version: 66.11
glider: 187
mission: 2
dive: 858
start: 4 22 113 20 41 44
data:
$ID,187
$MISSION,2
$DIVE,858
$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,-1590065.2
$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,2200
$C_ROLL_CLIMB,2325
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$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
$GPS1,220413,203436,4750.571,-12512.531,37,0.9,38,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-78.0
$GPS2,220413,204113,4750.540,-12512.558,16,1.5,16,18.7
$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,356.0,3835,-13.3,-7.021,-18.50
$D_GRID,283
$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,18,-0.47,-136.3,0.0,0.0,0,91,0.00,0.00,-71.20,0.000,2,0.000,0.000,109,2182,2696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-0.47,-136.3,3.4,-3.6,13,126,11.75,0.00,-13.05,0.000,6,0.219,0.000,3032,2177,3352,0,0,0,0,0,0,24.55,28.83,26.18
$GC,431,-0.47,-136.3,62.1,-13.6,78,438,0.00,2.17,0.00,0.000,4,0.000,0.050,3032,802,3355,0,0,0,0,0,0,28.83,25.10,28.83
$GC,497,-0.47,-136.3,71.2,-12.2,90,503,0.00,2.22,0.00,0.000,6,0.000,0.050,3026,2208,3355,0,0,0,0,0,0,28.83,25.09,28.83
$GC,807,-0.47,-136.3,107.9,-10.8,151,814,0.00,2.30,0.00,0.000,4,0.000,0.061,3016,3617,3356,0,0,0,0,0,0,28.83,24.85,28.83
$GC,863,-0.47,-136.3,113.9,-10.7,161,870,0.00,2.20,0.00,0.000,6,0.000,0.043,3015,2205,3356,0,0,0,0,0,0,28.83,25.28,28.83
$GC,1182,-0.47,-136.3,147.8,-10.6,189,1189,0.00,2.20,0.00,0.000,4,0.000,0.050,3015,800,3356,0,0,0,0,0,0,28.83,25.01,28.83
$GC,1298,-0.47,-136.3,160.2,-10.2,201,1307,0.10,2.28,0.00,0.000,6,0.109,0.049,3042,2199,3356,0,0,0,0,0,0,24.80,25.02,28.83
$GC,1611,-0.47,-136.3,186.1,-8.2,222,1612,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2198,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1913,-0.47,-136.3,211.3,-8.0,240,1914,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2198,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2214,-0.47,-136.3,236.3,-8.4,255,2215,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2198,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2513,-0.47,-136.3,262.5,-8.7,270,2519,0.00,2.30,0.00,0.000,4,0.000,0.049,3042,795,3356,0,0,0,0,0,0,28.83,24.95,28.83
$GC,2581,-0.47,-136.3,267.6,-8.6,273,2585,0.00,2.33,0.00,0.000,6,0.000,0.050,3035,2210,3356,0,0,0,0,0,0,28.83,24.93,28.83
$STATE,2760,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2760,begin apogee
$GC,2769,-0.22,0.0,283.8,-8.6,282,2888,0.25,0.00,114.95,0.716,6,0.111,0.000,3120,2346,2793,0,0,0,0,0,0,25.37,28.83,23.68
$STATE,2889,end apogee,CONTROL_FINISHED_OK
$STATE,2889,begin climb
$GC,2892,0.47,136.3,289.3,0.0,288,3017,0.68,2.40,117.78,0.687,4,0.080,0.063,3350,3722,2238,0,0,0,0,0,0,24.78,24.75,23.56
$GC,3059,0.49,192.6,284.5,4.8,296,3115,0.00,2.25,47.97,0.691,6,0.000,0.044,3360,2319,2007,0,0,0,0,0,0,28.83,25.20,23.56
$GC,3416,0.49,192.6,260.5,7.1,314,3421,0.00,2.28,0.00,0.000,4,0.000,0.052,3369,923,1998,0,0,0,0,0,0,28.83,25.32,28.83
