version: 66.11
glider: 187
mission: 2
dive: 9
start: 9 13 112 6 16 32
data:
$ID,187
$MISSION,2
$DIVE,9
$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,-1587621.9
$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,38
$R_STBD_OVSHOOT,21
$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
$GPS1,130912,060936,4746.543,-12512.451,38,1.0,39,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-76.0
$GPS2,130912,061529,4746.520,-12512.517,11,1.4,15,18.7
$SPEED_LIMITS,0.173,0.269
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.174,-0.205
$KALMAN_X,856.8,-22.9,-40.4,-9567.7,-107.1
$KALMAN_Y,-835.3,-80.9,204.7,-3907.9,1062.9
$MHEAD_RNG_PITCHd_Wd,206.4,160788,-18.1,-10.000,-20.39
$D_GRID,607
$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,-0.63,-155.7,0.0,0.0,0,108,0.00,0.00,-89.62,0.000,2,0.000,0.000,131,2092,3039,0,0,0,0,0,0,28.83,28.83,28.83
$GC,112,-0.63,-155.7,3.6,-8.3,14,136,11.07,2.38,-5.75,0.000,4,0.226,0.077,2980,3522,3371,0,0,0,0,0,0,25.34,25.58,25.90
$GC,335,-0.62,-155.7,54.8,-17.1,58,343,0.00,2.22,0.00,0.000,6,0.000,0.044,2980,2101,3375,0,0,0,0,0,0,28.83,25.79,28.83
$GC,655,-0.61,-155.7,104.3,-12.6,116,665,0.00,2.22,0.00,0.000,4,0.000,0.063,2970,3516,3375,0,0,0,0,0,0,28.83,25.89,28.83
$GC,730,-0.60,-155.7,114.6,-14.1,123,739,0.10,2.15,0.00,0.000,6,0.134,0.044,3002,2092,3376,0,0,0,0,0,0,25.83,25.96,28.83
$GC,1039,-0.60,-155.7,151.1,-11.4,154,1049,0.00,2.25,0.00,0.000,4,0.000,0.063,2994,3521,3376,0,0,0,0,0,0,28.83,26.00,28.83
$GC,1073,-0.60,-155.7,155.1,-12.1,157,1082,0.00,2.12,0.00,0.000,6,0.000,0.045,2994,2098,3376,0,0,0,0,0,0,28.83,26.05,28.83
$GC,1382,-0.60,-155.7,194.3,-12.6,188,1392,0.00,2.22,0.00,0.000,4,0.000,0.063,2983,3514,3376,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1418,-0.60,-155.7,198.5,-12.4,191,1425,0.00,2.15,0.00,0.000,6,0.000,0.045,2983,2100,3376,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1725,-0.60,-155.7,236.1,-12.4,222,1726,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2094,3376,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2027,-0.60,-155.7,273.7,-12.8,252,2038,0.00,2.20,0.00,0.000,4,0.000,0.063,2973,3510,3375,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2051,-0.60,-155.7,276.9,-12.6,254,2060,0.12,2.15,0.00,0.000,6,0.158,0.046,3004,2093,3375,0,0,0,0,0,0,26.06,26.20,28.83
$GC,2363,-0.60,-155.7,310.2,-10.9,285,2370,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2092,3375,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2674,-0.61,-155.7,342.4,-9.9,316,2683,0.00,2.20,0.00,0.000,4,0.000,0.065,2996,3507,3374,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2727,-0.62,-155.7,348.4,-10.7,321,2737,0.00,2.10,0.00,0.000,6,0.000,0.047,2996,2098,3374,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3037,-0.62,-155.7,384.0,-11.8,352,3039,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2098,3374,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3340,-0.62,-155.7,418.5,-11.0,382,3348,0.00,2.20,0.00,0.000,4,0.000,0.066,2985,3513,3373,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3382,-0.62,-155.7,423.6,-11.4,386