version: 66.11
glider: 187
mission: 2
dive: 8
start: 9 13 112 3 31 30
data:
$ID,187
$MISSION,2
$DIVE,8
$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,330
$T_MISSION,360
$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,160
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51761
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0046000001
$HD_B,0.0099999998
$HD_C,1.34e-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,-1587620.5
$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,3200
$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,0.0049999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,236
$ROLL_MAX,3800
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,2732
$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
$GPS1,130912,032215,4746.814,-12510.397,14,4.2,33,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-76.0
$GPS2,130912,033029,4746.724,-12510.488,36,1.5,46,18.7
$SPEED_LIMITS,0.173,0.269
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.213,-0.164
$KALMAN_X,1157.6,226.2,-312.7,-7325.4,327.0
$KALMAN_Y,-1399.0,-827.8,143.8,-2162.9,510.3
$MHEAD_RNG_PITCHd_Wd,217.9,163157,-18.1,-10.000,-20.39
$D_GRID,528
$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,-0.63,-155.7,0.0,0.0,0,102,0.00,0.00,-84.00,0.000,2,0.000,0.000,131,2091,2999,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.63,-155.7,3.4,-7.8,13,130,11.07,2.35,-6.68,0.000,4,0.226,0.077,2981,3513,3369,0,0,0,0,0,0,25.40,25.65,25.97
$GC,393,-0.61,-155.7,57.9,-16.3,70,400,0.00,2.20,0.00,0.000,6,0.000,0.044,2981,2099,3373,0,0,0,0,0,0,28.83,25.86,28.83
$GC,709,-0.60,-155.7,102.8,-11.5,129,718,0.00,2.22,0.00,0.000,4,0.000,0.063,2970,3513,3375,0,0,0,0,0,0,28.83,25.95,28.83
$GC,782,-0.60,-155.7,112.2,-13.0,136,792,0.10,2.15,0.00,0.000,6,0.132,0.044,3003,2083,3375,0,0,0,0,0,0,25.88,26.04,28.83
$GC,1093,-0.60,-155.7,149.8,-12.1,167,1094,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2082,3374,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1394,-0.60,-155.7,184.0,-10.7,197,1403,0.00,2.22,0.00,0.000,4,0.000,0.063,2994,3511,3374,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1459,-0.61,-155.7,191.1,-11.0,203,1466,0.00,2.12,0.00,0.000,6,0.000,0.045,2994,2100,3374,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1766,-0.61,-155.7,225.3,-10.9,234,1767,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2097,3373,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2068,-0.61,-155.7,259.9,-12.3,264,2078,0.00,2.20,0.00,0.000,4,0.000,0.064,2984,3510,3373,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2101,-0.61,-155.7,264.3,-12.7,267,2111,0.00,2.15,0.00,0.000,6,0.000,0.047,2984,2093,3373,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2412,-0.61,-155.7,304.2,-12.3,298,2413,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2093,3373,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2714,-0.61,-155.7,340.3,-11.7,328,2722,0.00,2.20,0.00,0.000,4,0.000,0.065,2973,3509,3373,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2748,-0.61,-155.7,344.6,-12.2,331,2755,0.00,2.12,0.00,0.000,6,0.000,0.047,2973,2097,3372,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3055,-0.61,-155.7,384.2,-12.5,362,3056,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2095,3372,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3358,-0.61,-155.7,420.7,-11.3,392,3366,0.00,2.20,0.00,0.000,4,0.000,0.066,2963,3514,3371,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3389,-0.61,-155.7,424.7,-11.7,395,3400,0.15,2.15,0.00,0.000,6,0.146,0.047,3002,2091,3371,0,0,0,0,0,0,26.17,26.31,28.83
$GC,3700,-0.62,-155.7,453.3,-9.2,426,3709,0.00,2.20,0.00,0.000,4,0.000,0.066,2994,3513,3371,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3744,-0.63,-155.7,457.7,-10.3,430,3752,0.00,2.10,0.00,0.000,6,0.000,0.047,2994,2101,3371,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4053,-0.64,-155.7,488.5,-10.1,461,4061,0.00,2.10,0.00,0.000,4,0.000,0.055,2994,708,3370,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4105,-0.64,-155.7,493.9,-10.6,466,4114,0.00,2.15,0.00,0.000,6,0.000,0.055,2984,2115,3370,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4414,-0.64,-155.7,527.0,-10.9,497,4423,0.00,2.17,0.00,0.000,4,0.000,0.067,2974,3510,3369,0,0,0,0,0,0,28.83,26.29,28.83
$STATE,4434,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4434,begin apogee
