version: 66.11
glider: 187
mission: 2
dive: 228
start: 11 5 112 11 36 13
data:
$ID,187
$MISSION,2
$DIVE,228
$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,-1588037.8
$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,43
$R_STBD_OVSHOOT,25
$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
$GPS1,051112,112959,4749.515,-12514.992,35,1.0,41,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-77.7
$GPS2,051112,113543,4749.514,-12515.038,15,1.7,15,18.7
$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,55.0,7425,-13.4,-7.333,-18.42
$D_GRID,450
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.48,-146.0,0.0,0.0,0,76,0.00,0.00,-57.20,0.000,2,0.000,0.000,106,2175,2795,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.48,-146.0,3.3,-3.0,9,114,11.35,2.22,-12.32,0.000,4,0.220,0.064,3032,777,3393,0,0,0,0,0,0,25.10,25.64,26.10
$GC,259,-0.48,-146.0,40.0,-14.7,41,266,0.00,2.17,0.00,0.000,6,0.000,0.050,3023,2176,3396,0,0,0,0,0,0,28.83,25.68,28.83
$GC,581,-0.48,-146.0,85.7,-12.2,102,588,0.00,2.25,0.00,0.000,4,0.000,0.060,3013,3593,3397,0,0,0,0,0,0,28.83,25.72,28.83
$GC,616,-0.48,-146.0,90.2,-13.0,108,624,0.00,2.22,0.00,0.000,6,0.000,0.043,3013,2165,3398,0,0,0,0,0,0,28.83,25.86,28.83
$GC,937,-0.48,-146.0,129.5,-11.9,159,943,0.00,2.12,0.00,0.000,4,0.000,0.050,3012,774,3398,0,0,0,0,0,0,28.83,25.84,28.83
$GC,998,-0.48,-146.0,136.7,-12.0,163,1004,0.10,2.15,0.00,0.000,6,0.119,0.050,3039,2178,3398,0,0,0,0,0,0,25.67,25.86,28.83
$GC,1314,-0.48,-146.0,169.0,-10.1,184,1319,0.00,2.15,0.00,0.000,4,0.000,0.050,3040,773,3398,0,0,0,0,0,0,28.83,25.88,28.83
$GC,1343,-0.48,-146.0,172.0,-10.0,186,1348,0.00,2.17,0.00,0.000,6,0.000,0.050,3032,2184,3398,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1668,-0.48,-146.0,204.8,-10.1,207,1673,0.00,2.20,0.00,0.000,4,0.000,0.062,3021,3591,3398,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1736,-0.48,-146.0,211.2,-10.5,210,1740,0.00,2.15,0.00,0.000,6,0.000,0.044,3021,2178,3398,0,0,0,0,0,0,28.83,26.00,28.83
$GC,2045,-0.48,-146.0,244.0,-10.5,225,2046,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2173,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2343,-0.48,-146.0,275.2,-10.2,240,2349,0.00,2.28,0.00,0.000,4,0.000,0.063,3011,3591,3397,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2403,-0.48,-146.0,281.5,-10.3,243,2408,0.00,2.17,0.00,0.000,6,0.000,0.044,3011,2164,3397,0,0,0,0,0,0,28.83,26.03,28.83
$GC,2723,-0.48,-146.0,316.3,-11.0,259,2728,0.00,2.15,0.00,0.000,4,0.000,0.051,3011,762,3397,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2771,-0.48,-146.0,321.1,-11.5,261,2776,0.15,2.17,0.00,0.000,6,0.137,0.050,3045,2178,3397,0,0,0,0,0,0,25.80,25.95,28.83
$GC,3078,-0.48,-146.0,346.9,-7.6,276,3083,0.00,2.22,0.00,0.000,4,0.000,0.063,3036,3587,3397,0,0,0,0,0,0,28.83,25.86,28.83
$GC,3161,-0.48,-146.0,353.9,-8.8,280,3165,0.00,2.15,0.00,0.000,6,0.000,0.044,3036,2171,3397,0,0,0,0,0,0,28.83,26.05,28.83
$GC,3473,-0.48,-146.0,382.5,-9.1,296,3474,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2168,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3783,-0.48,-146.0,407.8,-7.5,310,3789,0.00,2.25,0.00,0.000,4,0.000,0.063,3026,3582,3396,0,0,0,0,0,0,28.83,25.86,28.83
$GC,3814,-0.48,-146.0,410.0,-7.4,311,3819,0.00,2.15,0.00,0.000,6,0.000,0.045,3026,2170,3396,0,0,0,0,0,0,28.83,26.05,28.83
$GC,4143,-0.48,-146.0,437.0,-8.6,322,4144,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2168,3395,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4291,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4291,begin apogee
$GC,4298,-0.22,0.0,451.5,-9.7,327,4422,0.28,0.00,120.05,0.841,6,0.115,0.000,3119,2315,2793,0,0,0,0,0,0,25.85,28.83,24.10
$STATE,4425,end apogee,CONTROL_FINISHED_OK
$STATE,4425,begin climb
$GC,4428,0.48,146.0,457.6,0.0,331,4563,0.65,2.45,123.62,0.816,4,0.087,0.063,3341,3702,2197,0,0,0,0,0,0,24.83,24.39,23.75
$GC,4600,0.51,219.7,452.4,4.5,337,4668,0.00,2.28,62.00,0.806,6,0.000,0.046,3351,2303,1897,0,0,0,0,0,0,28.83,24.75,23.69
$GC,4981,0.51,219.7,421.8,7.6,350,4987,0.00,2.25,0.00,0.000,4,0.000,0.054,3361,900,1888,0,0,0,0,0,0,28.83,25.28,28.83
