version: 66.11
glider: 187
mission: 2
dive: 872
start: 4 23 113 15 54 10
data:
$ID,187
$MISSION,2
$DIVE,872
$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,-1590082.9
$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,47
$R_STBD_OVSHOOT,27
$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
$GPS1,230413,154806,4751.716,-12510.495,34,1.2,34,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-77.7
$GPS2,230413,155336,4751.675,-12510.466,13,2.0,13,18.7
$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,323.6,531,-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,-36.8,0.0,0.0,0,91,0.00,0.00,-71.68,0.000,2,0.000,0.000,106,2193,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.86,-58.8,3.4,-4.1,13,121,11.23,0.00,-7.55,0.000,6,0.217,0.000,2908,2191,3037,0,0,0,0,0,0,24.49,28.83,26.15
$GC,428,-0.86,-58.8,78.5,-18.1,77,434,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2191,3040,0,0,0,0,0,0,28.83,28.83,28.83
$GC,752,-0.86,-58.8,132.4,-16.4,130,759,0.00,2.20,0.00,0.000,4,0.000,0.048,2908,791,3040,0,0,0,0,0,0,28.83,25.20,28.83
$GC,822,-0.86,-58.8,144.2,-16.9,137,830,0.00,2.22,0.00,0.000,6,0.000,0.049,2900,2203,3040,0,0,0,0,0,0,28.83,25.19,28.83
$STATE,1023,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1023,begin apogee
$GC,1030,-0.22,0.0,176.6,-16.7,151,1086,0.73,0.00,51.75,0.644,6,0.136,0.000,3119,2345,2794,0,0,0,0,0,0,24.45,28.83,23.98
$STATE,1087,end apogee,CONTROL_FINISHED_OK
$STATE,1087,begin climb
$GC,1091,0.86,58.8,181.2,0.0,157,1147,1.02,0.00,52.22,0.623,6,0.079,0.000,3471,2346,2553,0,0,0,0,0,0,25.02,28.83,23.77
$GC,1449,0.87,77.2,164.7,4.6,181,1471,0.00,2.33,16.50,0.601,4,0.000,0.060,3471,3724,2478,0,0,0,0,0,0,28.83,25.36,24.13
$GC,1511,0.87,82.5,160.9,6.3,187,1522,0.00,2.22,6.32,0.506,6,0.000,0.044,3483,2334,2457,0,0,0,0,0,0,28.83,25.53,24.07
$GC,1824,0.87,84.5,138.6,6.8,208,1832,0.00,2.30,0.00,0.000,4,0.000,0.061,3483,3726,2454,0,0,0,0,0,0,28.83,25.19,28.83
$GC,2011,0.87,84.5,123.9,9.8,227,2020,0.00,2.28,0.00,0.000,6,0.000,0.044,3494,2319,2452,0,0,0,0,0,0,28.83,25.43,28.83
$GC,2324,0.87,84.5,98.1,7.5,282,2331,0.00,2.22,0.00,0.000,4,0.000,0.050,3506,914,2452,0,0,0,0,0,0,28.83,25.21,28.83
$GC,2563,0.88,102.1,84.0,4.7,328,2588,0.00,2.20,17.98,0.575,6,0.000,0.050,3506,2312,2377,0,0,0,0,0,0,28.83,25.18,24.19
$GC,2896,0.88,111.7,66.0,5.8,392,2911,0.00,2.40,9.52,0.531,4,0.000,0.061,3506,3742,2338,0,0,0,0,0,0,28.83,25.37,24.19
$GC,2991,0.89,122.8,60.8,5.6,409,3011,0.15,2.22,10.95,0.535,6,0.174,0.044,3479,2324,2293,0,0,0,0,0,0,25.14,25.53,24.16
$GC,3319,0.90,151.5,49.8,3.3,472,3351,0.00,2.40,25.17,0.568,4,0.000,0.061,3479,3741,2174,0,0,0,0,0,0,28.83,25.32,24.17
$GC,3415,0.90,155.6,44.3,6.5,489,3428,0.00,2.22,4.88,0.428,6,0.000,0.044,3489,2321,2157,0,0,0,0,0,0,28.83,25.51,24.12
$GC,3734,0.91,168.3,25.7,5.4,551,3754,0.00,2.33,11.93,0.522,4,0.000,0.062,3489,3734,2107,0,0,0,0,0,0,28.83,25.39,24.23
$GC,3797,0.91,171.1,21.9,6.7,562,3810,0.00,2.22,4.00,0.381,6,0.000,0.044,3500,2325,2095,0,0,0,0,0,0,28.83,25.55,24.19
$GC,4115,0.93,234.8,13.4,-1.3,624,4176,0.00,2.33,52.97,0.546,4,0.000,0.060,3500,3736,1834,0,0,0,0,0,0,28.83,25.23,24.12
$STATE,4300,end climb,SURFACE_DEPTH_REACHED
$STATE,4300,begin surface coast
$FINISH,0.9,1.012366
$STATE,4342,end surface coast,CONTROL_FINISHED_OK
$STATE,4342,begin surface
$SM_CCo,4365,45.17,0.426,3,0,1571,300.00
$SM_GC,2.97,8.77,2.47,45.17,0.031,0.042,0.426,114,2202,1571,-9.47,1.22,300.00,0,0,0,0,3,0,25.75,25.43,24.08
$IRIDIUM_FIX,4735.69,-12509.51,230413,141450
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.93
$INTERNAL_PRESSURE,9.12806
$TCM_TEMP,19.10
$XPDR_PINGS,2
$24V_AH,23.8,118.971
$10V_AH,9.8,88.239
$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,21.900,36.775,264.200,45.175,0.000,26.334,42.242,137.546,0.500,0.000,13.923,1575.165,1410.046,423.219,1173.846,187.824,0.000,937.894,0.000,961.208,0.000,0.536,0.000
$DEVICE_MAMPS,217.260,78.795,644.130,426.105,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,453.240,499.400,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296748
$DATA_FILE_SIZE,36952,666
$CAP_FILE_SIZE,62449,0
$CFSIZE,260165632,186368000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$CURRENT,0.118,105.8,1
$GPS,230413,170858,4751.853,-12510.218,12,1.9,21,18.7