,3390,0.00,2.15,0.00,0.000,6,0.000,0.047,2985,2096,3373,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3692,-0.62,-155.7,459.5,-11.6,417,3701,0.00,2.20,0.00,0.000,4,0.000,0.066,2975,3514,3373,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3736,-0.62,-155.7,464.7,-12.1,421,3740,0.00,2.15,0.00,0.000,6,0.000,0.047,2975,2099,3373,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4048,-0.62,-155.7,501.1,-11.3,452,4057,0.00,2.12,0.00,0.000,4,0.000,0.054,2975,692,3372,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4101,-0.62,-155.7,506.9,-11.2,457,4111,0.10,2.12,0.00,0.000,6,0.134,0.054,2997,2101,3372,0,0,0,0,0,0,26.19,26.30,28.83
$GC,4413,-0.63,-155.7,535.0,-8.8,488,4422,0.00,2.17,0.00,0.000,4,0.000,0.067,2989,3503,3372,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4509,-0.64,-155.7,544.4,-9.8,497,4516,0.00,2.12,0.00,0.000,6,0.000,0.047,2989,2095,3371,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4816,-0.64,-155.7,576.0,-10.3,528,4827,0.00,2.22,0.00,0.000,4,0.000,0.067,2979,3513,3371,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4880,-0.64,-155.7,583.2,-11.4,534,4884,0.00,2.15,0.00,0.000,6,0.000,0.048,2979,2098,3371,0,0,0,0,0,0,28.83,26.34,28.83
$STATE,5089,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5090,begin apogee
$GC,5096,-0.22,0.0,607.1,-11.0,551,5234,0.45,0.00,132.18,0.986,6,0.131,0.000,3124,2507,2732,0,0,0,0,0,0,26.22,28.83,23.68
$STATE,5236,end apogee,CONTROL_FINISHED_OK
$STATE,5237,begin climb
$GC,5239,0.63,155.7,611.9,0.0,555,5383,0.82,0.00,136.85,0.952,6,0.093,0.000,3395,2508,2096,0,0,0,0,0,0,24.53,28.83,23.51
$GC,5694,0.61,155.7,564.0,12.2,589,5703,0.00,2.20,0.00,0.000,4,0.000,0.054,3406,1104,2087,0,0,0,0,0,0,28.83,25.44,28.83
$GC,5719,0.60,155.7,561.0,12.4,591,5727,0.00,2.28,0.00,0.000,6,0.000,0.058,3406,2493,2086,0,0,0,0,0,0,28.83,25.47,28.83
$GC,6027,0.59,155.7,520.9,12.8,622,6028,0.00,0.00,0.00,0.000,6,0.000,0.000,3406,2494,2085,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6331,0.57,155.7,484.0,12.3,652,6340,0.00,2.17,0.00,0.000,4,0.000,0.055,3416,1101,2084,0,0,0,0,0,0,28.83,25.86,28.83
$GC,6384,0.56,155.7,476.9,12.4,657,6394,0.15,2.22,0.00,0.000,6,0.160,0.058,3373,2508,2084,0,0,0,0,0,0,25.80,25.87,28.83
$GC,6694,0.56,155.7,443.8,10.4,688,6703,0.00,2.20,0.00,0.000,4,0.000,0.055,3382,1093,2083,0,0,0,0,0,0,28.83,25.97,28.83
$GC,6737,0.56,155.7,439.3,10.2,692,6746,0.00,2.22,0.00,0.000,6,0.000,0.059,3381,2503,2082,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7047,0.56,155.7,405.4,10.8,723,7056,0.00,2.17,0.00,0.000,4,0.000,0.055,3392,1100,2082,0,0,0,0,0,0,28.83,26.05,28.83
$GC,7099,0.56,155.7,399.8,10.4,728,7109,0.00,2.20,0.00,0.000,6,0.000,0.059,3391,2502,2082,0,0,0,0,0,0,28.83,26.05,28.83
$GC,7410,0.55,164.2,368.3,9.6,759,7423,0.00,2.25,6.22,0.685,4,0.000,0.055,3402,1092,2062,0,0,0,0,0,0,28.83,25.99,25.22
$GC,7452,0.55,164.2,364.0,10.3,763,7461,0.00,2.22,0.00,0.000,6,0.000,0.059,3402,2502,2061,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7761,0.53,164.2,327.9,12.1,794,7770,0.00,2.15,0.00,0.000,4,0.000,0.054,3412,1097,2061,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7803,0.53,164.2,323.0,11.9,798,7813,0.12,2.22,0.00,0.000,6,0.141,0.058,3373,2510,2060,0,0,0,0,0,0,25.98,26.08,28.83