$GC,5025,0.51,219.7,419.5,7.7,351,5029,0.00,2.22,0.00,0.000,6,0.000,0.052,3361,2295,1888,0,0,0,0,0,0,28.83,25.34,28.83
$GC,5348,0.51,219.7,389.1,9.4,364,5350,0.00,0.00,0.00,0.000,6,0.000,0.000,3361,2295,1887,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5647,0.51,219.7,361.2,9.2,379,5648,0.00,0.00,0.00,0.000,6,0.000,0.000,3361,2295,1887,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5947,0.51,219.7,332.6,8.8,394,5948,0.00,0.00,0.00,0.000,6,0.000,0.000,3361,2295,1885,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6248,0.51,219.7,306.4,8.9,409,6249,0.00,0.00,0.00,0.000,6,0.000,0.000,3361,2295,1885,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6547,0.51,219.7,279.6,8.6,424,6553,0.00,2.30,0.00,0.000,4,0.000,0.066,3361,3717,1884,0,0,0,0,0,0,28.83,25.79,28.83
$GC,6568,0.51,219.7,277.9,8.5,425,6573,0.00,2.17,0.00,0.000,6,0.000,0.048,3370,2306,1884,0,0,0,0,0,0,28.83,25.93,28.83
$GC,6887,0.51,219.7,249.6,8.9,441,6889,0.00,0.00,0.00,0.000,6,0.000,0.000,3370,2300,1884,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7187,0.51,219.7,223.0,8.8,456,7188,0.00,0.00,0.00,0.000,6,0.000,0.000,3370,2300,1884,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7492,0.51,219.7,195.4,8.8,472,7498,0.00,2.25,0.00,0.000,4,0.000,0.066,3370,3711,1884,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7531,0.51,219.7,192.4,9.5,474,7538,0.00,2.25,0.00,0.000,6,0.000,0.048,3378,2293,1883,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7839,0.51,219.7,163.9,8.8,495,7844,0.00,2.15,0.00,0.000,4,0.000,0.056,3389,892,1883,0,0,0,0,0,0,28.83,25.90,28.83
$GC,7869,0.51,219.7,161.2,8.8,497,7876,0.12,2.22,0.00,0.000,6,0.138,0.054,3355,2308,1883,0,0,0,0,0,0,25.79,25.91,28.83
$GC,8186,0.51,219.7,137.7,7.4,518,8191,0.00,2.25,0.00,0.000,4,0.000,0.065,3354,3708,1883,0,0,0,0,0,0,28.83,25.85,28.83
$GC,8214,0.51,219.7,135.4,7.5,520,8220,0.00,2.20,0.00,0.000,6,0.000,0.047,3361,2285,1883,0,0,0,0,0,0,28.83,26.00,28.83
$GC,8528,0.51,240.3,111.6,6.5,554,8553,0.00,2.22,16.25,0.617,4,0.000,0.054,3369,889,1813,0,0,0,0,0,0,28.83,25.97,25.22
$GC,8573,0.52,264.0,108.4,6.4,561,8604,0.00,2.20,21.10,0.623,6,0.000,0.052,3370,2305,1715,0,0,0,0,0,0,28.83,25.92,25.06
$GC,8916,0.55,317.0,86.5,5.3,626,8965,0.00,2.28,42.28,0.614,4,0.000,0.052,3374,884,1501,0,0,0,0,0,0,28.83,25.43,24.84
$GC,8984,0.57,369.6,82.7,5.3,637,9033,0.00,2.28,42.92,0.596,6,0.000,0.050,3375,2309,1286,0,0,0,0,0,0,28.83,25.46,24.56
$GC,9351,0.58,404.9,62.2,6.0,705,9389,0.00,2.33,28.20,0.585,4,0.000,0.054,3375,891,1140,0,0,0,0,0,0,28.83,25.38,24.74
$GC,9413,0.60,462.6,58.6,5.1,715,9464,0.00,2.22,45.78,0.576,6,0.000,0.050,3375,2300,907,0,0,0,0,0,0,28.83,25.43,24.52
$GC,9783,0.60,462.6,19.2,10.9,783,9790,0.00,2.28,0.00,0.000,4,0.000,0.063,3375,3709,899,0,0,0,0,0,0,28.83,25.52,28.83
$GC,9851,0.60,462.6,11.4,11.6,795,9858,0.00,2.20,0.00,0.000,6,0.000,0.045,3375,2292,898,0,0,0,0,0,0,28.83,25.68,28.83
$STATE,9916,end climb,SURFACE_DEPTH_REACHED
$STATE,9916,begin surface coast
$FINISH,1.3,1.000481
$STATE,9949,end surface coast,CONTROL_FINISHED_OK
$STATE,9950,begin surface
$SM_CCo,10029,0.00,0.000,0,0,896,465.58
$SM_GC,2.34,8.32,0.17,0.00,0.026,0.076,0.000,116,2167,896,-9.46,1.10,465.58,0,0,0,0,0,0,25.84,25.81,28.83
$IRIDIUM_FIX,4729.30,-12515.52,051112,080830
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.48
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,15.70
$XPDR_PINGS,0
$24V_AH,23.7,32.619
$10V_AH,10.2,27.256
$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,20.975,84.775,502.200,0.000,0.000,26.197,42.775,155.758,0.000,0.000,16.498,2002.028,5792.168,502.340,1849.215,229.155,0.000,1361.545,0.000,1612.333,0.000,0.535,0.000
$DEVICE_MAMPS,220.320,78.795,840.735,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,555.015,520.754,472.782,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296776
$DATA_FILE_SIZE,46795,813
$CAP_FILE_SIZE,98476,0
$CFSIZE,260165632,238768128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.112,302.3,1
$GPS,051112,142436,4750.385,-12513.409,36,0.8,37,18.7