version: 66.11
glider: 187
mission: 2
dive: 75
start: 9 30 112 16 2 21
data:
$ID,187
$MISSION,2
$DIVE,75
$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,-1587712.4
$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,45
$R_STBD_OVSHOOT,24
$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
$GPS1,300912,155605,4748.700,-12517.700,56,1.1,56,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-78.3
$GPS2,300912,160149,4748.680,-12517.735,12,1.3,12,18.7
$SPEED_LIMITS,0.127,0.220
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$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,47.1,30968,-13.4,-7.333,-18.42
$D_GRID,514
$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,-146.0,0.0,0.0,0,73,0.00,0.00,-54.42,0.000,2,0.000,0.000,109,2167,2802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.48,-146.0,3.1,-2.5,9,110,11.27,2.20,-12.20,0.000,4,0.226,0.065,3034,779,3394,0,0,0,0,0,0,25.49,25.77,26.10
$GC,328,-0.48,-146.0,48.2,-14.3,55,335,0.00,2.17,0.00,0.000,6,0.000,0.050,3027,2187,3397,0,0,0,0,0,0,28.83,25.89,28.83
$GC,652,-0.48,-146.0,91.5,-10.3,116,659,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2187,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,975,-0.48,-146.0,124.9,-10.3,172,981,0.00,2.15,0.00,0.000,4,0.000,0.050,3027,778,3399,0,0,0,0,0,0,28.83,26.06,28.83
$GC,993,-0.48,-146.0,126.5,-10.4,173,997,0.00,2.15,0.00,0.000,6,0.000,0.050,3017,2178,3399,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1302,-0.48,-146.0,163.6,-12.1,193,1308,0.00,2.17,0.00,0.000,4,0.000,0.063,3007,3582,3399,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1354,-0.48,-146.0,169.3,-12.6,196,1362,0.08,2.17,0.00,0.000,6,0.122,0.044,3035,2169,3399,0,0,0,0,0,0,26.03,26.15,28.83
$GC,1666,-0.48,-146.0,202.8,-10.1,217,1668,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2169,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1966,-0.48,-146.0,232.7,-9.9,232,1969,0.00,2.25,0.00,0.000,4,0.000,0.063,3027,3588,3399,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1990,-0.48,-146.0,234.9,-9.9,233,1994,0.00,2.15,0.00,0.000,6,0.000,0.044,3026,2168,3399,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2303,-0.48,-146.0,268.3,-10.2,249,2308,0.00,2.20,0.00,0.000,4,0.000,0.063,3016,3579,3399,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2322,-0.48,-146.0,270.6,-10.4,250,2328,0.00,2.12,0.00,0.000,6,0.000,0.044,3016,2171,3399,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2642,-0.48,-146.0,305.4,-10.9,266,2648,0.00,2.12,0.00,0.000,4,0.000,0.051,3016,773,3399,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2665,-0.48,-146.0,307.8,-11.1,267,2670,0.12,2.15,0.00,0.000,6,0.145,0.052,3042,2181,3399,0,0,0,0,0,0,26.14,26.22,28.83
