version: 66.11
glider: 187
mission: 2
dive: 865
start: 4 23 113 6 45 21
data:
$ID,187
$MISSION,2
$DIVE,865
$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,-1590074.1
$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,2200
$C_ROLL_CLIMB,2325
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,39
$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
$GPS1,230413,063848,4751.747,-12510.363,8,1.7,25,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-77.9
$GPS2,230413,064439,4751.693,-12510.366,12,9.8,31,18.7
$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,324.4,454,-18.5,-7.021,-22.62
$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,16,-0.61,-76.3,0.0,0.0,0,62,0.00,0.00,-43.85,0.000,2,0.000,0.000,112,2188,2556,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.63,-133.1,3.2,-3.3,8,98,11.45,0.00,-16.60,0.000,6,0.216,0.000,2983,2187,3338,0,0,0,0,0,0,24.56,28.83,26.19
$GC,404,-0.63,-133.1,69.0,-17.5,73,411,0.00,2.33,0.00,0.000,4,0.000,0.060,2975,3605,3341,0,0,0,0,0,0,28.83,25.08,28.83
$GC,427,-0.63,-133.1,72.5,-16.1,76,434,0.00,2.20,0.00,0.000,6,0.000,0.042,2975,2206,3341,0,0,0,0,0,0,28.83,25.43,28.83
$GC,740,-0.63,-133.1,120.4,-13.2,137,748,0.00,2.33,0.00,0.000,4,0.000,0.060,2964,3598,3342,0,0,0,0,0,0,28.83,25.03,28.83
$GC,759,-0.63,-133.1,123.2,-13.6,139,768,0.00,2.25,0.00,0.000,6,0.000,0.041,2964,2192,3342,0,0,0,0,0,0,28.83,25.39,28.83
$GC,1069,-0.63,-133.1,165.3,-13.6,160,1078,0.00,2.22,0.00,0.000,4,0.000,0.048,2964,802,3342,0,0,0,0,0,0,28.83,25.17,28.83
$STATE,1147,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1147,begin apogee
$GC,1157,-0.22,0.0,176.1,-13.0,168,1271,0.50,0.00,110.18,0.642,6,0.118,0.000,3115,2312,2794,0,0,0,0,0,0,24.87,28.83,23.87
$STATE,1272,end apogee,CONTROL_FINISHED_OK
$STATE,1272,begin climb
$GC,1275,0.63,133.1,182.9,0.0,180,1399,0.80,2.40,114.12,0.613,4,0.083,0.062,3393,3744,2250,0,0,0,0,0,0,24.94,24.89,23.74
$GC,1452,0.63,133.1,175.4,9.0,198,1459,0.00,2.22,0.00,0.000,6,0.000,0.043,3403,2331,2245,0,0,0,0,0,0,28.83,25.31,28.83
$GC,1759,0.63,133.1,149.7,8.6,219,1769,0.00,2.30,0.00,0.000,4,0.000,0.050,3414,921,2242,0,0,0,0,0,0,28.83,25.28,28.83
$GC,1799,0.63,133.1,146.1,9.0,223,1809,0.00,2.30,0.00,0.000,6,0.000,0.050,3414,2333,2242,0,0,0,0,0,0,28.83,25.28,28.83
$GC,2110,0.63,133.1,118.8,8.2,246,2117,0.00,2.25,0.00,0.000,4,0.000,0.051,3425,921,2241,0,0,0,0,0,0,28.83,25.22,28.83
$GC,2160,0.63,133.1,114.4,8.6,255,2167,0.00,2.22,0.00,0.000,6,0.000,0.051,3425,2326,2240,0,0,0,0,0,0,28.83,25.22,28.83
$GC,2474,0.64,146.3,89.0,6.2,316,2492,0.00,2.30,10.95,0.544,4,0.000,0.063,3425,3733,2195,0,0,0,0,0,0,28.83,25.27,24.19
$GC,2707,0.64,146.3,70.1,9.2,361,2715,0.12,2.20,0.00,0.000,6,0.156,0.044,3404,2324,2193,0,0,0,0,0,0,25.18,25.44,28.83
$GC,3022,0.65,181.5,50.6,4.7,422,3060,0.00,2.40,30.33,0.571,4,0.000,0.062,3404,3736,2053,0,0,0,0,0,0,28.83,25.25,24.12
$GC,3134,0.66,208.0,45.0,5.3,442,3164,0.00,2.22,22.88,0.555,6,0.000,0.044,3413,2319,1945,0,0,0,0,0,0,28.83,25.47,24.04
$GC,3474,0.66,212.3,25.7,6.7,507,3487,0.00,2.38,4.18,0.392,4,0.000,0.062,3412,3732,1928,0,0,0,0,0,0,28.83,25.32,24.22
$GC,3551,0.67,226.1,20.3,6.1,521,3571,0.00,2.22,13.40,0.525,6,0.000,0.044,3422,2324,1871,0,0,0,0,0,0,28.83,25.49,24.20
$GC,3877,0.69,281.1,5.4,3.4,584,3918,0.00,0.00,38.58,0.545,2,0.000,0.000,3422,2324,1683,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3919,end climb,SURFACE_DEPTH_REACHED
$STATE,3919,begin surface coast
$FINISH,1.2,1.023796
$STATE,4020,end surface coast,CONTROL_FINISHED_OK
$STATE,4020,begin surface
$SM_CCo,4041,18.70,0.334,1,0,1571,300.00
$SM_GC,2.79,8.50,0.17,18.70,0.027,0.076,0.334,118,2192,1571,-9.45,1.33,300.00,0,0,0,0,1,0,25.75,25.75,24.14
$IRIDIUM_FIX,4735.69,-12509.51,230413,050550
$TT8_MAMPS,0.027713,0.027713
$HUMID,50.15
$INTERNAL_PRESSURE,9.12806
$TCM_TEMP,19.10
$XPDR_PINGS,1
$24V_AH,23.7,118.452
$10V_AH,9.9,87.959
$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,21.375,41.375,344.600,18.700,0.000,25.153,35.771,147.597,0.250,0.000,33.261,1424.477,1266.912,452.158,1112.276,180.875,0.000,942.101,0.000,881.557,0.000,0.536,0.000
$DEVICE_MAMPS,216.495,75.735,641.835,334.305,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,414.375,457.296,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296752
$DATA_FILE_SIZE,33566,610
$CAP_FILE_SIZE,59109,0
$CFSIZE,260165632,186642432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.125,164.4,1
$GPS,230413,075433,4751.809,-12510.522,27,3.3,46,18.7