version: 66.11
glider: 187
mission: 2
dive: 10
start: 9 13 112 9 28 2
data:
$ID,187
$MISSION,2
$DIVE,10
$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,-1587623.1
$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,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,35
$R_STBD_OVSHOOT,20
$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
$GPS1,130912,092103,4745.805,-12514.483,14,6.7,33,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-77.6
$GPS2,130912,092701,4745.841,-12514.549,13,2.0,13,18.7
$SPEED_LIMITS,0.173,0.269
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.217,-0.158
$KALMAN_X,791.0,-523.0,101.8,-11671.5,-261.2
$KALMAN_Y,-772.7,1165.5,136.5,-6403.6,78.3
$MHEAD_RNG_PITCHd_Wd,213.3,157948,-18.1,-10.000,-20.39
$D_GRID,699
$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,-155.7,0.0,0.0,0,94,0.00,0.00,-75.38,0.000,2,0.000,0.000,121,2096,3151,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.63,-155.7,4.4,-10.8,12,120,11.20,2.25,-3.60,0.000,4,0.231,0.067,2982,3524,3369,0,0,0,0,0,0,25.44,25.70,26.01
$GC,365,-0.61,-155.7,63.8,-17.4,65,373,0.00,2.22,0.00,0.000,6,0.000,0.045,2982,2099,3373,0,0,0,0,0,0,28.83,25.88,28.83
$GC,687,-0.60,-155.7,113.5,-14.0,118,688,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2094,3374,0,0,0,0,0,0,28.83,28.83,28.83
$GC,990,-0.59,-155.7,153.6,-13.8,148,999,0.00,2.20,0.00,0.000,4,0.000,0.063,2972,3510,3374,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1065,-0.59,-155.7,164.5,-14.0,155,1073,0.15,2.15,0.00,0.000,6,0.151,0.045,3011,2088,3374,0,0,0,0,0,0,25.96,26.08,28.83
$GC,1373,-0.60,-155.7,200.8,-12.2,186,1374,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2083,3375,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1675,-0.60,-155.7,235.3,-10.7,216,1685,0.00,2.22,0.00,0.000,4,0.000,0.064,3003,3514,3374,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1710,-0.61,-155.7,239.2,-11.0,219,1718,0.00,2.15,0.00,0.000,6,0.000,0.046,3002,2091,3374,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2019,-0.62,-155.7,275.2,-12.2,250,2020,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2088,3374,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2321,-0.62,-155.7,309.2,-10.5,280,2330,0.00,2.20,0.00,0.000,4,0.000,0.065,2992,3508,3374,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2364,-0.63,-155.7,314.2,-11.0,284,2368,0.00,2.15,0.00,0.000,6,0.000,0.047,2992,2103,3373,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2676,-0.63,-155.7,348.7,-10.7,315,2677,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2098,3373,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2978,-0.63,-155.7,380.4,-10.5,345,2984,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2098,3373,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3289,-0.63,-155.7,414.2,-11.5,376,3295,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2098,3372,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3598,-0.63,-155.7,447.3,-10.5,407,3607,0.00,2.20,0.00,0.000,4,0.000,0.066,2982,3509,3371,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3661,-0.63,-155.7,454.5,-10.8,413,3670,0.00,2.15,0.00,0.000,6,0.000,0.047,2981,2094,3371,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3971,-0.63,-155.7,490.8,-12.5,444,3973,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2093,3371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4273,-0.63,-155.7,528.7,-12.3,474,4279,