version: 66.11
glider: 187
mission: 2
dive: 98
start: 10 2 112 4 15 8
data:
$ID,187
$MISSION,2
$DIVE,98
$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,-1587741.1
$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,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,43
$R_STBD_OVSHOOT,29
$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
$GPS1,021012,040900,4749.233,-12512.121,38,1.9,38,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-76.7
$GPS2,021012,041437,4749.173,-12512.122,13,2.0,13,18.7
$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,195.9,163888,-13.4,-7.333,-18.42
$D_GRID,417
$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,-73.05,0.000,2,0.000,0.000,107,2159,2873,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.48,-146.0,3.4,-5.0,12,124,11.30,2.30,-10.07,0.000,4,0.225,0.073,3023,3581,3393,0,0,0,0,0,0,25.42,25.69,26.05
$GC,207,-0.48,-146.0,29.2,-14.6,31,214,0.00,2.15,0.00,0.000,6,0.000,0.042,3023,2178,3396,0,0,0,0,0,0,28.83,25.81,28.83
$GC,529,-0.48,-146.0,74.5,-13.0,92,535,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2171,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,842,-0.48,-146.0,109.8,-12.2,153,848,0.00,2.15,0.00,0.000,4,0.000,0.050,3023,768,3398,0,0,0,0,0,0,28.83,26.03,28.83
$GC,887,-0.48,-146.0,115.6,-13.0,161,894,0.00,2.15,0.00,0.000,6,0.000,0.049,3015,2174,3398,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1199,-0.48,-146.0,154.7,-12.5,186,1204,0.00,2.17,0.00,0.000,4,0.000,0.061,3004,3581,3398,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1221,-0.48,-146.0,156.6,-12.8,187,1228,0.12,2.12,0.00,0.000,6,0.142,0.043,3039,2170,3398,0,0,0,0,0,0,26.01,26.13,28.83
$GC,1529,-0.48,-146.0,188.7,-9.4,208,1531,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2167,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1828,-0.48,-146.0,218.0,-9.6,225,1829,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2167,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2128,-0.48,-146.0,245.8,-9.0,240,2129,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2167,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2428,-0.48,-146.0,271.7,-8.5,255,2433,0.00,2.20,0.00,0.000,4,0.000,0.063,3030,3580,3397,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2461,-0.48,-146.0,273.5,-8.7,256,2468,0.00,2.12,0.00,0.000,6,0.000,0.044,3030,2165,3397,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2768,-0.48,-146.0,303.6,-9.6,272,2769,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2165,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3068,-0.48,-146.0,333.0,-10.1,287,3069,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2165,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3368,-0.48,-146.0,364.1,-10.6,302,3369,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2165,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3668,-0.48,-146.0,396.0,-10.5,317,3669,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2165,3395,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3905,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3905,begin apogee
$GC,3912,-0.22,0.0,417.5,-8.4,326,4036,0.28,0.00,119.18,0.832,6,0.122,0.000,3123,2314,2793,0,0,0,0,0,0,26.20,28.83,24.20
$STATE,4038,end apogee,CONTROL_FINISHED_OK
$STATE,4038,begin climb
$GC,4041,0.48,146.0,421.3,0.0,330,4173,0.65,2.35,123.30,0.799,4,0.090,0.062,3342,3698,2197,0,0,0,0,0,0,24.84,24.53,23.96
$GC,4192,0.48,162.5,414.1,6.7,335,4213,0.00,2.25,15.15,0.741,6,0.000,0.045,3352,2308,2130,0,0,0,0,0,0,28.83,24.81,24.11
$GC,4532,0.48,162.5,380.2,8.2,350,4538,0.00,2.25,0.00,0.000,4,0.000,0.054,3362,895,2122,0,0,0,0,0,0,28.83,25.54,28.83
$GC,4564,0.48,162.5,378.6,7.9,351,4572,0.00,2.20,0.00,0.000,6,0.000,0.052,3362,2292,2121,0,0,0,0,0,0,28.83,25.58,28.83
$GC,4873,0.48,162.5,352.4,8.5,367,4878,0.00,2.25,0.00,0.000,4,0.000,0.065,3362,3711,2120,0,0,0,0,0,0,28.83,25.77,28.83
