version: 66.11
glider: 187
mission: 2
dive: 99
start: 10 2 112 6 58 56
data:
$ID,187
$MISSION,2
$DIVE,99
$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,-1587742.4
$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,41
$R_STBD_OVSHOOT,28
$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
$GPS1,021012,065213,4748.549,-12513.500,14,2.0,15,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-74.5
$GPS2,021012,065825,4748.484,-12513.532,15,1.9,15,18.7
$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,192.1,161698,-13.4,-7.333,-18.42
$D_GRID,526
$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,-146.0,0.0,0.0,0,86,0.00,0.00,-67.43,0.000,2,0.000,0.000,110,2157,2799,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.48,-146.0,3.2,-5.1,11,123,11.32,2.35,-11.93,0.000,4,0.223,0.076,3027,3577,3394,0,0,0,0,0,0,25.36,25.63,25.98
$GC,279,-0.48,-146.0,35.8,-12.9,45,286,0.00,2.17,0.00,0.000,6,0.000,0.042,3026,2165,3397,0,0,0,0,0,0,28.83,25.80,28.83
$GC,603,-0.48,-146.0,79.9,-11.9,106,610,0.00,2.25,0.00,0.000,4,0.000,0.060,3017,3581,3399,0,0,0,0,0,0,28.83,25.89,28.83
$GC,634,-0.48,-146.0,83.8,-12.7,111,641,0.00,2.15,0.00,0.000,6,0.000,0.042,3016,2171,3399,0,0,0,0,0,0,28.83,25.96,28.83
$GC,958,-0.48,-146.0,122.3,-11.9,172,963,0.00,2.15,0.00,0.000,4,0.000,0.050,3016,769,3399,0,0,0,0,0,0,28.83,26.02,28.83
$GC,1019,-0.48,-146.0,129.3,-11.4,176,1025,0.12,2.15,0.00,0.000,6,0.148,0.049,3041,2174,3399,0,0,0,0,0,0,25.94,26.03,28.83
$GC,1336,-0.48,-146.0,155.3,-8.1,197,1342,0.00,2.17,0.00,0.000,4,0.000,0.063,3033,3579,3398,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1373,-0.48,-146.0,158.0,-8.1,199,1380,0.00,2.12,0.00,0.000,6,0.000,0.043,3032,2168,3399,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1681,-0.48,-146.0,188.5,-9.5,220,1682,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2167,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1980,-0.48,-146.0,217.4,-8.9,237,1984,0.00,2.15,0.00,0.000,4,0.000,0.050,3032,781,3399,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2023,-0.48,-146.0,221.4,-9.1,239,2028,0.00,2.15,0.00,0.000,6,0.000,0.050,3024,2183,3398,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2343,-0.48,-146.0,251.6,-9.9,255,2348,0.00,2.17,0.00,0.000,4,0.000,0.063,3013,3580,3398,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2382,-0.48,-146.0,256.0,-10.6,257,2388,0.00,2.12,0.00,0.000,6,0.000,0.044,3013,2180,3398,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2702,-0.48,-146.0,292.3,-11.2,273,2703,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2176,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3002,-0.48,-146.0,324.7,-10.4,288,3003,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2176,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3303,-0.48,-146.0,354.0,-9.5,303,3306,0.00,2.15,0.00,0.000,4,0.000,0.052,3013,775,3397,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3344,-0.48,-146.0,358.1,-9.6,305,3351,0.12,2.17,0.00,0.000,6,0.151,0.051,3039,2182,3397,0,0,0,0,0,0,26.15,26.25,28.83
