version: 66.11
glider: 187
mission: 2
dive: 91
start: 10 1 112 17 44 54
data:
$ID,187
$MISSION,2
$DIVE,91
$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,-1587732.4
$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,47
$R_STBD_OVSHOOT,36
$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
$GPS1,011012,173853,4752.232,-12508.423,31,1.1,48,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-78.4
$GPS2,011012,174424,4752.226,-12508.377,13,1.9,13,18.7
$SPEED_LIMITS,0.127,0.220
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$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,214.7,170975,-13.4,-7.333,-18.42
$D_GRID,155
$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,-146.0,0.0,0.0,0,81,0.00,0.00,-62.50,0.000,2,0.000,0.000,114,2166,2769,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.48,-146.0,3.1,-4.3,10,119,11.25,2.30,-13.10,0.000,4,0.224,0.075,3027,3568,3393,0,0,0,0,0,0,25.46,25.72,26.06
$GC,144,-0.48,-146.0,16.6,-17.1,19,151,0.00,2.15,0.00,0.000,6,0.000,0.042,3027,2173,3394,0,0,0,0,0,0,28.83,25.79,28.83
$GC,469,-0.48,-146.0,64.2,-14.5,80,477,0.00,2.28,0.00,0.000,4,0.000,0.061,3017,3570,3396,0,0,0,0,0,0,28.83,25.91,28.83
$GC,564,-0.48,-146.0,75.5,-10.3,97,571,0.00,2.15,0.00,0.000,6,0.000,0.042,3017,2167,3397,0,0,0,0,0,0,28.83,25.99,28.83
$GC,884,-0.48,-146.0,110.2,-12.1,158,890,0.00,2.22,0.00,0.000,4,0.000,0.060,3006,3575,3397,0,0,0,0,0,0,28.83,26.03,28.83
$GC,925,-0.48,-146.0,115.0,-12.3,165,933,0.12,2.12,0.00,0.000,6,0.140,0.042,3041,2173,3397,0,0,0,0,0,0,25.98,26.09,28.83
$GC,1245,-0.48,-146.0,145.1,-9.6,191,1250,0.00,2.12,0.00,0.000,4,0.000,0.050,3041,767,3397,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1289,-0.48,-146.0,149.7,-9.9,194,1295,0.00,2.17,0.00,0.000,6,0.000,0.049,3034,2174,3397,0,0,0,0,0,0,28.83,26.13,28.83
$STATE,1346,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1346,begin apogee
$GC,1353,-0.22,0.0,155.9,-10.2,198,1476,0.25,0.00,116.35,0.661,6,0.125,0.000,3117,2315,2793,0,0,0,0,0,0,26.06,28.83,24.40
$STATE,1478,end apogee,CONTROL_FINISHED_OK
$STATE,1478,begin climb
$GC,1481,0.48,146.0,162.7,0.0,206,1605,0.68,0.00,119.95,0.634,6,0.093,0.000,3345,2315,2198,0,0,0,0,0,0,24.97,28.83,24.18
$GC,1905,0.49,183.4,140.4,5.9,235,1940,0.00,2.30,30.35,0.628,4,0.000,0.050,3355,894,2045,0,0,0,0,0,0,28.83,25.24,24.70
$GC,1965,0.51,218.5,136.8,6.0,239,2000,0.00,2.20,29.20,0.623,6,0.000,0.050,3355,2289,1902,0,0,0,0,0,0,28.83,25.32,24.53
$GC,2307,0.52,255.5,111.5,5.9,277,2344,0.00,2.33,30.23,0.622,4,0.000,0.061,3355,3715,1750,0,0,0,0,0,0,28.83,25.30,24.78
$GC,2372,0.52,255.5,106.9,8.0,288,2380,0.00,2.25,0.00,0.000,6,0.000,0.044,3362,2310,1748,0,0,0,0,0,0,28.83,25.44,28.83
$GC,2692,0.52,255.5,83.4,8.7,349,2699,0.00,2.25,0.00,0.000,4,0.000,0.062,3362,3708,1744,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2712,0.52,255.5,81.6,8.5,352,2720,0.00,2.22,0.00,0.000,6,0.000,0.044,3369,2307,1744,0,0,0,0,0,0,28.83,25.80,28.83
$GC,3037,0.54,295.6,54.8,5.8,413,3076,0.00,2.25,31.88,0.604,4,0.000,0.050,3377,895,1588,0,0,0,0,0,0,28.83,25.56,24.99
$GC,3101,0.55,322.0,50.9,6.3,423,3132,0.00,2.20,22.00,0.574,6,0.000,0.050,3377,2301,1480,0,0,0,0,0,0,28.83,25.60,24.82
$GC,3450,0.55,325.2,27.0,7.2,488,3458,0.00,2.30,0.00,0.000,4,0.000,0.063,3378,3709,1474,0,0,0,0,0,0,28.83,25.76,28.83
$GC,3483,0.55,325.2,24.2,9.2,493,3490,0.00,2.22,0.00,0.000,6,0.000,0.044,3380,2298,1474,0,0,0,0,0,0,28.83,25.83,28.83
$GC,3804,0.58,398.2,8.6,4.5,554,3874,0.00,2.30,59.33,0.577,4,0.000,0.051,3379,897,1168,0,0,0,0,0,0,28.83,25.32,24.80
$STATE,3879,end climb,SURFACE_DEPTH_REACHED
$STATE,3879,begin surface coast
$FINISH,0.9,1.005349
$STATE,3939,end surface coast,CONTROL_FINISHED_OK
$STATE,3939,begin surface
$SM_CCo,4020,0.00,0.000,0,0,1162,400.33
$SM_GC,1.70,8.45,2.08,0.00,0.028,0.048,0.000,121,2182,1162,-9.45,-0.74,400.33,0,0,0,0,0,0,25.60,25.52,28.83
$IRIDIUM_FIX,4732.49,-12535.24,011012,161617
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.03
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,14.90
$XPDR_PINGS,1
$24V_AH,24.2,14.235
$10V_AH,10.3,12.250
$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,20.750,44.625,439.275,0.000,0.000,28.509,40.262,157.099,0.250,0.000,14.065,1328.127,1091.402,439.086,1342.486,161.684,0.000,1014.614,0.000,1129.320,0.000,0.535,0.000
$DEVICE_MAMPS,224.145,81.090,660.960,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,391.157,435.845,509.025,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297096
$DATA_FILE_SIZE,33550,577
$CAP_FILE_SIZE,60108,0
$CFSIZE,260165632,250224640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.072, 35.2,1
$GPS,011012,185305,4752.081,-12509.044,18,1.2,34,18.7