version: 66.11
glider: 187
mission: 2
dive: 229
start: 11 5 112 14 31 0
data:
$ID,187
$MISSION,2
$DIVE,229
$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,-1588039
$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,42
$R_STBD_OVSHOOT,26
$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
$GPS1,051112,142436,4750.385,-12513.409,36,0.8,37,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-77.1
$GPS2,051112,143030,4750.405,-12513.394,14,1.3,14,18.7
$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,63.4,4800,-13.4,-7.333,-18.42
$D_GRID,312
$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,-0.48,-146.0,0.0,0.0,0,92,0.00,0.00,-73.82,0.000,2,0.000,0.000,116,2167,2614,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.48,-146.0,3.2,-3.9,12,133,11.23,2.38,-18.67,0.000,4,0.217,0.073,3024,3593,3393,0,0,0,0,0,0,25.17,25.58,26.08
$GC,330,-0.48,-146.0,45.3,-14.5,54,338,0.00,2.22,0.00,0.000,6,0.000,0.043,3023,2179,3396,0,0,0,0,0,0,28.83,25.77,28.83
$GC,654,-0.48,-146.0,92.2,-13.8,115,660,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2174,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,977,-0.48,-146.0,131.1,-12.0,165,983,0.00,2.15,0.00,0.000,4,0.000,0.050,3023,767,3397,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1098,-0.48,-146.0,145.1,-11.0,173,1104,0.00,2.15,0.00,0.000,6,0.000,0.050,3014,2171,3397,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1412,-0.48,-146.0,181.3,-11.5,194,1418,0.00,2.25,0.00,0.000,4,0.000,0.062,3003,3586,3397,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1458,-0.48,-146.0,186.7,-12.0,197,1464,0.10,2.15,0.00,0.000,6,0.110,0.043,3040,2166,3397,0,0,0,0,0,0,25.79,25.99,28.83
$GC,1772,-0.48,-146.0,217.7,-9.7,215,1774,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2163,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2072,-0.48,-146.0,247.4,-9.7,230,2073,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2163,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2372,-0.48,-146.0,276.9,-9.7,245,2378,0.00,2.22,0.00,0.000,4,0.000,0.062,3031,3581,3397,0,0,0,0,0,0,28.83,25.90,28.83
$GC,2442,-0.48,-146.0,283.0,-10.0,248,2452,0.00,2.15,0.00,0.000,6,0.000,0.044,3031,2163,3396,0,0,0,0,0,0,28.83,26.05,28.83
$STATE,2709,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2709,begin apogee
$GC,2716,-0.22,0.0,313.5,-11.1,262,2839,0.28,0.00,118.00,0.747,6,0.115,0.000,3124,2314,2794,0,0,0,0,0,0,25.86,28.83,24.25
$STATE,2842,end apogee,CONTROL_FINISHED_OK
$STATE,2842,begin climb
$GC,2845,0.48,146.0,320.6,0.0,268,2977,0.65,2.40,121.97,0.735,4,0.084,0.062,3348,3699,2196,0,0,0,0,0,0,24.91,24.53,23.94
$GC,3008,0.50,212.8,316.6,4.8,276,3068,0.00,2.25,54.60,0.714,6,0.000,0.044,3357,2302,1926,0,0,0,0,0,0,28.83,24.85,23.92
$GC,3370,0.50,212.8,287.5,8.2,294,3376,0.00,2.20,0.00,0.000,4,0.000,0.053,3367,907,1917,0,0,0,0,0,0,28.83,25.37,28.83
$GC,3418,0.50,212.8,284.1,8.2,296,3422,0.00,2.20,0.00,0.000,6,0.000,0.050,3367,2298,1917,0,0,0,0,0,0,28.83,25.44,28.83
$GC,3725,0.50,212.8,255.8,8.9,311,3731,0.00,2.25,0.00,0.000,4,0.000,0.063,3367,3706,1916,0,0,0,0,0,0,28.83,25.61,28.83
