version: 66.11
glider: 187
mission: 2
dive: 232
start: 11 5 112 19 56 14
data:
$ID,187
$MISSION,2
$DIVE,232
$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,-1588042.8
$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,44
$R_STBD_OVSHOOT,20
$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
$GPS1,051112,195021,4750.506,-12511.819,33,2.7,52,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-75.2
$GPS2,051112,195543,4750.481,-12511.803,12,1.2,12,18.7
$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,175.5,165580,-13.4,-7.333,-18.42
$D_GRID,312
$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,-146.0,0.0,0.0,0,73,0.00,0.00,-54.65,0.000,2,0.000,0.000,104,2161,2677,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.48,-146.0,3.2,-2.9,9,111,11.18,2.38,-15.93,0.000,4,0.214,0.075,3026,3594,3392,0,0,0,0,0,0,25.18,25.60,26.08
$GC,229,-0.48,-146.0,31.6,-14.1,36,236,0.00,2.22,0.00,0.000,6,0.000,0.043,3025,2174,3395,0,0,0,0,0,0,28.83,25.75,28.83
$GC,556,-0.48,-146.0,77.0,-11.7,97,562,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2169,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,868,-0.48,-146.0,115.1,-12.8,158,875,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2169,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1179,-0.48,-146.0,154.1,-12.0,183,1185,0.00,2.12,0.00,0.000,4,0.000,0.050,3025,774,3397,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1231,-0.48,-146.0,159.1,-11.5,186,1239,0.00,2.20,0.00,0.000,6,0.000,0.050,3017,2175,3397,0,0,0,0,0,0,28.83,25.96,28.83
$GC,1540,-0.48,-146.0,193.1,-10.4,207,1545,0.00,2.20,0.00,0.000,4,0.000,0.061,3006,3588,3397,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1576,-0.48,-146.0,196.2,-10.4,209,1584,0.12,2.15,0.00,0.000,6,0.133,0.043,3042,2170,3397,0,0,0,0,0,0,25.88,26.04,28.83
$GC,1895,-0.48,-146.0,223.4,-8.1,226,1896,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2167,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2193,-0.48,-146.0,246.8,-7.7,241,2194,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2168,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2493,-0.48,-146.0,271.3,-8.1,256,2494,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2167,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2794,-0.48,-146.0,296.7,-9.2,271,2795,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2168,3396,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2970,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2971,begin apogee
$GC,2978,-0.22,0.0,313.0,-8.7,280,3100,0.22,0.00,118.32,0.747,6,0.119,0.000,3121,2317,2793,0,0,0,0,0,0,25.96,28.83,24.28
$STATE,3103,end apogee,CONTROL_FINISHED_OK
$STATE,3104,begin climb
$GC,3106,0.48,146.0,319.2,0.0,286,3238,0.65,2.35,122.60,0.731,4,0.087,0.061,3343,3706,2195,0,0,0,0,0,0,24.94,24.57,23.99
$GC,3275,0.49,188.7,313.3,5.7,295,3318,0.00,2.25,35.72,0.706,6,0.000,0.044,3353,2305,2022,0,0,0,0,0,0,28.83,24.91,24.06
$GC,3629,0.49,188.7,288.0,7.6,313,3635,0.00,2.22,0.00,0.000,4,0.000,0.053,3363,900,2012,0,0,0,0,0,0,28.83,25.46,28.83
$GC,3688,0.49,188.7,283.5,7.4,316,3694,0.00,2.17,0.00,0.000,6,0.000,0.050,3362,2286,2011,0,0,0,0,0,0,28.83,25.53,28.83
$GC,4008,0.49,188.7,258.0,8.5,332,4014,0.00,2.25,0.00,0.000,4,0.000,0.063,3363,3700,2011,0,0,0,0,0,0,28.83,25.67,28.83
