version: 66.11
glider: 187
mission: 2
dive: 96
start: 10 2 112 0 19 22
data:
$ID,187
$MISSION,2
$DIVE,96
$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,-1587738.6
$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,37
$R_STBD_OVSHOOT,23
$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
$GPS1,021012,001301,4750.770,-12510.369,12,2.0,12,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-77.4
$GPS2,021012,001851,4750.755,-12510.377,17,2.1,36,18.7
$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,185.3,167353,-13.4,-7.333,-18.42
$D_GRID,253
$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,-146.0,0.0,0.0,0,97,0.00,0.00,-78.57,0.000,2,0.000,0.000,121,2164,2985,0,0,0,0,0,0,28.83,28.83,28.83
$GC,101,-0.48,-146.0,3.8,-6.7,13,129,11.27,2.33,-7.45,0.000,4,0.226,0.076,3023,3580,3394,0,0,0,0,0,0,25.46,25.72,26.06
$GC,265,-0.48,-146.0,40.2,-13.3,43,273,0.00,2.17,0.00,0.000,6,0.000,0.042,3022,2166,3396,0,0,0,0,0,0,28.83,25.86,28.83
$GC,582,-0.48,-146.0,76.1,-9.7,104,589,0.00,2.17,0.00,0.000,4,0.000,0.050,3022,778,3398,0,0,0,0,0,0,28.83,25.97,28.83
$GC,632,-0.48,-146.0,81.1,-10.0,113,639,0.00,2.17,0.00,0.000,6,0.000,0.048,3012,2189,3398,0,0,0,0,0,0,28.83,25.98,28.83
$GC,950,-0.48,-146.0,122.1,-11.9,173,955,0.00,2.15,0.00,0.000,4,0.000,0.062,3003,3577,3399,0,0,0,0,0,0,28.83,26.03,28.83
$GC,998,-0.48,-146.0,127.5,-11.8,176,1009,0.12,2.12,0.00,0.000,6,0.142,0.042,3038,2167,3398,0,0,0,0,0,0,25.98,26.10,28.83
$GC,1312,-0.48,-146.0,159.4,-10.6,197,1313,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2167,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1610,-0.48,-146.0,188.4,-9.5,217,1615,0.00,2.20,0.00,0.000,4,0.000,0.062,3029,3577,3398,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1647,-0.48,-146.0,191.5,-9.9,219,1655,0.00,2.12,0.00,0.000,6,0.000,0.043,3029,2168,3398,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1969,-0.48,-146.0,228.5,-11.1,237,1975,0.00,2.12,0.00,0.000,4,0.000,0.050,3029,776,3398,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2022,-0.48,-146.0,232.8,-10.8,239,2030,0.00,2.15,0.00,0.000,6,0.000,0.050,3020,2186,3398,0,0,0,0,0,0,28.83,26.20,28.83
$STATE,2206,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2206,begin apogee
$GC,2214,-0.22,0.0,254.2,-10.8,249,2336,0.30,0.00,117.68,0.723,6,0.119,0.000,3121,2315,2793,0,0,0,0,0,0,26.13,28.83,24.33
$STATE,2338,end apogee,CONTROL_FINISHED_OK
$STATE,2339,begin climb
$GC,2341,0.48,146.0,260.7,0.0,255,2469,0.65,0.00,122.25,0.697,6,0.093,0.000,3340,2315,2197,0,0,0,0,0,0,24.92,28.83,24.09
$GC,2772,0.48,153.9,235.8,7.0,277,2788,0.00,2.30,6.38,0.560,4,0.000,0.063,3340,3694,2166,0,0,0,0,0,0,28.83,25.48,24.88
$GC,2824,0.48,153.9,232.5,7.6,279,2831,0.00,2.17,0.00,0.000,6,0.000,0.044,3350,2299,2164,0,0,0,0,0,0,28.83,25.58,28.83
$GC,3131,0.48,153.9,206.3,8.5,295,3137,0.00,2.17,0.00,0.000,4,0.000,0.051,3359,891,2163,0,0,0,0,0,0,28.83,25.80,28.83
