version: 66.11
glider: 187
mission: 2
dive: 303
start: 11 23 112 17 24 16
data:
$ID,187
$MISSION,2
$DIVE,303
$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,-1588139.9
$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,2200
$C_ROLL_CLIMB,2325
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$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
$GPS1,231112,171801,4751.829,-12511.899,13,1.7,13,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-74.8
$GPS2,231112,172345,4751.864,-12511.948,21,3.3,40,18.7
$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,171.2,166888,-13.4,-7.333,-18.42
$D_GRID,249
$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,-146.0,0.0,0.0,0,92,0.00,0.00,-73.93,0.000,2,0.000,0.000,130,2204,2753,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.48,-146.0,3.0,-1.9,12,130,11.25,2.28,-14.45,0.000,4,0.219,0.070,3025,3620,3391,0,0,0,0,0,0,25.15,25.65,26.21
$GC,149,-0.48,-146.0,14.9,-18.9,20,157,0.00,2.22,0.00,0.000,6,0.000,0.040,3025,2196,3392,0,0,0,0,0,0,28.83,25.78,28.83
$GC,475,-0.48,-146.0,69.4,-12.4,81,482,0.00,2.15,0.00,0.000,4,0.000,0.047,3024,784,3393,0,0,0,0,0,0,28.83,25.81,28.83
$GC,647,-0.48,-146.0,90.2,-12.0,114,655,0.00,2.20,0.00,0.000,6,0.000,0.048,3015,2216,3394,0,0,0,0,0,0,28.83,25.85,28.83
$GC,965,-0.48,-146.0,124.9,-10.7,170,966,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2216,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1266,-0.48,-146.0,157.5,-11.6,190,1267,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2216,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1565,-0.48,-146.0,191.7,-11.4,210,1571,0.00,2.20,0.00,0.000,4,0.000,0.047,3015,784,3394,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1619,-0.48,-146.0,197.1,-11.7,213,1626,0.12,2.17,0.00,0.000,6,0.141,0.048,3042,2201,3394,0,0,0,0,0,0,25.80,25.94,28.83
$GC,1943,-0.48,-146.0,226.7,-9.1,230,1944,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2201,3394,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2178,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2178,begin apogee
$GC,2185,-0.22,0.0,249.8,-9.5,242,2307,0.22,0.00,117.82,0.705,6,0.119,0.000,3120,2343,2794,0,0,0,0,0,0,25.89,28.83,24.27
$STATE,2311,end apogee,CONTROL_FINISHED_OK
$STATE,2311,begin climb
$GC,2313,0.48,146.0,256.2,0.0,248,2441,0.65,0.00,121.53,0.683,6,0.087,0.000,3344,2343,2198,0,0,0,0,0,0,25.02,28.83,24.01
$GC,2743,0.49,186.9,235.0,5.8,270,2783,0.00,2.30,34.10,0.659,4,0.000,0.060,3343,3714,2028,0,0,0,0,0,0,28.83,25.27,24.47
$GC,2815,0.50,214.9,231.3,6.3,273,2844,0.00,2.17,23.75,0.643,6,0.000,0.041,3351,2322,1916,0,0,0,0,0,0,28.83,25.42,24.40
$GC,3167,0.52,244.5,208.4,6.2,291,3201,0.00,2.30,24.50,0.647,4,0.000,0.049,3361,917,1795,0,0,0,0,0,0,28.83,25.49,24.67
$GC,3258,0.52,261.0,202.9,6.7,295,3278,0.00,2.20,14.77,0.617,6,0.000,0.048,3361,2324,1730,0,0,0,0,0,0,28.83,25.56,24.54
$GC,3585,0.53,271.9,178.2,6.9,316,3601,0.00,2.28,9.88,0.581,4,0.000,0.050,3368,925,1684,0,0,0,0,0,0,28.83,25.70,24.73
$GC,3620,0.53,285.5,175.7,6.8,318,3638,0.00,2.17,12.40,0.597,6,0.000,0.050,3368,2322,1630,0,0,0,0,0,0,28.83,25.69,24.68
$GC,3951,0.53,285.5,150.9,7.7,340,3952,0.00,0.00,0.00,0.000,6,0.000,0.000,3368,2322,1626,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4251,0.53,285.5,128.1,7.5,360,4252,0.00,0.00,0.00,0.000,6,0.000,0.000,3368,2322,1625,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4552,0.53,285.5,105.1,8.0,406,4560,0.00,2.17,0.00,0.000,4,0.000,0.050,3371,923,1624,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4604,0.54,307.9,101.8,6.5,415,4630,0.00,2.17,19.30,0.595,6,0.000,0.050,3371,2334,1538,0,0,0,0,0,0,28.83,25.91,24.93
$GC,4939,0.55,334.2,78.6,6.3,479,4970,0.00,2.28,22.20,0.587,4,0.000,0.050,3377,925,1429,0,0,0,0,0,0,28.83,25.73,24.90
$GC,4982,0.57,386.0,75.6,5.3,486,5032,0.00,2.17,42.12,0.585,6,0.000,0.049,3377,2324,1219,0,0,0,0,0,0,28.83,25.70,24.66
$GC,5345,0.59,417.6,53.5,6.1,554,5379,0.00,2.22,25.25,0.569,4,0.000,0.049,3377,928,1090,0,0,0,0,0,0,28.83,25.56,24.77
$GC,5428,0.59,425.0,48.1,7.0,568,5441,0.00,2.22,7.40,0.487,6,0.000,0.048,3377,2324,1060,0,0,0,0,0,0,28.83,25.59,24.61
$GC,5754,0.59,425.0,16.3,10.7,630,5762,0.00,2.30,0.00,0.000,4,0.000,0.063,3377,3735,1056,0,0,0,0,0,0,28.83,25.70,28.83
$GC,5776,0.59,425.0,14.2,10.0,633,5783,0.00,2.17,0.00,0.000,6,0.000,0.042,3377,2313,1055,0,0,0,0,0,0,28.83,25.84,28.83
$STATE,5886,end climb,SURFACE_DEPTH_REACHED
$STATE,5886,begin surface coast
$FINISH,1.1,1.000890
$STATE,5931,end surface coast,CONTROL_FINISHED_OK
$STATE,5931,begin surface
$SM_CCo,6011,0.00,0.000,0,0,1052,427.31
$SM_GC,1.94,8.25,0.15,0.00,0.024,0.079,0.000,111,2198,1052,-9.46,1.44,427.31,0,0,0,0,0,0,26.03,26.02,28.83
$IRIDIUM_FIX,4732.49,-12456.11,231112,151549
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.68
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.70
$XPDR_PINGS,0
$24V_AH,24.0,42.446
$10V_AH,10.1,35.182
$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,20.500,44.725,475.025,0.000,0.000,26.551,34.500,144.527,0.000,0.000,42.070,1568.909,2613.751,500.670,1506.281,174.996,0.000,1136.917,0.000,1269.073,0.000,0.535,0.000
$DEVICE_MAMPS,218.790,79.560,705.330,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,449.750,468.839,504.765,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296760
$DATA_FILE_SIZE,36816,662
$CAP_FILE_SIZE,70902,0
$CFSIZE,260165632,232767488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.360,351.3,1
$GPS,231112,190536,4751.815,-12512.403,32,1.0,32,18.7