356,0,0,0,0,0,0,26.05,25.88,28.83
$GC,1976,-0.47,-136.3,221.4,-10.5,241,1983,0.00,2.17,0.00,0.000,6,0.000,0.049,3047,2207,3356,0,0,0,0,0,0,28.83,25.88,28.83
$GC,2283,-0.47,-136.3,248.1,-8.0,257,2288,0.00,2.20,0.00,0.000,4,0.000,0.060,3037,3611,3356,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2307,-0.47,-136.3,249.8,-8.1,258,2313,0.00,2.17,0.00,0.000,6,0.000,0.042,3036,2186,3356,0,0,0,0,0,0,28.83,25.99,28.83
$GC,2622,-0.47,-136.3,279.7,-9.6,274,2623,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2183,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2923,-0.47,-136.3,307.1,-8.4,289,2929,0.00,2.28,0.00,0.000,4,0.000,0.062,3026,3609,3356,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2955,-0.47,-136.3,308.8,-8.4,290,2962,0.00,2.15,0.00,0.000,6,0.000,0.042,3026,2196,3355,0,0,0,0,0,0,28.83,25.99,28.83
$GC,3262,-0.47,-136.3,333.5,-7.7,306,3263,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2194,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3563,-0.47,-136.3,355.8,-7.0,321,3565,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2194,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3863,-0.47,-136.3,377.5,-7.9,336,3868,0.00,2.25,0.00,0.000,4,0.000,0.062,3017,3614,3355,0,0,0,0,0,0,28.83,25.75,28.83
$GC,3911,-0.47,-136.3,380.7,-8.2,338,3915,0.00,2.17,0.00,0.000,6,0.000,0.044,3017,2192,3355,0,0,0,0,0,0,28.83,25.97,28.83
$GC,4228,-0.47,-136.3,408.2,-8.6,352,4233,0.00,2.12,0.00,0.000,4,0.000,0.050,3017,795,3354,0,0,0,0,0,0,28.83,25.83,28.83
$GC,4250,-0.47,-136.3,408.2,-8.6,352,4258,0.12,2.17,0.00,0.000,6,0.137,0.051,3043,2201,3354,0,0,0,0,0,0,25.72,25.84,28.83
$GC,4558,-0.47,-136.3,430.0,-6.2,363,4564,0.00,2.20,0.00,0.000,4,0.000,0.063,3034,3600,3354,0,0,0,0,0,0,28.83,25.72,28.83
$GC,4641,-0.47,-136.3,434.3,-6.7,365,4647,0.00,2.15,0.00,0.000,6,0.000,0.044,3034,2193,3354,0,0,0,0,0,0,28.83,25.96,28.83
$GC,4948,-0.47,-136.3,460.6,-7.5,376,4949,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2193,3353,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4975,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4975,begin apogee
$GC,4983,-0.22,0.0,462.7,-7.4,377,5104,0.25,0.00,115.15,0.838,6,0.113,0.000,3119,2341,2793,0,0,0,0,0,0,25.84,28.83,23.80
$STATE,5107,end apogee,CONTROL_FINISHED_OK
$STATE,5107,begin climb
$GC,5109,0.47,136.3,467.6,0.0,381,5232,0.65,0.00,118.70,0.808,6,0.079,0.000,3347,2340,2238,0,0,0,0,0,0,24.96,28.83,23.49
$GC,5519,0.48,152.8,447.5,6.4,395,5539,0.00,2.30,14.15,0.752,4,0.000,0.052,3356,939,2170,0,0,0,0,0,0,28.83,25.47,24.22
$GC,5581,0.48,164.2,443.4,6.6,397,5598,0.00,2.20,11.27,0.725,6,0.000,0.052,3357,2320,2123,0,0,0,0,0,0,28.83,25.51,24.17
$GC,5909,0.48,164.2,417.5,7.9,408,5910,0.00,0.00,0.00,0.000,6,0.000,0.000,3357,2320,2119,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6207,0.48,164.2,394.2,7.3,419,6213,0.00,2.28,0.00,0.000,4,0.000,0.064,3358,3737,2117,0,0,0,0,0,0,28.83,25.72,28.83
$GC,6240,0.48,164.2,392.6,7.3,420,6247,0.00,2.20,0.00,0.000,6,0.000,0.047,3367,2325,2117,0,0,0,0,0,0,28.83,25.87,28.83
$GC,6548,0.48,164.2,367.0,7.8,436,6554,0.00,2.17,0.00,0.000,4,0.000,0.054,3378,922,2116,0,0,0,0,0,0,28.83,25.81,28.83
$GC,6611,0.48,164.2,362.5,7.5,439,6615,0.00,2.20,0.00,0.000,6,0.000,0.053,3377,2331,2115,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6923,0.48,164.2,336.9,8.7,455,6928,0.00,2.28,0.00,0.000,4,0.000,0.065,3377,3738,2115,0,0,0,0,0,0,28.83,25.75,28.83
$GC,6952,0.48,164.2,335.1,8.9,456,6961,0.15,2.20,0.00,0.000,6,0.139,0.047,3347,2322,2114,0,0,0,0,0,0,25.71,25.92,28.83
