version: 66.11
glider: 187
mission: 2
dive: 309
start: 11 24 112 6 14 13
data:
$ID,187
$MISSION,2
$DIVE,309
$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,-1588147.4
$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,2200
$C_ROLL_CLIMB,2325
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$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
$GPS1,241112,060800,4751.272,-12515.777,68,1.0,69,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-75.5
$GPS2,241112,061343,4751.300,-12515.774,21,1.2,21,18.7
$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,170.5,162346,-13.4,-7.333,-18.42
$D_GRID,407
$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,14,begin dive
$GC,17,-0.48,-146.0,0.0,0.0,0,80,0.00,0.00,-60.78,0.000,2,0.000,0.000,105,2185,2585,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.48,-146.0,3.1,-4.8,10,123,11.50,2.33,-19.92,0.000,4,0.222,0.076,3025,3610,3392,0,0,0,0,0,0,25.06,25.59,26.17
$GC,290,-0.48,-146.0,38.3,-17.3,47,297,0.00,2.15,0.00,0.000,6,0.000,0.041,3026,2203,3394,0,0,0,0,0,0,28.83,25.79,28.83
$GC,613,-0.48,-146.0,84.3,-11.6,108,620,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2196,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,936,-0.48,-146.0,119.1,-11.1,169,942,0.00,2.15,0.00,0.000,4,0.000,0.048,3025,790,3396,0,0,0,0,0,0,28.83,25.84,28.83
$GC,1018,-0.48,-146.0,128.0,-11.0,176,1022,0.00,2.20,0.00,0.000,6,0.000,0.048,3017,2205,3396,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1333,-0.48,-146.0,162.7,-10.9,197,1334,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2205,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1633,-0.48,-146.0,195.2,-10.5,217,1638,0.00,2.15,0.00,0.000,4,0.000,0.047,3017,796,3397,0,0,0,0,0,0,28.83,25.90,28.83
$GC,1669,-0.48,-146.0,198.6,-10.8,219,1676,0.12,2.17,0.00,0.000,6,0.138,0.049,3044,2210,3396,0,0,0,0,0,0,25.77,25.90,28.83
$GC,1976,-0.48,-146.0,227.3,-9.2,235,1977,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2210,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2276,-0.48,-146.0,255.4,-9.4,250,2277,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2210,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2577,-0.48,-146.0,281.9,-8.4,265,2581,0.00,2.25,0.00,0.000,4,0.000,0.062,3035,3618,3396,0,0,0,0,0,0,28.83,25.81,28.83
$GC,2607,-0.48,-146.0,283.8,-8.3,266,2611,0.00,2.17,0.00,0.000,6,0.000,0.041,3035,2185,3396,0,0,0,0,0,0,28.83,26.04,28.83
$GC,2914,-0.48,-146.0,312.5,-8.9,281,2915,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2181,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3214,-0.48,-146.0,338.5,-7.8,296,3215,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2181,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3514,-0.48,-146.0,362.0,-7.3,311,3520,0.00,2.28,0.00,0.000,4,0.000,0.062,3024,3607,3394,0,0,0,0,0,0,28.83,25.79,28.83
$GC,3547,-0.48,-146.0,363.5,-7.3,312,3555,0.00,2.15,0.00,0.000,6,0.000,0.043,3025,2190,3394,0,0,0,0,0,0,28.83,26.02,28.83
$GC,3856,-0.48,-146.0,389.4,-8.5,328,3857,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2189,3394,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4062,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4062,begin apogee
$GC,4069,-0.22,0.0,408.5,-9.2,337,4195,0.28,0.00,120.43,0.801,6,0.111,0.000,3119,2340,2794,0,0,0,0,0,0,25.82,28.83,24.06
$STATE,4198,end apogee,CONTROL_FINISHED_OK
$STATE,4199,begin climb
$GC,4201,0.48,146.0,412.5,0.0,341,4337,0.65,2.42,124.65,0.786,4,0.084,0.062,3343,3721,2198,0,0,0,0,0,0,24.93,24.46,23.72
$GC,4393,0.49,175.3,404.5,6.2,347,4430,0.00,2.22,25.70,0.743,6,0.000,0.044,3353,2334,2077,0,0,0,0,0,0,28.83,24.93,23.89
$GC,4732,0.49,175.3,373.9,8.2,364,4737,0.00,2.22,0.00,0.000,4,0.000,0.052,3362,920,2070,0,0,0,0,0,0,28.83,25.49,28.83
