version: 66.11
glider: 187
mission: 2
dive: 97
start: 10 2 112 2 5 55
data:
$ID,187
$MISSION,2
$DIVE,97
$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,-1587739.9
$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,37
$R_STBD_OVSHOOT,27
$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
$GPS1,021012,015936,4750.080,-12511.048,34,0.9,34,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-76.0
$GPS2,021012,020524,4750.040,-12511.028,14,1.7,19,18.7
$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,191.5,165930,-13.4,-7.333,-18.42
$D_GRID,316
$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,-146.0,0.0,0.0,0,92,0.00,0.00,-73.35,0.000,2,0.000,0.000,113,2177,2949,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.48,-146.0,3.6,-5.6,12,124,11.35,2.25,-8.38,0.000,4,0.228,0.070,3023,3594,3392,0,0,0,0,0,0,25.46,25.72,26.07
$GC,246,-0.48,-146.0,35.7,-15.3,39,254,0.00,2.17,0.00,0.000,6,0.000,0.041,3022,2169,3396,0,0,0,0,0,0,28.83,25.86,28.83
$GC,563,-0.48,-146.0,81.0,-8.9,100,571,0.00,2.17,0.00,0.000,4,0.000,0.050,3022,778,3398,0,0,0,0,0,0,28.83,25.96,28.83
$GC,604,-0.48,-146.0,84.7,-9.2,107,611,0.00,2.15,0.00,0.000,6,0.000,0.048,3013,2181,3398,0,0,0,0,0,0,28.83,25.98,28.83
$GC,917,-0.48,-146.0,122.2,-12.9,166,923,0.00,2.17,0.00,0.000,4,0.000,0.061,3003,3584,3398,0,0,0,0,0,0,28.83,26.03,28.83
$GC,946,-0.48,-146.0,126.4,-13.4,168,952,0.10,2.10,0.00,0.000,6,0.117,0.042,3038,2175,3398,0,0,0,0,0,0,25.97,26.10,28.83
$GC,1264,-0.48,-146.0,157.2,-9.3,189,1269,0.00,2.20,0.00,0.000,4,0.000,0.061,3029,3584,3398,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1308,-0.48,-146.0,161.8,-10.0,192,1313,0.00,2.10,0.00,0.000,6,0.000,0.042,3029,2180,3398,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1624,-0.48,-146.0,194.7,-9.6,213,1625,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2176,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1922,-0.48,-146.0,221.8,-9.0,229,1928,0.00,2.15,0.00,0.000,4,0.000,0.050,3029,763,3397,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1970,-0.48,-146.0,225.6,-9.2,231,1974,0.00,2.15,0.00,0.000,6,0.000,0.050,3021,2175,3397,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2278,-0.48,-146.0,259.3,-11.1,246,2283,0.00,2.15,0.00,0.000,4,0.000,0.062,3010,3582,3397,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2357,-0.48,-146.0,268.3,-11.2,250,2364,0.12,2.12,0.00,0.000,6,0.138,0.043,3045,2163,3397,0,0,0,0,0,0,26.14,26.25,28.83
$GC,2678,-0.48,-146.0,298.5,-8.8,266,2679,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2160,3396,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2916,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2916,begin apogee
$GC,2923,-0.22,0.0,316.7,-7.2,278,3046,0.22,0.00,118.10,0.765,6,0.120,0.000,3124,2311,2794,0,0,0,0,0,0,26.18,28.83,24.28
$STATE,3049,end apogee,CONTROL_FINISHED_OK
$STATE,3049,begin climb
$GC,3052,0.48,146.0,320.5,0.0,284,3178,0.65,0.00,122.43,0.736,6,0.090,0.000,3343,2311,2198,0,0,0,0,0,0,24.90,28.83,24.05
$GC,3473,0.48,148.6,292.4,7.2,306,3474,0.00,0.00,0.00,0.000,6,0.000,0.000,3343,2311,2189,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3773,0.49,187.2,274.3,5.8,321,3813,0.00,2.35,33.55,0.727,4,0.000,0.063,3343,3704,2029,0,0,0,0,0,0,28.83,25.32,24.75