$GC,4442,-0.22,0.0,529.4,-10.9,499,4578,0.45,0.00,130.35,0.930,6,0.129,0.000,3122,2495,2731,0,0,0,0,0,0,26.20,28.83,23.76
$STATE,4581,end apogee,CONTROL_FINISHED_OK
$STATE,4581,begin climb
$GC,4584,0.63,155.7,534.9,0.0,513,4727,0.82,0.00,136.18,0.898,6,0.095,0.000,3393,2494,2096,0,0,0,0,0,0,24.59,28.83,23.59
$GC,5026,0.62,155.7,488.5,11.0,558,5036,0.00,2.17,0.00,0.000,4,0.000,0.054,3404,1104,2087,0,0,0,0,0,0,28.83,25.46,28.83
$GC,5062,0.61,155.7,485.0,10.7,561,5070,0.00,2.28,0.00,0.000,6,0.000,0.058,3404,2499,2087,0,0,0,0,0,0,28.83,25.51,28.83
$GC,5370,0.60,155.7,447.9,11.4,592,5374,0.00,2.20,0.00,0.000,4,0.000,0.054,3414,1101,2085,0,0,0,0,0,0,28.83,25.75,28.83
$GC,5435,0.59,155.7,440.6,11.2,598,5444,0.00,2.20,0.00,0.000,6,0.000,0.058,3414,2502,2085,0,0,0,0,0,0,28.83,25.78,28.83
$GC,5743,0.58,155.7,402.0,12.4,629,5751,0.00,2.17,0.00,0.000,4,0.000,0.054,3425,1103,2084,0,0,0,0,0,0,28.83,25.91,28.83
$GC,5785,0.56,155.7,396.8,12.4,633,5795,0.17,2.22,0.00,0.000,6,0.154,0.057,3378,2510,2084,0,0,0,0,0,0,25.82,25.92,28.83
$GC,6096,0.57,190.1,368.3,8.5,664,6135,0.00,2.25,27.77,0.819,4,0.000,0.053,3387,1092,1954,0,0,0,0,0,0,28.83,25.49,24.80
$GC,6168,0.60,223.4,362.0,8.6,671,6207,0.00,2.28,28.77,0.802,6,0.000,0.057,3387,2510,1820,0,0,0,0,0,0,28.83,25.59,24.44
$GC,6508,0.60,223.4,327.9,11.0,705,6518,0.00,2.25,0.00,0.000,4,0.000,0.054,3396,1091,1814,0,0,0,0,0,0,28.83,25.67,28.83
$GC,6565,0.62,223.4,322.2,10.8,710,6571,0.00,2.25,0.00,0.000,6,0.000,0.057,3397,2500,1812,0,0,0,0,0,0,28.83,25.71,28.83
$GC,6871,0.62,223.4,284.1,12.5,741,6881,0.00,2.15,0.00,0.000,4,0.000,0.055,3405,1105,1812,0,0,0,0,0,0,28.83,25.87,28.83
$GC,6948,0.63,223.4,274.9,12.7,748,6954,0.00,2.20,0.00,0.000,6,0.000,0.057,3405,2506,1811,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7255,0.63,223.4,234.3,13.0,779,7265,0.00,2.15,0.00,0.000,4,0.000,0.054,3415,1106,1811,0,0,0,0,0,0,28.83,25.99,28.83
$GC,7309,0.64,223.4,227.5,12.9,784,7318,0.00,2.15,0.00,0.000,6,0.000,0.057,3415,2494,1811,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7619,0.64,223.4,188.2,12.8,815,7628,0.00,2.12,0.00,0.000,4,0.000,0.055,3425,1104,1811,0,0,0,0,0,0,28.83,26.07,28.83
$GC,7654,0.64,223.4,183.8,13.0,818,7661,0.00,2.22,0.00,0.000,6,0.000,0.057,3425,2502,1811,0,0,0,0,0,0,28.83,26.07,28.83
$GC,7963,0.64,223.4,141.0,13.4,849,7964,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2502,1810,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8265,0.64,223.4,103.1,12.3,879,8274,0.00,2.15,0.00,0.000,4,0.000,0.054,3436,1092,1810,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8318,0.64,223.4,96.5,11.8,886,8326,0.08,2.22,0.00,0.000,6,0.141,0.057,3410,2498,1810,0,0,0,0,0,0,26.06,26.15,28.83
$GC,8639,0.67,284.9,64.4,7.4,947,8694,0.00,2.22,48.45,0.647,4,0.000,0.053,3418,1101,1569,0,0,0,0,0,0,28.83,25.51,24.93
$GC,8729,0.71,333.9,57.0,7.9,961,8778,0.00,2.28,39.83,0.623,6,0.000,0.057,3418,2504,1369,0,0,0,0,0,0,28.83,25.60,24.57
$GC,9133,0.77,387.4,16.3,7.7,1042,9182,0.00,2.28,41.60,0.604,4,0.000,0.053,3419,1092,1149,0,0,0,0,0,0,28.83,25.20,24.65
$GC,9259,0.87,502.5,7.7,5.0,1064,9309,0.15,2.30,43.28,0.585,2,0.057,0.057,3495,2502,930,0,0,0,0,0,0,25.45,25.42,28.83
$STATE,9310,end climb,SURFACE_DEPTH_REACHED
$STATE,9310,begin surface coast
$FINISH,0.3,1.014710
$STATE,9330,end surface coast,CONTROL_FINISHED_OK
$STATE,9330,begin surface
$SM_CCo,9411,0.00,0.000,0,0,923,443.75
$SM_GC,1.10,9.20,0.65,0.00,0.048,0.050,0.000,136,2096,923,-9.47,1.07,443.75,0,0,0,0,0,0,25.21,25.15,28.83
$IRIDIUM_FIX,4729.30,-12508.44,130912,030354
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.64
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,15.90
$XPDR_PINGS,0
$24V_AH,23.6,3.692
$10V_AH,10.3,2.120
$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,22.200,87.975,496.225,0.000,0.000,54.042,60.784,165.402,0.000,0.000,47.235,2529.299,3981.786,587.656,2562.813,245.010,33.217,1597.621,0.000,2237.682,0.000,0.535,0.000
$DEVICE_MAMPS,226.440,77.265,930.240,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,734.075,858.406,1285.060,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296948
$DATA_FILE_SIZE,60186,1075
$CAP_FILE_SIZE,113109,0
$CFSIZE,260165632,256897024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.070,  1.0,1
$GPS,130912,060936,4746.543,-12512.451,38,1.0,39,18.7