version: 66.11
glider: 187
mission: 2
dive: 78
start: 10 1 112 0 17 18
data:
$ID,187
$MISSION,2
$DIVE,78
$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,-1587716.1
$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,27
$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
$GPS1,011012,000730,4751.110,-12514.153,38,1.2,39,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-77.7
$GPS2,011012,001648,4751.086,-12514.080,9,1.0,14,18.7
$SPEED_LIMITS,0.127,0.220
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$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,82.5,24750,-13.4,-7.333,-18.42
$D_GRID,280
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.48,-146.0,0.0,0.0,0,87,0.00,0.00,-67.62,0.000,2,0.000,0.000,120,2169,2845,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.48,-146.0,3.2,-4.2,11,119,11.20,2.25,-10.93,0.000,4,0.222,0.063,3036,764,3393,0,0,0,0,0,0,25.42,25.70,26.03
$GC,350,-0.48,-146.0,46.2,-13.5,60,357,0.00,2.22,0.00,0.000,6,0.000,0.050,3027,2179,3397,0,0,0,0,0,0,28.83,25.86,28.83
$GC,668,-0.48,-146.0,86.9,-11.1,121,675,0.00,2.15,0.00,0.000,4,0.000,0.048,3027,771,3399,0,0,0,0,0,0,28.83,25.97,28.83
$GC,714,-0.48,-146.0,92.2,-11.2,129,722,0.00,2.15,0.00,0.000,6,0.000,0.049,3017,2176,3399,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1027,-0.48,-146.0,129.1,-12.0,180,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2176,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1327,-0.48,-146.0,161.0,-9.7,200,1331,0.00,2.22,0.00,0.000,4,0.000,0.062,3007,3593,3399,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1392,-0.48,-146.0,167.4,-10.4,204,1397,0.12,2.15,0.00,0.000,6,0.139,0.042,3042,2164,3399,0,0,0,0,0,0,26.05,26.15,28.83
$GC,1701,-0.48,-146.0,193.6,-8.3,224,1704,0.00,2.10,0.00,0.000,4,0.000,0.050,3041,776,3399,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1735,-0.48,-146.0,196.6,-8.3,226,1740,0.00,2.12,0.00,0.000,6,0.000,0.050,3035,2179,3398,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2060,-0.48,-146.0,226.7,-9.4,243,2065,0.00,2.17,0.00,0.000,4,0.000,0.063,3024,3583,3398,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2098,-0.48,-146.0,230.8,-9.7,245,2103,0.00,2.12,0.00,0.000,6,0.000,0.044,3024,2167,3398,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2418,-0.48,-146.0,263.3,-9.7,261,2423,0.00,2.22,0.00,0.000,4,0.000,0.063,3014,3582,3397,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2451,-0.48,-146.0,265.2,-9.7,262,2458,0.00,2.12,0.00,0.000,6,0.000,0.044,3014,2170,3397,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,2596,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2596,begin apogee
$GC,2603,-0.22,0.0,280.7,-9.6,270,2725,0.32,0.00,117.85,0.745,6,0.123,0.000,3121,2318,2794,0,0,0,0,0,0,26.13,28.83,24.30
$STATE,2728,end apogee,CONTROL_FINISHED_OK
$STATE,2728,begin climb
$GC,2731,0.48,146.0,285.2,0.0,276,2857,0.68,0.00,122.62,0.715,6,0.094,0.000,3345,2318,2198,0,0,0,0,0,0,24.89,28.83,24.05
$GC,3156,0.49,169.7,260.0,6.4,298,3180,0.00,2.25,19.65,0.692,4,0.000,0.062,3345,3697,2101,0,0,0,0,0,0,28.83,25.27,24.71