$GC,4919,0.48,162.5,348.4,9.2,369,4923,0.00,2.20,0.00,0.000,6,0.000,0.047,3372,2299,2120,0,0,0,0,0,0,28.83,25.84,28.83
$GC,5227,0.48,162.5,321.3,8.1,384,5228,0.00,0.00,0.00,0.000,6,0.000,0.000,3372,2295,2119,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5528,0.48,162.5,296.8,8.5,399,5533,0.00,2.25,0.00,0.000,4,0.000,0.066,3371,3713,2119,0,0,0,0,0,0,28.83,26.00,28.83
$GC,5555,0.48,162.5,294.9,8.8,400,5564,0.00,2.20,0.00,0.000,6,0.000,0.047,3382,2289,2119,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5867,0.48,162.5,262.9,10.3,416,5872,0.00,2.25,0.00,0.000,4,0.000,0.065,3382,3712,2119,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5914,0.48,162.5,258.4,10.8,418,5919,0.15,2.17,0.00,0.000,6,0.150,0.047,3351,2303,2118,0,0,0,0,0,0,25.98,26.11,28.83
$GC,6221,0.48,162.5,232.8,7.5,433,6227,0.00,2.17,0.00,0.000,4,0.000,0.054,3359,889,2118,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6264,0.48,162.5,229.5,7.8,435,6268,0.00,2.17,0.00,0.000,6,0.000,0.053,3358,2301,2118,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6576,0.48,162.5,203.2,8.7,451,6582,0.00,2.22,0.00,0.000,4,0.000,0.065,3359,3715,2118,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6639,0.48,162.5,197.2,10.0,455,6643,0.00,2.17,0.00,0.000,6,0.000,0.047,3368,2296,2117,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6947,0.49,166.7,172.5,7.2,475,6948,0.00,0.00,0.00,0.000,6,0.000,0.000,3368,2291,2117,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7247,0.49,166.7,146.2,9.0,495,7252,0.00,2.22,0.00,0.000,4,0.000,0.065,3368,3712,2117,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7294,0.49,166.7,141.6,9.9,498,7298,0.00,2.17,0.00,0.000,6,0.000,0.047,3378,2294,2117,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7603,0.49,166.7,113.4,9.6,526,7610,0.00,2.25,0.00,0.000,4,0.000,0.065,3378,3712,2117,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7643,0.49,166.7,109.2,11.0,533,7651,0.12,2.17,0.00,0.000,6,0.153,0.047,3355,2292,2117,0,0,0,0,0,0,26.13,26.25,28.83
$GC,7955,0.50,201.0,87.9,6.0,594,7994,0.00,2.30,30.17,0.640,4,0.000,0.063,3355,3718,1972,0,0,0,0,0,0,28.83,25.84,25.28
$GC,8012,0.51,225.1,84.3,6.4,603,8038,0.00,2.20,20.48,0.615,6,0.000,0.046,3362,2295,1875,0,0,0,0,0,0,28.83,25.91,25.08
$GC,8349,0.52,260.5,62.2,6.0,667,8383,0.00,0.00,29.00,0.614,6,0.000,0.000,3362,2294,1730,0,0,0,0,0,0,28.83,28.83,24.99
$GC,8694,0.53,277.5,40.4,6.7,732,8715,0.00,2.38,14.23,0.578,4,0.000,0.064,3362,3715,1661,0,0,0,0,0,0,28.83,25.65,25.07
$GC,8739,0.54,293.5,37.4,6.7,739,8761,0.00,2.22,14.12,0.569,6,0.000,0.045,3368,2299,1596,0,0,0,0,0,0,28.83,25.72,24.96
$GC,9073,0.55,321.6,15.8,6.3,802,9106,0.00,2.28,22.92,0.578,4,0.000,0.053,3368,900,1481,0,0,0,0,0,0,28.83,25.56,24.99
$GC,9141,0.57,377.5,11.6,5.2,813,9193,0.00,2.20,44.95,0.564,6,0.000,0.050,3368,2310,1253,0,0,0,0,0,0,28.83,25.63,24.69
$STATE,9249,end climb,SURFACE_DEPTH_REACHED
$STATE,9249,begin surface coast
$FINISH,0.8,1.023764
$STATE,9294,end surface coast,CONTROL_FINISHED_OK
$STATE,9294,begin surface
$SM_CCo,9373,0.00,0.000,0,0,1244,380.21
$SM_GC,1.59,8.48,0.22,0.00,0.029,0.067,0.000,116,2161,1244,-9.48,0.93,380.21,0,0,0,0,0,0,25.56,25.51,28.83
$IRIDIUM_FIX,4742.09,-12535.63,021012,020210
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.50
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,19.30
$XPDR_PINGS,2
$24V_AH,24.0,14.869
$10V_AH,10.2,12.694
$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,21.100,71.350,433.500,0.000,0.000,28.476,39.360,159.594,0.500,0.000,14.358,2073.468,5127.148,474.942,1815.729,227.100,0.000,1284.259,0.000,1597.183,0.000,0.535,0.000
$DEVICE_MAMPS,224.910,78.795,831.555,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,574.154,550.807,531.658,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297020
$DATA_FILE_SIZE,46950,840
$CAP_FILE_SIZE,95084,0
$CFSIZE,260165632,249884672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.095,331.1,1
$GPS,021012,065213,4748.549,-12513.500,14,2.0,15,18.7