$GC,3793,0.50,212.8,249.8,9.9,314,3797,0.00,2.20,0.00,0.000,6,0.000,0.045,3376,2296,1915,0,0,0,0,0,0,28.83,25.74,28.83
$GC,4100,0.50,212.8,221.5,8.6,329,4106,0.00,2.17,0.00,0.000,4,0.000,0.054,3386,890,1914,0,0,0,0,0,0,28.83,25.77,28.83
$GC,4128,0.50,212.8,219.6,8.8,330,4132,0.00,2.20,0.00,0.000,6,0.000,0.052,3386,2299,1914,0,0,0,0,0,0,28.83,25.78,28.83
$GC,4441,0.50,212.8,188.5,10.0,347,4446,0.00,2.22,0.00,0.000,4,0.000,0.063,3386,3703,1914,0,0,0,0,0,0,28.83,25.79,28.83
$GC,4478,0.50,212.8,185.1,10.5,349,4487,0.15,2.17,0.00,0.000,6,0.140,0.046,3353,2299,1915,0,0,0,0,0,0,25.72,25.91,28.83
$GC,4786,0.50,212.8,158.6,8.1,370,4791,0.00,2.17,0.00,0.000,4,0.000,0.054,3361,887,1913,0,0,0,0,0,0,28.83,25.88,28.83
$GC,4824,0.50,212.8,156.1,8.3,372,4831,0.00,2.25,0.00,0.000,6,0.000,0.051,3361,2306,1914,0,0,0,0,0,0,28.83,25.89,28.83
$GC,5132,0.50,212.8,129.4,8.2,393,5138,0.00,2.22,0.00,0.000,4,0.000,0.063,3361,3712,1914,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5179,0.50,212.8,125.0,9.4,396,5183,0.00,2.20,0.00,0.000,6,0.000,0.046,3370,2290,1914,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5490,0.51,221.0,99.8,7.0,448,5505,0.00,2.17,6.22,0.510,4,0.000,0.054,3380,891,1892,0,0,0,0,0,0,28.83,26.02,25.16
$GC,5548,0.52,255.0,95.9,6.0,458,5585,0.00,2.17,29.35,0.617,6,0.000,0.051,3380,2300,1753,0,0,0,0,0,0,28.83,25.94,25.07
$GC,5893,0.52,259.5,72.3,7.2,524,5902,0.00,2.28,4.35,0.431,4,0.000,0.062,3380,3718,1736,0,0,0,0,0,0,28.83,25.79,24.94
$GC,5937,0.52,259.9,69.1,7.3,531,5944,0.00,2.20,0.00,0.000,6,0.000,0.046,3388,2295,1735,0,0,0,0,0,0,28.83,25.83,28.83
$GC,6254,0.53,268.9,47.4,7.0,592,6269,0.00,2.25,9.45,0.537,4,0.000,0.053,3396,899,1695,0,0,0,0,0,0,28.83,25.86,25.10
$GC,6339,0.53,284.5,41.7,6.7,607,6358,0.00,2.17,13.70,0.558,6,0.000,0.050,3396,2301,1634,0,0,0,0,0,0,28.83,25.82,25.03
$GC,6669,0.56,347.3,21.3,4.9,670,6727,0.00,2.30,50.47,0.571,4,0.000,0.062,3396,3707,1376,0,0,0,0,0,0,28.83,25.38,24.84
$GC,6735,0.58,401.6,17.7,5.2,680,6786,0.00,2.25,42.97,0.556,6,0.000,0.045,3396,2299,1155,0,0,0,0,0,0,28.83,25.46,24.58
$STATE,6911,end climb,SURFACE_DEPTH_REACHED
$STATE,6911,begin surface coast
$FINISH,1.2,1.011672
$STATE,6949,end surface coast,CONTROL_FINISHED_OK
$STATE,6949,begin surface
$SM_CCo,7029,0.00,0.000,0,0,1146,404.25
$SM_GC,2.02,8.45,0.20,0.00,0.026,0.070,0.000,117,2160,1146,-9.45,0.88,404.25,0,0,0,0,0,0,25.63,25.56,28.83
$IRIDIUM_FIX,4729.30,-12519.98,051112,111145
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.17
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,15.60
$XPDR_PINGS,0
$24V_AH,23.9,32.718
$10V_AH,10.2,27.324
$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,20.850,67.025,451.100,0.000,0.000,27.009,43.707,167.085,0.000,0.000,15.034,1732.914,3301.750,463.162,1696.669,192.602,0.000,1213.352,0.000,1453.046,0.000,0.536,0.000
$DEVICE_MAMPS,217.260,78.030,747.405,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,489.486,489.821,519.047,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296764
$DATA_FILE_SIZE,40298,719
$CAP_FILE_SIZE,82070,0
$CFSIZE,260165632,238735360
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.137,329.2,1
$GPS,051112,162915,4750.818,-12512.309,9,2.7,28,18.7