version: 66.11
glider: 187
mission: 2
dive: 300
start: 11 23 112 10 59 24
data:
$ID,187
$MISSION,2
$DIVE,300
$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,-1588136.1
$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,48
$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
$GPS1,231112,105235,4749.799,-12514.850,67,0.9,73,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-67.8
$GPS2,231112,105854,4749.888,-12514.855,13,1.9,18,18.7
$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,70.5,6839,-13.4,-7.333,-18.42
$D_GRID,381
$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,-56.55,0.000,2,0.000,0.000,119,2200,2547,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.48,-146.0,3.1,-3.4,9,120,11.40,2.28,-21.33,0.000,4,0.219,0.073,3026,3608,3391,0,0,0,0,0,0,25.09,25.53,26.17
$GC,175,-0.48,-146.0,17.5,-16.2,25,181,0.00,2.15,0.00,0.000,6,0.000,0.041,3026,2209,3393,0,0,0,0,0,0,28.83,25.69,28.83
$GC,494,-0.48,-146.0,73.2,-12.8,86,501,0.00,2.30,0.00,0.000,4,0.000,0.060,3016,3613,3394,0,0,0,0,0,0,28.83,25.60,28.83
$GC,518,-0.48,-146.0,76.2,-12.2,90,525,0.00,2.17,0.00,0.000,6,0.000,0.041,3015,2193,3394,0,0,0,0,0,0,28.83,25.81,28.83
$GC,830,-0.48,-146.0,115.5,-11.6,151,837,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2186,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1141,-0.48,-146.0,154.0,-12.1,176,1145,0.00,2.15,0.00,0.000,4,0.000,0.047,3015,790,3395,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1189,-0.48,-146.0,159.8,-12.2,179,1195,0.08,2.15,0.00,0.000,6,0.119,0.048,3036,2195,3395,0,0,0,0,0,0,25.63,25.80,28.83
$GC,1505,-0.48,-146.0,192.4,-9.8,200,1511,0.00,2.20,0.00,0.000,4,0.000,0.061,3028,3602,3395,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1542,-0.48,-146.0,195.6,-9.9,202,1550,0.00,2.17,0.00,0.000,6,0.000,0.041,3027,2191,3395,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1859,-0.48,-146.0,229.1,-9.9,219,1864,0.00,2.25,0.00,0.000,4,0.000,0.060,3017,3608,3395,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1892,-0.48,-146.0,231.2,-10.1,220,1898,0.00,2.12,0.00,0.000,6,0.000,0.041,3017,2200,3395,0,0,0,0,0,0,28.83,25.95,28.83
$GC,2200,-0.48,-146.0,268.1,-11.3,236,2201,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2199,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2499,-0.48,-146.0,302.1,-11.5,251,2502,0.00,2.15,0.00,0.000,4,0.000,0.048,3017,795,3395,0,0,0,0,0,0,28.83,25.83,28.83
$GC,2521,-0.48,-146.0,304.7,-11.8,252,2527,0.08,2.15,0.00,0.000,6,0.119,0.050,3036,2200,3395,0,0,0,0,0,0,25.65,25.82,28.83
$GC,2841,-0.48,-146.0,334.0,-8.5,268,2845,0.00,2.25,0.00,0.000,4,0.000,0.063,3028,3613,3394,0,0,0,0,0,0,28.83,25.71,28.83
$GC,2906,-0.48,-146.0,339.6,-8.8,271,2910,0.00,2.15,0.00,0.000,6,0.000,0.042,3028,2197,3395,0,0,0,0,0,0,28.83,25.96,28.83
$GC,3218,-0.48,-146.0,367.9,-9.2,287,3219,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2193,3394,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3377,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3377,begin apogee
$GC,3385,-0.22,0.0,381.9,-8.7,295,3510,0.28,0.00,120.93,0.786,6,0.113,0.000,3122,2341,2793,0,0,0,0,0,0,25.77,28.83,24.07
$STATE,3513,end apogee,CONTROL_FINISHED_OK
$STATE,3513,begin climb
$GC,3516,0.48,146.0,387.3,0.0,301,3644,0.65,0.00,124.50,0.757,6,0.084,0.000,3345,2341,2198,0,0,0,0,0,0,24.91,28.83,23.72
$GC,3941,0.48,152.6,362.1,7.1,323,3949,0.00,0.00,5.72,0.576,6,0.000,0.000,3345,2341,2172,0,0,0,0,0,0,28.83,28.83,24.29
$GC,4239,0.49,168.2,341.6,6.7,338,4259,0.00,2.33,15.15,0.710,4,0.000,0.051,3356,920,2107,0,0,0,0,0,0,28.83,25.58,24.61
$GC,4285,0.49,177.7,338.6,7.0,340,4302,0.00,2.20,9.45,0.660,6,0.000,0.051,3355,2318,2069,0,0,0,0,0,0,28.83,25.55,24.47
