version: 66.11
glider: 187
mission: 2
dive: 7
start: 9 13 112 1 16 44
data:
$ID,187
$MISSION,2
$DIVE,7
$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,330
$T_MISSION,360
$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,160
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51761
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0046000001
$HD_B,0.0099999998
$HD_C,1.34e-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,-1587619.2
$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,3200
$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,0.0049999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,236
$ROLL_MAX,3800
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,2732
$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
$GPS1,130912,011030,4747.053,-12508.864,95,0.9,95,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-77.0
$GPS2,130912,011543,4746.992,-12508.861,17,1.7,17,18.7
$SPEED_LIMITS,0.173,0.269
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.241,-0.120
$KALMAN_X,808.0,396.5,-63.7,-5372.2,-166.0
$KALMAN_Y,-1921.8,-602.5,-27.9,-1195.1,-359.3
$MHEAD_RNG_PITCHd_Wd,229.3,165164,-18.1,-10.000,-20.39
$D_GRID,406
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.63,-155.7,0.0,0.0,0,82,0.00,0.00,-64.12,0.000,2,0.000,0.000,131,2094,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.63,-155.7,3.4,-8.1,10,110,11.02,2.35,-6.25,0.000,4,0.226,0.078,2984,3518,3369,0,0,0,0,0,0,25.46,25.72,26.04
$GC,269,-0.62,-155.7,43.2,-15.8,46,277,0.00,2.22,0.00,0.000,6,0.000,0.045,2984,2094,3373,0,0,0,0,0,0,28.83,25.86,28.83
$GC,598,-0.61,-155.7,89.7,-14.1,109,605,0.00,2.28,0.00,0.000,4,0.000,0.063,2973,3506,3374,0,0,0,0,0,0,28.83,25.96,28.83
$GC,698,-0.61,-155.7,102.4,-12.8,126,705,0.00,2.17,0.00,0.000,6,0.000,0.044,2973,2098,3374,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1007,-0.60,-155.7,142.8,-14.5,157,1013,0.12,0.00,0.00,0.000,6,0.161,0.000,3004,2094,3375,0,0,0,0,0,0,26.01,28.83,28.83
$GC,1315,-0.61,-155.7,182.4,-13.0,188,1326,0.00,2.22,0.00,0.000,4,0.000,0.064,2996,3511,3374,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1359,-0.62,-155.7,188.0,-12.7,192,1370,0.00,2.10,0.00,0.000,6,0.000,0.045,2996,2097,3375,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1670,-0.62,-155.7,227.3,-12.3,223,1671,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2097,3375,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1972,-0.62,-155.7,264.1,-12.8,253,1978,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2097,3375,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2283,-0.62,-155.7,300.4,-11.8,284,2292,0.00,2.20,0.00,0.000,4,0.000,0.065,2986,3510,3374,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2325,-0.62,-155.7,306.1,-12.5,288,2336,0.00,2.12,0.00,0.000,6,0.000,0.047,2986,2095,3374,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2636,-0.62,-155.7,343.2,-11.7,319,2637,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2096,3374,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2939,-0.62,-155.7,377.6,-11.4,349,2947,0.00,2.20,0.00,0.000,4,0.000,0.066,2974,3511,3373,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3001,-0.62,-155.7,385.0,-11.5,355,3010,0.00,2.10,0.00,0.000,6,0.000,0.047,2975,2098,3373,0,0,0,0,0,0,28.83,26.31,28.83
$STATE,3179,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3179,begin apogee
$GC,3186,-0.22,0.0,406.4,-12.2,373,3320,0.47,0.00,128.60,0.847,6,0.129,0.000,3128,2511,2732,0,0,0,0,0,0,26.17,28.83,23.91
$STATE,3323,end apogee,CONTROL_FINISHED_OK
$STATE,3324,begin climb
