version: 66.11
glider: 187
mission: 2
dive: 308
start: 11 24 112 3 36 13
data:
$ID,187
$MISSION,2
$DIVE,308
$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,-1588146.1
$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,2200
$C_ROLL_CLIMB,2325
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$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
$GPS1,241112,033005,4751.434,-12515.079,13,1.5,29,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-76.7
$GPS2,241112,033543,4751.470,-12515.108,13,1.6,13,18.7
$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,170.6,163213,-13.4,-7.333,-18.42
$D_GRID,392
$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,17,-0.48,-146.0,0.0,0.0,0,79,0.00,0.00,-59.67,0.000,2,0.000,0.000,105,2193,2714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.48,-146.0,3.1,-3.3,10,118,11.27,2.28,-15.38,0.000,4,0.215,0.070,3025,3609,3392,0,0,0,0,0,0,25.08,25.60,26.17
$GC,270,-0.48,-146.0,38.7,-17.0,43,277,0.00,2.17,0.00,0.000,6,0.000,0.041,3025,2193,3393,0,0,0,0,0,0,28.83,25.79,28.83
$GC,592,-0.48,-146.0,82.0,-11.4,104,600,0.00,2.17,0.00,0.000,4,0.000,0.047,3024,799,3395,0,0,0,0,0,0,28.83,25.80,28.83
$GC,647,-0.48,-146.0,88.5,-12.1,114,656,0.00,2.15,0.00,0.000,6,0.000,0.047,3015,2201,3395,0,0,0,0,0,0,28.83,25.82,28.83
$GC,963,-0.48,-146.0,125.3,-11.3,169,965,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2201,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1264,-0.48,-146.0,160.3,-12.0,189,1266,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2201,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1563,-0.48,-146.0,196.3,-12.1,209,1569,0.00,2.15,0.00,0.000,4,0.000,0.047,3015,788,3396,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1606,-0.48,-146.0,201.3,-12.3,212,1611,0.12,2.17,0.00,0.000,6,0.139,0.049,3042,2201,3396,0,0,0,0,0,0,25.77,25.91,28.83
$GC,1920,-0.48,-146.0,230.6,-8.6,228,1925,0.00,2.20,0.00,0.000,4,0.000,0.061,3033,3606,3395,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1952,-0.48,-146.0,232.4,-8.7,229,1959,0.00,2.15,0.00,0.000,6,0.000,0.041,3033,2188,3396,0,0,0,0,0,0,28.83,26.02,28.83
$GC,2259,-0.48,-146.0,260.9,-8.5,245,2265,0.00,2.12,0.00,0.000,4,0.000,0.048,3033,793,3395,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2302,-0.48,-146.0,264.5,-8.7,247,2306,0.00,2.17,0.00,0.000,6,0.000,0.050,3025,2208,3395,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2615,-0.48,-146.0,295.4,-10.7,263,2616,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2207,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2915,-0.48,-146.0,325.3,-10.1,278,2916,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2207,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3214,-0.48,-146.0,355.5,-10.1,293,3215,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2207,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3514,-0.48,-146.0,385.1,-9.7,308,3515,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2207,3395,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3591,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3591,begin apogee
$GC,3599,-0.22,0.0,392.8,-9.6,312,3725,0.28,0.00,120.07,0.793,6,0.113,0.000,3119,2336,2794,0,0,0,0,0,0,25.84,28.83,24.10
$STATE,3728,end apogee,CONTROL_FINISHED_OK
$STATE,3728,begin climb
$GC,3731,0.48,146.0,398.9,0.0,318,3859,0.65,0.00,124.75,0.778,6,0.085,0.000,3343,2338,2198,0,0,0,0,0,0,24.94,28.83,23.77
$GC,4157,0.49,176.6,378.3,6.2,340,4193,0.00,2.33,26.23,0.743,4,0.000,0.050,3348,928,2071,0,0,0,0,0,0,28.83,25.26,24.37
$GC,4257,0.50,205.7,371.9,6.2,345,4288,0.00,2.20,25.00,0.738,6,0.000,0.050,3348,2312,1954,0,0,0,0,0,0,28.83,25.40,24.27
