version: 66.11
glider: 187
mission: 2
dive: 230
start: 11 5 112 16 35 35
data:
$ID,187
$MISSION,2
$DIVE,230
$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,-1588040.2
$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,2175
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,25
$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
$GPS1,051112,162915,4750.818,-12512.309,9,2.7,28,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-75.6
$GPS2,051112,163505,4750.836,-12512.270,17,1.2,33,18.7
$SPEED_LIMITS,0.127,0.220
$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,70.1,3206,-13.4,-7.333,-18.42
$D_GRID,220
$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,-146.0,0.0,0.0,0,85,0.00,0.00,-66.47,0.000,2,0.000,0.000,114,2159,2676,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.48,-146.0,3.2,-3.4,11,122,11.30,2.25,-16.20,0.000,4,0.219,0.063,3037,764,3391,0,0,0,0,0,0,25.20,25.62,26.05
$GC,204,-0.48,-146.0,26.7,-18.8,31,211,0.00,2.20,0.00,0.000,6,0.000,0.050,3029,2176,3394,0,0,0,0,0,0,28.83,25.66,28.83
$GC,519,-0.48,-146.0,70.0,-13.3,92,527,0.00,2.22,0.00,0.000,4,0.000,0.049,3028,766,3396,0,0,0,0,0,0,28.83,25.78,28.83
$GC,551,-0.48,-146.0,74.5,-14.9,97,559,0.00,2.17,0.00,0.000,6,0.000,0.049,3020,2177,3396,0,0,0,0,0,0,28.83,25.80,28.83
$GC,865,-0.48,-146.0,117.2,-13.5,158,871,0.00,2.22,0.00,0.000,4,0.000,0.061,3008,3586,3396,0,0,0,0,0,0,28.83,25.82,28.83
$GC,915,-0.48,-146.0,124.1,-13.7,163,921,0.08,2.12,0.00,0.000,6,0.116,0.042,3037,2173,3396,0,0,0,0,0,0,25.77,25.95,28.83
$GC,1233,-0.48,-146.0,157.3,-10.3,184,1238,0.00,2.22,0.00,0.000,4,0.000,0.060,3028,3584,3396,0,0,0,0,0,0,28.83,25.86,28.83
$GC,1280,-0.48,-146.0,162.1,-10.0,187,1285,0.00,2.15,0.00,0.000,6,0.000,0.043,3028,2169,3396,0,0,0,0,0,0,28.83,26.00,28.83
$GC,1588,-0.48,-146.0,192.8,-9.6,207,1593,0.00,2.10,0.00,0.000,4,0.000,0.050,3028,780,3396,0,0,0,0,0,0,28.83,25.95,28.83
$GC,1620,-0.48,-146.0,195.7,-9.6,209,1625,0.00,2.15,0.00,0.000,6,0.000,0.050,3019,2180,3396,0,0,0,0,0,0,28.83,25.96,28.83
$STATE,1849,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1849,begin apogee
$GC,1856,-0.22,0.0,220.8,-11.5,221,1978,0.30,0.00,116.88,0.686,6,0.118,0.000,3119,2322,2794,0,0,0,0,0,0,25.81,28.83,24.36
$STATE,1981,end apogee,CONTROL_FINISHED_OK
$STATE,1981,begin climb
$GC,1984,0.48,146.0,228.6,0.0,227,2113,0.65,2.42,120.12,0.673,4,0.090,0.050,3351,895,2196,0,0,0,0,0,0,24.96,24.64,24.06
$GC,2132,0.53,268.8,227.4,2.6,234,2238,0.00,2.25,98.47,0.662,6,0.000,0.049,3351,2289,1697,0,0,0,0,0,0,28.83,24.84,23.92
$GC,2538,0.54,291.6,200.7,6.5,255,2568,0.00,2.33,18.90,0.624,4,0.000,0.061,3351,3708,1603,0,0,0,0,0,0,28.83,25.25,24.55