$GC,4602,0.49,177.7,313.8,7.5,356,4607,0.00,2.25,0.00,0.000,4,0.000,0.063,3355,3729,2064,0,0,0,0,0,0,28.83,25.60,28.83
$GC,4644,0.49,177.7,310.3,7.9,358,4648,0.00,2.17,0.00,0.000,6,0.000,0.045,3364,2330,2063,0,0,0,0,0,0,28.83,25.75,28.83
$GC,4957,0.49,177.7,286.0,7.7,374,4962,0.00,2.25,0.00,0.000,4,0.000,0.063,3364,3734,2062,0,0,0,0,0,0,28.83,25.69,28.83
$GC,5005,0.49,177.7,282.5,8.3,376,5009,0.00,2.17,0.00,0.000,6,0.000,0.044,3373,2326,2062,0,0,0,0,0,0,28.83,25.85,28.83
$GC,5312,0.49,177.7,256.5,7.9,391,5317,0.00,2.15,0.00,0.000,4,0.000,0.051,3384,921,2061,0,0,0,0,0,0,28.83,25.79,28.83
$GC,5373,0.49,177.7,251.7,7.8,394,5379,0.08,2.15,0.00,0.000,6,0.112,0.052,3357,2318,2061,0,0,0,0,0,0,25.65,25.79,28.83
$GC,5692,0.49,178.4,228.7,7.3,410,5698,0.00,2.22,0.00,0.000,4,0.000,0.063,3356,3727,2060,0,0,0,0,0,0,28.83,25.74,28.83
$GC,5745,0.49,178.4,225.5,7.6,412,5752,0.00,2.17,0.00,0.000,6,0.000,0.045,3363,2313,2060,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6053,0.49,178.4,200.6,7.7,428,6054,0.00,0.00,0.00,0.000,6,0.000,0.000,3363,2309,2060,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6358,0.49,178.4,177.3,7.5,448,6363,0.00,2.15,0.00,0.000,4,0.000,0.051,3373,918,2059,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6388,0.49,178.4,175.1,7.4,450,6394,0.00,2.15,0.00,0.000,6,0.000,0.052,3373,2320,2059,0,0,0,0,0,0,28.83,25.83,28.83
$GC,6703,0.49,178.4,151.0,7.8,471,6704,0.00,0.00,0.00,0.000,6,0.000,0.000,3373,2319,2059,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7004,0.49,186.9,129.3,7.0,491,7018,0.00,2.33,7.57,0.555,4,0.000,0.063,3373,3739,2031,0,0,0,0,0,0,28.83,25.96,24.77
$GC,7059,0.49,186.9,125.3,7.9,494,7067,0.00,2.22,0.00,0.000,6,0.000,0.045,3382,2321,2029,0,0,0,0,0,0,28.83,25.96,28.83
$GC,7368,0.50,193.3,101.1,7.1,547,7383,0.00,2.28,6.80,0.529,4,0.000,0.062,3382,3740,2005,0,0,0,0,0,0,28.83,25.95,24.83
$GC,7416,0.50,193.3,97.0,9.1,555,7424,0.12,2.17,0.00,0.000,6,0.144,0.044,3356,2321,2004,0,0,0,0,0,0,25.76,25.94,28.83
$GC,7731,0.51,220.5,77.0,6.3,616,7762,0.00,2.20,23.83,0.601,4,0.000,0.050,3363,917,1894,0,0,0,0,0,0,28.83,25.81,24.96
$GC,7838,0.52,260.5,70.5,5.8,635,7878,0.00,2.20,33.88,0.596,6,0.000,0.050,3363,2334,1731,0,0,0,0,0,0,28.83,25.71,24.73
$GC,8190,0.56,364.7,51.4,3.3,701,8277,0.00,0.00,82.05,0.580,6,0.000,0.000,3363,2333,1306,0,0,0,0,0,0,28.83,28.83,24.46
$GC,8592,0.56,364.7,19.8,10.0,775,8598,0.00,2.25,0.00,0.000,4,0.000,0.062,3363,3734,1296,0,0,0,0,0,0,28.83,25.52,28.83
$GC,8617,0.56,364.7,17.1,10.2,779,8624,0.00,2.17,0.00,0.000,6,0.000,0.042,3363,2320,1296,0,0,0,0,0,0,28.83,25.70,28.83
$STATE,8745,end climb,SURFACE_DEPTH_REACHED
$STATE,8745,begin surface coast
$FINISH,1.2,1.002134
$STATE,8782,end surface coast,CONTROL_FINISHED_OK
$STATE,8782,begin surface
$SM_CCo,8862,0.00,0.000,0,0,1292,368.44
$SM_GC,2.37,8.27,0.17,0.00,0.025,0.074,0.000,107,2190,1292,-9.47,1.22,368.44,0,0,0,0,0,0,25.92,25.90,28.83
$IRIDIUM_FIX,4729.30,-12517.37,231112,070724
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.29
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.60
$XPDR_PINGS,4
$24V_AH,23.7,42.155
$10V_AH,10.1,34.989
$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,20.950,75.250,429.875,0.000,0.000,26.210,40.719,186.709,1.000,0.000,19.871,1978.441,4742.407,487.309,1815.980,218.173,0.000,1263.580,0.000,1551.405,0.000,0.536,0.000
$DEVICE_MAMPS,218.790,74.970,786.420,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,552.269,528.023,517.408,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296760
$DATA_FILE_SIZE,46805,810
$CAP_FILE_SIZE,92357,0
$CFSIZE,260165632,232882176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.195,311.0,1
$GPS,231112,132818,4750.464,-12513.567,34,1.9,35,18.7