$GC,2978,-0.48,-146.0,337.2,-9.0,283,2984,0.00,2.17,0.00,0.000,4,0.000,0.064,3033,3581,3398,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3051,-0.48,-146.0,342.8,-9.2,286,3058,0.00,2.12,0.00,0.000,6,0.000,0.044,3033,2168,3398,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3360,-0.48,-146.0,373.4,-9.5,302,3365,0.00,2.20,0.00,0.000,4,0.000,0.065,3023,3578,3397,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3391,-0.48,-146.0,375.4,-9.6,303,3398,0.00,2.12,0.00,0.000,6,0.000,0.045,3022,2167,3397,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3698,-0.48,-146.0,406.8,-9.9,318,3699,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2166,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3998,-0.48,-146.0,434.7,-9.0,328,4004,0.00,2.25,0.00,0.000,4,0.000,0.065,3012,3587,3396,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4042,-0.48,-146.0,437.4,-9.1,329,4046,0.00,2.12,0.00,0.000,6,0.000,0.046,3012,2178,3397,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4354,-0.48,-146.0,468.8,-9.6,340,4359,0.00,2.20,0.00,0.000,4,0.000,0.065,3002,3582,3396,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4392,-0.48,-146.0,471.7,-9.7,341,4397,0.12,2.12,0.00,0.000,6,0.142,0.046,3038,2174,3396,0,0,0,0,0,0,26.20,26.32,28.83
$GC,4710,-0.48,-146.0,498.7,-8.0,352,4715,0.00,2.22,0.00,0.000,4,0.000,0.066,3029,3583,3396,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4753,-0.48,-146.0,501.2,-7.9,353,4757,0.00,2.12,0.00,0.000,6,0.000,0.046,3029,2174,3396,0,0,0,0,0,0,28.83,26.32,28.83
$STATE,4912,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4912,begin apogee
$GC,4919,-0.22,0.0,515.2,-8.1,359,5046,0.28,0.00,120.57,0.903,6,0.119,0.000,3123,2306,2793,0,0,0,0,0,0,26.21,28.83,24.08
$STATE,5049,end apogee,CONTROL_FINISHED_OK
$STATE,5049,begin climb
$GC,5051,0.48,146.0,519.7,0.0,363,5188,0.65,2.47,125.18,0.870,4,0.090,0.065,3342,3708,2196,0,0,0,0,0,0,24.78,24.42,23.84
$GC,5209,0.49,185.2,513.6,5.8,368,5251,0.00,2.28,33.67,0.842,6,0.000,0.046,3352,2306,2038,0,0,0,0,0,0,28.83,24.75,23.89
$GC,5551,0.49,185.2,480.2,9.1,380,5556,0.00,2.25,0.00,0.000,4,0.000,0.055,3362,898,2030,0,0,0,0,0,0,28.83,25.44,28.83
$GC,5581,0.49,185.2,477.4,9.1,381,5587,0.00,2.20,0.00,0.000,6,0.000,0.054,3362,2287,2028,0,0,0,0,0,0,28.83,25.47,28.83
$GC,5911,0.49,185.2,445.2,9.8,392,5916,0.00,2.30,0.00,0.000,4,0.000,0.067,3362,3715,2025,0,0,0,0,0,0,28.83,25.71,28.83
$GC,5974,0.49,185.2,438.3,10.7,394,5978,0.00,2.20,0.00,0.000,6,0.000,0.048,3372,2306,2025,0,0,0,0,0,0,28.83,25.79,28.83
$GC,6297,0.49,185.2,403.0,10.9,405,6298,0.00,0.00,0.00,0.000,6,0.000,0.000,3371,2299,2024,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6606,0.49,185.2,369.5,10.7,420,6607,0.00,0.00,0.00,0.000,6,0.000,0.000,3372,2299,2024,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6906,0.49,185.2,337.8,10.5,435,6912,0.00,2.25,0.00,0.000,4,0.000,0.067,3372,3709,2024,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6966,0.49,185.2,330.6,11.7,438,6972,0.00,2.20,0.00,0.000,6,0.000,0.048,3381,2293,2024,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7288,0.49,185.2,295.5,10.7,454,7289,0.00,0.00,0.00,0.000,6,0.000,0.000,3381,2287,2024,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7587,0.49,185.2,263.9,10.3,469,7588,0.00,0.00,0.00,0.000,6,0.000,0.000,3381,2288,2023,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7886,0.49,185.2,234.8,9.4,484,7892,0.00,2.28,0.00,0.000,4,0.000,0.066,3381,3721,2023,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7909,0.49,185.2,232.9,9.4,485,7913,0.15,2.20,0.00,0.000,6,0.151,0.048,3350,2297,2022,0,0,0,0,0,0,26.06,26.19,28.83
