version: 66.11
glider: 187
mission: 2
dive: 302
start: 11 23 112 15 48 37
data:
$ID,187
$MISSION,2
$DIVE,302
$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,-1588138.6
$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,37
$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,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
$GPS1,231112,154205,4751.223,-12512.570,37,1.0,42,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-74.5
$GPS2,231112,154807,4751.243,-12512.562,17,1.1,17,18.7
$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,92.2,3119,-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,-146.0,0.0,0.0,0,73,0.00,0.00,-54.70,0.000,2,0.000,0.000,116,2192,2619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.48,-146.0,3.1,-4.7,9,117,11.45,2.33,-18.92,0.000,4,0.222,0.075,3026,3606,3392,0,0,0,0,0,0,25.08,25.62,26.20
$GC,162,-0.48,-146.0,17.7,-17.9,23,169,0.00,2.17,0.00,0.000,6,0.000,0.041,3027,2189,3393,0,0,0,0,0,0,28.83,25.76,28.83
$GC,478,-0.48,-146.0,71.3,-12.6,84,485,0.00,2.17,0.00,0.000,4,0.000,0.047,3026,796,3395,0,0,0,0,0,0,28.83,25.79,28.83
$GC,631,-0.48,-146.0,88.8,-11.9,113,638,0.00,2.17,0.00,0.000,6,0.000,0.048,3017,2211,3395,0,0,0,0,0,0,28.83,25.82,28.83
$GC,944,-0.48,-146.0,125.6,-11.6,168,949,0.00,2.17,0.00,0.000,4,0.000,0.060,3007,3607,3395,0,0,0,0,0,0,28.83,25.77,28.83
$GC,973,-0.48,-146.0,129.4,-11.9,170,980,0.12,2.15,0.00,0.000,6,0.137,0.041,3042,2191,3396,0,0,0,0,0,0,25.77,25.97,28.83
$GC,1292,-0.48,-146.0,158.5,-8.8,191,1293,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2185,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1589,-0.48,-146.0,185.4,-9.1,211,1590,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2186,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1894,-0.48,-146.0,212.2,-8.8,229,1895,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2185,3395,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1991,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1991,begin apogee
$GC,1998,-0.22,0.0,220.8,-8.6,234,2120,0.22,0.00,117.60,0.684,6,0.121,0.000,3120,2337,2794,0,0,0,0,0,0,25.86,28.83,24.29
$STATE,2124,end apogee,CONTROL_FINISHED_OK
$STATE,2124,begin climb
$GC,2126,0.48,146.0,226.2,0.0,240,2257,0.65,2.38,120.78,0.665,4,0.087,0.060,3343,3722,2198,0,0,0,0,0,0,25.02,24.70,24.02
$GC,2273,0.51,217.5,221.4,4.6,248,2337,0.00,2.22,58.38,0.648,6,0.000,0.041,3352,2325,1907,0,0,0,0,0,0,28.83,24.92,23.98
$GC,2647,0.52,246.5,197.9,6.2,267,2677,0.00,2.30,24.02,0.629,4,0.000,0.050,3361,920,1789,0,0,0,0,0,0,28.83,25.37,24.53
$GC,2733,0.53,276.5,192.8,6.2,272,2770,0.00,2.22,25.85,0.627,6,0.000,0.048,3361,2309,1665,0,0,0,0,0,0,28.83,25.46,24.41
$GC,3071,0.53,276.5,168.4,7.5,295,3072,0.00,0.00,0.00,0.000,6,0.000,0.000,3361,2309,1659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3371,0.53,276.5,145.0,7.9,315,3376,0.00,2.12,0.00,0.000,4,0.000,0.050,3368,933,1658,0,0,0,0,0,0,28.83,25.79,28.83
$GC,3403,0.53,276.5,142.6,7.8,317,3407,0.00,2.17,0.00,0.000,6,0.000,0.050,3368,2334,1658,0,0,0,0,0,0,28.83,25.79,28.83
$GC,3710,0.53,276.5,118.4,7.8,339,3716,0.00,0.00,0.00,0.000,6,0.000,0.000,3368,2334,1657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4022,0.53,287.2,95.6,6.9,400,4035,0.00,0.00,8.88,0.542,6,0.000,0.000,3368,2334,1623,0,0,0,0,0,0,28.83,28.83,24.87
$GC,4341,0.54,295.6,73.4,7.0,462,4356,0.00,2.25,8.15,0.526,4,0.000,0.050,3368,932,1589,0,0,0,0,0,0,28.83,25.93,24.89
$GC,4397,0.54,312.3,69.7,6.7,471,4417,0.00,2.15,15.57,0.570,6,0.000,0.049,3369,2326,1519,0,0,0,0,0,0,28.83,25.86,24.90
$GC,4726,0.56,362.8,49.5,5.4,534,4777,0.00,2.28,41.15,0.581,4,0.000,0.050,3368,930,1313,0,0,0,0,0,0,28.83,25.53,24.80
$GC,4791,0.59,418.3,46.2,5.2,544,4842,0.00,2.22,44.25,0.563,6,0.000,0.048,3369,2320,1087,0,0,0,0,0,0,28.83,25.55,24.57
$GC,5159,0.59,418.3,9.1,11.9,612,5166,0.00,0.00,0.00,0.000,6,0.000,0.000,3369,2321,1080,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5202,end climb,SURFACE_DEPTH_REACHED
$STATE,5202,begin surface coast
$FINISH,1.1,1.008798
$STATE,5235,end surface coast,CONTROL_FINISHED_OK
$STATE,5235,begin surface
$SM_CCo,5314,0.00,0.000,0,0,1076,421.67
$SM_GC,1.85,8.35,0.17,0.00,0.031,0.070,0.000,138,2207,1076,-9.45,1.16,421.67,0,0,0,0,0,0,25.90,25.91,28.83
$IRIDIUM_FIX,4732.49,-12435.63,231112,131306
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.99
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.80
$XPDR_PINGS,0
$24V_AH,24.0,42.348
$10V_AH,10.1,35.119
$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,20.800,35.900,464.625,0.000,0.000,27.685,48.388,162.162,0.000,0.000,18.647,1481.135,2102.209,444.198,1488.346,165.757,0.000,1071.085,0.000,1235.714,0.000,0.535,0.000
$DEVICE_MAMPS,221.850,74.970,683.910,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,425.630,451.017,508.987,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296768
$DATA_FILE_SIZE,33589,626
$CAP_FILE_SIZE,65293,0
$CFSIZE,260165632,232816640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.379,325.8,1
$GPS,231112,171801,4751.829,-12511.899,13,1.7,13,18.7