version: 66.11
glider: 187
mission: 2
dive: 227
start: 11 5 112 8 16 15
data:
$ID,187
$MISSION,2
$DIVE,227
$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,450
$T_MISSION,500
$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,150
$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,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$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,-1588036.5
$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,2175
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,23
$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,22
$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
$GPS1,051112,080936,4748.246,-12516.438,39,1.0,39,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-76.4
$GPS2,051112,081543,4748.213,-12516.427,14,1.7,14,18.7
$SPEED_LIMITS,0.127,0.220
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$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,35.7,10292,-13.4,-7.333,-18.42
$D_GRID,536
$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,17,-0.48,-146.0,0.0,0.0,0,91,0.00,0.00,-72.28,0.000,2,0.000,0.000,126,2167,2746,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.48,-146.0,3.3,-3.6,12,130,11.38,2.25,-13.82,0.000,4,0.223,0.066,3032,766,3393,0,0,0,0,0,0,25.13,25.59,26.06
$GC,360,-0.48,-146.0,49.9,-13.7,60,368,0.00,2.25,0.00,0.000,6,0.000,0.051,3024,2178,3396,0,0,0,0,0,0,28.83,25.67,28.83
$GC,682,-0.48,-146.0,92.5,-13.1,121,688,0.00,2.25,0.00,0.000,4,0.000,0.062,3013,3594,3397,0,0,0,0,0,0,28.83,25.70,28.83
$GC,708,-0.48,-146.0,95.7,-12.3,125,715,0.00,2.17,0.00,0.000,6,0.000,0.044,3013,2171,3398,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1019,-0.48,-146.0,135.1,-12.3,170,1024,0.00,2.15,0.00,0.000,4,0.000,0.051,3013,771,3398,0,0,0,0,0,0,28.83,25.81,28.83
$GC,1081,-0.48,-146.0,142.6,-12.3,174,1087,0.10,2.15,0.00,0.000,6,0.117,0.050,3040,2174,3398,0,0,0,0,0,0,25.65,25.83,28.83
$GC,1398,-0.48,-146.0,174.1,-9.8,195,1404,0.00,2.22,0.00,0.000,4,0.000,0.063,3031,3589,3398,0,0,0,0,0,0,28.83,25.78,28.83
$GC,1427,-0.48,-146.0,177.4,-9.9,197,1433,0.00,2.17,0.00,0.000,6,0.000,0.044,3031,2165,3397,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1752,-0.48,-146.0,211.8,-10.6,217,1757,0.00,2.10,0.00,0.000,4,0.000,0.050,3031,780,3397,0,0,0,0,0,0,28.83,25.88,28.83
$GC,1794,-0.48,-146.0,216.2,-10.9,219,1798,0.00,2.17,0.00,0.000,6,0.000,0.050,3022,2184,3397,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2107,-0.48,-146.0,251.6,-11.2,235,2113,0.00,2.20,0.00,0.000,4,0.000,0.063,3012,3587,3397,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2155,-0.48,-146.0,256.2,-11.6,237,2159,0.00,2.15,0.00,0.000,6,0.000,0.044,3011,2175,3397,0,0,0,0,0,0,28.83,25.99,28.83
$GC,2462,-0.48,-146.0,293.1,-11.8,252,2467,0.00,2.25,0.00,0.000,4,0.000,0.063,3001,3585,3397,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2482,-0.48,-146.0,295.5,-11.9,253,2488,0.10,2.15,0.00,0.000,6,0.112,0.044,3038,2172,3397,0,0,0,0,0,0,25.82,26.01,28.83
$GC,2802,-0.48,-146.0,325.9,-9.2,269,2803,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2167,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3102,-0.48,-146.0,355.0,-9.6,284,3103,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2167,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3403,-0.48,-146.0,382.3,-8.8,299,3408,0.00,2.28,0.00,0.000,4,0.000,0.063,3030,3584,3396,0,0,0,0,0,0,28.83,25.85,28.83