$GC,3326,0.63,155.7,411.7,0.0,387,3473,0.80,2.20,133.60,0.816,4,0.093,0.067,3394,3796,2095,0,0,0,0,0,0,24.68,24.37,23.71
$GC,3507,0.61,155.7,395.2,12.9,405,3511,0.00,2.10,0.00,0.000,6,0.000,0.047,3404,2497,2092,0,0,0,0,0,0,28.83,24.86,28.83
$GC,3820,0.60,155.7,357.2,11.8,436,3829,0.00,2.17,0.00,0.000,4,0.000,0.054,3415,1097,2087,0,0,0,0,0,0,28.83,25.56,28.83
$GC,3875,0.59,155.7,350.8,11.9,441,3883,0.00,2.28,0.00,0.000,6,0.000,0.057,3414,2501,2087,0,0,0,0,0,0,28.83,25.61,28.83
$GC,4184,0.58,155.7,312.1,12.4,472,4185,0.00,0.00,0.00,0.000,6,0.000,0.000,3414,2501,2086,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4486,0.56,155.7,275.0,12.6,502,4495,0.12,2.15,0.00,0.000,4,0.170,0.052,3386,1098,2085,0,0,0,0,0,0,25.85,25.94,28.83
$GC,4529,0.56,155.7,270.0,11.0,506,4538,0.00,2.22,0.00,0.000,6,0.000,0.057,3387,2511,2085,0,0,0,0,0,0,28.83,25.94,28.83
$GC,4840,0.56,155.7,236.9,10.6,537,4841,0.00,0.00,0.00,0.000,6,0.000,0.000,3387,2511,2084,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5142,0.56,159.6,206.8,9.8,567,5151,0.00,2.15,0.00,0.000,4,0.000,0.054,3397,1098,2084,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5227,0.57,172.3,198.5,9.5,575,5247,0.00,2.15,13.45,0.684,6,0.000,0.057,3397,2493,2028,0,0,0,0,0,0,28.83,26.13,25.20
$GC,5546,0.57,172.3,164.6,10.6,607,5555,0.00,2.15,0.00,0.000,4,0.000,0.054,3407,1089,2022,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5602,0.57,172.3,159.1,10.4,612,5610,0.00,2.25,0.00,0.000,6,0.000,0.057,3408,2501,2021,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5910,0.56,172.3,126.0,10.3,643,5918,0.00,2.15,0.00,0.000,4,0.000,0.054,3418,1089,2021,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5942,0.56,172.3,122.5,10.6,646,5952,0.12,2.20,0.00,0.000,6,0.160,0.057,3387,2505,2020,0,0,0,0,0,0,25.99,26.10,28.83
$GC,6257,0.57,174.5,90.8,9.9,685,6264,0.00,0.00,0.00,0.000,6,0.000,0.000,3387,2505,2020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6574,0.61,252.2,64.3,6.7,746,6650,0.00,2.17,64.07,0.643,4,0.000,0.067,3387,3803,1702,0,0,0,0,0,0,28.83,25.32,24.74
$GC,6664,0.64,290.9,57.5,8.3,759,6707,0.00,2.10,31.75,0.611,6,0.000,0.049,3393,2492,1544,0,0,0,0,0,0,28.83,25.46,24.51
$GC,7059,0.69,338.0,23.4,8.0,838,7108,0.00,2.28,37.35,0.599,4,0.000,0.054,3396,1100,1351,0,0,0,0,0,0,28.83,25.24,24.68
$GC,7226,0.77,423.6,11.6,6.3,869,7301,0.08,2.28,66.38,0.588,6,0.041,0.055,3459,2505,1004,0,0,0,0,0,0,25.55,25.53,24.34
$STATE,7321,end climb,SURFACE_DEPTH_REACHED
$STATE,7321,begin surface coast
$FINISH,0.1,1.001299
$STATE,7381,end surface coast,CONTROL_FINISHED_OK
$STATE,7381,begin surface
$SM_CCo,7461,0.00,0.000,0,0,995,425.84
$SM_GC,1.02,8.93,0.65,0.00,0.039,0.050,0.000,132,2095,995,-9.49,1.07,425.84,0,0,0,0,0,0,25.34,25.29,28.83
$IRIDIUM_FIX,4729.30,-12510.28,120912,232342
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.48
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,15.20
$XPDR_PINGS,0
$24V_AH,23.7,3.565
$10V_AH,10.3,2.004
$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,21.675,58.275,475.200,0.000,0.000,25.942,38.098,136.457,0.000,0.000,18.314,2085.333,2864.861,498.145,2123.540,207.496,33.226,1352.028,0.000,1920.263,0.000,0.535,0.000
$DEVICE_MAMPS,225.675,78.030,846.855,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,610.680,700.132,1211.341,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296948
$DATA_FILE_SIZE,50209,896
$CAP_FILE_SIZE,89836,0
$CFSIZE,260165632,256983040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.016, 35.3,1
$GPS,130912,032215,4746.814,-12510.397,14,4.2,33,18.7