$GC,8114,0.53,164.2,290.7,10.6,829,8122,0.00,2.15,0.00,0.000,4,0.000,0.054,3381,1102,2060,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8138,0.53,164.2,288.3,10.5,831,8145,0.00,2.22,0.00,0.000,6,0.000,0.058,3381,2495,2060,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8446,0.53,164.2,253.9,11.1,862,8455,0.00,2.12,0.00,0.000,4,0.000,0.055,3391,1101,2061,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8491,0.53,164.2,249.2,11.0,866,8499,0.00,2.22,0.00,0.000,6,0.000,0.058,3391,2501,2060,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8800,0.53,164.2,215.0,10.6,897,8808,0.00,2.12,0.00,0.000,4,0.000,0.055,3401,1101,2060,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8834,0.53,164.2,211.7,10.4,900,8843,0.08,2.22,0.00,0.000,6,0.141,0.059,3367,2502,2060,0,0,0,0,0,0,26.10,26.20,28.83
$GC,9142,0.55,211.2,187.5,8.0,931,9191,0.00,2.25,39.67,0.728,4,0.000,0.054,3375,1099,1869,0,0,0,0,0,0,28.83,25.58,24.94
$GC,9238,0.59,250.6,179.6,8.3,940,9277,0.00,2.22,32.80,0.708,6,0.000,0.057,3375,2505,1710,0,0,0,0,0,0,28.83,25.69,24.58
$GC,9587,0.60,253.2,144.6,9.9,975,9596,0.00,2.17,0.00,0.000,4,0.000,0.054,3384,1104,1702,0,0,0,0,0,0,28.83,25.70,28.83
$GC,9672,0.63,253.2,136.1,10.0,983,9680,0.00,2.22,0.00,0.000,6,0.000,0.057,3385,2502,1701,0,0,0,0,0,0,28.83,25.75,28.83
$GC,9981,0.65,256.8,103.1,9.8,1014,9992,0.00,2.28,5.10,0.523,4,0.000,0.054,3393,1091,1685,0,0,0,0,0,0,28.83,25.83,25.14
$GC,10037,0.68,297.8,98.3,8.2,1021,10079,0.00,2.25,34.28,0.663,6,0.000,0.057,3393,2495,1517,0,0,0,0,0,0,28.83,25.86,24.76
$GC,10395,0.73,336.8,63.9,8.3,1087,10438,0.12,2.28,31.80,0.636,4,0.099,0.054,3465,1105,1357,0,0,0,0,0,0,25.82,25.32,24.72
$GC,10537,0.74,336.8,45.9,13.2,1112,10545,0.00,2.28,0.00,0.000,6,0.000,0.056,3465,2503,1354,0,0,0,0,0,0,28.83,25.53,28.83
$STATE,10868,end climb,SURFACE_DEPTH_REACHED
$STATE,10868,begin surface coast
$FINISH,0.3,1.024212
$STATE,10921,end surface coast,CONTROL_FINISHED_OK
$STATE,10921,begin surface
$SM_CCo,11000,0.00,0.000,0,0,1346,339.99
$SM_GC,1.03,8.75,0.62,0.00,0.039,0.052,0.000,122,2099,1346,-9.49,1.10,339.99,0,0,0,0,0,0,25.87,25.86,28.83
$IRIDIUM_FIX,4729.30,-12508.44,130912,030343
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.99
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,15.00
$XPDR_PINGS,0
$24V_AH,23.5,3.808
$10V_AH,10.3,2.244
$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,21.900,106.825,418.900,0.000,0.000,26.476,42.064,165.657,0.000,0.000,16.214,2898.127,4854.057,558.485,2764.421,278.238,33.237,1703.274,0.000,2514.460,0.000,0.536,0.000
$DEVICE_MAMPS,225.675,77.265,986.085,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,818.653,966.491,1324.663,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296956
$DATA_FILE_SIZE,66877,1192
$CAP_FILE_SIZE,129674,0
$CFSIZE,260165632,256806912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.036, 11.6,1
$GPS,130912,092103,4745.805,-12514.483,14,6.7,33,18.7