version: 66.11
glider: 187
mission: 2
dive: 6
start: 9 12 112 23 36 10
data:
$ID,187
$MISSION,2
$DIVE,6
$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,-1587618
$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,40
$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,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
$GPS1,120912,232748,4747.408,-12507.589,8,1.1,14,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-77.4
$GPS2,120912,233507,4747.330,-12507.614,12,1.2,12,18.7
$SPEED_LIMITS,0.173,0.269
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.261,-0.065
$KALMAN_X,578.2,396.3,187.0,-3836.3,-112.0
$KALMAN_Y,-1714.3,-510.1,-62.3,-828.3,-652.0
$MHEAD_RNG_PITCHd_Wd,233.8,166832,-18.1,-10.000,-20.39
$D_GRID,295
$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,-155.7,0.0,0.0,0,81,0.00,0.00,-62.80,0.000,2,0.000,0.000,131,2093,2938,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.63,-155.7,3.0,-6.2,10,115,11.12,2.33,-7.90,0.000,4,0.230,0.080,2983,3511,3371,0,0,0,0,0,0,25.41,25.70,26.03
$GC,228,-0.61,-155.7,33.9,-12.5,37,236,0.00,2.20,0.00,0.000,6,0.000,0.045,2983,2102,3373,0,0,0,0,0,0,28.83,25.83,28.83
$GC,561,-0.61,-155.7,87.3,-16.6,103,569,0.00,2.28,0.00,0.000,4,0.000,0.063,2972,3511,3375,0,0,0,0,0,0,28.83,25.94,28.83
$GC,651,-0.60,-155.7,100.4,-13.9,119,658,0.12,2.15,0.00,0.000,6,0.155,0.045,3004,2096,3375,0,0,0,0,0,0,25.87,26.01,28.83
$GC,958,-0.61,-155.7,134.7,-11.3,150,968,0.00,2.10,0.00,0.000,4,0.000,0.052,3004,700,3375,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1022,-0.62,-155.7,142.0,-11.7,156,1033,0.00,2.17,0.00,0.000,6,0.000,0.052,2996,2113,3376,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1332,-0.62,-155.7,180.5,-12.7,187,1341,0.00,2.15,0.00,0.000,4,0.000,0.064,2985,3507,3375,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1376,-0.62,-155.7,186.0,-12.8,191,1384,0.00,2.10,0.00,0.000,6,0.000,0.046,2985,2095,3375,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1685,-0.62,-155.7,225.2,-12.6,222,1694,0.00,2.20,0.00,0.000,4,0.000,0.063,2975,3508,3375,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1710,-0.62,-155.7,228.3,-12.8,224,1718,0.00,2.17,0.00,0.000,6,0.000,0.047,2975,2098,3375,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2017,-0.62,-155.7,269.6,-13.0,255,2019,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2098,3375,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2206,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2206,begin apogee
$GC,2212,-0.22,0.0,295.1,-14.0,274,2347,0.47,0.00,127.53,0.782,6,0.129,0.000,3127,2500,2732,0,0,0,0,0,0,26.10,28.83,23.99
$STATE,2350,end apogee,CONTROL_FINISHED_OK
$STATE,2350,begin climb
$GC,2353,0.63,155.7,303.9,0.0,288,2489,0.80,0.00,132.12,0.750,6,0.095,0.000,3393,2500,2096,0,0,0,0,0,0,24.74,28.83,23.80
$GC,2789,0.63,164.3,269.9,9.6,332,2801,0.00,2.25,7.18,0.614,4,0.000,0.053,3404,1092,2062,0,0,0,0,0,0,28.83,25.41,24.74
$GC,2846,0.63,166.5,264.0,9.9,337,2856,0.00,2.22,0.00,0.000,6,0.000,0.056,3404,2492,2061,0,0,0,0,0,0,28.83,25.51,28.83
$GC,3155,0.62,166.5,229.3,11.1,368,3156,0.00,0.00,0.00,0.000,6,0.000,0.000,3404,2493,2059,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3458,0.62,179.5,199.8,9.4,398,3478,0.00,2.25,13.70,0.675,4,0.000,0.053,3415,1094,1999,0,0,0,0,0,0,28.83,25.69,25.03
$GC,3527,0.63,194.0,193.0,9.4,405,3547,0.00,2.22,13.20,0.664,6,0.000,0.057,3414,2502,1941,0,0,0,0,0,0,28.83,25.77,24.91
$GC,3847,0.63,194.0,158.0,11.1,437,3857,0.00,2.15,0.00,0.000,4,0.000,0.052,3425,1103,1936,0,0,0,0,0,0,28.83,25.84,28.83
$GC,3903,0.63,194.0,152.0,11.3,442,3910,0.00,2.25,0.00,0.000,6,0.000,0.057,3425,2503,1935,0,0,0,0,0,0,28.83,25.87,28.83
$GC,4211,0.62,194.0,113.3,12.5,473,4215,0.00,2.17,0.00,0.000,4,0.000,0.053,3435,1101,1935,0,0,0,0,0,0,28.83,25.97,28.83
$GC,4264,0.61,194.0,106.4,12.8,478,4275,0.12,2.20,0.00,0.000,6,0.158,0.057,3400,2512,1935,0,0,0,0,0,0,25.89,25.98,28.83
$GC,4583,0.62,211.2,72.8,9.3,534,4604,0.00,2.08,14.73,0.624,4,0.000,0.066,3400,3806,1870,0,0,0,0,0,0,28.83,25.82,25.22
$GC,4653,0.62,211.2,65.5,11.0,546,4661,0.00,2.05,0.00,0.000,6,0.000,0.048,3407,2502,1868,0,0,0,0,0,0,28.83,25.93,28.83
$GC,4997,0.64,229.5,34.2,9.2,615,5018,0.00,0.00,15.82,0.604,6,0.000,0.000,3407,2501,1795,0,0,0,0,0,0,28.83,28.83,25.19
$GC,5376,0.72,333.8,5.8,5.5,693,5413,0.00,0.00,34.62,0.602,2,0.000,0.000,3407,2502,1619,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5414,end climb,SURFACE_DEPTH_REACHED
$STATE,5414,begin surface coast
$FINISH,0.3,1.024110
$STATE,5490,end surface coast,CONTROL_FINISHED_OK
$STATE,5491,begin surface
$SM_CCo,5510,14.98,0.082,0,0,1509,300.00
$SM_GC,2.37,8.55,0.62,14.98,0.034,0.053,0.082,136,2095,1509,-9.48,0.96,300.00,0,0,0,0,0,0,25.75,25.71,25.63
$IRIDIUM_FIX,4729.30,-12510.28,120912,232324
$TT8_MAMPS,0.027713,0.027713
$HUMID,46.22
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,16.10
$XPDR_PINGS,0
$24V_AH,23.8,3.455
$10V_AH,10.3,1.902
$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,21.200,44.950,358.900,14.975,0.000,54.951,94.825,123.998,0.000,0.000,13.711,1692.185,1851.549,402.750,1861.046,169.386,33.226,1074.149,0.000,1582.900,0.000,0.535,0.000
$DEVICE_MAMPS,229.500,79.560,781.830,81.855,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,487.430,546.540,1079.350,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296996
$DATA_FILE_SIZE,40281,714
$CAP_FILE_SIZE,73807,0
$CFSIZE,260165632,257052672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.061,189.3,1
$GPS,130912,011030,4747.053,-12508.864,95,0.9,95,18.7