version: 66.11
glider: 187
mission: 2
dive: 310
start: 11 24 112 9 4 5
data:
$ID,187
$MISSION,2
$DIVE,310
$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,-1588148.6
$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,49
$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
$GPS1,241112,085721,4750.857,-12516.576,9,2.4,29,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-74.2
$GPS2,241112,090333,4750.876,-12516.607,17,2.2,36,18.7
$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,170.5,161034,-13.4,-7.333,-18.42
$D_GRID,443
$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,-146.0,0.0,0.0,0,80,0.00,0.00,-60.50,0.000,2,0.000,0.000,109,2191,2702,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.48,-146.0,3.3,-5.0,10,119,11.27,2.28,-15.30,0.000,4,0.215,0.072,3026,3607,3391,0,0,0,0,0,0,25.08,25.62,26.21
$GC,213,-0.48,-146.0,29.2,-17.1,32,220,0.00,2.20,0.00,0.000,6,0.000,0.041,3026,2202,3393,0,0,0,0,0,0,28.83,25.79,28.83
$GC,539,-0.48,-146.0,77.8,-12.2,93,546,0.00,2.15,0.00,0.000,4,0.000,0.047,3026,792,3394,0,0,0,0,0,0,28.83,25.80,28.83
$GC,649,-0.48,-146.0,90.8,-11.3,114,657,0.00,2.17,0.00,0.000,6,0.000,0.048,3017,2203,3395,0,0,0,0,0,0,28.83,25.82,28.83
$GC,969,-0.48,-146.0,127.5,-11.4,168,970,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2203,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1269,-0.48,-146.0,163.1,-11.5,188,1273,0.00,2.22,0.00,0.000,4,0.000,0.060,3006,3610,3395,0,0,0,0,0,0,28.83,25.81,28.83
$GC,1288,-0.48,-146.0,165.0,-11.3,189,1293,0.12,2.15,0.00,0.000,6,0.135,0.041,3042,2193,3395,0,0,0,0,0,0,25.81,26.00,28.83
$GC,1599,-0.48,-146.0,191.9,-8.4,209,1600,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2187,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1902,-0.48,-146.0,219.3,-9.0,226,1903,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2186,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2201,-0.48,-146.0,245.2,-8.4,241,2202,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2187,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2503,-0.48,-146.0,271.1,-8.6,256,2504,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2187,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2802,-0.48,-146.0,295.5,-8.0,271,2808,0.00,2.28,0.00,0.000,4,0.000,0.062,3034,3612,3395,0,0,0,0,0,0,28.83,25.81,28.83
$GC,2844,-0.48,-146.0,298.7,-8.0,273,2849,0.00,2.15,0.00,0.000,6,0.000,0.042,3034,2193,3394,0,0,0,0,0,0,28.83,26.03,28.83
$GC,3157,-0.48,-146.0,324.9,-8.2,289,3162,0.00,2.12,0.00,0.000,4,0.000,0.050,3034,798,3394,0,0,0,0,0,0,28.83,25.90,28.83
$GC,3185,-0.48,-146.0,326.6,-8.1,290,3189,0.00,2.17,0.00,0.000,6,0.000,0.050,3026,2208,3394,0,0,0,0,0,0,28.83,25.90,28.83
