version: 66.11
glider: 187
mission: 2
dive: 82
start: 10 1 112 7 14 49
data:
$ID,187
$MISSION,2
$DIVE,82
$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,-1587721.1
$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,40
$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
$GPS1,011012,070919,4752.074,-12511.799,10,1.9,10,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-78.9
$GPS2,011012,071419,4752.068,-12511.822,12,1.6,12,18.7
$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,85.4,21413,-13.4,-7.333,-18.42
$D_GRID,173
$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,-67.53,0.000,2,0.000,0.000,117,2163,2914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.48,-146.0,3.5,-5.5,11,118,11.20,2.15,-9.20,0.000,4,0.223,0.060,3035,771,3392,0,0,0,0,0,0,25.46,25.73,26.08
$GC,234,-0.48,-146.0,36.1,-14.9,37,241,0.00,2.17,0.00,0.000,6,0.000,0.050,3027,2177,3395,0,0,0,0,0,0,28.83,25.81,28.83
$GC,551,-0.48,-146.0,77.2,-11.8,98,557,0.00,2.17,0.00,0.000,4,0.000,0.048,3027,767,3397,0,0,0,0,0,0,28.83,25.95,28.83
$GC,576,-0.48,-146.0,80.1,-11.6,102,582,0.00,2.17,0.00,0.000,6,0.000,0.050,3017,2182,3397,0,0,0,0,0,0,28.83,25.96,28.83
$GC,888,-0.48,-146.0,116.2,-11.7,163,895,0.00,2.17,0.00,0.000,4,0.000,0.049,3017,770,3397,0,0,0,0,0,0,28.83,26.04,28.83
$GC,984,-0.48,-146.0,127.0,-11.4,173,989,0.08,2.15,0.00,0.000,6,0.127,0.050,3035,2181,3397,0,0,0,0,0,0,25.97,26.06,28.83
$GC,1300,-0.48,-146.0,161.0,-11.6,194,1306,0.00,2.17,0.00,0.000,4,0.000,0.062,3027,3580,3397,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1346,-0.48,-146.0,166.3,-11.7,197,1350,0.00,2.12,0.00,0.000,6,0.000,0.043,3026,2172,3397,0,0,0,0,0,0,28.83,26.15,28.83
$STATE,1412,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1412,begin apogee
$GC,1419,-0.22,0.0,174.4,-11.8,201,1540,0.28,0.00,116.40,0.672,6,0.119,0.000,3118,2317,2794,0,0,0,0,0,0,26.05,28.83,24.37
$STATE,1543,end apogee,CONTROL_FINISHED_OK
$STATE,1543,begin climb
$GC,1546,0.48,146.0,182.0,0.0,209,1677,0.68,2.40,120.25,0.646,4,0.096,0.062,3343,3701,2195,0,0,0,0,0,0,24.93,24.65,24.14
$GC,1694,0.50,208.3,178.2,4.9,219,1751,0.00,2.25,50.58,0.646,6,0.000,0.044,3353,2299,1943,0,0,0,0,0,0,28.83,24.91,24.17
$GC,2064,0.50,208.3,147.1,8.5,244,2067,0.00,2.22,0.00,0.000,4,0.000,0.052,3362,900,1935,0,0,0,0,0,0,28.83,25.56,28.83
$GC,2099,0.50,208.3,144.6,7.9,246,2103,0.00,2.17,0.00,0.000,6,0.000,0.050,3362,2293,1934,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2406,0.51,218.5,121.4,6.9,266,2421,0.00,2.28,8.38,0.561,4,0.000,0.061,3362,3708,1902,0,0,0,0,0,0,28.83,25.71,25.13
$GC,2449,0.51,218.5,117.8,8.5,270,2457,0.00,2.17,0.00,0.000,6,0.000,0.044,3370,2306,1901,0,0,0,0,0,0,28.83,25.78,28.83
$GC,2765,0.51,218.5,91.2,8.0,331,2771,0.00,2.20,0.00,0.000,4,0.000,0.052,3380,884,1900,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2814,0.51,227.1,87.7,7.0,340,2828,0.00,2.22,8.32,0.555,6,0.000,0.050,3380,2297,1868,0,0,0,0,0,0,28.83,25.94,25.17
$GC,3140,0.52,243.6,67.0,6.7,402,3162,0.00,2.22,15.05,0.595,4,0.000,0.050,3389,892,1799,0,0,0,0,0,0,28.83,25.79,25.17
$GC,3186,0.52,243.6,63.9,7.3,409,3193,0.00,2.20,0.00,0.000,6,0.000,0.051,3389,2309,1797,0,0,0,0,0,0,28.83,25.81,28.83
$GC,3509,0.52,243.6,38.7,9.0,470,3517,0.00,2.28,0.00,0.000,4,0.000,0.063,3389,3713,1795,0,0,0,0,0,0,28.83,25.94,28.83
$GC,3552,0.52,243.6,34.6,10.5,477,3560,0.12,2.20,0.00,0.000,6,0.143,0.045,3362,2298,1795,0,0,0,0,0,0,25.90,26.00,28.83
$GC,3873,0.53,279.6,12.3,5.9,538,3906,0.00,0.00,28.88,0.586,6,0.000,0.000,3362,2293,1653,0,0,0,0,0,0,28.83,28.83,25.15
$STATE,4036,end climb,SURFACE_DEPTH_REACHED
$STATE,4036,begin surface coast
$FINISH,0.9,1.013418
$STATE,4109,end surface coast,CONTROL_FINISHED_OK
$STATE,4109,begin surface
$SM_CCo,4129,13.07,0.251,1,0,1570,300.00
$SM_GC,2.15,8.27,0.17,13.07,0.028,0.075,0.251,118,2164,1570,-9.45,1.07,300.00,0,0,0,0,1,0,25.96,25.93,25.18
$IRIDIUM_FIX,4735.69,-12507.66,011012,050519
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.55
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,19.40
$XPDR_PINGS,1
$24V_AH,24.1,13.492
$10V_AH,10.3,11.762
$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,20.625,44.525,347.850,13.075,0.000,25.063,55.768,114.420,0.250,0.000,13.608,1399.340,1168.486,380.555,1365.956,146.056,0.000,953.726,0.000,1165.071,0.000,0.536,0.000
$DEVICE_MAMPS,222.615,75.735,672.435,250.920,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,396.723,444.504,517.513,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296908
$DATA_FILE_SIZE,33613,582
$CAP_FILE_SIZE,61405,0
$CFSIZE,260165632,250560512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.164,317.8,1
$GPS,011012,082605,4752.367,-12511.208,89,1.8,89,18.7