version: 66.11
glider: 187
mission: 2
dive: 81
start: 10 1 112 5 46 29
data:
$ID,187
$MISSION,2
$DIVE,81
$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,-1587719.9
$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,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,41
$R_STBD_OVSHOOT,28
$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
$GPS1,011012,054035,4751.812,-12512.227,23,1.4,39,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-78.7
$GPS2,011012,054559,4751.766,-12512.240,16,2.0,20,18.7
$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,83.3,22146,-13.4,-7.333,-18.42
$D_GRID,188
$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,-0.48,-146.0,0.0,0.0,0,74,0.00,0.00,-55.55,0.000,2,0.000,0.000,109,2166,2845,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-0.48,-146.0,3.2,-3.0,9,107,11.27,2.33,-11.15,0.000,4,0.226,0.073,3022,3582,3392,0,0,0,0,0,0,25.47,25.75,26.09
$GC,338,-0.48,-146.0,49.9,-14.5,58,346,0.00,2.20,0.00,0.000,6,0.000,0.043,3022,2171,3397,0,0,0,0,0,0,28.83,25.94,28.83
$GC,655,-0.48,-146.0,90.9,-10.4,119,662,0.00,2.15,0.00,0.000,4,0.000,0.050,3022,764,3398,0,0,0,0,0,0,28.83,26.01,28.83
$GC,731,-0.48,-146.0,99.0,-10.9,133,737,0.00,2.17,0.00,0.000,6,0.000,0.050,3012,2184,3397,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1052,-0.48,-146.0,133.4,-9.2,178,1055,0.00,2.20,0.00,0.000,4,0.000,0.062,3002,3584,3398,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1106,-0.48,-146.0,137.9,-9.4,181,1114,0.15,2.15,0.00,0.000,6,0.133,0.042,3045,2163,3398,0,0,0,0,0,0,26.03,26.14,28.83
$GC,1416,-0.48,-146.0,158.6,-6.2,202,1421,0.00,2.10,0.00,0.000,4,0.000,0.050,3045,765,3398,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1462,-0.48,-146.0,161.6,-6.7,205,1467,0.00,2.12,0.00,0.000,6,0.000,0.050,3037,2170,3398,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1775,-0.48,-146.0,182.5,-7.0,226,1781,0.00,2.22,0.00,0.000,4,0.000,0.063,3027,3591,3398,0,0,0,0,0,0,28.83,26.16,28.83
$STATE,1849,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1849,begin apogee
$GC,1857,-0.22,0.0,188.5,-7.9,231,1978,0.28,0.00,116.15,0.685,6,0.117,0.000,3120,2282,2794,0,0,0,0,0,0,26.11,28.83,24.39
$STATE,1981,end apogee,CONTROL_FINISHED_OK
$STATE,1981,begin climb
$GC,1984,0.48,146.0,193.1,0.0,239,2108,0.70,0.00,120.97,0.657,6,0.092,0.000,3350,2282,2197,0,0,0,0,0,0,24.96,28.83,24.15
$GC,2403,0.48,162.9,168.0,6.7,267,2423,0.00,2.38,13.95,0.618,4,0.000,0.063,3350,3705,2128,0,0,0,0,0,0,28.83,25.38,24.82
$GC,2455,0.49,174.7,165.0,6.9,270,2476,0.00,2.22,11.15,0.597,6,0.000,0.045,3360,2309,2080,0,0,0,0,0,0,28.83,25.48,24.79
$GC,2778,0.49,174.7,139.9,7.7,292,2784,0.00,2.17,0.00,0.000,4,0.000,0.052,3369,902,2076,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2823,0.49,174.7,136.4,7.6,295,2828,0.00,2.15,0.00,0.000,6,0.000,0.051,3369,2297,2075,0,0,0,0,0,0,28.83,25.75,28.83
$GC,3137,0.49,174.7,111.6,7.9,329,3144,0.00,2.25,0.00,0.000,4,0.000,0.063,3369,3716,2074,0,0,0,0,0,0,28.83,25.88,28.83
$GC,3204,0.49,174.7,105.8,9.0,341,3211,0.00,2.20,0.00,0.000,6,0.000,0.045,3379,2292,2074,0,0,0,0,0,0,28.83,25.95,28.83
$GC,3524,0.50,197.1,82.2,6.5,402,3551,0.00,2.17,18.48,0.615,4,0.000,0.050,3390,895,1989,0,0,0,0,0,0,28.83,25.79,25.18
$GC,3621,0.50,197.1,75.3,7.5,419,3628,0.12,2.17,0.00,0.000,6,0.137,0.050,3356,2301,1985,0,0,0,0,0,0,25.77,25.84,28.83
$GC,3944,0.51,219.9,52.1,6.5,480,3970,0.00,2.25,19.35,0.599,4,0.000,0.062,3356,3709,1895,0,0,0,0,0,0,28.83,25.73,25.15
$GC,4003,0.51,219.9,48.0,7.4,490,4010,0.00,2.22,0.00,0.000,6,0.000,0.045,3361,2298,1893,0,0,0,0,0,0,28.83,25.81,28.83
$GC,4326,0.52,259.1,29.9,5.8,551,4365,0.00,2.28,32.20,0.592,4,0.000,0.051,3369,898,1735,0,0,0,0,0,0,28.83,25.57,25.02
$GC,4420,0.56,351.2,25.6,3.8,567,4502,0.00,2.20,72.75,0.575,6,0.000,0.050,3369,2311,1361,0,0,0,0,0,0,28.83,25.66,24.53
$GC,4817,0.56,351.2,5.3,8.8,640,4825,0.00,2.28,0.00,0.000,4,0.000,0.063,3369,3705,1351,0,0,0,0,0,0,28.83,25.66,28.83
$STATE,4830,end climb,SURFACE_DEPTH_REACHED
$STATE,4830,begin surface coast
$FINISH,2.9,1.023698
$STATE,4841,end surface coast,CONTROL_FINISHED_OK
$STATE,4841,begin surface
$SM_CCo,4923,0.00,0.000,0,0,1348,354.95
$SM_GC,1.98,8.40,2.45,0.00,0.031,0.044,0.000,118,2166,1348,-9.45,1.02,354.95,0,0,0,0,0,0,25.79,25.73,28.83
$IRIDIUM_FIX,4735.69,-12509.51,011012,030334
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.40
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,19.30
$XPDR_PINGS,1
$24V_AH,24.2,13.417
$10V_AH,10.3,11.705
$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,20.925,53.075,405.000,0.000,0.000,28.670,43.772,135.373,0.250,0.000,21.333,1525.311,1662.622,425.584,1485.657,156.838,0.000,1037.236,0.000,1267.861,0.000,0.536,0.000
$DEVICE_MAMPS,225.675,73.440,684.675,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,438.425,487.236,578.239,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296928
$DATA_FILE_SIZE,36880,644
$CAP_FILE_SIZE,65989,0
$CFSIZE,260165632,250585088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.200,333.1,1
$GPS,011012,070919,4752.074,-12511.799,10,1.9,10,18.7