version: 66.11
glider: 187
mission: 2
dive: 95
start: 10 1 112 22 53 7
data:
$ID,187
$MISSION,2
$DIVE,95
$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,-1587737.4
$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,36
$R_STBD_OVSHOOT,25
$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
$GPS1,011012,224706,4751.254,-12510.041,45,1.0,45,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-75.5
$GPS2,011012,225237,4751.217,-12510.068,15,1.3,15,18.7
$SPEED_LIMITS,0.127,0.220
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$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,172.0,168157,-13.4,-7.333,-18.42
$D_GRID,198
$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,-146.0,0.0,0.0,0,85,0.00,0.00,-66.25,0.000,2,0.000,0.000,112,2163,2904,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.48,-146.0,3.6,-6.3,11,117,11.18,2.28,-9.40,0.000,4,0.223,0.071,3023,3591,3392,0,0,0,0,0,0,25.53,25.79,26.15
$GC,349,-0.48,-146.0,50.1,-12.9,60,356,0.00,2.22,0.00,0.000,6,0.000,0.042,3024,2170,3396,0,0,0,0,0,0,28.83,25.97,28.83
$GC,667,-0.48,-146.0,86.0,-12.5,121,674,0.00,2.25,0.00,0.000,4,0.000,0.060,3013,3589,3398,0,0,0,0,0,0,28.83,26.01,28.83
$GC,723,-0.48,-146.0,92.7,-11.0,131,730,0.00,2.17,0.00,0.000,6,0.000,0.042,3013,2163,3398,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1040,-0.48,-146.0,129.1,-11.7,183,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2158,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1340,-0.48,-146.0,163.0,-10.9,203,1345,0.00,2.22,0.00,0.000,4,0.000,0.060,3002,3584,3398,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1369,-0.48,-146.0,166.5,-11.2,205,1376,0.15,2.15,0.00,0.000,6,0.135,0.042,3045,2173,3398,0,0,0,0,0,0,26.06,26.18,28.83
$GC,1688,-0.48,-146.0,195.6,-9.7,226,1693,0.00,2.12,0.00,0.000,4,0.000,0.050,3045,772,3398,0,0,0,0,0,0,28.83,26.18,28.83
$STATE,1714,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1714,begin apogee
$GC,1723,-0.22,0.0,198.2,-8.6,228,1846,0.25,0.00,116.57,0.688,6,0.117,0.000,3122,2302,2793,0,0,0,0,0,0,26.11,28.83,24.38
$STATE,1849,end apogee,CONTROL_FINISHED_OK
$STATE,1849,begin climb
$GC,1852,0.48,146.0,204.2,0.0,235,1983,0.68,2.38,120.47,0.674,4,0.099,0.060,3345,3709,2195,0,0,0,0,0,0,24.96,24.65,24.13
$GC,2020,0.48,146.0,193.7,8.2,245,2025,0.00,2.28,0.00,0.000,6,0.000,0.044,3354,2299,2193,0,0,0,0,0,0,28.83,25.03,28.83
$GC,2329,0.48,146.0,170.6,7.4,265,2334,0.00,2.20,0.00,0.000,4,0.000,0.050,3364,892,2189,0,0,0,0,0,0,28.83,25.62,28.83
$GC,2381,0.48,146.0,167.3,7.4,268,2388,0.00,2.25,0.00,0.000,6,0.000,0.050,3364,2300,2188,0,0,0,0,0,0,28.83,25.67,28.83
$GC,2689,0.48,146.0,141.8,8.1,289,2694,0.00,2.22,0.00,0.000,4,0.000,0.063,3364,3709,2187,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2764,0.48,146.0,134.5,9.6,294,2770,0.00,2.17,0.00,0.000,6,0.000,0.044,3373,2296,2187,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3076,0.49,169.7,110.4,6.4,332,3102,0.00,2.30,19.23,0.621,4,0.000,0.062,3374,3718,2100,0,0,0,0,0,0,28.83,25.74,25.14
$GC,3160,0.49,169.7,103.7,8.4,347,3167,0.12,2.20,0.00,0.000,6,0.150,0.044,3351,2296,2097,0,0,0,0,0,0,25.72,25.84,28.83
$GC,3472,0.50,206.1,80.9,5.9,408,3509,0.00,0.00,29.62,0.620,6,0.000,0.000,3351,2294,1952,0,0,0,0,0,0,28.83,28.83,25.01
$GC,3818,0.52,265.7,57.4,5.0,474,3869,0.00,0.00,48.08,0.601,6,0.000,0.000,3350,2294,1710,0,0,0,0,0,0,28.83,28.83,24.79
$GC,4179,0.58,405.7,45.2,1.9,542,4298,0.00,2.33,109.15,0.583,4,0.000,0.054,3350,905,1138,0,0,0,0,0,0,28.83,24.89,24.41
$GC,4359,0.58,405.7,31.1,11.6,572,4367,0.00,2.28,0.00,0.000,6,0.000,0.051,3351,2300,1134,0,0,0,0,0,0,28.83,25.24,28.83
$STATE,4623,end climb,SURFACE_DEPTH_REACHED
$STATE,4623,begin surface coast
$FINISH,0.7,1.002295
$STATE,4666,end surface coast,CONTROL_FINISHED_OK
$STATE,4666,begin surface
$SM_CCo,4745,0.00,0.000,0,0,1127,409.16
$SM_GC,1.64,8.32,0.20,0.00,0.029,0.067,0.000,121,2164,1127,-9.46,0.90,409.16,0,0,0,0,0,0,25.79,25.75,28.83
$IRIDIUM_FIX,4735.69,-12513.98,011012,212104
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.69
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,19.20
$XPDR_PINGS,1
$24V_AH,24.1,14.573
$10V_AH,10.3,12.488
$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,20.700,40.625,443.125,0.000,0.000,24.728,42.138,159.433,0.250,0.000,16.115,1469.890,1557.839,431.519,1465.836,162.120,0.000,1048.444,0.000,1246.849,0.000,0.536,0.000
$DEVICE_MAMPS,223.380,71.145,687.735,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,427.980,465.906,548.645,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297096
$DATA_FILE_SIZE,33503,630
$CAP_FILE_SIZE,63037,0
$CFSIZE,260165632,250068992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.156,  7.9,1
$GPS,021012,001301,4750.770,-12510.369,12,2.0,12,18.7