version: 66.11
glider: 187
mission: 2
dive: 299
start: 11 23 112 7 51 9
data:
$ID,187
$MISSION,2
$DIVE,299
$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,-1588134.9
$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,47
$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,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
$GPS1,231112,074331,4748.954,-12516.559,59,1.4,67,18.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-62.5
$GPS2,231112,075039,4749.076,-12516.573,12,1.4,20,18.7
$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,60.7,9449,-13.4,-7.333,-18.42
$D_GRID,482
$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,-146.0,0.0,0.0,0,81,0.00,0.00,-62.10,0.000,2,0.000,0.000,110,2193,2735,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.48,-146.0,3.0,-1.6,10,120,11.40,2.33,-13.73,0.000,4,0.217,0.074,3025,3603,3393,0,0,0,0,0,0,24.98,25.52,26.11
$GC,268,-0.48,-146.0,42.9,-19.8,43,276,0.00,2.15,0.00,0.000,6,0.000,0.041,3025,2197,3394,0,0,0,0,0,0,28.83,25.70,28.83
$GC,585,-0.48,-146.0,87.6,-13.4,104,592,0.00,2.17,0.00,0.000,4,0.000,0.048,3025,804,3396,0,0,0,0,0,0,28.83,25.70,28.83
$GC,636,-0.48,-146.0,94.2,-12.1,113,642,0.00,2.15,0.00,0.000,6,0.000,0.048,3015,2200,3396,0,0,0,0,0,0,28.83,25.70,28.83
$GC,953,-0.48,-146.0,133.5,-12.7,161,958,0.00,2.12,0.00,0.000,4,0.000,0.047,3015,796,3396,0,0,0,0,0,0,28.83,25.76,28.83
$GC,1006,-0.48,-146.0,139.0,-12.5,164,1014,0.08,2.22,0.00,0.000,6,0.120,0.049,3047,2205,3396,0,0,0,0,0,0,25.56,25.76,28.83
$GC,1315,-0.48,-146.0,169.0,-8.8,185,1320,0.00,2.20,0.00,0.000,4,0.000,0.061,3038,3611,3397,0,0,0,0,0,0,28.83,25.69,28.83
$GC,1374,-0.48,-146.0,174.7,-9.1,189,1380,0.00,2.15,0.00,0.000,6,0.000,0.042,3038,2195,3396,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1684,-0.48,-146.0,204.6,-9.4,209,1689,0.00,2.25,0.00,0.000,4,0.000,0.061,3028,3618,3396,0,0,0,0,0,0,28.83,25.70,28.83
$GC,1717,-0.48,-146.0,206.6,-9.4,210,1723,0.00,2.15,0.00,0.000,6,0.000,0.041,3028,2195,3397,0,0,0,0,0,0,28.83,25.94,28.83
$GC,2024,-0.48,-146.0,238.1,-9.6,226,2029,0.00,2.10,0.00,0.000,4,0.000,0.048,3028,808,3397,0,0,0,0,0,0,28.83,25.81,28.83
$GC,2057,-0.48,-146.0,240.2,-9.8,227,2064,0.00,2.17,0.00,0.000,6,0.000,0.050,3018,2217,3396,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2364,-0.48,-146.0,275.0,-11.5,243,2369,0.00,2.20,0.00,0.000,4,0.000,0.062,3008,3609,3396,0,0,0,0,0,0,28.83,25.70,28.83
$GC,2392,-0.48,-146.0,277.3,-11.5,244,2397,0.12,2.12,0.00,0.000,6,0.135,0.042,3043,2204,3396,0,0,0,0,0,0,25.75,25.94,28.83
$GC,2699,-0.48,-146.0,308.0,-9.7,259,2704,0.00,2.22,0.00,0.000,4,0.000,0.062,3035,3608,3396,0,0,0,0,0,0,28.83,25.70,28.83
$GC,2732,-0.48,-146.0,310.0,-9.7,260,2738,0.00,2.15,0.00,0.000,6,0.000,0.043,3035,2186,3396,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3039,-0.48,-146.0,340.7,-9.3,276,3045,0.00,2.25,0.00,0.000,4,0.000,0.062,3024,3611,3396,0,0,0,0,0,0,28.83,25.70,28.83