$GC,4783,0.49,175.3,370.7,8.0,366,4790,0.00,2.20,0.00,0.000,6,0.000,0.051,3362,2315,2069,0,0,0,0,0,0,28.83,25.54,28.83
$GC,5092,0.49,175.3,345.5,7.9,382,5098,0.00,2.25,0.00,0.000,4,0.000,0.063,3362,3732,2068,0,0,0,0,0,0,28.83,25.65,28.83
$GC,5151,0.49,175.3,340.1,8.8,385,5157,0.00,2.15,0.00,0.000,6,0.000,0.044,3372,2333,2068,0,0,0,0,0,0,28.83,25.82,28.83
$GC,5471,0.49,175.3,311.2,9.1,401,5472,0.00,0.00,0.00,0.000,6,0.000,0.000,3372,2327,2068,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5771,0.49,175.3,285.0,8.5,416,5772,0.00,0.00,0.00,0.000,6,0.000,0.000,3372,2327,2067,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6071,0.49,175.3,260.5,8.1,431,6072,0.00,0.00,0.00,0.000,6,0.000,0.000,3373,2327,2066,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6371,0.49,175.3,235.5,8.5,446,6375,0.00,2.22,0.00,0.000,4,0.000,0.051,3383,908,2066,0,0,0,0,0,0,28.83,25.86,28.83
$GC,6421,0.49,175.3,231.9,8.6,448,6425,0.00,2.20,0.00,0.000,6,0.000,0.052,3383,2326,2066,0,0,0,0,0,0,28.83,25.85,28.83
$GC,6728,0.49,175.3,205.5,8.2,463,6729,0.00,0.00,0.00,0.000,6,0.000,0.000,3383,2326,2066,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7034,0.49,175.3,180.0,8.4,482,7039,0.00,2.25,0.00,0.000,4,0.000,0.064,3383,3737,2065,0,0,0,0,0,0,28.83,25.78,28.83
$GC,7056,0.49,175.3,178.7,8.6,483,7064,0.15,2.17,0.00,0.000,6,0.143,0.044,3351,2323,2065,0,0,0,0,0,0,25.73,25.98,28.83
$GC,7365,0.49,187.2,157.2,6.9,504,7380,0.00,2.25,9.20,0.584,4,0.000,0.050,3359,913,2028,0,0,0,0,0,0,28.83,25.98,24.74
$GC,7437,0.50,213.7,153.2,6.3,508,7465,0.00,2.22,23.38,0.640,6,0.000,0.052,3358,2318,1922,0,0,0,0,0,0,28.83,25.87,24.87
$GC,7768,0.51,231.3,129.1,6.7,530,7786,0.00,0.00,15.50,0.609,6,0.000,0.000,3358,2318,1851,0,0,0,0,0,0,28.83,28.83,24.82
$GC,8089,0.52,258.6,107.7,6.3,573,8120,0.00,2.28,23.60,0.611,4,0.000,0.062,3359,3735,1737,0,0,0,0,0,0,28.83,25.63,24.82
$GC,8134,0.52,265.1,104.5,7.1,580,8149,0.00,2.22,6.75,0.511,6,0.000,0.044,3365,2326,1711,0,0,0,0,0,0,28.83,25.69,24.68
$GC,8462,0.53,278.0,80.3,6.8,642,8482,0.00,2.22,11.48,0.560,4,0.000,0.051,3369,918,1659,0,0,0,0,0,0,28.83,25.73,24.79
$GC,8527,0.54,303.1,75.9,6.4,653,8558,0.00,2.20,21.80,0.584,6,0.000,0.050,3370,2330,1555,0,0,0,0,0,0,28.83,25.67,24.70
$GC,8873,0.55,333.9,55.4,6.1,718,8905,0.00,2.28,24.95,0.577,4,0.000,0.062,3370,3732,1432,0,0,0,0,0,0,28.83,25.56,24.79
$GC,8920,0.56,356.5,52.3,6.5,725,8947,0.00,2.20,19.75,0.560,6,0.000,0.044,3372,2316,1339,0,0,0,0,0,0,28.83,25.63,24.67
$GC,9261,0.56,356.5,30.1,9.1,789,9268,0.00,2.17,0.00,0.000,4,0.000,0.049,3372,914,1332,0,0,0,0,0,0,28.83,25.70,28.83
$GC,9435,0.56,356.5,13.4,10.8,821,9442,0.00,2.20,0.00,0.000,6,0.000,0.048,3372,2335,1330,0,0,0,0,0,0,28.83,25.75,28.83
$STATE,9565,end climb,SURFACE_DEPTH_REACHED
$STATE,9565,begin surface coast
$FINISH,1.2,1.024710
$STATE,9641,end surface coast,CONTROL_FINISHED_OK
$STATE,9641,begin surface
$SM_CCo,9721,0.00,0.000,0,0,1328,359.61
$SM_GC,2.11,8.25,0.20,0.00,0.025,0.069,0.000,110,2192,1328,-9.46,1.30,359.61,0,0,0,0,0,0,26.06,26.01,28.83
$IRIDIUM_FIX,4735.69,-12509.51,241112,030346
$TT8_MAMPS,0.026964,0.026964
$HUMID,45.23
$INTERNAL_PRESSURE,9.11829
$TCM_TEMP,19.70
$XPDR_PINGS,3
$24V_AH,23.7,43.035
$10V_AH,10.1,35.601
$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,20.950,67.000,427.175,0.000,0.000,27.940,39.088,152.055,0.750,0.000,22.164,2105.508,5384.151,461.002,1892.706,224.618,0.000,1294.494,0.000,1655.396,0.000,0.536,0.000
$DEVICE_MAMPS,221.850,75.735,800.955,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,587.475,561.378,540.556,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296792
$DATA_FILE_SIZE,46874,860
$CAP_FILE_SIZE,96190,0
$CFSIZE,260165632,232443904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.210,357.0,1
$GPS,241112,085721,4750.857,-12516.576,9,2.4,29,18.7