version: 66.11
glider: 187
mission: 2
dive: 870
start: 4 23 113 13 13 12
data:
$ID,187
$MISSION,2
$DIVE,870
$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,-1590080.4
$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,39
$R_STBD_OVSHOOT,26
$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
$GPS1,230413,130652,4751.444,-12510.324,19,3.1,38,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-80.2
$GPS2,230413,131239,4751.421,-12510.299,14,2.9,33,18.7
$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,316.8,944,-13.3,-7.021,-18.50
$D_GRID,165
$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,-0.47,-136.3,0.0,0.0,0,63,0.00,0.00,-44.42,0.000,2,0.000,0.000,104,2199,2575,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.47,-136.3,3.5,-4.1,8,106,11.68,2.28,-15.77,0.000,4,0.217,0.061,3032,798,3355,0,0,0,0,0,0,24.62,25.41,26.18
$GC,113,-0.47,-136.3,16.9,-28.2,15,121,0.00,2.22,0.00,0.000,6,0.000,0.048,3024,2204,3356,0,0,0,0,0,0,28.83,25.38,28.83
$GC,428,-0.47,-136.3,63.7,-12.8,76,435,0.00,2.22,0.00,0.000,4,0.000,0.049,3025,798,3357,0,0,0,0,0,0,28.83,25.22,28.83
$GC,474,-0.47,-136.3,69.3,-11.1,84,480,0.00,2.20,0.00,0.000,6,0.000,0.049,3013,2200,3357,0,0,0,0,0,0,28.83,25.22,28.83
$GC,787,-0.47,-136.3,105.2,-10.8,145,794,0.00,2.20,0.00,0.000,4,0.000,0.048,3014,797,3357,0,0,0,0,0,0,28.83,25.19,28.83
$GC,812,-0.47,-136.3,107.7,-10.1,149,819,0.15,2.22,0.00,0.000,6,0.131,0.049,3046,2209,3357,0,0,0,0,0,0,25.00,25.17,28.83
$GC,1126,-0.47,-136.3,133.0,-5.3,188,1128,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2208,3358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1426,-0.47,-136.3,156.8,-7.4,208,1427,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2208,3358,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1543,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1543,begin apogee
$GC,1551,-0.22,0.0,165.6,-7.4,216,1668,0.22,0.00,113.35,0.634,6,0.116,0.000,3124,2347,2794,0,0,0,0,0,0,25.48,28.83,23.86
$STATE,1669,end apogee,CONTROL_FINISHED_OK
$STATE,1669,begin climb
$GC,1672,0.47,136.3,172.4,0.0,228,1792,0.65,0.00,116.00,0.611,6,0.074,0.000,3350,2347,2238,0,0,0,0,0,0,24.95,28.83,23.75
$GC,2091,0.48,145.5,153.3,6.7,259,2105,0.00,0.00,8.40,0.533,6,0.000,0.000,3350,2347,2198,0,0,0,0,0,0,28.83,28.83,24.13
$GC,2406,0.48,145.5,139.7,7.4,280,2414,0.00,2.28,0.00,0.000,4,0.000,0.063,3350,3714,2195,0,0,0,0,0,0,28.83,25.15,28.83
$GC,2447,0.48,153.8,137.0,6.7,284,2465,0.00,2.20,8.25,0.535,6,0.000,0.044,3360,2313,2166,0,0,0,0,0,0,28.83,25.44,24.18
$GC,2766,0.50,217.4,118.3,4.5,310,2824,0.00,0.00,53.67,0.611,6,0.000,0.000,3359,2313,1906,0,0,0,0,0,0,28.83,28.83,24.02
$GC,3133,0.53,272.0,105.9,4.9,380,3186,0.00,2.25,45.22,0.598,4,0.000,0.053,3363,925,1682,0,0,0,0,0,0,28.83,25.24,24.03
$GC,3250,0.53,272.0,98.0,8.3,401,3257,0.00,2.20,0.00,0.000,6,0.000,0.050,3363,2317,1679,0,0,0,0,0,0,28.83,25.32,28.83
$GC,3563,0.53,272.0,73.4,7.6,462,3570,0.00,2.22,0.00,0.000,4,0.000,0.052,3366,919,1675,0,0,0,0,0,0,28.83,25.27,28.83
$GC,3603,0.53,272.0,70.3,7.7,469,3609,0.00,2.25,0.00,0.000,6,0.000,0.050,3366,2332,1675,0,0,0,0,0,0,28.83,25.29,28.83
$GC,3916,0.54,305.6,50.8,5.7,530,3952,0.00,2.33,27.27,0.565,4,0.000,0.063,3366,3741,1546,0,0,0,0,0,0,28.83,25.28,24.15
$GC,4186,0.54,305.6,25.3,7.7,581,4193,0.00,2.22,0.00,0.000,6,0.000,0.043,3366,2315,1541,0,0,0,0,0,0,28.83,25.48,28.83
$GC,4500,0.54,305.6,5.5,7.6,642,4506,0.00,2.35,0.00,0.000,4,0.000,0.063,3366,3744,1540,0,0,0,0,0,0,28.83,25.07,28.83
$STATE,4517,end climb,SURFACE_DEPTH_REACHED
$STATE,4517,begin surface coast
$FINISH,1.0,1.023621
$STATE,4573,end surface coast,CONTROL_FINISHED_OK
$STATE,4573,begin surface
$SM_CCo,4655,0.00,0.000,0,0,1536,308.34
$SM_GC,2.46,8.35,2.50,0.00,0.027,0.044,0.000,105,2194,1536,-9.47,1.02,308.34,0,0,0,0,0,0,25.78,25.38,28.83
$IRIDIUM_FIX,4735.69,-12521.07,230413,111156
$TT8_MAMPS,0.027713,0.027713
$HUMID,49.76
$INTERNAL_PRESSURE,9.11829
$TCM_TEMP,19.10
$XPDR_PINGS,1
$24V_AH,23.7,118.818
$10V_AH,9.9,88.159
$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,21.050,36.350,372.175,0.000,0.000,27.064,47.487,129.465,0.250,0.000,35.082,1510.447,1693.168,444.976,1173.802,189.222,0.000,963.706,0.000,946.709,0.000,0.536,0.000
$DEVICE_MAMPS,217.260,79.560,634.185,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,445.278,494.134,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33637,656
$CAP_FILE_SIZE,61005,0
$CFSIZE,260165632,186449920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.280,116.3,1
$GPS,230413,143157,4751.564,-12510.267,13,6.3,32,18.7