$GC,3197,0.50,193.0,257.7,6.4,300,3222,0.00,2.20,20.20,0.686,6,0.000,0.045,3354,2301,2006,0,0,0,0,0,0,28.83,25.36,24.53
$GC,3525,0.50,193.0,233.7,7.5,316,3526,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,2301,1998,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3824,0.50,197.2,211.8,7.2,331,3825,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,2301,1997,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4124,0.50,211.9,190.6,6.8,348,4145,0.00,2.25,15.23,0.666,4,0.000,0.054,3364,902,1929,0,0,0,0,0,0,28.83,25.75,25.09
$GC,4169,0.51,231.4,187.7,6.6,351,4192,0.00,2.15,17.85,0.666,6,0.000,0.052,3364,2295,1849,0,0,0,0,0,0,28.83,25.77,24.92
$GC,4494,0.52,263.6,167.6,6.1,372,4527,0.00,2.35,26.83,0.672,4,0.000,0.063,3364,3708,1718,0,0,0,0,0,0,28.83,25.46,24.87
$GC,4558,0.53,277.1,163.3,6.8,376,4577,0.00,2.20,12.20,0.626,6,0.000,0.045,3371,2301,1662,0,0,0,0,0,0,28.83,25.56,24.79
$GC,4888,0.53,277.1,136.4,8.7,398,4893,0.00,2.17,0.00,0.000,4,0.000,0.054,3381,902,1657,0,0,0,0,0,0,28.83,25.77,28.83
$GC,4924,0.53,277.1,133.7,8.8,400,4932,0.00,2.22,0.00,0.000,6,0.000,0.051,3382,2300,1657,0,0,0,0,0,0,28.83,25.78,28.83
$GC,5234,0.53,277.1,103.6,9.0,443,5240,0.00,0.00,0.00,0.000,6,0.000,0.000,3381,2300,1656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5546,0.53,277.1,75.6,9.8,504,5553,0.00,2.28,0.00,0.000,4,0.000,0.064,3381,3711,1655,0,0,0,0,0,0,28.83,26.00,28.83
$GC,5577,0.53,277.1,72.2,11.3,509,5585,0.00,2.17,0.00,0.000,6,0.000,0.046,3387,2298,1654,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5895,0.54,315.7,49.5,5.8,570,5934,0.00,2.22,30.80,0.612,4,0.000,0.054,3396,881,1504,0,0,0,0,0,0,28.83,25.70,25.13
$GC,5963,0.56,350.2,45.7,6.0,581,5997,0.00,2.22,28.50,0.588,6,0.000,0.051,3396,2312,1365,0,0,0,0,0,0,28.83,25.75,24.89
$GC,6309,0.56,353.0,25.2,7.2,646,6316,0.00,2.28,0.00,0.000,4,0.000,0.053,3397,894,1358,0,0,0,0,0,0,28.83,25.79,28.83
$GC,6344,0.57,367.3,22.6,6.8,652,6365,0.00,2.22,13.88,0.562,6,0.000,0.050,3396,2298,1295,0,0,0,0,0,0,28.83,25.82,25.07
$STATE,6595,end climb,SURFACE_DEPTH_REACHED
$STATE,6595,begin surface coast
$FINISH,0.9,1.009898
$STATE,6642,end surface coast,CONTROL_FINISHED_OK
$STATE,6642,begin surface
$SM_CCo,6722,0.00,0.000,0,0,1286,369.91
$SM_GC,2.04,8.45,0.20,0.00,0.031,0.072,0.000,111,2160,1286,-9.47,0.99,369.91,0,0,0,0,0,0,25.94,25.90,28.83
$IRIDIUM_FIX,4735.69,-12513.98,011012,000006
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.95
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,19.40
$XPDR_PINGS,2
$24V_AH,24.0,13.168
$10V_AH,10.3,11.512
$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,20.775,57.650,425.600,0.000,0.000,55.653,72.858,233.455,0.500,0.000,15.347,1729.232,3143.750,454.503,1768.795,190.723,0.000,1131.134,0.000,1382.935,0.000,0.536,0.000
$DEVICE_MAMPS,221.850,76.500,745.110,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,483.679,489.050,538.059,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296920
$DATA_FILE_SIZE,40307,708
$CAP_FILE_SIZE,79579,0
$CFSIZE,260165632,250712064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.093,305.2,1
$GPS,011012,021027,4751.063,-12513.194,10,3.1,29,18.7