$GC,3491,-0.48,-146.0,355.4,-9.2,305,3493,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2208,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3792,-0.48,-146.0,381.3,-8.6,320,3793,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2208,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4101,-0.48,-146.0,408.3,-8.8,334,4103,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2208,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4401,-0.48,-146.0,431.2,-7.6,344,4407,0.00,2.22,0.00,0.000,4,0.000,0.063,3015,3610,3392,0,0,0,0,0,0,28.83,25.77,28.83
$GC,4439,-0.48,-146.0,433.8,-8.0,345,4444,0.00,2.15,0.00,0.000,6,0.000,0.044,3015,2198,3392,0,0,0,0,0,0,28.83,26.00,28.83
$STATE,4544,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4544,begin apogee
$GC,4551,-0.22,0.0,444.3,-9.1,349,4678,0.30,0.00,120.65,0.828,6,0.114,0.000,3117,2340,2794,0,0,0,0,0,0,25.77,28.83,24.02
$STATE,4681,end apogee,CONTROL_FINISHED_OK
$STATE,4681,begin climb
$GC,4684,0.48,146.0,449.4,0.0,353,4820,0.65,2.45,124.78,0.815,4,0.085,0.063,3341,3735,2198,0,0,0,0,0,0,24.90,24.39,23.63
$GC,4846,0.50,198.4,444.6,5.3,358,4896,0.00,2.28,44.58,0.786,6,0.000,0.044,3350,2326,1984,0,0,0,0,0,0,28.83,24.72,23.63
$GC,5212,0.50,198.4,413.2,8.6,371,5217,0.00,2.20,0.00,0.000,4,0.000,0.053,3360,922,1976,0,0,0,0,0,0,28.83,25.40,28.83
$GC,5263,0.50,198.4,410.5,8.8,372,5270,0.00,2.22,0.00,0.000,6,0.000,0.052,3360,2328,1975,0,0,0,0,0,0,28.83,25.48,28.83
$GC,5570,0.50,198.4,383.4,8.4,386,5576,0.00,2.28,0.00,0.000,4,0.000,0.065,3360,3739,1974,0,0,0,0,0,0,28.83,25.60,28.83
$GC,5613,0.50,198.4,379.4,9.2,388,5618,0.00,2.20,0.00,0.000,6,0.000,0.044,3370,2326,1974,0,0,0,0,0,0,28.83,25.77,28.83
$GC,5926,0.50,198.4,351.5,8.5,404,5931,0.00,2.20,0.00,0.000,4,0.000,0.052,3381,907,1973,0,0,0,0,0,0,28.83,25.76,28.83
$GC,5993,0.50,198.4,346.3,8.6,407,5998,0.00,2.22,0.00,0.000,6,0.000,0.052,3381,2332,1972,0,0,0,0,0,0,28.83,25.77,28.83
$GC,6301,0.50,198.4,320.3,7.6,422,6302,0.00,0.00,0.00,0.000,6,0.000,0.000,3381,2332,1972,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6601,0.50,198.4,296.2,8.6,437,6606,0.00,2.25,0.00,0.000,4,0.000,0.066,3381,3736,1972,0,0,0,0,0,0,28.83,25.75,28.83
$GC,6654,0.50,198.4,292.2,9.4,439,6661,0.12,2.20,0.00,0.000,6,0.148,0.045,3357,2313,1971,0,0,0,0,0,0,25.73,25.94,28.83
$GC,6961,0.50,198.4,266.6,8.0,455,6966,0.00,2.15,0.00,0.000,4,0.000,0.052,3365,913,1971,0,0,0,0,0,0,28.83,25.85,28.83
$GC,7001,0.50,198.4,263.2,8.2,457,7006,0.00,2.22,0.00,0.000,6,0.000,0.053,3365,2334,1971,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7321,0.50,198.4,234.3,9.0,473,7326,0.00,2.20,0.00,0.000,4,0.000,0.066,3365,3724,1971,0,0,0,0,0,0,28.83,25.76,28.83
$GC,7373,0.50,198.4,230.3,9.4,475,7380,0.00,2.17,0.00,0.000,6,0.000,0.046,3374,2313,1971,0,0,0,0,0,0,28.83,25.95,28.83
$GC,7681,0.50,198.4,200.4,9.0,491,7687,0.00,2.17,0.00,0.000,4,0.000,0.053,3384,916,1971,0,0,0,0,0,0,28.83,25.85,28.83