$GC,3443,-0.48,-146.0,385.7,-8.7,301,3448,0.00,2.15,0.00,0.000,6,0.000,0.045,3029,2174,3396,0,0,0,0,0,0,28.83,26.03,28.83
$GC,3752,-0.48,-146.0,414.7,-9.2,314,3753,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2172,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4052,-0.48,-146.0,442.4,-9.0,324,4053,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2172,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4352,-0.48,-146.0,468.7,-9.0,334,4357,0.00,2.28,0.00,0.000,4,0.000,0.065,3019,3587,3394,0,0,0,0,0,0,28.83,25.84,28.83
$GC,4400,-0.48,-146.0,471.5,-9.0,335,4404,0.00,2.15,0.00,0.000,6,0.000,0.046,3019,2174,3394,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4707,-0.48,-146.0,500.5,-8.7,345,4708,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2171,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5007,-0.48,-146.0,526.7,-9.2,355,5013,0.00,2.12,0.00,0.000,4,0.000,0.054,3019,781,3393,0,0,0,0,0,0,28.83,25.91,28.83
$GC,5039,-0.48,-146.0,529.5,-9.2,356,5043,0.00,2.17,0.00,0.000,6,0.000,0.053,3011,2182,3393,0,0,0,0,0,0,28.83,25.93,28.83
$STATE,5120,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5120,begin apogee
$GC,5127,-0.22,0.0,537.7,-9.6,359,5253,0.32,0.00,121.45,0.894,6,0.116,0.000,3120,2313,2793,0,0,0,0,0,0,25.77,28.83,24.01
$STATE,5256,end apogee,CONTROL_FINISHED_OK
$STATE,5256,begin climb
$GC,5259,0.48,146.0,543.2,0.0,363,5393,0.65,2.45,126.85,0.861,4,0.084,0.065,3342,3693,2197,0,0,0,0,0,0,24.77,24.25,23.61
$GC,5409,0.51,216.5,539.2,4.6,368,5477,0.00,2.28,60.35,0.845,6,0.000,0.047,3352,2306,1910,0,0,0,0,0,0,28.83,24.49,23.44
$GC,5788,0.51,216.5,507.6,8.3,381,5793,0.00,2.25,0.00,0.000,4,0.000,0.056,3362,899,1902,0,0,0,0,0,0,28.83,25.16,28.83
$GC,5824,0.51,216.5,504.9,8.6,382,5828,0.00,2.22,0.00,0.000,6,0.000,0.053,3362,2287,1901,0,0,0,0,0,0,28.83,25.23,28.83
$GC,6141,0.51,216.5,473.6,9.6,393,6147,0.00,2.33,0.00,0.000,4,0.000,0.066,3362,3711,1900,0,0,0,0,0,0,28.83,25.48,28.83
$GC,6174,0.51,216.5,470.4,9.7,394,6178,0.00,2.25,0.00,0.000,6,0.000,0.048,3371,2300,1900,0,0,0,0,0,0,28.83,25.60,28.83
$GC,6497,0.51,216.5,436.7,10.3,405,6502,0.00,2.20,0.00,0.000,4,0.000,0.056,3382,888,1899,0,0,0,0,0,0,28.83,25.66,28.83
$GC,6526,0.51,216.5,433.7,10.2,406,6532,0.00,2.25,0.00,0.000,6,0.000,0.054,3382,2307,1899,0,0,0,0,0,0,28.83,25.67,28.83
$GC,6856,0.51,216.5,398.4,10.5,417,6862,0.00,2.28,0.00,0.000,4,0.000,0.067,3382,3715,1899,0,0,0,0,0,0,28.83,25.70,28.83
$GC,6920,0.51,216.5,391.1,11.9,420,6924,0.12,2.22,0.00,0.000,6,0.148,0.049,3358,2291,1898,0,0,0,0,0,0,25.65,25.82,28.83
$GC,7232,0.51,216.5,360.4,9.4,436,7234,0.00,0.00,0.00,0.000,6,0.000,0.000,3358,2286,1898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7533,0.51,216.5,332.6,9.5,451,7539,0.00,2.30,0.00,0.000,4,0.000,0.067,3358,3712,1897,0,0,0,0,0,0,28.83,25.77,28.83
$GC,7555,0.51,216.5,330.7,9.6,452,7560,0.00,2.20,0.00,0.000,6,0.000,0.048,3365,2298,1897,0,0,0,0,0,0,28.83,25.90,28.83
$GC,7867,0.51,216.5,301.5,9.0,468,7873,0.00,2.20,0.00,0.000,4,0.000,0.057,3375,887,1897,0,0,0,0,0,0,28.83,25.83,28.83