$GC,4076,0.49,188.7,252.1,9.6,335,4080,0.00,2.17,0.00,0.000,6,0.000,0.046,3371,2305,2011,0,0,0,0,0,0,28.83,25.79,28.83
$GC,4384,0.49,188.7,225.5,8.5,350,4390,0.00,2.17,0.00,0.000,4,0.000,0.054,3382,895,2011,0,0,0,0,0,0,28.83,25.82,28.83
$GC,4423,0.49,188.7,221.7,8.9,352,4429,0.00,2.15,0.00,0.000,6,0.000,0.051,3382,2290,2010,0,0,0,0,0,0,28.83,25.84,28.83
$GC,4739,0.49,188.7,190.9,9.7,369,4744,0.00,2.22,0.00,0.000,4,0.000,0.064,3382,3700,2010,0,0,0,0,0,0,28.83,25.84,28.83
$GC,4791,0.49,188.7,186.0,10.6,372,4799,0.08,2.22,0.00,0.000,6,0.125,0.046,3352,2291,2010,0,0,0,0,0,0,25.75,25.96,28.83
$GC,5099,0.49,188.7,160.6,8.2,393,5104,0.00,2.15,0.00,0.000,4,0.000,0.053,3359,893,2010,0,0,0,0,0,0,28.83,25.92,28.83
$GC,5129,0.49,188.7,158.1,8.3,395,5134,0.00,2.20,0.00,0.000,6,0.000,0.051,3360,2299,2010,0,0,0,0,0,0,28.83,25.93,28.83
$GC,5444,0.49,188.7,132.5,7.6,416,5449,0.00,2.22,0.00,0.000,4,0.000,0.063,3360,3708,2009,0,0,0,0,0,0,28.83,25.90,28.83
$GC,5490,0.49,188.7,128.7,8.3,419,5494,0.00,2.20,0.00,0.000,6,0.000,0.046,3367,2290,2009,0,0,0,0,0,0,28.83,26.02,28.83
$GC,5799,0.49,188.7,104.7,8.0,465,5805,0.00,0.00,0.00,0.000,6,0.000,0.000,3368,2284,2009,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6110,0.50,198.1,82.0,7.0,526,6125,0.00,2.28,6.47,0.514,4,0.000,0.062,3367,3712,1987,0,0,0,0,0,0,28.83,26.04,25.18
$GC,6209,0.50,199.9,74.6,7.3,544,6216,0.00,2.22,0.00,0.000,6,0.000,0.046,3375,2294,1986,0,0,0,0,0,0,28.83,26.04,28.83
$GC,6525,0.51,231.7,54.6,6.1,605,6557,0.00,0.00,29.20,0.594,6,0.000,0.000,3375,2293,1848,0,0,0,0,0,0,28.83,28.83,25.18
$GC,6867,0.53,274.0,34.6,5.7,670,6909,0.00,2.28,34.55,0.581,4,0.000,0.052,3382,899,1675,0,0,0,0,0,0,28.83,25.58,24.97
$GC,6950,0.55,316.7,30.3,5.7,683,6994,0.00,2.20,34.55,0.560,6,0.000,0.050,3382,2301,1500,0,0,0,0,0,0,28.83,25.60,24.77
$GC,7306,0.56,364.0,12.4,5.5,750,7353,0.00,2.35,37.08,0.558,4,0.000,0.063,3382,3707,1308,0,0,0,0,0,0,28.83,25.37,24.79
$GC,7361,0.57,371.0,8.6,7.1,758,7375,0.00,2.25,6.93,0.463,6,0.000,0.044,3382,2300,1279,0,0,0,0,0,0,28.83,25.46,24.75
$STATE,7416,end climb,SURFACE_DEPTH_REACHED
$STATE,7416,begin surface coast
$FINISH,1.2,1.022474
$STATE,7461,end surface coast,CONTROL_FINISHED_OK
$STATE,7461,begin surface
$SM_CCo,7541,0.00,0.000,0,0,1273,373.10
$SM_GC,2.22,8.43,0.17,0.00,0.026,0.073,0.000,112,2180,1273,-9.47,1.30,373.10,0,0,0,0,0,0,25.65,25.60,28.83
$IRIDIUM_FIX,4732.49,-12507.66,051112,181848
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.64
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.60
$XPDR_PINGS,2
$24V_AH,24.0,32.989
$10V_AH,10.2,27.519
$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,20.675,58.225,425.425,0.000,0.000,33.697,34.863,142.636,0.500,0.000,13.427,1898.065,3600.084,435.964,1741.282,196.238,0.000,1199.972,0.000,1524.629,0.000,0.535,0.000
$DEVICE_MAMPS,214.200,77.265,746.640,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,529.421,522.867,554.752,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296752
$DATA_FILE_SIZE,43496,776
$CAP_FILE_SIZE,83905,0
$CFSIZE,260165632,238596096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.120,  5.0,1
$GPS,051112,220306,4749.869,-12512.167,34,0.9,34,18.7