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2093,3370,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4585,-0.63,-155.7,564.2,-11.1,505,4594,0.00,2.20,0.00,0.000,4,0.000,0.067,2971,3509,3370,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4637,-0.63,-155.7,570.5,-11.4,510,4641,0.00,2.12,0.00,0.000,6,0.000,0.048,2971,2100,3370,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4951,-0.63,-155.7,607.4,-11.9,537,4952,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2096,3370,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5249,-0.63,-155.7,642.9,-11.5,547,5255,0.00,2.22,0.00,0.000,4,0.000,0.067,2961,3515,3369,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5287,-0.63,-155.7,646.5,-11.4,548,5292,0.12,2.17,0.00,0.000,6,0.155,0.048,2993,2090,3369,0,0,0,0,0,0,26.25,26.36,28.83
$GC,5606,-0.64,-155.7,677.9,-9.3,559,5611,0.00,2.25,0.00,0.000,4,0.000,0.068,2984,3518,3369,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5667,-0.64,-155.7,683.9,-9.7,561,5672,0.00,2.12,0.00,0.000,6,0.000,0.049,2984,2105,3368,0,0,0,0,0,0,28.83,26.37,28.83
$STATE,5813,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5813,begin apogee
$GC,5819,-0.22,0.0,699.1,-10.1,566,5959,0.43,0.00,133.23,1.044,6,0.129,0.000,3122,2513,2732,0,0,0,0,0,0,26.26,28.83,23.63
$STATE,5960,end apogee,CONTROL_FINISHED_OK
$STATE,5960,begin climb
$GC,5963,0.63,155.7,703.2,0.0,570,6113,0.82,2.22,138.35,1.014,4,0.092,0.067,3394,3797,2096,0,0,0,0,0,0,24.49,24.18,23.44
$GC,6135,0.60,165.7,692.6,9.6,575,6149,0.00,2.12,9.90,0.860,6,0.000,0.049,3406,2498,2056,0,0,0,0,0,0,28.83,24.61,23.74
$GC,6480,0.59,165.7,646.0,12.3,587,6485,0.00,2.20,0.00,0.000,4,0.000,0.055,3416,1097,2049,0,0,0,0,0,0,28.83,25.46,28.83
$GC,6531,0.57,165.7,642.2,12.4,588,6539,0.12,2.25,0.00,0.000,6,0.165,0.058,3386,2502,2048,0,0,0,0,0,0,25.41,25.50,28.83
$GC,6838,0.57,165.7,606.2,11.0,599,6844,0.00,2.20,0.00,0.000,4,0.000,0.055,3394,1094,2046,0,0,0,0,0,0,28.83,25.73,28.83
$GC,6871,0.56,165.7,602.9,11.1,600,6875,0.00,2.22,0.00,0.000,6,0.000,0.058,3395,2501,2046,0,0,0,0,0,0,28.83,25.74,28.83
$GC,7185,0.55,165.7,565.2,12.8,628,7193,0.00,2.17,0.00,0.000,4,0.000,0.056,3405,1092,2046,0,0,0,0,0,0,28.83,25.88,28.83
$GC,7217,0.54,165.7,561.0,12.2,631,7227,0.00,2.25,0.00,0.000,6,0.000,0.059,3405,2505,2045,0,0,0,0,0,0,28.83,25.88,28.83
$GC,7526,0.53,165.7,518.5,13.6,662,7536,0.12,2.17,0.00,0.000,4,0.178,0.054,3378,1096,2046,0,0,0,0,0,0,25.89,25.97,28.83
$GC,7560,0.52,165.7,514.6,12.3,665,7568,0.00,2.20,0.00,0.000,6,0.000,0.059,3378,2505,2045,0,0,0,0,0,0,28.83,25.97,28.83
$GC,7870,0.52,165.7,479.5,11.3,696,7879,0.00,2.20,0.00,0.000,4,0.000,0.056,3389,1089,2045,0,0,0,0,0,0,28.83,26.04,28.83
$GC,7905,0.52,165.7,476.0,10.9,699,7913,0.00,2.28,0.00,0.000,6,0.000,0.059,3389,2509,2045,0,0,0,0,0,0,28.83,26.04,28.83
$GC,8213,0.51,165.7,441.9,10.6,730,8214,0.00,0.00,0.00,0.000,6,0.000,0.000,3388,2509,2045,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8516,0.51,165.7,412.1,10.1,760,8525,0.00,2.20,0.00,0.000,4,0.000,0.056,3399,1089,2044,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8589,0.51,168.5,404.4,9.9,767,8599,0.10,2.17,0.00,0.000,6,0.140,0.058,3367,2499,2044,0,0,0,0,0,0,26.03,26.14,28.83
