version: 66.11
glider: 187
mission: 2
dive: 5
start: 9 12 112 22 9 55
data:
$ID,187
$MISSION,2
$DIVE,5
$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,-1587616.8
$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,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,31
$R_STBD_OVSHOOT,16
$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
$GPS1,120912,220406,4747.822,-12506.461,40,0.8,40,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-77.2
$GPS2,120912,220854,4747.778,-12506.461,12,1.1,17,18.7
$SPEED_LIMITS,0.173,0.269
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.268,-0.022
$KALMAN_X,695.8,370.2,191.3,-2504.1,270.2
$KALMAN_Y,-1053.6,-406.6,-111.4,-709.5,-543.9
$MHEAD_RNG_PITCHd_Wd,232.3,168508,-18.1,-10.000,-20.39
$D_GRID,245
$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,-0.63,-155.7,0.0,0.0,0,98,0.00,0.00,-78.80,0.000,2,0.000,0.000,122,2099,2948,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-0.63,-155.7,3.2,-6.4,12,131,11.02,2.33,-7.68,0.000,4,0.228,0.074,2979,3538,3369,0,0,0,0,0,0,25.58,25.87,26.22
$GC,249,-0.61,-155.7,37.2,-17.6,40,257,0.00,2.25,0.00,0.000,6,0.000,0.046,2979,2098,3372,0,0,0,0,0,0,28.83,25.98,28.83
$GC,583,-0.61,-155.7,90.6,-16.3,105,591,0.00,2.28,0.00,0.000,4,0.000,0.063,2969,3513,3373,0,0,0,0,0,0,28.83,26.05,28.83
$GC,629,-0.60,-155.7,97.9,-15.7,113,638,0.08,2.20,0.00,0.000,6,0.137,0.045,2994,2093,3374,0,0,0,0,0,0,25.96,26.10,28.83
$GC,946,-0.60,-155.7,138.0,-11.9,145,948,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2090,3374,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1249,-0.60,-155.7,171.8,-11.1,175,1257,0.00,2.22,0.00,0.000,4,0.000,0.063,2985,3518,3374,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1281,-0.60,-155.7,176.7,-13.2,178,1291,0.00,2.15,0.00,0.000,6,0.000,0.047,2985,2092,3374,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1591,-0.60,-155.7,218.3,-13.4,209,1600,0.00,2.25,0.00,0.000,4,0.000,0.063,2975,3530,3373,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1647,-0.60,-155.7,225.7,-14.2,214,1656,0.08,2.20,0.00,0.000,6,0.138,0.047,2999,2100,3373,0,0,0,0,0,0,26.10,26.25,28.83
$STATE,1792,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1792,begin apogee
$GC,1799,-0.22,0.0,245.7,-11.9,229,1935,0.38,0.00,126.43,0.741,6,0.125,0.000,3123,2516,2731,0,0,0,0,0,0,26.11,28.83,24.08
$STATE,1938,end apogee,CONTROL_FINISHED_OK
$STATE,1938,begin climb
$GC,1941,0.63,155.7,252.0,0.0,243,2086,0.82,2.17,130.93,0.715,4,0.096,0.064,3397,3793,2095,0,0,0,0,0,0,24.83,24.49,23.87
$GC,2114,0.61,155.7,240.0,11.0,260,2121,0.00,2.10,0.00,0.000,6,0.000,0.047,3408,2510,2091,0,0,0,0,0,0,28.83,24.91,28.83
$GC,2422,0.60,155.7,205.0,10.1,291,2431,0.00,2.17,0.00,0.000,4,0.000,0.053,3418,1103,2087,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2467,0.60,155.7,200.6,10.0,295,2474,0.00,2.22,0.00,0.000,6,0.000,0.057,3418,2497,2086,0,0,0,0,0,0,28.83,25.64,28.83
$GC,2775,0.58,155.7,165.4,11.7,326,2776,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,2497,2086,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3077,0.57,155.7,131.8,10.8,356,3087,0.12,2.15,0.00,0.000,4,0.167,0.050,3390,1091,2085,0,0,0,0,0,0,25.89,25.97,28.83
$GC,3133,0.58,190.7,126.7,8.5,361,3171,0.00,2.20,27.70,0.662,6,0.000,0.057,3390,2501,1953,0,0,0,0,0,0,28.83,25.98,24.94
$GC,3473,0.59,190.7,94.8,11.6,399,3480,0.00,2.22,0.00,0.000,4,0.000,0.053,3400,1098,1947,0,0,0,0,0,0,28.83,25.86,28.83
$GC,3524,0.60,190.7,88.2,12.4,408,3532,0.00,2.25,0.00,0.000,6,0.000,0.057,3400,2504,1947,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3846,0.63,246.5,56.7,7.6,469,3896,0.00,2.30,44.47,0.634,4,0.000,0.053,3409,1098,1726,0,0,0,0,0,0,28.83,25.40,24.81
$GC,3930,0.65,260.6,49.2,9.4,482,3952,0.00,2.28,12.88,0.581,6,0.000,0.056,3409,2501,1667,0,0,0,0,0,0,28.83,25.52,24.77
$GC,4311,0.68,264.3,14.4,9.8,560,4318,0.00,2.22,0.00,0.000,4,0.000,0.054,3416,1091,1661,0,0,0,0,0,0,28.83,25.81,28.83
$GC,4355,0.73,306.0,10.4,8.2,568,4398,0.00,2.25,35.83,0.598,6,0.000,0.056,3417,2498,1483,0,0,0,0,0,0,28.83,25.82,24.80
$STATE,4460,end climb,SURFACE_DEPTH_REACHED
$STATE,4460,begin surface coast
$FINISH,0.1,1.012302
$STATE,4544,end surface coast,CONTROL_FINISHED_OK
$STATE,4544,begin surface
$SM_CCo,4623,0.00,0.000,0,0,1473,308.59
$SM_GC,1.35,8.57,0.62,0.00,0.034,0.052,0.000,145,2097,1473,-9.47,1.19,308.59,0,0,0,0,0,0,25.70,25.67,28.83
$IRIDIUM_FIX,4729.30,-12508.44,120912,202030
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.76
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,15.20
$XPDR_PINGS,0
$24V_AH,23.9,3.368
$10V_AH,10.3,1.817
$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,21.075,45.875,378.225,0.000,0.000,25.977,42.601,114.568,0.000,0.000,18.784,1409.547,1398.125,407.641,1552.337,153.529,33.211,1016.436,0.000,1366.764,0.000,0.535,0.000
$DEVICE_MAMPS,227.970,94.095,741.285,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,410.310,459.691,975.902,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296944
$DATA_FILE_SIZE,33632,604
$CAP_FILE_SIZE,65108,0
$CFSIZE,260165632,257110016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.098,195.7,1
$GPS,120912,232748,4747.408,-12507.589,8,1.1,14,18.7