$GC,8222,0.50,210.6,211.8,6.4,501,8244,0.00,0.00,20.17,0.713,6,0.000,0.000,3350,2291,1935,0,0,0,0,0,0,28.83,28.83,25.25
$GC,8542,0.51,223.5,190.8,6.8,519,8556,0.00,0.00,11.85,0.669,6,0.000,0.000,3350,2291,1882,0,0,0,0,0,0,28.83,28.83,25.19
$GC,8857,0.51,223.5,167.5,7.6,540,8858,0.00,0.00,0.00,0.000,6,0.000,0.000,3350,2291,1879,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9156,0.51,223.5,143.6,7.6,560,9162,0.00,2.28,0.00,0.000,4,0.000,0.066,3350,3714,1878,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9180,0.51,223.5,142.6,7.6,561,9187,0.00,2.20,0.00,0.000,6,0.000,0.048,3356,2292,1878,0,0,0,0,0,0,28.83,26.08,28.83
$GC,9487,0.51,223.5,117.6,8.2,584,9495,0.00,2.20,0.00,0.000,4,0.000,0.055,3366,898,1877,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9540,0.51,223.5,113.6,8.1,593,9546,0.00,2.17,0.00,0.000,6,0.000,0.053,3365,2311,1876,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9858,0.52,241.8,87.5,6.6,654,9878,0.00,2.30,15.88,0.630,4,0.000,0.065,3365,3708,1807,0,0,0,0,0,0,28.83,25.93,25.32
$GC,9924,0.52,241.8,82.4,8.2,665,9930,0.00,2.20,0.00,0.000,6,0.000,0.047,3372,2302,1805,0,0,0,0,0,0,28.83,25.99,28.83
$GC,10248,0.54,302.2,63.1,5.0,726,10306,0.00,2.30,48.97,0.621,4,0.000,0.054,3382,891,1560,0,0,0,0,0,0,28.83,25.47,24.93
$GC,10345,0.56,350.8,57.9,5.5,742,10391,0.00,2.25,39.62,0.598,6,0.000,0.052,3382,2292,1362,0,0,0,0,0,0,28.83,25.56,24.64
$GC,10708,0.58,406.6,39.6,5.2,809,10759,0.00,2.25,43.67,0.597,4,0.000,0.051,3382,893,1134,0,0,0,0,0,0,28.83,25.22,24.72
$GC,10777,0.61,485.2,36.1,4.3,820,10847,0.00,2.28,61.42,0.576,6,0.000,0.050,3382,2299,813,0,0,0,0,0,0,28.83,25.31,24.40
$STATE,11110,end climb,SURFACE_DEPTH_REACHED
$STATE,11110,begin surface coast
$FINISH,0.9,1.001204
$STATE,11154,end surface coast,CONTROL_FINISHED_OK
$STATE,11154,begin surface
$SM_CCo,11234,0.00,0.000,0,0,803,488.15
$SM_GC,2.03,8.43,0.20,0.00,0.027,0.076,0.000,114,2167,803,-9.46,1.10,488.15,0,0,0,0,0,0,25.68,25.63,28.83
$IRIDIUM_FIX,4729.30,-12519.98,300912,111158
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.83
$INTERNAL_PRESSURE,9.0304
$TCM_TEMP,15.60
$XPDR_PINGS,0
$24V_AH,23.8,12.872
$10V_AH,10.3,11.302
$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,21.100,93.150,521.025,0.000,0.000,28.389,34.960,162.214,0.000,0.000,13.270,2191.102,6645.356,526.379,1986.580,227.863,0.000,1448.735,0.000,1746.700,0.000,0.535,0.000
$DEVICE_MAMPS,225.675,83.385,902.700,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,607.928,568.081,525.177,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296972
$DATA_FILE_SIZE,50267,889
$CAP_FILE_SIZE,107648,0
$CFSIZE,260165632,250834944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.104,300.7,1
$GPS,300912,191054,4749.852,-12516.251,41,1.4,42,18.7