version: 66.11
glider: 187
mission: 2
dive: 79
start: 10 1 112 2 15 55
data:
$ID,187
$MISSION,2
$DIVE,79
$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,-1587717.4
$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,45
$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,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
$GPS1,011012,021027,4751.063,-12513.194,10,3.1,29,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-77.9
$GPS2,011012,021525,4751.039,-12513.167,17,1.8,17,18.7
$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,61.6,23836,-13.4,-7.333,-18.42
$D_GRID,250
$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,-0.48,-146.0,0.0,0.0,0,86,0.00,0.00,-67.22,0.000,2,0.000,0.000,107,2159,2838,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.48,-146.0,3.2,-3.8,11,118,11.15,2.22,-11.27,0.000,4,0.221,0.063,3037,770,3392,0,0,0,0,0,0,25.53,25.79,26.11
$GC,346,-0.48,-146.0,45.4,-12.9,59,352,0.00,2.17,0.00,0.000,6,0.000,0.050,3029,2181,3396,0,0,0,0,0,0,28.83,25.91,28.83
$GC,662,-0.48,-146.0,82.2,-10.1,120,670,0.00,2.20,0.00,0.000,4,0.000,0.049,3029,779,3397,0,0,0,0,0,0,28.83,26.02,28.83
$GC,693,-0.48,-146.0,85.2,-10.0,125,701,0.00,2.15,0.00,0.000,6,0.000,0.049,3020,2182,3397,0,0,0,0,0,0,28.83,26.02,28.83
$GC,1006,-0.48,-146.0,120.5,-10.0,186,1011,0.00,2.20,0.00,0.000,4,0.000,0.060,3009,3592,3397,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1083,-0.48,-146.0,129.4,-11.6,191,1090,0.08,2.12,0.00,0.000,6,0.122,0.042,3037,2179,3398,0,0,0,0,0,0,26.01,26.13,28.83
$GC,1401,-0.48,-146.0,158.3,-8.4,212,1406,0.00,2.12,0.00,0.000,4,0.000,0.050,3036,773,3398,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1475,-0.48,-146.0,165.3,-9.0,217,1480,0.00,2.15,0.00,0.000,6,0.000,0.050,3030,2173,3398,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1790,-0.48,-146.0,195.6,-10.0,238,1795,0.00,2.17,0.00,0.000,4,0.000,0.063,3020,3581,3397,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1837,-0.48,-146.0,200.2,-10.2,241,1841,0.00,2.15,0.00,0.000,6,0.000,0.043,3020,2162,3398,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2145,-0.48,-146.0,233.4,-10.8,256,2150,0.00,2.22,0.00,0.000,4,0.000,0.062,3009,3591,3398,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2178,-0.48,-146.0,235.8,-11.2,257,2186,0.12,2.15,0.00,0.000,6,0.139,0.043,3044,2163,3397,0,0,0,0,0,0,26.14,26.25,28.83
$STATE,2322,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2322,begin apogee
$GC,2329,-0.22,0.0,251.5,-9.2,265,2451,0.22,0.00,117.68,0.725,6,0.124,0.000,3121,2314,2794,0,0,0,0,0,0,26.15,28.83,24.32
$STATE,2454,end apogee,CONTROL_FINISHED_OK
$STATE,2454,begin climb
$GC,2457,0.48,146.0,258.2,0.0,271,2586,0.68,2.42,121.40,0.698,4,0.093,0.062,3347,3708,2197,0,0,0,0,0,0,24.91,24.61,24.07
$GC,2631,0.48,162.4,251.0,6.7,280,2652,0.00,2.25,14.25,0.649,6,0.000,0.044,3357,2306,2131,0,0,0,0,0,0,28.83,25.02,24.32
$GC,2951,0.48,162.4,225.8,7.9,296,2957,0.00,2.22,0.00,0.000,4,0.000,0.051,3367,897,2125,0,0,0,0,0,0,28.83,25.58,28.83
$GC,3024,0.48,162.4,220.6,8.6,299,3031,0.00,2.17,0.00,0.000,6,0.000,0.050,3367,2291,2124,0,0,0,0,0,0,28.83,25.65,28.83
$GC,3337,0.48,162.4,190.3,8.8,317,3342,0.00,2.25,0.00,0.000,4,0.000,0.063,3367,3713,2123,0,0,0,0,0,0,28.83,25.83,28.83
$GC,3429,0.48,162.4,180.6,11.1,323,3433,0.00,2.20,0.00,0.000,6,0.000,0.045,3376,2296,2123,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3738,0.48,162.4,148.0,10.2,343,3743,0.00,2.15,0.00,0.000,4,0.000,0.052,3387,892,2123,0,0,0,0,0,0,28.83,25.98,28.83
$GC,3767,0.48,162.4,145.1,9.7,345,3773,0.10,2.15,0.00,0.000,6,0.119,0.052,3353,2299,2122,0,0,0,0,0,0,25.90,25.99,28.83
$GC,4084,0.48,162.4,118.9,8.7,366,4090,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,2299,2122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4395,0.48,163.0,92.6,7.3,427,4401,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,2299,2121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4707,0.49,186.5,71.8,6.4,488,4734,0.00,2.28,19.62,0.615,4,0.000,0.064,3353,3721,2032,0,0,0,0,0,0,28.83,25.89,25.29
$GC,4824,0.49,186.5,62.8,7.9,509,4832,0.00,2.20,0.00,0.000,6,0.000,0.045,3359,2285,2027,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5143,0.54,301.8,48.8,2.9,570,5242,0.00,2.25,91.15,0.599,4,0.000,0.051,3359,895,1560,0,0,0,0,0,0,28.83,25.13,24.61
$GC,5278,0.56,352.4,42.6,5.4,591,5329,0.00,2.22,40.35,0.578,6,0.000,0.049,3359,2303,1355,0,0,0,0,0,0,28.83,25.30,24.50
$GC,5647,0.56,352.4,6.0,8.6,659,5654,0.00,2.25,0.00,0.000,4,0.000,0.063,3359,3706,1346,0,0,0,0,0,0,28.83,25.65,28.83
$STATE,5664,end climb,SURFACE_DEPTH_REACHED
$STATE,5664,begin surface coast
$FINISH,2.1,1.023344
$STATE,5691,end surface coast,CONTROL_FINISHED_OK
$STATE,5691,begin surface
$SM_CCo,5773,0.00,0.000,0,0,1342,355.93
$SM_GC,1.98,8.32,2.45,0.00,0.027,0.044,0.000,109,2174,1342,-9.47,1.33,355.93,0,0,0,0,0,0,25.79,25.73,28.83
$IRIDIUM_FIX,4735.69,-12519.22,011012,000042
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.47
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,15.70
$XPDR_PINGS,2
$24V_AH,24.1,13.255
$10V_AH,10.3,11.576
$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,20.675,57.750,404.450,0.000,0.000,28.555,34.343,123.173,0.500,0.000,17.881,1624.077,2313.163,422.346,1556.599,162.118,0.000,1100.891,0.000,1358.593,0.000,0.535,0.000
$DEVICE_MAMPS,221.085,76.500,725.220,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,454.728,470.907,529.398,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296924
$DATA_FILE_SIZE,36969,667
$CAP_FILE_SIZE,72081,0
$CFSIZE,260165632,250671104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.194,264.2,1
$GPS,011012,035301,4751.317,-12512.755,16,1.6,16,18.7