$GC,3665,-0.48,-146.0,380.8,-7.0,321,3670,0.00,2.17,0.00,0.000,4,0.000,0.064,3030,3581,3396,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3732,-0.48,-146.0,385.2,-7.4,324,3736,0.00,2.15,0.00,0.000,6,0.000,0.044,3030,2170,3396,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4054,-0.48,-146.0,414.3,-9.0,338,4055,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2168,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4354,-0.48,-146.0,441.1,-9.0,348,4360,0.00,2.25,0.00,0.000,4,0.000,0.064,3020,3591,3395,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4387,-0.48,-146.0,443.9,-9.1,349,4391,0.00,2.15,0.00,0.000,6,0.000,0.045,3020,2176,3395,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4715,-0.48,-146.0,475.6,-9.4,360,4716,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2172,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5014,-0.48,-146.0,503.8,-9.7,370,5020,0.00,2.22,0.00,0.000,4,0.000,0.065,3009,3586,3394,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5047,-0.48,-146.0,506.9,-10.0,371,5051,0.12,2.15,0.00,0.000,6,0.137,0.046,3045,2167,3394,0,0,0,0,0,0,26.20,26.32,28.83
$STATE,5277,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5277,begin apogee
$GC,5284,-0.22,0.0,527.1,-8.3,379,5411,0.22,0.00,120.72,0.902,6,0.122,0.000,3125,2311,2793,0,0,0,0,0,0,26.21,28.83,24.10
$STATE,5414,end apogee,CONTROL_FINISHED_OK
$STATE,5414,begin climb
$GC,5417,0.48,146.0,532.4,0.0,383,5549,0.65,0.00,126.65,0.871,6,0.090,0.000,3342,2311,2197,0,0,0,0,0,0,24.79,28.83,23.85
$GC,5849,0.48,146.0,504.7,7.7,398,5851,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,2312,2188,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6150,0.48,146.0,479.6,8.2,408,6155,0.00,2.25,0.00,0.000,4,0.000,0.067,3342,3704,2187,0,0,0,0,0,0,28.83,25.70,28.83
$GC,6203,0.48,146.0,476.7,8.5,409,6209,0.00,2.17,0.00,0.000,6,0.000,0.047,3351,2308,2186,0,0,0,0,0,0,28.83,25.77,28.83
$GC,6509,0.48,146.0,448.4,8.0,420,6515,0.00,2.25,0.00,0.000,4,0.000,0.067,3351,3705,2186,0,0,0,0,0,0,28.83,25.86,28.83
$GC,6547,0.48,146.0,445.7,8.2,421,6551,0.00,2.20,0.00,0.000,6,0.000,0.048,3361,2299,2185,0,0,0,0,0,0,28.83,25.92,28.83
$GC,6865,0.48,146.0,416.1,9.1,432,6870,0.00,2.22,0.00,0.000,4,0.000,0.066,3362,3697,2185,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6917,0.48,146.0,413.1,9.3,433,6924,0.00,2.17,0.00,0.000,6,0.000,0.047,3371,2293,2184,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7225,0.48,146.0,380.5,9.8,447,7226,0.00,0.00,0.00,0.000,6,0.000,0.000,3371,2287,2184,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7526,0.48,146.0,352.0,9.5,462,7532,0.00,2.22,0.00,0.000,4,0.000,0.066,3371,3696,2184,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7558,0.48,146.0,350.1,9.6,463,7565,0.12,2.15,0.00,0.000,6,0.154,0.047,3348,2300,2183,0,0,0,0,0,0,26.00,26.13,28.83
$GC,7865,0.48,146.0,325.7,7.5,479,7870,0.00,2.15,0.00,0.000,4,0.000,0.055,3356,900,2183,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7898,0.48,146.0,324.2,7.5,480,7905,0.00,2.15,0.00,0.000,6,0.000,0.054,3356,2294,2183,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8205,0.48,146.0,298.6,7.9,496,8210,0.00,2.25,0.00,0.000,4,0.000,0.067,3356,3714,2183,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8247,0.48,146.0,295.1,8.2,498,8251,0.00,2.20,0.00,0.000,6,0.000,0.047,3366,2293,2182,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8560,0.48,146.0,270.3,7.6,514,8565,0.00,2.25,0.00,0.000,4,0.000,0.066,3366,3709,2182,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8600,0.48,146.0,266.7,8.2,516,8605,0.00,2.17,0.00,0.000,6,0.000,0.048,3376,2298,2182,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8920,0.48,146.0,238.6,9.0,532,8923,0.00,2.25,0.00,0.000,4,0.000,0.067,3376,3708,2182,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8982,0.48,146.0,232.1,10.0,535,8988,0.10,2.15,0.00,0.000,6,0.129,0.048,3352,2304,2182,0,0,0,0,0,0,26.09,26.24,28.83