$GC,7895,0.51,216.5,299.7,8.9,469,7900,0.00,2.22,0.00,0.000,6,0.000,0.054,3375,2309,1897,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8203,0.51,216.5,269.9,9.7,484,8208,0.00,2.22,0.00,0.000,4,0.000,0.067,3375,3709,1897,0,0,0,0,0,0,28.83,25.79,28.83
$GC,8255,0.51,216.5,265.6,10.1,486,8263,0.00,2.20,0.00,0.000,6,0.000,0.048,3384,2294,1897,0,0,0,0,0,0,28.83,25.94,28.83
$GC,8562,0.51,216.5,232.6,10.4,502,8564,0.00,0.00,0.00,0.000,6,0.000,0.000,3384,2288,1897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8863,0.51,216.5,201.7,10.4,517,8868,0.00,2.25,0.00,0.000,4,0.000,0.065,3384,3704,1897,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8908,0.51,216.5,196.4,11.2,520,8915,0.12,2.17,0.00,0.000,6,0.149,0.048,3359,2300,1897,0,0,0,0,0,0,25.77,25.96,28.83
$GC,9227,0.51,216.5,168.5,8.2,541,9232,0.00,2.17,0.00,0.000,4,0.000,0.055,3367,891,1896,0,0,0,0,0,0,28.83,25.91,28.83
$GC,9256,0.51,216.5,165.8,8.2,543,9261,0.00,2.17,0.00,0.000,6,0.000,0.054,3367,2303,1896,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9570,0.51,216.5,139.2,8.5,564,9576,0.00,2.22,0.00,0.000,4,0.000,0.054,3376,882,1897,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9594,0.51,216.5,138.0,8.3,565,9600,0.00,2.22,0.00,0.000,6,0.000,0.053,3376,2312,1896,0,0,0,0,0,0,28.83,25.90,28.83
$GC,9903,0.51,216.5,109.6,9.3,600,9910,0.00,2.28,0.00,0.000,4,0.000,0.066,3376,3707,1896,0,0,0,0,0,0,28.83,25.83,28.83
$GC,9947,0.51,216.5,105.0,10.8,608,9955,0.08,2.22,0.00,0.000,6,0.119,0.047,3348,2297,1896,0,0,0,0,0,0,25.77,25.99,28.83
$GC,10266,0.52,254.6,83.3,5.9,669,10303,0.00,2.28,30.38,0.618,4,0.000,0.054,3352,891,1754,0,0,0,0,0,0,28.83,25.82,25.14
$GC,10380,0.53,285.7,76.4,6.1,689,10411,0.00,2.20,25.88,0.603,6,0.000,0.051,3352,2300,1629,0,0,0,0,0,0,28.83,25.73,24.90
$GC,10726,0.54,307.3,56.5,6.5,754,10748,0.00,2.35,17.90,0.581,4,0.000,0.063,3352,3709,1540,0,0,0,0,0,0,28.83,25.60,24.92
$GC,10814,0.54,307.3,49.7,8.6,769,10821,0.00,2.20,0.00,0.000,6,0.000,0.045,3352,2292,1536,0,0,0,0,0,0,28.83,25.65,28.83
$GC,11135,0.55,319.3,24.4,6.9,830,11157,0.00,2.35,10.50,0.532,4,0.000,0.065,3352,3706,1490,0,0,0,0,0,0,28.83,25.72,24.99
$GC,11196,0.55,319.3,19.7,8.5,840,11204,0.00,2.22,0.00,0.000,6,0.000,0.046,3352,2299,1488,0,0,0,0,0,0,28.83,25.76,28.83
$STATE,11401,end climb,SURFACE_DEPTH_REACHED
$STATE,11401,begin surface coast
$FINISH,1.2,1.011099
$STATE,11465,end surface coast,CONTROL_FINISHED_OK
$STATE,11465,begin surface
$SM_CCo,11545,0.00,0.000,0,0,1483,321.59
$SM_GC,2.20,8.27,0.17,0.00,0.028,0.076,0.000,106,2172,1483,-9.48,1.33,321.59,0,0,0,0,0,0,25.96,25.93,28.83
$IRIDIUM_FIX,4729.30,-12528.91,051112,030301
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.60
$INTERNAL_PRESSURE,9.11829
$TCM_TEMP,15.80
$XPDR_PINGS,1
$24V_AH,23.4,32.502
$10V_AH,10.1,27.182
$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,21.150,111.550,393.300,0.000,0.000,28.095,38.174,171.635,0.250,0.000,15.274,2257.773,6897.587,469.296,2022.479,263.742,0.000,1389.230,0.000,1770.690,0.000,0.535,0.000
$DEVICE_MAMPS,222.615,89.505,893.520,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,610.840,566.828,523.319,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296772
$DATA_FILE_SIZE,50322,891
$CAP_FILE_SIZE,112910,0
$CFSIZE,260165632,238809088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.123,272.4,1
$GPS,051112,112959,4749.515,-12514.992,35,1.0,41,18.7