$GC,3062,-0.48,-146.0,342.6,-9.3,277,3067,0.00,2.15,0.00,0.000,6,0.000,0.043,3024,2194,3395,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3375,-0.48,-146.0,372.3,-9.7,293,3380,0.00,2.15,0.00,0.000,4,0.000,0.050,3025,792,3395,0,0,0,0,0,0,28.83,25.79,28.83
$GC,3403,-0.48,-146.0,374.3,-9.7,294,3408,0.00,2.20,0.00,0.000,6,0.000,0.052,3017,2208,3395,0,0,0,0,0,0,28.83,25.78,28.83
$GC,3730,-0.48,-146.0,407.2,-9.6,309,3735,0.00,2.22,0.00,0.000,4,0.000,0.063,3006,3612,3394,0,0,0,0,0,0,28.83,25.68,28.83
$GC,3773,-0.48,-146.0,410.1,-9.7,310,3777,0.12,2.15,0.00,0.000,6,0.138,0.044,3042,2200,3394,0,0,0,0,0,0,25.74,25.93,28.83
$GC,4086,-0.48,-146.0,435.8,-7.6,321,4092,0.00,2.12,0.00,0.000,4,0.000,0.050,3042,803,3394,0,0,0,0,0,0,28.83,25.78,28.83
$GC,4115,-0.48,-146.0,438.3,-7.9,322,4121,0.00,2.17,0.00,0.000,6,0.000,0.051,3035,2201,3394,0,0,0,0,0,0,28.83,25.78,28.83
$GC,4445,-0.48,-146.0,466.3,-8.4,333,4451,0.00,2.25,0.00,0.000,4,0.000,0.063,3025,3616,3393,0,0,0,0,0,0,28.83,25.65,28.83
$GC,4544,-0.48,-146.0,474.5,-9.0,336,4548,0.00,2.15,0.00,0.000,6,0.000,0.044,3024,2200,3393,0,0,0,0,0,0,28.83,25.93,28.83
$STATE,4618,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4618,begin apogee
$GC,4625,-0.22,0.0,482.2,-8.9,339,4752,0.28,0.00,121.85,0.851,6,0.112,0.000,3118,2342,2794,0,0,0,0,0,0,25.75,28.83,23.94
$STATE,4756,end apogee,CONTROL_FINISHED_OK
$STATE,4756,begin climb
$GC,4758,0.48,146.0,487.7,0.0,343,4896,0.65,2.42,125.88,0.819,4,0.085,0.063,3341,3721,2198,0,0,0,0,0,0,24.84,24.29,23.50
$GC,4912,0.51,228.7,484.2,4.1,348,4990,0.00,2.28,70.53,0.808,6,0.000,0.044,3351,2325,1861,0,0,0,0,0,0,28.83,24.53,23.30
$GC,5314,0.51,228.7,451.9,8.0,362,5320,0.00,2.25,0.00,0.000,4,0.000,0.054,3360,917,1853,0,0,0,0,0,0,28.83,25.26,28.83
$GC,5352,0.51,228.7,449.5,8.1,363,5356,0.00,2.22,0.00,0.000,6,0.000,0.053,3360,2317,1852,0,0,0,0,0,0,28.83,25.32,28.83
$GC,5670,0.51,228.7,421.0,8.9,374,5671,0.00,0.00,0.00,0.000,6,0.000,0.000,3360,2317,1851,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5970,0.51,228.7,394.6,8.6,385,5975,0.00,2.17,0.00,0.000,4,0.000,0.053,3368,922,1850,0,0,0,0,0,0,28.83,25.65,28.83
$GC,5999,0.51,228.7,393.0,8.7,386,6007,0.00,2.20,0.00,0.000,6,0.000,0.053,3369,2326,1849,0,0,0,0,0,0,28.83,25.68,28.83
$GC,6310,0.51,228.7,363.3,9.3,402,6311,0.00,0.00,0.00,0.000,6,0.000,0.000,3369,2326,1850,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6610,0.51,228.7,335.8,9.0,417,6615,0.00,2.22,0.00,0.000,4,0.000,0.054,3378,921,1850,0,0,0,0,0,0,28.83,25.75,28.83
$GC,6642,0.51,228.7,333.9,9.0,418,6649,0.00,2.22,0.00,0.000,6,0.000,0.054,3378,2333,1850,0,0,0,0,0,0,28.83,25.75,28.83
$GC,6950,0.51,228.7,303.9,9.2,434,6955,0.00,2.25,0.00,0.000,4,0.000,0.065,3378,3735,1850,0,0,0,0,0,0,28.83,25.68,28.83
$GC,6992,0.51,228.7,299.5,10.1,436,6997,0.00,2.17,0.00,0.000,6,0.000,0.045,3386,2330,1849,0,0,0,0,0,0,28.83,25.88,28.83
$GC,7305,0.51,228.7,266.9,10.1,452,7310,0.00,2.20,0.00,0.000,4,0.000,0.052,3396,909,1849,0,0,0,0,0,0,28.83,25.77,28.83
$GC,7333,0.51,228.7,264.7,10.2,453,7338,0.12,2.22,0.00,0.000,6,0.137,0.053,3362,2334,1849,0,0,0,0,0,0,25.66,25.77,28.83
