version: 66.11
glider: 187
mission: 2
dive: 76
start: 9 30 112 19 16 43
data:
$ID,187
$MISSION,2
$DIVE,76
$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,-1587713.6
$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,39
$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
$GPS1,300912,191054,4749.852,-12516.251,41,1.4,42,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-78.1
$GPS2,300912,191613,4749.870,-12516.313,13,1.5,13,18.7
$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,64.1,28289,-13.4,-7.333,-18.42
$D_GRID,441
$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,-146.0,0.0,0.0,0,105,0.00,0.00,-85.40,0.000,2,0.000,0.000,112,2160,2807,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-0.48,-146.0,3.1,-3.3,14,137,11.25,2.22,-11.98,0.000,4,0.223,0.060,3032,763,3393,0,0,0,0,0,0,25.41,25.68,26.00
$GC,376,-0.48,-146.0,47.9,-13.5,63,383,0.00,2.22,0.00,0.000,6,0.000,0.050,3024,2187,3398,0,0,0,0,0,0,28.83,25.83,28.83
$GC,699,-0.48,-146.0,97.5,-16.3,124,707,0.00,2.22,0.00,0.000,4,0.000,0.049,3024,767,3399,0,0,0,0,0,0,28.83,25.96,28.83
$GC,731,-0.48,-146.0,102.4,-16.1,129,738,0.00,2.17,0.00,0.000,6,0.000,0.050,3014,2182,3399,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1054,-0.48,-146.0,150.0,-13.9,164,1060,0.00,2.20,0.00,0.000,4,0.000,0.062,3003,3587,3399,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1101,-0.48,-146.0,156.7,-14.4,167,1107,0.10,2.12,0.00,0.000,6,0.115,0.043,3039,2169,3399,0,0,0,0,0,0,25.96,26.08,28.83
$GC,1417,-0.48,-146.0,192.7,-10.9,188,1418,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2167,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1730,-0.48,-146.0,226.1,-10.2,205,1731,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2167,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2030,-0.48,-146.0,254.6,-9.1,220,2036,0.00,2.25,0.00,0.000,4,0.000,0.063,3030,3584,3399,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2098,-0.48,-146.0,260.0,-9.0,223,2102,0.00,2.12,0.00,0.000,6,0.000,0.044,3030,2171,3399,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2405,-0.48,-146.0,287.9,-8.8,238,2406,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2168,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2705,-0.48,-146.0,313.8,-8.9,253,2707,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2168,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3005,-0.48,-146.0,340.4,-9.0,268,3010,0.00,2.25,0.00,0.000,4,0.000,0.064,3020,3593,3397,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3053,-0.48,-146.0,344.1,-9.0,270,3057,0.00,2.15,0.00,0.000,6,0.000,0.045,3020,2166,3397,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3362,-0.48,-146.0,374.4,-9.7,285,3367,0.00,2.20,0.00,0.000,4,0.000,0.064,3010,3577,3396,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3413,-0.48,-146.0,378.6,-10.2,287,3421,0.12,2.12,0.00,0.000,6,0.138,0.045,3045,2166,3396,0,0,0,0,0,0,26.18,26.29,28.83
$GC,3720,-0.48,-146.0,406.5,-8.6,302,3726,0.00,2.25,0.00,0.000,4,0.000,0.065,3037,3593,3396,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3769,-0.48,-146.0,409.0,-8.7,303,3773,0.00,2.15,0.00,0.000,6,0.000,0.045,3037,2170,3396,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4076,-0.48,-146.0,437.9,-8.7,313,4077,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2167,3395,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4133,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4133,begin apogee
$GC,4139,-0.22,0.0,443.0,-8.6,315,4264,0.25,0.00,119.78,0.854,6,0.122,0.000,3121,2315,2793,0,0,0,0,0,0,26.20,28.83,24.14
$STATE,4267,end apogee,CONTROL_FINISHED_OK
$STATE,4267,begin climb
$GC,4270,0.48,146.0,448.1,0.0,319,4403,0.68,2.45,123.82,0.821,4,0.090,0.064,3347,3708,2197,0,0,0,0,0,0,24.80,24.48,23.89
$GC,4425,0.50,201.8,443.1,5.2,324,4478,0.00,2.28,46.58,0.802,6,0.000,0.046,3356,2304,1971,0,0,0,0,0,0,28.83,24.79,23.91
$GC,4799,0.50,201.8,406.3,9.7,337,4804,0.00,2.22,0.00,0.000,4,0.000,0.054,3367,900,1961,0,0,0,0,0,0,28.83,25.48,28.83