$GC,3159,0.48,153.9,204.6,8.5,296,3163,0.00,2.17,0.00,0.000,6,0.000,0.051,3359,2290,2163,0,0,0,0,0,0,28.83,25.81,28.83
$GC,3476,0.48,153.9,178.2,8.0,316,3477,0.00,0.00,0.00,0.000,6,0.000,0.000,3359,2290,2162,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3776,0.49,191.1,157.3,5.9,336,3813,0.00,2.30,31.33,0.667,4,0.000,0.064,3359,3715,2013,0,0,0,0,0,0,28.83,25.60,25.01
$GC,3881,0.50,200.2,150.5,7.0,342,3895,0.00,2.22,8.25,0.581,6,0.000,0.045,3368,2298,1977,0,0,0,0,0,0,28.83,25.74,24.96
$GC,4209,0.50,200.2,128.8,7.5,364,4215,0.00,2.22,0.00,0.000,4,0.000,0.063,3368,3698,1972,0,0,0,0,0,0,28.83,25.84,28.83
$GC,4238,0.50,200.2,126.4,7.3,366,4244,0.00,2.17,0.00,0.000,6,0.000,0.045,3377,2303,1971,0,0,0,0,0,0,28.83,25.90,28.83
$GC,4557,0.50,200.2,102.0,7.4,416,4566,0.00,2.30,0.00,0.000,4,0.000,0.063,3377,3712,1970,0,0,0,0,0,0,28.83,25.97,28.83
$GC,4578,0.50,200.2,100.3,7.8,419,4585,0.00,2.17,0.00,0.000,6,0.000,0.045,3386,2301,1970,0,0,0,0,0,0,28.83,26.02,28.83
$GC,4900,0.52,264.4,74.6,4.9,480,4961,0.00,2.33,51.50,0.623,4,0.000,0.061,3386,3714,1715,0,0,0,0,0,0,28.83,25.44,24.92
$GC,4989,0.52,264.4,68.0,9.5,494,4997,0.05,2.28,0.00,0.000,6,0.093,0.045,3364,2298,1710,0,0,0,0,0,0,25.46,25.56,28.83
$GC,5315,0.56,361.6,44.5,3.6,555,5396,0.00,2.35,75.75,0.591,4,0.000,0.052,3364,887,1319,0,0,0,0,0,0,28.83,25.10,24.60
$GC,5426,0.57,378.2,38.6,6.7,573,5445,0.00,2.25,14.25,0.549,6,0.000,0.049,3364,2305,1251,0,0,0,0,0,0,28.83,25.25,24.62
$GC,5761,0.57,378.2,9.3,10.5,636,5769,0.00,2.30,0.00,0.000,4,0.000,0.063,3361,3708,1243,0,0,0,0,0,0,28.83,25.67,28.83
$GC,5808,0.57,378.2,4.8,9.2,644,5816,0.00,2.25,0.00,0.000,6,0.000,0.044,3361,2284,1242,0,0,0,0,0,0,28.83,25.77,28.83
$STATE,5821,end climb,SURFACE_DEPTH_REACHED
$STATE,5821,begin surface coast
$FINISH,0.8,1.006010
$STATE,5863,end surface coast,CONTROL_FINISHED_OK
$STATE,5863,begin surface
$SM_CCo,5943,0.00,0.000,0,0,1238,381.44
$SM_GC,1.69,8.32,0.15,0.00,0.028,0.077,0.000,113,2178,1238,-9.47,1.30,381.44,0,0,0,0,0,0,25.84,25.83,28.83
$IRIDIUM_FIX,4732.49,-12456.11,011012,222240
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.09
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,19.30
$XPDR_PINGS,0
$24V_AH,24.1,14.665
$10V_AH,10.3,12.551
$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,20.725,58.025,427.375,0.000,0.000,25.668,37.743,156.772,0.000,0.000,38.177,1572.558,2555.232,476.681,1518.918,180.516,0.000,1121.758,0.000,1284.414,0.000,0.535,0.000
$DEVICE_MAMPS,226.440,85.680,722.925,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,445.158,462.295,519.201,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297020
$DATA_FILE_SIZE,36889,654
$CAP_FILE_SIZE,72649,0
$CFSIZE,260165632,250011648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.098,335.7,1
$GPS,021012,015936,4750.080,-12511.048,34,0.9,34,18.7