version: 66.11
glider: 187
mission: 2
dive: 86
start: 10 1 112 12 12 43
data:
$ID,187
$MISSION,2
$DIVE,86
$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,-1587726.1
$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,38
$R_STBD_OVSHOOT,25
$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
$GPS1,011012,120729,4752.724,-12509.724,45,1.3,51,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-78.9
$GPS2,011012,121213,4752.723,-12509.749,12,1.7,12,18.7
$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,60.7,18586,-13.4,-7.333,-18.42
$D_GRID,152
$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,-146.0,0.0,0.0,0,79,0.00,0.00,-60.17,0.000,2,0.000,0.000,109,2161,2966,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.48,-146.0,4.1,-7.9,10,110,11.25,2.20,-7.82,0.000,4,0.226,0.064,3032,775,3394,0,0,0,0,0,0,25.52,25.79,26.12
$GC,224,-0.48,-146.0,34.3,-12.1,35,231,0.00,2.17,0.00,0.000,6,0.000,0.050,3024,2185,3397,0,0,0,0,0,0,28.83,25.86,28.83
$GC,547,-0.48,-146.0,75.4,-11.1,96,555,0.00,2.25,0.00,0.000,4,0.000,0.061,3013,3584,3399,0,0,0,0,0,0,28.83,25.98,28.83
$GC,635,-0.48,-146.0,84.8,-9.9,112,643,0.00,2.20,0.00,0.000,6,0.000,0.042,3013,2160,3399,0,0,0,0,0,0,28.83,26.06,28.83
$GC,958,-0.48,-146.0,117.1,-10.2,173,963,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2160,3399,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1270,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1270,begin apogee
$GC,1277,-0.22,0.0,152.5,-11.5,197,1398,0.32,0.00,116.22,0.658,6,0.122,0.000,3120,2313,2793,0,0,0,0,0,0,26.05,28.83,24.41
$STATE,1401,end apogee,CONTROL_FINISHED_OK
$STATE,1401,begin climb
$GC,1404,0.48,146.0,159.3,0.0,205,1527,0.65,0.00,119.82,0.631,6,0.091,0.000,3341,2312,2198,0,0,0,0,0,0,24.96,28.83,24.18
$GC,1827,0.49,174.5,137.1,6.2,234,1857,0.00,2.35,23.40,0.623,4,0.000,0.062,3341,3709,2080,0,0,0,0,0,0,28.83,25.29,24.77
$GC,1890,0.49,183.3,132.7,7.0,238,1906,0.00,2.22,8.48,0.552,6,0.000,0.044,3350,2299,2045,0,0,0,0,0,0,28.83,25.42,24.76
$GC,2210,0.52,245.6,113.2,4.9,275,2272,0.00,2.30,50.53,0.627,4,0.000,0.051,3359,904,1790,0,0,0,0,0,0,28.83,25.19,24.66
$GC,2306,0.54,292.7,108.0,5.5,291,2350,0.00,2.20,38.25,0.613,6,0.000,0.050,3358,2296,1599,0,0,0,0,0,0,28.83,25.33,24.49
$GC,2661,0.54,292.7,80.5,8.6,358,2667,0.00,2.28,0.00,0.000,4,0.000,0.063,3359,3715,1591,0,0,0,0,0,0,28.83,25.63,28.83
$GC,2702,0.54,292.7,76.2,10.9,365,2709,0.00,2.20,0.00,0.000,6,0.000,0.044,3365,2294,1590,0,0,0,0,0,0,28.83,25.71,28.83
$GC,3022,0.54,292.7,50.6,8.2,426,3029,0.00,2.22,0.00,0.000,4,0.000,0.056,3368,899,1589,0,0,0,0,0,0,28.83,25.87,28.83
$GC,3065,0.54,314.2,47.7,6.5,433,3091,0.00,2.20,17.15,0.581,6,0.000,0.050,3368,2313,1511,0,0,0,0,0,0,28.83,25.89,25.09
$GC,3408,0.55,325.8,24.4,6.9,497,3427,0.00,2.28,10.00,0.545,4,0.000,0.063,3368,3702,1465,0,0,0,0,0,0,28.83,25.77,25.16
$GC,3439,0.55,325.8,21.8,7.7,502,3446,0.00,2.20,0.00,0.000,6,0.000,0.044,3368,2300,1463,0,0,0,0,0,0,28.83,25.84,28.83
$GC,3759,0.56,366.2,7.6,5.8,563,3798,0.00,2.28,32.55,0.581,4,0.000,0.050,3368,896,1300,0,0,0,0,0,0,28.83,25.58,25.03
$STATE,3803,end climb,SURFACE_DEPTH_REACHED
$STATE,3803,begin surface coast
$FINISH,0.8,1.000927
$STATE,3854,end surface coast,CONTROL_FINISHED_OK
$STATE,3854,begin surface
$SM_CCo,3935,0.00,0.000,0,0,1294,367.95
$SM_GC,1.94,8.35,2.05,0.00,0.025,0.049,0.000,111,2173,1294,-9.48,-0.99,367.95,0,0,0,0,0,0,25.75,25.67,28.83
$IRIDIUM_FIX,4732.49,-12512.13,011012,101022
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.75
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,16.00
$XPDR_PINGS,1
$24V_AH,24.2,13.806
$10V_AH,10.3,11.990
$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,20.575,35.825,416.400,0.000,0.000,29.009,38.398,112.070,0.250,0.000,13.332,1320.158,1062.644,421.579,1286.112,139.266,0.000,964.971,0.000,1105.067,0.000,0.536,0.000
$DEVICE_MAMPS,225.675,76.500,657.900,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,392.670,438.238,507.028,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296948
$DATA_FILE_SIZE,33556,579
$CAP_FILE_SIZE,55589,0
$CFSIZE,260165632,250413056
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.139,280.9,1
$GPS,011012,131906,4752.689,-12509.210,11,1.9,11,18.7