$GC,3829,0.51,230.3,272.1,5.7,323,3875,0.00,2.20,35.97,0.710,6,0.000,0.045,3352,2304,1854,0,0,0,0,0,0,28.83,25.41,24.46
$GC,4178,0.51,230.3,245.9,7.8,341,4179,0.00,0.00,0.00,0.000,6,0.000,0.000,3352,2304,1846,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4476,0.51,230.3,222.9,7.5,356,4482,0.00,2.17,0.00,0.000,4,0.000,0.054,3362,893,1844,0,0,0,0,0,0,28.83,25.84,28.83
$GC,4499,0.51,230.3,221.5,7.4,357,4503,0.00,2.17,0.00,0.000,6,0.000,0.052,3362,2294,1844,0,0,0,0,0,0,28.83,25.85,28.83
$GC,4812,0.52,253.9,200.2,6.4,373,4841,0.00,2.28,18.85,0.679,4,0.000,0.063,3362,3707,1757,0,0,0,0,0,0,28.83,25.70,25.06
$GC,4867,0.52,263.2,196.7,7.0,376,4882,0.00,2.22,9.30,0.620,6,0.000,0.046,3369,2306,1720,0,0,0,0,0,0,28.83,25.77,24.97
$GC,5187,0.52,263.2,169.3,9.3,397,5193,0.00,2.17,0.00,0.000,4,0.000,0.053,3378,898,1715,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5210,0.52,263.2,167.7,9.6,398,5217,0.00,2.22,0.00,0.000,6,0.000,0.052,3378,2299,1714,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5516,0.52,263.2,133.3,10.5,419,5522,0.00,2.22,0.00,0.000,4,0.000,0.064,3379,3715,1714,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5546,0.52,263.2,130.1,10.6,421,5552,0.00,2.20,0.00,0.000,6,0.000,0.046,3387,2297,1714,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5858,0.52,263.2,98.1,9.3,469,5864,0.00,0.00,0.00,0.000,6,0.000,0.000,3387,2292,1713,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6168,0.52,263.2,69.7,9.7,530,6176,0.00,2.20,0.00,0.000,4,0.000,0.054,3396,895,1712,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6193,0.52,263.2,67.3,9.3,534,6202,0.08,2.20,0.00,0.000,6,0.106,0.053,3366,2296,1712,0,0,0,0,0,0,26.04,26.11,28.83
$GC,6513,0.54,311.9,46.2,5.5,595,6558,0.00,2.35,38.58,0.613,4,0.000,0.063,3366,3713,1521,0,0,0,0,0,0,28.83,25.67,25.13
$GC,6599,0.55,333.0,41.3,6.5,609,6625,0.00,2.22,17.98,0.577,6,0.000,0.045,3369,2279,1435,0,0,0,0,0,0,28.83,25.77,25.01
$GC,6937,0.57,372.7,24.6,5.8,673,6975,0.00,2.20,31.50,0.586,4,0.000,0.050,3369,900,1274,0,0,0,0,0,0,28.83,25.48,24.96
$GC,7030,0.58,396.0,17.7,6.4,689,7057,0.00,2.20,19.62,0.562,6,0.000,0.048,3369,2311,1178,0,0,0,0,0,0,28.83,25.60,24.88
$STATE,7187,end climb,SURFACE_DEPTH_REACHED
$STATE,7187,begin surface coast
$FINISH,0.8,1.011203
$STATE,7230,end surface coast,CONTROL_FINISHED_OK
$STATE,7230,begin surface
$SM_CCo,7310,0.00,0.000,0,0,1170,398.37
$SM_GC,1.63,8.43,0.22,0.00,0.031,0.070,0.000,110,2159,1170,-9.46,0.93,398.37,0,0,0,0,0,0,25.77,25.70,28.83
$IRIDIUM_FIX,4735.69,-12512.13,021012,000031
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.89
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,19.30
$XPDR_PINGS,2
$24V_AH,24.0,14.767
$10V_AH,10.2,12.619
$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,20.950,61.950,445.875,0.000,0.000,28.674,36.851,171.302,0.500,0.000,20.696,1766.331,3581.116,466.643,1656.706,197.183,0.000,1191.854,0.000,1419.681,0.000,0.536,0.000
$DEVICE_MAMPS,227.970,78.030,765.000,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,495.520,486.403,510.675,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40344,726
$CAP_FILE_SIZE,82478,0
$CFSIZE,260165632,249954304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.083,313.8,1
$GPS,021012,040900,4749.233,-12512.121,38,1.9,38,18.7