$GC,4599,0.51,219.8,348.3,6.8,362,4617,0.00,2.38,12.55,0.697,4,0.000,0.063,3348,3736,1896,0,0,0,0,0,0,28.83,25.56,24.60
$GC,4643,0.51,227.8,345.1,7.0,364,4660,0.00,2.20,8.23,0.642,6,0.000,0.044,3356,2324,1865,0,0,0,0,0,0,28.83,25.63,24.49
$GC,4961,0.51,227.8,320.4,8.4,380,4966,0.00,2.17,0.00,0.000,4,0.000,0.052,3366,925,1860,0,0,0,0,0,0,28.83,25.72,28.83
$GC,5003,0.51,227.8,317.1,8.3,382,5007,0.00,2.20,0.00,0.000,6,0.000,0.052,3366,2331,1859,0,0,0,0,0,0,28.83,25.73,28.83
$GC,5315,0.51,227.8,290.4,8.6,398,5321,0.00,2.25,0.00,0.000,4,0.000,0.064,3366,3737,1859,0,0,0,0,0,0,28.83,25.75,28.83
$GC,5363,0.51,227.8,286.5,9.2,400,5368,0.00,2.17,0.00,0.000,6,0.000,0.045,3372,2331,1859,0,0,0,0,0,0,28.83,25.90,28.83
$GC,5670,0.51,227.8,255.7,10.2,415,5674,0.00,2.17,0.00,0.000,4,0.000,0.052,3382,920,1858,0,0,0,0,0,0,28.83,25.85,28.83
$GC,5765,0.51,227.8,247.6,9.9,419,5773,0.00,2.20,0.00,0.000,6,0.000,0.051,3382,2337,1857,0,0,0,0,0,0,28.83,25.86,28.83
$GC,6072,0.51,227.8,216.6,9.2,435,6073,0.00,0.00,0.00,0.000,6,0.000,0.000,3382,2337,1857,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6377,0.51,227.8,190.4,8.6,452,6378,0.00,0.00,0.00,0.000,6,0.000,0.000,3382,2337,1857,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6678,0.51,227.8,164.8,8.1,472,6683,0.00,2.17,0.00,0.000,4,0.000,0.050,3392,920,1857,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6724,0.51,227.8,161.1,8.2,475,6729,0.12,2.17,0.00,0.000,6,0.135,0.051,3357,2325,1856,0,0,0,0,0,0,25.79,25.91,28.83
$GC,7035,0.51,227.8,138.8,7.4,495,7036,0.00,0.00,0.00,0.000,6,0.000,0.000,3357,2325,1856,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7333,0.51,227.8,117.3,7.4,519,7340,0.00,2.20,0.00,0.000,4,0.000,0.052,3364,918,1856,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7380,0.51,227.8,113.9,8.0,527,7387,0.00,2.17,0.00,0.000,6,0.000,0.051,3364,2326,1856,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7693,0.51,227.8,90.5,7.6,588,7699,0.00,0.00,0.00,0.000,6,0.000,0.000,3364,2326,1855,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8005,0.51,234.1,69.6,7.1,649,8019,0.00,2.20,5.82,0.483,4,0.000,0.050,3369,918,1838,0,0,0,0,0,0,28.83,25.99,24.63
$GC,8043,0.52,246.7,66.9,6.8,655,8063,0.00,2.17,12.15,0.559,6,0.000,0.051,3369,2327,1787,0,0,0,0,0,0,28.83,25.94,24.93
$GC,8377,0.55,336.2,47.4,3.9,718,8459,0.00,2.30,71.72,0.585,4,0.000,0.049,3369,915,1421,0,0,0,0,0,0,28.83,25.35,24.63
$GC,8488,0.57,386.0,42.0,5.4,736,8534,0.00,2.28,40.05,0.563,6,0.000,0.050,3369,2324,1218,0,0,0,0,0,0,28.83,25.39,24.47
$GC,8853,0.57,386.0,6.4,9.1,803,8860,0.00,2.28,0.00,0.000,4,0.000,0.065,3369,3735,1211,0,0,0,0,0,0,28.83,25.53,28.83
$STATE,8876,end climb,SURFACE_DEPTH_REACHED
$STATE,8876,begin surface coast
$FINISH,1.0,1.001678
$STATE,8919,end surface coast,CONTROL_FINISHED_OK
$STATE,8919,begin surface
$SM_CCo,9001,0.00,0.000,0,0,1207,389.29
$SM_GC,2.02,8.38,2.45,0.00,0.030,0.042,0.000,105,2186,1207,-9.48,1.05,389.29,0,0,0,0,0,0,25.89,25.76,28.83
$IRIDIUM_FIX,4735.69,-12513.98,241112,010124
$TT8_MAMPS,0.026964,0.026964
$HUMID,45.55
$INTERNAL_PRESSURE,9.11829
$TCM_TEMP,16.50
$XPDR_PINGS,2
$24V_AH,23.8,42.936
$10V_AH,10.1,35.523
$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,20.825,66.600,446.575,0.000,0.000,26.139,36.029,158.108,0.500,0.000,14.248,1982.489,4868.746,494.161,1767.777,230.401,0.000,1268.754,0.000,1551.737,0.000,0.537,0.000
$DEVICE_MAMPS,214.965,85.680,792.540,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,556.192,540.068,511.143,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296760
$DATA_FILE_SIZE,46911,815
$CAP_FILE_SIZE,90608,0
$CFSIZE,260165632,232497152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.277,357.1,1
$GPS,241112,060800,4751.272,-12515.777,68,1.0,69,18.7