$GC,8900,0.51,168.5,373.1,10.3,798,8910,0.00,2.15,0.00,0.000,4,0.000,0.056,3375,1090,2044,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8947,0.52,168.5,368.5,10.5,802,8954,0.00,2.22,0.00,0.000,6,0.000,0.058,3375,2504,2044,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9253,0.52,168.5,333.8,11.0,833,9261,0.00,2.17,0.00,0.000,4,0.000,0.055,3385,1089,2044,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9298,0.52,168.5,329.3,10.8,837,9305,0.00,2.25,0.00,0.000,6,0.000,0.058,3386,2505,2044,0,0,0,0,0,0,28.83,26.20,28.83
$GC,9606,0.52,168.5,296.8,10.0,868,9614,0.00,2.15,0.00,0.000,4,0.000,0.055,3396,1096,2044,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9657,0.53,176.3,291.7,9.7,873,9670,0.00,2.20,8.15,0.704,6,0.000,0.058,3396,2513,2013,0,0,0,0,0,0,28.83,26.22,25.31
$GC,9974,0.52,176.3,257.3,11.2,904,9983,0.00,2.17,0.00,0.000,4,0.000,0.055,3404,1091,2010,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10016,0.52,176.3,252.6,10.8,908,10026,0.10,2.17,0.00,0.000,6,0.138,0.058,3372,2501,2010,0,0,0,0,0,0,26.06,26.16,28.83
$GC,10327,0.53,184.9,223.6,9.6,939,10346,0.00,2.17,8.68,0.674,4,0.000,0.054,3380,1090,1978,0,0,0,0,0,0,28.83,26.04,25.31
$GC,10391,0.55,206.3,217.6,9.1,945,10420,0.00,2.17,19.52,0.729,6,0.000,0.057,3380,2495,1889,0,0,0,0,0,0,28.83,26.08,25.06
$GC,10720,0.56,206.3,182.0,11.2,978,10729,0.00,2.15,0.00,0.000,4,0.000,0.054,3390,1101,1885,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10763,0.57,206.3,177.2,11.1,982,10772,0.00,2.22,0.00,0.000,6,0.000,0.057,3390,2508,1885,0,0,0,0,0,0,28.83,25.94,28.83
$GC,11073,0.57,206.3,142.7,10.6,1013,11082,0.00,2.17,0.00,0.000,4,0.000,0.055,3398,1095,1885,0,0,0,0,0,0,28.83,26.03,28.83
$GC,11129,0.58,206.3,137.1,10.2,1018,11136,0.00,2.25,0.00,0.000,6,0.000,0.057,3398,2503,1884,0,0,0,0,0,0,28.83,26.04,28.83
$GC,11436,0.58,206.3,103.5,11.8,1049,11437,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,2503,1884,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11744,0.59,206.3,70.0,10.6,1106,11752,0.00,2.22,0.00,0.000,4,0.000,0.054,3408,1089,1884,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11776,0.60,206.3,66.8,10.5,1111,11784,0.00,2.25,0.00,0.000,6,0.000,0.057,3408,2505,1883,0,0,0,0,0,0,28.83,26.15,28.83
$GC,12116,0.63,259.4,39.1,7.7,1178,12165,0.00,2.30,42.90,0.636,4,0.000,0.054,3418,1094,1673,0,0,0,0,0,0,28.83,25.59,25.00
$GC,12197,0.68,325.1,32.9,7.2,1191,12260,0.00,2.28,52.92,0.617,6,0.000,0.057,3418,2501,1403,0,0,0,0,0,0,28.83,25.66,24.52
$STATE,12579,end climb,SURFACE_DEPTH_REACHED
$STATE,12579,begin surface coast
$FINISH,0.1,1.001760
$STATE,12656,end surface coast,CONTROL_FINISHED_OK
$STATE,12656,begin surface
$SM_CCo,12736,0.00,0.000,0,0,1390,328.95
$SM_GC,0.89,8.57,0.65,0.00,0.034,0.051,0.000,119,2085,1390,-9.49,0.79,328.95,0,0,0,0,0,0,25.77,25.75,28.83
$IRIDIUM_FIX,4729.30,-12515.52,130912,060623
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.84
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,16.30
$XPDR_PINGS,0
$24V_AH,23.4,3.927
$10V_AH,10.3,2.377
$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,21.750,106.875,413.650,0.000,0.000,26.337,38.712,171.281,0.000,0.000,15.754,3157.579,6141.951,526.189,2957.167,305.880,33.219,1728.619,0.000,2713.248,0.000,0.535,0.000
$DEVICE_MAMPS,231.030,68.085,1044.225,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,883.438,1037.803,1418.866,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296932
$DATA_FILE_SIZE,73465,1283
$CAP_FILE_SIZE,140986,0
$CFSIZE,260165632,256712704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.031,141.6,1
$GPS,130912,130136,4744.725,-12516.824,40,1.2,40,18.7