version: 66.11
glider: 187
mission: 2
dive: 864
start: 4 23 113 5 29 7
data:
$ID,187
$MISSION,2
$DIVE,864
$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,470
$T_MISSION,520
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,10
$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,140
$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,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,3
$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,-1590072.9
$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,48
$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,20
$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
$GPS1,230413,052251,4751.795,-12510.467,13,2.1,32,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-78.0
$GPS2,230413,052833,4751.747,-12510.435,14,2.1,33,18.7
$SPEED_LIMITS,0.122,0.210
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$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,327.4,397,-26.8,-7.021,-30.00
$D_GRID,175
$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,17,-0.85,-36.8,0.0,0.0,0,74,0.00,0.00,-55.28,0.000,2,0.000,0.000,108,2189,2590,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-0.87,-72.2,3.2,-2.4,10,111,11.15,2.38,-10.80,0.000,4,0.215,0.070,2899,3608,3091,0,0,0,0,0,0,24.50,25.27,26.19
$GC,140,-0.87,-72.2,21.7,-28.8,20,146,0.00,2.20,0.00,0.000,6,0.000,0.041,2899,2212,3093,0,0,0,0,0,0,28.83,25.41,28.83
$GC,452,-0.87,-72.2,88.5,-18.2,81,460,0.00,2.22,0.00,0.000,4,0.000,0.049,2899,785,3094,0,0,0,0,0,0,28.83,25.20,28.83
$GC,504,-0.87,-72.2,97.9,-18.0,90,511,0.00,2.22,0.00,0.000,6,0.000,0.049,2889,2202,3094,0,0,0,0,0,0,28.83,25.21,28.83
$GC,814,-0.87,-72.2,152.6,-17.7,127,822,0.00,2.33,0.00,0.000,4,0.000,0.058,2878,3609,3094,0,0,0,0,0,0,28.83,25.03,28.83
$GC,864,-0.87,-72.2,162.4,-20.0,132,873,0.15,2.28,0.00,0.000,6,0.163,0.041,2914,2188,3094,0,0,0,0,0,0,24.96,25.37,28.83
$STATE,946,end dive,TARGET_DEPTH_EXCEEDED
$STATE,947,begin apogee
$GC,955,-0.22,0.0,177.2,-16.9,138,1021,0.65,0.00,62.35,0.649,6,0.133,0.000,3115,2338,2793,0,0,0,0,0,0,24.53,28.83,23.93
$STATE,1022,end apogee,CONTROL_FINISHED_OK
$STATE,1022,begin climb
$GC,1025,0.87,72.2,183.5,0.0,145,1099,1.00,2.33,63.83,0.620,4,0.079,0.060,3467,3711,2497,0,0,0,0,0,0,25.00,24.97,23.74
$GC,1109,0.88,101.6,181.7,3.2,154,1141,0.00,2.25,27.15,0.615,6,0.000,0.043,3478,2323,2379,0,0,0,0,0,0,28.83,25.21,23.68
$GC,1442,0.88,101.6,153.3,9.9,177,1448,0.00,2.30,0.00,0.000,4,0.000,0.061,3478,3731,2372,0,0,0,0,0,0,28.83,25.22,28.83
$GC,1519,0.88,101.6,144.3,11.6,185,1527,0.00,2.28,0.00,0.000,6,0.000,0.044,3490,2324,2371,0,0,0,0,0,0,28.83,25.46,28.83
$GC,1833,0.88,101.6,114.5,9.1,212,1839,0.00,0.00,0.00,0.000,6,0.000,0.000,3490,2323,2370,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2144,0.88,106.6,91.6,6.4,273,2158,0.00,2.35,4.12,0.411,4,0.000,0.061,3490,3722,2359,0,0,0,0,0,0,28.83,25.27,24.24
$GC,2387,0.88,106.6,71.8,7.0,320,2394,0.00,2.20,0.00,0.000,6,0.000,0.044,3501,2318,2358,0,0,0,0,0,0,28.83,25.42,28.83
$GC,2700,0.89,130.5,55.2,3.9,381,2730,0.00,2.33,22.27,0.565,4,0.000,0.061,3501,3729,2260,0,0,0,0,0,0,28.83,25.26,24.17
$GC,2963,0.89,137.4,41.8,6.1,431,2977,0.12,2.20,6.50,0.475,6,0.175,0.043,3483,2323,2233,0,0,0,0,0,0,25.11,25.45,24.18
$GC,3284,0.90,152.6,26.0,5.0,493,3304,0.00,2.38,14.20,0.535,4,0.000,0.061,3483,3726,2171,0,0,0,0,0,0,28.83,25.36,24.21
$GC,3466,0.91,188.5,16.5,2.3,527,3503,0.00,2.20,30.95,0.551,6,0.000,0.044,3492,2319,2024,0,0,0,0,0,0,28.83,25.48,24.10
$GC,3812,0.93,222.8,9.9,2.5,593,3851,0.00,2.35,28.60,0.541,4,0.000,0.060,3493,3716,1884,0,0,0,0,0,0,28.83,25.32,24.13
$STATE,3956,end climb,SURFACE_DEPTH_REACHED
$STATE,3956,begin surface coast
$FINISH,1.0,1.013260
$STATE,4027,end surface coast,CONTROL_FINISHED_OK
$STATE,4027,begin surface
$SM_CCo,4050,50.33,0.437,3,0,1570,300.00
$SM_GC,2.84,8.70,2.45,50.33,0.028,0.042,0.437,113,2192,1570,-9.46,1.16,300.00,0,0,0,0,3,0,25.77,25.47,24.09
$IRIDIUM_FIX,4735.69,-12507.66,230413,040440
$TT8_MAMPS,0.027713,0.027713
$HUMID,49.01
$INTERNAL_PRESSURE,9.13782
$TCM_TEMP,19.20
$XPDR_PINGS,1
$24V_AH,23.7,118.380
$10V_AH,9.8,87.920
$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,21.775,41.450,259.975,50.325,0.000,24.700,48.812,125.405,0.250,0.000,35.764,1504.030,1215.794,426.055,1140.136,185.772,0.000,921.385,0.000,913.756,0.000,0.536,0.000
$DEVICE_MAMPS,214.965,72.675,648.720,436.815,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,430.895,473.608,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296764
$DATA_FILE_SIZE,33569,633
$CAP_FILE_SIZE,60617,0
$CFSIZE,260165632,186679296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.104,135.1,1
$GPS,230413,063848,4751.747,-12510.363,8,1.7,25,18.7