$GC,7263,0.48,164.2,310.0,7.6,472,7268,0.00,2.17,0.00,0.000,4,0.000,0.054,3355,918,2114,0,0,0,0,0,0,28.83,25.83,28.83
$GC,7323,0.48,164.2,305.5,7.4,475,7329,0.00,2.20,0.00,0.000,6,0.000,0.054,3355,2326,2114,0,0,0,0,0,0,28.83,25.83,28.83
$GC,7645,0.49,173.2,282.5,6.7,491,7663,0.00,2.25,7.85,0.633,4,0.000,0.053,3362,929,2086,0,0,0,0,0,0,28.83,25.87,24.22
$GC,7686,0.49,189.1,279.7,6.4,493,7708,0.00,2.20,15.25,0.698,6,0.000,0.053,3362,2331,2022,0,0,0,0,0,0,28.83,25.84,24.46
$GC,8028,0.49,189.1,254.4,8.4,510,8030,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,2331,2016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8326,0.49,189.1,227.8,8.9,525,8332,0.00,2.22,0.00,0.000,4,0.000,0.053,3372,919,2015,0,0,0,0,0,0,28.83,25.79,28.83
$GC,8369,0.49,189.1,224.4,8.7,527,8373,0.00,2.20,0.00,0.000,6,0.000,0.053,3372,2326,2015,0,0,0,0,0,0,28.83,25.79,28.83
$GC,8682,0.49,189.1,199.2,7.4,543,8687,0.00,2.20,0.00,0.000,4,0.000,0.053,3381,923,2015,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8711,0.49,189.1,197.1,7.2,545,8716,0.00,2.20,0.00,0.000,6,0.000,0.053,3381,2333,2014,0,0,0,0,0,0,28.83,25.81,28.83
$GC,9027,0.51,241.4,179.3,4.9,566,9077,0.00,2.33,44.00,0.671,4,0.000,0.053,3390,921,1807,0,0,0,0,0,0,28.83,25.53,24.45
$GC,9094,0.53,272.5,175.8,5.8,570,9130,0.00,2.22,26.85,0.637,6,0.000,0.052,3390,2326,1681,0,0,0,0,0,0,28.83,25.51,24.27
$GC,9431,0.53,272.5,145.2,9.4,593,9436,0.00,2.22,0.00,0.000,4,0.000,0.053,3398,925,1674,0,0,0,0,0,0,28.83,25.65,28.83
$GC,9462,0.53,272.5,142.5,9.0,595,9468,0.08,2.17,0.00,0.000,6,0.104,0.052,3369,2321,1673,0,0,0,0,0,0,25.55,25.67,28.83
$GC,9773,0.53,273.1,119.0,7.0,617,9779,0.00,0.00,0.00,0.000,6,0.000,0.000,3369,2320,1672,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10085,0.53,281.0,98.1,6.7,678,10098,0.00,2.28,6.93,0.513,4,0.000,0.052,3369,923,1647,0,0,0,0,0,0,28.83,25.85,24.37
$GC,10143,0.54,297.0,94.2,6.4,688,10167,0.00,2.20,14.95,0.583,6,0.000,0.050,3369,2338,1581,0,0,0,0,0,0,28.83,25.81,24.61
$GC,10477,0.56,348.0,73.4,5.0,752,10524,0.00,2.33,41.95,0.597,4,0.000,0.051,3368,922,1373,0,0,0,0,0,0,28.83,25.51,24.53
$GC,10578,0.57,381.8,68.2,5.7,770,10615,0.00,2.20,28.10,0.578,6,0.000,0.049,3369,2326,1235,0,0,0,0,0,0,28.83,25.54,24.39
$GC,10923,0.57,381.8,39.0,10.9,836,10930,0.00,2.20,0.00,0.000,4,0.000,0.050,3369,921,1228,0,0,0,0,0,0,28.83,25.69,28.83
$GC,11009,0.57,381.8,29.7,10.1,852,11016,0.00,2.17,0.00,0.000,6,0.000,0.049,3369,2326,1228,0,0,0,0,0,0,28.83,25.73,28.83
$STATE,11238,end climb,SURFACE_DEPTH_REACHED
$STATE,11238,begin surface coast
$FINISH,1.2,1.024662
$STATE,11270,end surface coast,CONTROL_FINISHED_OK
$STATE,11270,begin surface
$SM_CCo,11350,0.00,0.000,0,0,1224,384.88
$SM_GC,2.07,8.23,0.20,0.00,0.024,0.070,0.000,106,2187,1224,-9.46,0.93,384.88,0,0,0,0,0,0,26.08,26.05,28.83
$IRIDIUM_FIX,4735.69,-12509.51,291212,000039
$TT8_MAMPS,0.026964,0.026964
$HUMID,46.02
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,19.60
$XPDR_PINGS,2
$24V_AH,23.5,60.538
$10V_AH,9.8,48.850
$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,21.075,97.575,445.150,0.000,0.000,25.311,42.055,153.386,0.500,0.000,20.041,2257.119,6852.295,518.975,1811.459,264.892,0.000,1437.234,0.000,1563.309,0.000,0.536,0.000
$DEVICE_MAMPS,215.730,77.265,838.440,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,617.037,563.268,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50260,903
$CAP_FILE_SIZE,112680,0
$CFSIZE,260165632,221540352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.209,349.5,1
$GPS,291212,062336,4748.740,-12515.683,51,1.1,51,18.7