version: 66.11
glider: 187
mission: 2
dive: 866
start: 4 23 113 8 0 55
data:
$ID,187
$MISSION,2
$DIVE,866
$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,-1590075.4
$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,48
$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,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
$GPS1,230413,075433,4751.809,-12510.522,27,3.3,46,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-78.9
$GPS2,230413,080015,4751.745,-12510.569,13,3.4,32,18.7
$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,353.5,506,-15.2,-7.021,-19.96
$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,-0.52,-108.5,0.0,0.0,0,63,0.00,0.00,-44.58,0.000,2,0.000,0.000,107,2193,2577,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.53,-136.3,3.3,-3.6,8,106,11.60,2.28,-15.68,0.000,4,0.216,0.061,3014,798,3353,0,0,0,0,0,0,24.60,25.39,26.20
$GC,155,-0.53,-136.3,23.6,-15.7,23,161,0.00,2.20,0.00,0.000,6,0.000,0.049,3006,2201,3354,0,0,0,0,0,0,28.83,25.31,28.83
$GC,467,-0.53,-136.3,68.5,-12.9,84,474,0.00,2.30,0.00,0.000,4,0.000,0.060,2996,3619,3355,0,0,0,0,0,0,28.83,25.05,28.83
$GC,488,-0.53,-136.3,70.9,-12.2,87,494,0.00,2.20,0.00,0.000,6,0.000,0.041,2996,2197,3355,0,0,0,0,0,0,28.83,25.43,28.83
$GC,801,-0.53,-136.3,114.0,-14.4,148,808,0.00,2.20,0.00,0.000,4,0.000,0.049,2996,799,3355,0,0,0,0,0,0,28.83,25.16,28.83
$GC,835,-0.53,-136.3,118.7,-13.8,154,843,0.15,2.22,0.00,0.000,6,0.138,0.050,3027,2210,3356,0,0,0,0,0,0,24.94,25.15,28.83
$GC,1153,-0.53,-136.3,154.8,-12.3,176,1154,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2211,3356,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1329,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1329,begin apogee
$GC,1336,-0.22,0.0,175.5,-11.5,188,1452,0.28,0.00,112.97,0.639,6,0.109,0.000,3123,2338,2794,0,0,0,0,0,0,25.38,28.83,23.84
$STATE,1453,end apogee,CONTROL_FINISHED_OK
$STATE,1453,begin climb
$GC,1458,0.53,136.3,182.4,0.0,200,1582,0.68,2.30,116.22,0.616,4,0.082,0.060,3360,3718,2236,0,0,0,0,0,0,24.92,24.89,23.73
$GC,1634,0.54,157.5,177.4,6.0,218,1661,0.00,2.20,18.88,0.594,6,0.000,0.044,3369,2323,2149,0,0,0,0,0,0,28.83,25.31,23.82
$GC,1964,0.54,170.9,156.4,6.4,241,1983,0.00,2.33,11.95,0.570,4,0.000,0.051,3380,918,2095,0,0,0,0,0,0,28.83,25.39,24.14
$GC,2032,0.55,180.6,151.8,6.6,248,2051,0.00,2.28,9.65,0.549,6,0.000,0.051,3380,2321,2056,0,0,0,0,0,0,28.83,25.40,24.09
$GC,2355,0.56,197.5,131.2,6.2,270,2375,0.00,2.33,15.23,0.582,4,0.000,0.051,3389,916,1988,0,0,0,0,0,0,28.83,25.41,24.18
$GC,2404,0.56,205.5,127.8,6.6,275,2422,0.00,2.28,8.32,0.530,6,0.000,0.051,3389,2324,1955,0,0,0,0,0,0,28.83,25.44,24.09
$GC,2727,0.56,205.5,102.2,7.7,325,2733,0.00,2.30,0.00,0.000,4,0.000,0.063,3389,3737,1951,0,0,0,0,0,0,28.83,25.15,28.83
$GC,2822,0.56,205.5,94.4,8.1,343,2829,0.00,2.22,0.00,0.000,6,0.000,0.044,3398,2327,1950,0,0,0,0,0,0,28.83,25.42,28.83
$GC,3134,0.58,253.1,74.5,4.7,404,3183,0.00,2.30,40.12,0.587,4,0.000,0.052,3408,920,1761,0,0,0,0,0,0,28.83,25.29,24.09
$GC,3207,0.60,302.4,71.2,4.7,416,3256,0.00,2.22,41.38,0.560,6,0.000,0.051,3408,2325,1560,0,0,0,0,0,0,28.83,25.31,23.94
$GC,3564,0.61,333.8,52.3,5.5,484,3600,0.00,2.35,25.90,0.558,4,0.000,0.063,3408,3733,1431,0,0,0,0,0,0,28.83,25.30,24.13
$GC,3618,0.61,333.8,48.5,7.1,493,3625,0.00,2.22,0.00,0.000,6,0.000,0.044,3416,2323,1429,0,0,0,0,0,0,28.83,25.48,28.83
$GC,3930,0.61,333.8,23.8,8.4,554,3937,0.00,2.25,0.00,0.000,4,0.000,0.052,3424,916,1424,0,0,0,0,0,0,28.83,25.26,28.83
$GC,4005,0.61,345.3,18.2,6.5,568,4025,0.12,2.22,10.02,0.501,6,0.117,0.050,3386,2328,1384,0,0,0,0,0,0,25.21,25.27,24.22
$STATE,4263,end climb,SURFACE_DEPTH_REACHED
$STATE,4263,begin surface coast
$FINISH,1.2,1.011814
$STATE,4320,end surface coast,CONTROL_FINISHED_OK
$STATE,4321,begin surface
$SM_CCo,4402,0.00,0.000,0,0,1376,347.84
$SM_GC,2.46,8.35,0.20,0.00,0.024,0.070,0.000,109,2185,1376,-9.47,1.13,347.84,0,0,0,0,0,0,25.79,25.86,28.83
$IRIDIUM_FIX,4735.69,-12507.66,230413,060636
$TT8_MAMPS,0.027713,0.027713
$HUMID,49.68
$INTERNAL_PRESSURE,9.11829
$TCM_TEMP,19.10
$XPDR_PINGS,1
$24V_AH,23.7,118.533
$10V_AH,9.9,88.000
$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,21.175,45.575,410.650,0.000,0.000,27.983,38.307,133.426,0.250,0.000,34.135,1449.201,1505.709,487.819,1131.751,186.471,0.000,1000.075,0.000,908.026,0.000,0.536,0.000
$DEVICE_MAMPS,216.495,86.445,638.775,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,425.812,474.297,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33567,629
$CAP_FILE_SIZE,62366,0
$CFSIZE,260165632,186601472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.171,157.8,1
$GPS,230413,091536,4752.007,-12510.188,41,0.9,41,18.7