$GC,3483,0.50,200.6,256.5,6.7,317,3496,0.00,2.28,6.60,0.555,6,0.000,0.051,3369,2317,1976,0,0,0,0,0,0,28.83,25.30,24.09
$GC,3796,0.50,200.6,231.9,8.0,333,3797,0.00,0.00,0.00,0.000,6,0.000,0.000,3369,2317,1973,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4095,0.50,200.6,209.3,7.3,348,4096,0.00,0.00,0.00,0.000,6,0.000,0.000,3369,2317,1973,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4402,0.50,200.6,187.8,7.4,366,4403,0.00,0.00,0.00,0.000,6,0.000,0.000,3369,2316,1972,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4701,0.50,200.6,164.9,7.9,386,4709,0.00,2.30,0.00,0.000,4,0.000,0.051,3378,925,1972,0,0,0,0,0,0,28.83,25.06,28.83
$GC,4730,0.50,200.6,162.6,7.7,389,4740,0.00,2.30,0.00,0.000,6,0.000,0.052,3378,2323,1971,0,0,0,0,0,0,28.83,25.06,28.83
$GC,5042,0.50,200.6,139.7,7.1,410,5049,0.00,2.35,0.00,0.000,4,0.000,0.063,3378,3740,1971,0,0,0,0,0,0,28.83,24.83,28.83
$GC,5081,0.50,200.6,136.5,8.1,414,5090,0.08,2.28,0.00,0.000,6,0.117,0.045,3360,2335,1971,0,0,0,0,0,0,25.01,25.25,28.83
$GC,5392,0.50,218.7,117.4,6.3,439,5417,0.00,2.30,16.62,0.604,4,0.000,0.053,3368,915,1901,0,0,0,0,0,0,28.83,25.23,24.09
$GC,5493,0.52,255.9,111.7,5.5,457,5534,0.00,2.25,32.92,0.617,6,0.000,0.052,3368,2335,1748,0,0,0,0,0,0,28.83,25.31,23.93
$GC,5843,0.52,255.9,89.0,7.5,524,5850,0.00,2.33,0.00,0.000,4,0.000,0.064,3368,3735,1742,0,0,0,0,0,0,28.83,25.08,28.83
$GC,5883,0.52,255.9,85.8,7.7,531,5890,0.00,2.25,0.00,0.000,6,0.000,0.045,3376,2318,1742,0,0,0,0,0,0,28.83,25.38,28.83
$GC,6196,0.55,325.6,66.4,4.3,592,6262,0.00,2.30,57.03,0.583,4,0.000,0.054,3380,927,1464,0,0,0,0,0,0,28.83,25.18,24.01
$GC,6303,0.57,379.2,61.6,4.9,610,6357,0.00,2.22,44.33,0.558,6,0.000,0.050,3380,2331,1246,0,0,0,0,0,0,28.83,25.25,23.87
$GC,6665,0.57,379.2,32.6,8.9,679,6671,0.00,2.30,0.00,0.000,4,0.000,0.064,3379,3733,1238,0,0,0,0,0,0,28.83,25.11,28.83
$GC,6851,0.57,379.2,15.4,9.4,715,6858,0.00,2.20,0.00,0.000,6,0.000,0.044,3379,2320,1237,0,0,0,0,0,0,28.83,25.41,28.83
$STATE,6983,end climb,SURFACE_DEPTH_REACHED
$STATE,6986,begin surface coast
$FINISH,1.2,1.023955
$STATE,7042,end surface coast,CONTROL_FINISHED_OK
$STATE,7043,begin surface
$SM_CCo,7122,0.00,0.000,0,0,1233,382.91
$SM_GC,2.01,8.38,0.17,0.00,0.026,0.074,0.000,126,2193,1233,-9.46,1.19,382.91,0,0,0,0,0,0,25.73,25.91,28.83
$IRIDIUM_FIX,4732.49,-12510.28,220413,171731
$TT8_MAMPS,0.027713,0.027713
$HUMID,49.76
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,18.90
$XPDR_PINGS,2
$24V_AH,23.6,117.881
$10V_AH,9.8,87.688
$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,21.225,54.950,438.200,0.000,0.000,28.406,39.539,194.285,0.500,0.000,17.209,1767.095,3597.822,543.351,1388.502,224.201,0.000,1170.697,0.000,1117.320,0.000,0.536,0.000
$DEVICE_MAMPS,218.790,81.090,716.040,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,511.219,517.606,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296756
$DATA_FILE_SIZE,40340,752
$CAP_FILE_SIZE,77480,0
$CFSIZE,260165632,186888192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.265,151.1,1
$GPS,220413,224119,4751.000,-12511.827,15,1.3,15,18.7