$GC,7641,0.51,228.7,239.5,7.4,468,7642,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,2335,1849,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7940,0.51,235.8,217.6,7.1,483,7951,0.00,2.28,5.07,0.530,4,0.000,0.052,3369,914,1832,0,0,0,0,0,0,28.83,25.96,24.56
$GC,7988,0.51,238.8,214.8,7.2,485,8000,0.00,2.20,4.75,0.512,6,0.000,0.052,3369,2329,1820,0,0,0,0,0,0,28.83,25.86,24.67
$GC,8300,0.51,238.8,189.7,7.9,503,8302,0.00,0.00,0.00,0.000,6,0.000,0.000,3369,2328,1818,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8601,0.51,238.8,164.8,8.5,523,8606,0.00,2.20,0.00,0.000,4,0.000,0.052,3376,911,1818,0,0,0,0,0,0,28.83,25.81,28.83
$GC,8623,0.51,238.8,163.6,8.6,524,8631,0.00,2.25,0.00,0.000,6,0.000,0.053,3376,2324,1818,0,0,0,0,0,0,28.83,25.81,28.83
$GC,8931,0.51,238.8,137.2,8.4,545,8936,0.00,2.17,0.00,0.000,4,0.000,0.052,3384,919,1818,0,0,0,0,0,0,28.83,25.80,28.83
$GC,8968,0.51,238.8,134.8,8.3,547,8975,0.00,2.20,0.00,0.000,6,0.000,0.052,3384,2333,1818,0,0,0,0,0,0,28.83,25.81,28.83
$GC,9278,0.51,238.8,106.2,8.7,588,9286,0.00,2.25,0.00,0.000,4,0.000,0.052,3393,918,1818,0,0,0,0,0,0,28.83,25.80,28.83
$GC,9305,0.51,238.8,103.9,8.6,592,9314,0.08,2.22,0.00,0.000,6,0.107,0.052,3352,2320,1817,0,0,0,0,0,0,25.65,25.81,28.83
$GC,9625,0.53,274.3,83.6,6.0,653,9661,0.00,0.00,30.55,0.612,6,0.000,0.000,3352,2320,1674,0,0,0,0,0,0,28.83,28.83,24.89
$GC,9977,0.55,326.6,63.1,5.3,719,10028,0.00,2.25,42.55,0.598,4,0.000,0.050,3352,910,1461,0,0,0,0,0,0,28.83,25.48,24.71
$GC,10043,0.57,372.9,59.0,5.5,729,10087,0.00,2.22,37.90,0.569,6,0.000,0.050,3352,2327,1272,0,0,0,0,0,0,28.83,25.48,24.51
$GC,10403,0.57,372.9,27.5,10.0,796,10410,0.00,2.30,0.00,0.000,4,0.000,0.063,3350,3728,1264,0,0,0,0,0,0,28.83,25.48,28.83
$GC,10604,0.57,372.9,7.6,9.2,833,10611,0.00,2.17,0.00,0.000,6,0.000,0.041,3349,2301,1262,0,0,0,0,0,0,28.83,25.78,28.83
$STATE,10648,end climb,SURFACE_DEPTH_REACHED
$STATE,10648,begin surface coast
$FINISH,1.2,1.024534
$STATE,10695,end surface coast,CONTROL_FINISHED_OK
$STATE,10696,begin surface
$SM_CCo,10775,0.00,0.000,0,0,1258,376.54
$SM_GC,2.17,8.30,0.12,0.00,0.031,0.082,0.000,120,2201,1258,-9.46,1.55,376.54,0,0,0,0,0,0,25.93,26.01,28.83
$IRIDIUM_FIX,4729.30,-12517.37,231112,020254
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.40
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.70
$XPDR_PINGS,2
$24V_AH,23.3,42.056
$10V_AH,10.1,34.915
$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,21.150,110.625,439.075,0.000,0.000,25.196,42.961,219.776,0.500,0.000,21.757,2136.837,6271.999,489.933,2039.677,260.657,0.000,1417.666,0.000,1728.905,0.000,0.536,0.000
$DEVICE_MAMPS,217.260,81.855,850.680,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,580.767,540.509,490.398,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296768
$DATA_FILE_SIZE,46866,850
$CAP_FILE_SIZE,111042,0
$CFSIZE,260165632,232923136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.147,290.4,1
$GPS,231112,105235,4749.799,-12514.850,67,0.9,73,18.7