$GC,2580,0.54,307.0,198.7,6.7,257,2602,0.00,2.22,13.98,0.602,6,0.000,0.044,3358,2297,1541,0,0,0,0,0,0,28.83,25.33,24.49
$GC,2904,0.54,307.0,172.4,8.2,279,2909,0.00,2.17,0.00,0.000,4,0.000,0.051,3367,900,1536,0,0,0,0,0,0,28.83,25.59,28.83
$GC,2963,0.54,307.0,166.2,10.0,283,2969,0.00,2.15,0.00,0.000,6,0.000,0.050,3367,2293,1535,0,0,0,0,0,0,28.83,25.65,28.83
$GC,3278,0.54,307.0,139.8,8.5,304,3283,0.00,2.22,0.00,0.000,4,0.000,0.062,3367,3699,1535,0,0,0,0,0,0,28.83,25.74,28.83
$GC,3308,0.54,307.0,137.1,8.7,306,3314,0.00,2.17,0.00,0.000,6,0.000,0.045,3368,2294,1535,0,0,0,0,0,0,28.83,25.84,28.83
$GC,3621,0.54,315.3,112.4,7.0,340,3636,0.00,2.17,7.43,0.532,4,0.000,0.051,3368,893,1507,0,0,0,0,0,0,28.83,25.87,25.06
$GC,3684,0.56,349.5,108.6,6.0,351,3721,0.00,2.20,29.00,0.611,6,0.000,0.050,3369,2299,1368,0,0,0,0,0,0,28.83,25.84,24.93
$GC,4031,0.56,365.3,89.1,6.7,417,4050,0.00,2.35,13.60,0.572,4,0.000,0.063,3368,3713,1303,0,0,0,0,0,0,28.83,25.66,24.96
$GC,4064,0.57,384.8,86.8,6.6,422,4089,0.00,2.22,16.95,0.578,6,0.000,0.045,3369,2281,1223,0,0,0,0,0,0,28.83,25.71,24.87
$GC,4399,0.57,388.5,66.6,7.2,486,4407,0.00,2.20,0.00,0.000,4,0.000,0.054,3369,904,1218,0,0,0,0,0,0,28.83,25.72,28.83
$GC,4551,0.57,388.5,50.0,11.2,514,4560,0.00,2.20,3.62,0.375,6,0.000,0.049,3369,2296,1210,0,0,0,0,0,0,28.83,25.80,24.87
$GC,4877,0.57,388.5,18.4,9.3,575,4884,0.00,2.25,0.00,0.000,4,0.000,0.063,3370,3709,1208,0,0,0,0,0,0,28.83,25.82,28.83
$GC,4914,0.57,388.5,15.0,9.8,581,4921,0.00,2.17,0.00,0.000,6,0.000,0.044,3369,2290,1208,0,0,0,0,0,0,28.83,25.94,28.83
$STATE,5024,end climb,SURFACE_DEPTH_REACHED
$STATE,5024,begin surface coast
$FINISH,1.3,1.000666
$STATE,5063,end surface coast,CONTROL_FINISHED_OK
$STATE,5063,begin surface
$SM_CCo,5143,0.00,0.000,0,0,1204,390.03
$SM_GC,2.36,8.23,0.17,0.00,0.024,0.077,0.000,106,2161,1204,-9.48,1.05,390.03,0,0,0,0,0,0,26.08,26.03,28.83
$IRIDIUM_FIX,4732.49,-12510.28,051112,141418
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.44
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,15.00
$XPDR_PINGS,1
$24V_AH,23.9,32.812
$10V_AH,10.2,27.384
$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,20.550,57.925,438.950,0.000,0.000,25.507,39.184,153.958,0.250,0.000,34.312,1468.670,1928.072,451.413,1476.616,174.297,0.000,1085.338,0.000,1231.689,0.000,0.535,0.000
$DEVICE_MAMPS,218.790,79.560,686.205,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,414.553,437.653,489.511,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296784
$DATA_FILE_SIZE,33620,609
$CAP_FILE_SIZE,69166,0
$CFSIZE,260165632,238706688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.308,287.6,1
$GPS,051112,180212,4751.004,-12511.527,12,1.6,17,18.7