version: 66.11
glider: 187
mission: 2
dive: 878
start: 4 23 113 22 13 51
data:
$ID,187
$MISSION,2
$DIVE,878
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$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,50
$T_MISSION,60
$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,-1590090.4
$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,34
$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
$GPS1,230413,220745,4751.761,-12510.368,13,3.5,32,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-76.6
$GPS2,230413,221320,4751.697,-12510.340,11,3.0,30,18.7
$SPEED_LIMITS,0.173,0.248
$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,325.5,440,-18.5,-10.000,-21.95
$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,-0.63,-136.3,0.0,0.0,0,69,0.00,0.00,-50.20,0.000,2,0.000,0.000,110,2198,2540,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.63,-136.3,3.0,-2.6,9,106,11.43,0.00,-17.48,0.000,6,0.215,0.000,2982,2197,3351,0,0,0,0,0,0,24.56,28.83,26.20
$GC,411,-0.63,-136.3,69.4,-16.2,74,417,0.00,2.22,0.00,0.000,4,0.000,0.049,2982,784,3356,0,0,0,0,0,0,28.83,25.23,28.83
$GC,560,-0.63,-136.3,94.9,-18.6,102,567,0.00,2.22,0.00,0.000,6,0.000,0.049,2974,2200,3356,0,0,0,0,0,0,28.83,25.22,28.83
$GC,877,-0.63,-136.3,148.1,-13.8,140,885,0.00,2.25,0.00,0.000,4,0.000,0.047,2974,791,3356,0,0,0,0,0,0,28.83,25.20,28.83
$STATE,893,end dive,TARGET_DEPTH_EXCEEDED
$STATE,893,begin apogee
$GC,903,-0.22,0.0,150.9,-13.9,142,1019,0.47,0.00,112.53,0.623,6,0.116,0.000,3117,2329,2794,0,0,0,0,0,0,24.91,28.83,23.90
$STATE,1020,end apogee,CONTROL_FINISHED_OK
$STATE,1020,begin climb
$GC,1023,0.63,136.3,157.2,0.0,154,1147,0.80,2.42,115.93,0.613,4,0.082,0.062,3395,3743,2236,0,0,0,0,0,0,24.96,24.91,23.76
$GC,1189,0.64,154.2,147.9,9.1,171,1215,0.00,2.25,15.93,0.563,6,0.000,0.044,3406,2319,2164,0,0,0,0,0,0,28.83,25.29,23.85
$GC,1519,0.66,202.6,117.9,7.5,196,1567,0.00,2.33,40.38,0.588,4,0.000,0.060,3406,3734,1965,0,0,0,0,0,0,28.83,25.22,24.07
$GC,1575,0.67,227.2,113.1,8.7,205,1606,0.00,2.22,21.38,0.564,6,0.000,0.044,3416,2323,1867,0,0,0,0,0,0,28.83,25.37,23.92
$GC,1915,0.69,288.0,83.7,6.9,270,1975,0.00,2.30,49.50,0.576,4,0.000,0.051,3427,929,1619,0,0,0,0,0,0,28.83,25.25,24.06
$GC,2029,0.72,363.9,76.1,6.1,290,2101,0.00,2.20,62.42,0.569,6,0.000,0.050,3427,2325,1307,0,0,0,0,0,0,28.83,25.31,23.91
$GC,2410,0.74,408.5,52.9,7.7,362,2452,0.00,2.33,35.83,0.551,4,0.000,0.051,3433,922,1126,0,0,0,0,0,0,28.83,25.30,24.11
$GC,2511,0.77,471.1,45.6,6.8,380,2569,0.00,2.22,50.38,0.549,6,0.000,0.050,3433,2325,871,0,0,0,0,0,0,28.83,25.34,23.99
$GC,2876,0.79,526.4,17.3,7.1,450,2929,0.00,2.28,43.25,0.533,4,0.000,0.050,3433,929,646,0,0,0,0,0,0,28.83,25.30,24.13
$STATE,3008,end climb,SURFACE_DEPTH_REACHED
$STATE,3008,begin surface coast
$FINISH,1.1,1.012474
$STATE,3039,end surface coast,CONTROL_FINISHED_OK
$STATE,3039,begin surface
$SM_CCo,3120,0.00,0.000,0,0,640,528.38
$SM_GC,1.91,8.48,2.08,0.00,0.023,0.048,0.000,122,2205,640,-9.47,-0.68,528.38,0,0,0,0,0,0,25.71,25.34,28.83
$IRIDIUM_FIX,4732.49,-12507.66,230413,212116
$TT8_MAMPS,0.027713,0.027713
$HUMID,49.17
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,19.20
$XPDR_PINGS,1
$24V_AH,23.8,119.477
$10V_AH,9.8,88.436
$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,21.175,31.825,547.500,0.000,0.000,28.931,34.878,132.738,0.250,0.000,31.950,1016.493,811.580,563.278,912.464,160.546,0.000,994.560,0.000,698.252,0.000,0.536,0.000
$DEVICE_MAMPS,214.965,61.965,622.710,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,320.412,351.228,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296720
$DATA_FILE_SIZE,26833,480
$CAP_FILE_SIZE,47698,0
$CFSIZE,260165632,186183680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.152,152.8,1
$GPS,230413,230637,4751.870,-12510.228,9,2.0,9,18.7