$GC,4835,0.50,201.8,403.4,9.6,338,4839,0.00,2.20,0.00,0.000,6,0.000,0.053,3367,2293,1960,0,0,0,0,0,0,28.83,25.52,28.83
$GC,5143,0.50,201.8,369.2,11.2,353,5148,0.00,2.25,0.00,0.000,4,0.000,0.066,3367,3705,1960,0,0,0,0,0,0,28.83,25.75,28.83
$GC,5210,0.50,201.8,361.5,12.5,356,5215,0.00,2.17,0.00,0.000,6,0.000,0.047,3376,2308,1959,0,0,0,0,0,0,28.83,25.82,28.83
$GC,5518,0.50,201.8,325.3,11.0,371,5519,0.00,0.00,0.00,0.000,6,0.000,0.000,3377,2301,1958,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5817,0.50,201.8,292.3,10.5,386,5818,0.00,0.00,0.00,0.000,6,0.000,0.000,3376,2301,1957,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6118,0.50,201.8,263.4,9.4,401,6119,0.00,0.00,0.00,0.000,6,0.000,0.000,3376,2301,1957,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6417,0.50,201.8,234.5,9.4,416,6423,0.00,2.25,0.00,0.000,4,0.000,0.066,3376,3716,1957,0,0,0,0,0,0,28.83,26.09,28.83
$GC,6457,0.50,201.8,230.2,9.9,418,6463,0.00,2.20,0.00,0.000,6,0.000,0.047,3386,2290,1957,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6772,0.50,201.8,198.1,10.2,434,6778,0.00,2.28,0.00,0.000,4,0.000,0.066,3386,3716,1957,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6796,0.50,201.8,196.6,10.2,435,6803,0.15,2.20,0.00,0.000,6,0.148,0.047,3355,2290,1957,0,0,0,0,0,0,26.06,26.17,28.83
$GC,7102,0.50,201.8,170.0,8.0,456,7108,0.00,2.15,0.00,0.000,4,0.000,0.054,3363,889,1956,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7133,0.50,201.8,167.6,7.9,458,7139,0.00,2.17,0.00,0.000,6,0.000,0.054,3363,2303,1956,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7450,0.50,201.8,141.5,8.4,479,7455,0.00,2.20,0.00,0.000,4,0.000,0.066,3363,3708,1956,0,0,0,0,0,0,28.83,26.18,28.83
$GC,7487,0.50,201.8,138.9,8.4,481,7494,0.00,2.17,0.00,0.000,6,0.000,0.047,3372,2287,1956,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7797,0.50,201.8,112.7,7.9,514,7804,0.00,2.28,0.00,0.000,4,0.000,0.066,3372,3708,1956,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7832,0.50,201.8,109.7,9.2,520,7840,0.00,2.20,0.00,0.000,6,0.000,0.047,3381,2299,1956,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8154,0.50,201.8,81.2,10.5,581,8161,0.00,2.22,0.00,0.000,4,0.000,0.065,3381,3709,1956,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8174,0.50,201.8,78.9,11.0,584,8183,0.10,2.20,0.00,0.000,6,0.120,0.047,3345,2298,1955,0,0,0,0,0,0,26.15,26.26,28.83
$GC,8498,0.51,222.4,50.7,6.5,645,8524,0.00,2.22,15.88,0.601,4,0.000,0.054,3353,897,1886,0,0,0,0,0,0,28.83,26.06,25.43
$GC,8571,0.52,256.7,46.2,6.0,657,8609,0.00,2.17,29.27,0.614,6,0.000,0.051,3353,2302,1745,0,0,0,0,0,0,28.83,26.08,25.17
$GC,8927,0.53,285.1,31.7,6.2,723,8959,0.00,2.33,22.83,0.597,4,0.000,0.064,3353,3710,1629,0,0,0,0,0,0,28.83,25.64,25.08
$GC,9197,0.55,330.2,8.4,5.6,773,9242,0.00,2.20,36.22,0.580,6,0.000,0.045,3353,2282,1445,0,0,0,0,0,0,28.83,25.87,24.92
$STATE,9293,end climb,SURFACE_DEPTH_REACHED
$STATE,9293,begin surface coast
$FINISH,1.0,1.012520
$STATE,9365,end surface coast,CONTROL_FINISHED_OK
$STATE,9365,begin surface
$SM_CCo,9444,0.00,0.000,0,0,1436,332.87
$SM_GC,1.86,8.35,0.15,0.00,0.029,0.083,0.000,116,2173,1436,-9.45,1.30,332.87,0,0,0,0,0,0,25.73,25.68,28.83
$IRIDIUM_FIX,4729.30,-12519.98,300912,151554
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.62
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,15.00
$XPDR_PINGS,0
$24V_AH,23.9,12.969
$10V_AH,10.3,11.375
$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,21.000,80.075,394.375,0.000,0.000,27.751,37.112,143.218,0.000,0.000,13.907,1984.371,5318.926,449.053,1810.570,203.392,0.000,1266.816,0.000,1588.639,0.000,0.535,0.000
$DEVICE_MAMPS,222.615,83.385,853.740,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,549.398,520.424,514.861,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43640,803
$CAP_FILE_SIZE,94437,0
$CFSIZE,260165632,250798080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.084,322.2,1
$GPS,300912,215529,4750.617,-12515.072,34,1.2,45,18.7