$GC,7746,0.50,198.4,195.1,8.9,495,7755,0.00,2.20,0.00,0.000,6,0.000,0.053,3384,2330,1971,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8057,0.50,198.4,166.9,8.5,516,8062,0.00,2.25,0.00,0.000,4,0.000,0.065,3384,3739,1970,0,0,0,0,0,0,28.83,25.76,28.83
$GC,8119,0.50,198.4,160.7,10.1,520,8125,0.10,2.17,0.00,0.000,6,0.118,0.044,3358,2324,1970,0,0,0,0,0,0,25.72,25.98,28.83
$GC,8436,0.51,231.6,139.5,6.1,541,8470,0.00,2.17,26.67,0.640,4,0.000,0.050,3366,918,1850,0,0,0,0,0,0,28.83,25.81,24.86
$GC,8510,0.52,248.8,134.4,6.7,546,8531,0.00,2.20,15.85,0.613,6,0.000,0.051,3366,2327,1779,0,0,0,0,0,0,28.83,25.71,24.72
$GC,8836,0.52,248.8,110.1,7.5,583,8843,0.00,2.28,0.00,0.000,4,0.000,0.064,3366,3743,1773,0,0,0,0,0,0,28.83,25.63,28.83
$GC,8856,0.52,248.8,108.4,8.7,586,8864,0.00,2.20,0.00,0.000,6,0.000,0.045,3375,2320,1773,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9170,0.52,248.8,82.8,7.3,647,9177,0.00,2.17,0.00,0.000,4,0.000,0.051,3384,918,1772,0,0,0,0,0,0,28.83,25.76,28.83
$GC,9220,0.52,248.8,78.9,7.8,656,9227,0.00,2.22,0.00,0.000,6,0.000,0.051,3384,2321,1771,0,0,0,0,0,0,28.83,25.77,28.83
$GC,9541,0.53,272.2,55.4,6.4,717,9568,0.00,2.28,19.58,0.578,4,0.000,0.062,3384,3741,1682,0,0,0,0,0,0,28.83,25.80,24.95
$GC,9596,0.53,272.2,51.2,8.6,726,9604,0.00,2.22,0.00,0.000,6,0.000,0.045,3392,2329,1680,0,0,0,0,0,0,28.83,25.81,28.83
$GC,9918,0.55,331.0,31.4,5.1,787,9974,0.00,2.30,47.45,0.575,4,0.000,0.052,3392,911,1442,0,0,0,0,0,0,28.83,25.48,24.76
$GC,10051,0.57,370.8,24.1,5.8,810,10090,0.00,2.25,32.03,0.553,6,0.000,0.049,3392,2319,1282,0,0,0,0,0,0,28.83,25.52,24.56
$STATE,10283,end climb,SURFACE_DEPTH_REACHED
$STATE,10283,begin surface coast
$FINISH,1.1,1.014343
$STATE,10326,end surface coast,CONTROL_FINISHED_OK
$STATE,10327,begin surface
$SM_CCo,10407,0.00,0.000,0,0,1272,373.35
$SM_GC,2.33,8.45,0.17,0.00,0.030,0.072,0.000,112,2195,1272,-9.47,1.24,373.35,0,0,0,0,0,0,25.81,25.79,28.83
$IRIDIUM_FIX,4732.49,-12512.13,241112,060643
$TT8_MAMPS,0.026215,0.026215
$HUMID,45.43
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,17.00
$XPDR_PINGS,2
$24V_AH,23.6,43.138
$10V_AH,10.1,35.680
$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,21.025,89.025,431.575,0.000,0.000,27.498,40.630,164.301,0.500,0.000,37.855,2145.172,5960.379,460.572,1974.536,242.956,0.000,1345.651,0.000,1707.312,0.000,0.536,0.000
$DEVICE_MAMPS,214.965,77.265,828.495,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,588.700,553.764,521.880,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296768
$DATA_FILE_SIZE,46955,861
$CAP_FILE_SIZE,103886,0
$CFSIZE,260165632,232378368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.123,322.2,1
$GPS,241112,115839,4749.999,-12517.534,9,2.6,29,18.7