version: 66.11
glider: 187
mission: 2
dive: 871
start: 4 23 113 14 38 42
data:
$ID,187
$MISSION,2
$DIVE,871
$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,-1590081.6
$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,38
$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
$GPS1,230413,143157,4751.564,-12510.267,13,6.3,32,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-79.0
$GPS2,230413,143809,4751.546,-12510.194,14,4.2,33,18.7
$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,288.8,717,-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,14,begin dive
$GC,17,-0.47,-136.3,0.0,0.0,0,63,0.00,0.00,-44.22,0.000,2,0.000,0.000,105,2190,2525,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.47,-136.3,3.1,-2.4,8,106,11.68,2.22,-18.02,0.000,4,0.216,0.063,3037,787,3351,0,0,0,0,0,0,24.56,25.32,26.20
$GC,164,-0.47,-136.3,23.2,-17.1,25,171,0.00,2.25,0.00,0.000,6,0.000,0.050,3029,2201,3353,0,0,0,0,0,0,28.83,25.26,28.83
$GC,478,-0.47,-136.3,68.6,-15.4,86,485,0.00,2.22,0.00,0.000,4,0.000,0.048,3029,790,3355,0,0,0,0,0,0,28.83,25.17,28.83
$GC,507,-0.47,-136.3,72.8,-14.4,91,515,0.00,2.22,0.00,0.000,6,0.000,0.049,3021,2201,3354,0,0,0,0,0,0,28.83,25.17,28.83
$GC,820,-0.47,-136.3,106.2,-10.0,152,826,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2201,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1139,-0.47,-136.3,139.7,-10.4,191,1149,0.00,2.28,0.00,0.000,4,0.000,0.047,3021,790,3354,0,0,0,0,0,0,28.83,25.13,28.83
$GC,1169,-0.47,-136.3,143.0,-10.9,194,1178,0.00,2.30,0.00,0.000,6,0.000,0.049,3013,2202,3354,0,0,0,0,0,0,28.83,25.11,28.83
$STATE,1371,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1372,begin apogee
$GC,1380,-0.22,0.0,166.2,-11.5,208,1496,0.32,0.00,112.75,0.638,6,0.111,0.000,3121,2343,2795,0,0,0,0,0,0,25.26,28.83,23.84
$STATE,1497,end apogee,CONTROL_FINISHED_OK
$STATE,1497,begin climb
$GC,1500,0.47,136.3,171.0,0.0,220,1623,0.68,2.38,116.10,0.610,4,0.083,0.061,3350,3728,2237,0,0,0,0,0,0,24.89,24.89,23.74
$GC,1641,0.48,157.5,165.7,6.2,231,1670,0.00,2.28,18.98,0.584,6,0.000,0.043,3360,2326,2151,0,0,0,0,0,0,28.83,25.18,23.69
$GC,1975,0.48,166.4,141.5,6.7,254,1985,0.00,0.00,8.15,0.526,6,0.000,0.000,3359,2326,2115,0,0,0,0,0,0,28.83,28.83,24.15
$GC,2287,0.50,200.8,121.8,5.7,275,2318,0.00,0.00,29.62,0.600,6,0.000,0.000,3360,2326,1974,0,0,0,0,0,0,28.83,28.83,24.10
$GC,2621,0.50,213.1,100.1,6.5,335,2641,0.00,2.30,11.10,0.547,4,0.000,0.052,3365,922,1923,0,0,0,0,0,0,28.83,25.42,24.18
$GC,2685,0.51,238.2,96.2,6.0,346,2716,0.00,2.20,22.55,0.578,6,0.000,0.051,3365,2319,1821,0,0,0,0,0,0,28.83,25.43,24.08
$GC,3025,0.53,294.2,76.4,4.8,411,3077,0.00,0.00,46.30,0.581,6,0.000,0.000,3365,2319,1593,0,0,0,0,0,0,28.83,28.83,24.07
$GC,3386,0.56,360.5,58.9,4.4,480,3446,0.00,2.33,53.90,0.573,4,0.000,0.051,3366,927,1323,0,0,0,0,0,0,28.83,25.22,24.03
$GC,3470,0.59,434.5,55.4,4.1,494,3535,0.00,2.22,59.67,0.563,6,0.000,0.049,3366,2333,1021,0,0,0,0,0,0,28.83,25.29,23.87
$GC,3843,0.59,434.5,15.7,10.8,565,3849,0.00,0.00,0.00,0.000,6,0.000,0.000,3366,2333,1013,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3969,end climb,SURFACE_DEPTH_REACHED
$STATE,3969,begin surface coast
$FINISH,1.2,1.001207
$STATE,4013,end surface coast,CONTROL_FINISHED_OK
$STATE,4013,begin surface
$SM_CCo,4093,0.00,0.000,0,0,1010,437.62
$SM_GC,1.91,8.38,0.20,0.00,0.028,0.071,0.000,106,2194,1010,-9.48,1.27,437.62,0,0,0,0,0,0,25.77,25.84,28.83
$IRIDIUM_FIX,4735.69,-12506.88,230413,131349
$TT8_MAMPS,0.027713,0.027713
$HUMID,49.44
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,19.00
$XPDR_PINGS,1
$24V_AH,23.7,118.911
$10V_AH,9.8,88.198
$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,21.050,27.600,479.125,0.000,0.000,28.085,39.101,156.572,0.250,0.000,35.343,1361.298,1296.169,523.778,1114.188,177.178,0.000,1014.293,0.000,865.300,0.000,0.536,0.000
$DEVICE_MAMPS,215.730,80.325,638.010,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,403.700,449.103,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296752
$DATA_FILE_SIZE,30326,598
$CAP_FILE_SIZE,56704,0
$CFSIZE,260165632,186421248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.281,131.1,1
$GPS,230413,154806,4751.716,-12510.495,34,1.2,34,18.7