$GC,9302,0.48,146.0,207.3,8.0,551,9307,0.00,2.20,0.00,0.000,4,0.000,0.066,3352,3704,2182,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9330,0.48,146.0,205.6,8.1,552,9334,0.00,2.17,0.00,0.000,6,0.000,0.047,3360,2288,2182,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9638,0.48,146.0,178.0,9.0,571,9639,0.00,0.00,0.00,0.000,6,0.000,0.000,3360,2281,2182,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9938,0.48,146.0,152.8,7.7,591,9943,0.00,2.12,0.00,0.000,4,0.000,0.054,3370,888,2182,0,0,0,0,0,0,28.83,26.24,28.83
$GC,9969,0.48,146.0,150.4,7.6,593,9973,0.00,2.17,0.00,0.000,6,0.000,0.054,3370,2302,2181,0,0,0,0,0,0,28.83,26.24,28.83
$GC,10278,0.48,163.9,127.9,6.6,613,10298,0.00,2.30,13.70,0.640,4,0.000,0.065,3370,3714,2124,0,0,0,0,0,0,28.83,26.08,25.44
$GC,10346,0.48,165.0,123.5,7.3,617,10352,0.00,2.20,0.00,0.000,6,0.000,0.047,3380,2290,2122,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10655,0.48,165.0,97.1,8.1,674,10663,0.00,2.17,0.00,0.000,4,0.000,0.054,3390,885,2120,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10676,0.48,165.0,95.4,8.5,677,10684,0.15,2.17,0.00,0.000,6,0.138,0.054,3349,2300,2120,0,0,0,0,0,0,26.03,26.13,28.83
$GC,10992,0.49,185.5,75.7,6.5,738,11017,0.00,0.00,18.90,0.623,6,0.000,0.000,3349,2300,2035,0,0,0,0,0,0,28.83,28.83,25.34
$GC,11334,0.52,256.5,60.8,4.6,802,11398,0.00,2.33,57.22,0.619,4,0.000,0.063,3349,3712,1746,0,0,0,0,0,0,28.83,25.37,24.86
$GC,11438,0.54,294.8,55.7,5.9,819,11477,0.00,2.22,30.92,0.590,6,0.000,0.046,3352,2295,1590,0,0,0,0,0,0,28.83,25.51,24.68
$GC,11795,0.54,294.8,27.7,7.4,885,11802,0.00,2.20,0.00,0.000,4,0.000,0.052,3352,896,1581,0,0,0,0,0,0,28.83,25.70,28.83
$GC,11873,0.54,294.8,22.3,7.4,899,11880,0.00,2.20,0.00,0.000,6,0.000,0.050,3352,2313,1581,0,0,0,0,0,0,28.83,25.75,28.83
$STATE,12133,end climb,SURFACE_DEPTH_REACHED
$STATE,12133,begin surface coast
$FINISH,1.1,1.024352
$STATE,12176,end surface coast,CONTROL_FINISHED_OK
$STATE,12176,begin surface
$SM_CCo,12196,2.35,0.094,0,0,1571,300.00
$SM_GC,2.56,8.30,0.22,2.35,0.030,0.069,0.094,118,2158,1571,-9.48,0.96,300.00,0,0,0,0,0,0,25.98,25.94,25.84
$IRIDIUM_FIX,4732.49,-12512.13,021012,040438
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.36
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,19.20
$XPDR_PINGS,2
$24V_AH,23.9,14.967
$10V_AH,10.2,12.780
$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,21.250,105.700,368.125,2.350,0.000,28.703,38.194,189.782,0.500,0.000,16.836,2416.876,7285.968,465.102,2137.227,273.099,0.000,1409.226,0.000,1886.380,0.000,0.536,0.000
$DEVICE_MAMPS,223.380,80.325,901.935,94.095,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,655.963,612.929,559.045,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53604,956
$CAP_FILE_SIZE,117416,0
$CFSIZE,260165632,249794560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.142, 14.4,1
$GPS,021012,102406,4747.687,-12514.829,70,1.7,71,18.7