version: 66.11
glider: 187
mission: 2
dive: 859
start: 4 22 113 22 47 27
data:
$ID,187
$MISSION,2
$DIVE,859
$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,-1590066.6
$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,42
$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
$GPS1,220413,224119,4751.000,-12511.827,15,1.3,15,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-77.8
$GPS2,220413,224654,4750.976,-12511.809,11,1.3,17,18.7
$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,343.5,2604,-13.3,-7.021,-18.50
$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,-0.47,-136.3,0.0,0.0,0,80,0.00,0.00,-61.60,0.000,2,0.000,0.000,126,2195,2639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.47,-136.3,3.3,-3.1,11,118,11.65,2.28,-14.50,0.000,4,0.217,0.062,3033,801,3353,0,0,0,0,0,0,24.52,25.34,26.19
$GC,141,-0.47,-136.3,19.1,-22.5,20,148,0.00,2.20,0.00,0.000,6,0.000,0.049,3025,2201,3355,0,0,0,0,0,0,28.83,25.29,28.83
$GC,454,-0.47,-136.3,68.7,-14.2,81,461,0.00,2.22,0.00,0.000,4,0.000,0.049,3025,797,3356,0,0,0,0,0,0,28.83,25.12,28.83
$GC,534,-0.47,-136.3,79.8,-12.4,96,541,0.00,2.22,0.00,0.000,6,0.000,0.050,3015,2205,3356,0,0,0,0,0,0,28.83,25.11,28.83
$GC,847,-0.47,-136.3,120.4,-11.6,157,849,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2205,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1148,-0.47,-136.3,152.8,-10.8,177,1157,0.00,2.28,0.00,0.000,4,0.000,0.049,3015,796,3357,0,0,0,0,0,0,28.83,25.06,28.83
$GC,1198,-0.47,-136.3,158.1,-10.8,182,1208,0.10,2.28,0.00,0.000,6,0.112,0.049,3041,2199,3357,0,0,0,0,0,0,24.84,25.06,28.83
$GC,1507,-0.47,-136.3,186.6,-9.4,203,1508,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2198,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1818,-0.47,-136.3,215.0,-8.8,221,1820,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2198,3357,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1875,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1875,begin apogee
$GC,1882,-0.22,0.0,220.0,-8.4,224,1999,0.22,0.00,114.25,0.670,6,0.113,0.000,3120,2338,2794,0,0,0,0,0,0,25.47,28.83,23.75
$STATE,2000,end apogee,CONTROL_FINISHED_OK
$STATE,2000,begin climb
$GC,2004,0.47,136.3,225.5,0.0,230,2128,0.65,2.40,116.85,0.643,4,0.083,0.062,3346,3721,2237,0,0,0,0,0,0,24.84,24.82,23.64
$GC,2148,0.50,207.2,221.7,4.2,238,2214,0.00,2.28,59.85,0.650,6,0.000,0.044,3356,2324,1948,0,0,0,0,0,0,28.83,25.13,23.57
$GC,2533,0.50,219.8,195.5,6.5,258,2549,0.00,2.33,11.07,0.585,4,0.000,0.052,3360,922,1897,0,0,0,0,0,0,28.83,25.38,24.08
$GC,2618,0.52,251.5,190.0,5.8,267,2651,0.00,2.25,27.98,0.633,6,0.000,0.050,3360,2317,1768,0,0,0,0,0,0,28.83,25.39,23.95
$GC,2951,0.52,263.2,169.9,6.6,290,2967,0.00,2.40,10.88,0.581,4,0.000,0.063,3360,3733,1719,0,0,0,0,0,0,28.83,25.34,24.12
$GC,2988,0.53,274.7,167.3,6.6,294,3007,0.00,2.25,11.02,0.579,6,0.000,0.044,3367,2327,1673,0,0,0,0,0,0,28.83,25.53,24.05
$GC,3310,0.53,278.1,145.8,6.9,316,3318,0.00,2.33,3.78,0.405,4,0.000,0.053,3374,918,1660,0,0,0,0,0,0,28.83,25.40,24.18
$GC,3369,0.53,283.8,141.8,6.8,322,3381,0.00,2.22,6.70,0.520,6,0.000,0.051,3374,2327,1637,0,0,0,0,0,0,28.83,25.37,24.15
$GC,3679,0.53,283.8,118.2,8.0,345,3687,0.00,2.25,0.00,0.000,4,0.000,0.052,3381,919,1634,0,0,0,0,0,0,28.83,25.22,28.83
$GC,3721,0.53,283.8,115.3,7.1,352,3727,0.00,2.22,0.00,0.000,6,0.000,0.051,3381,2325,1633,0,0,0,0,0,0,28.83,25.24,28.83
$GC,4033,0.54,298.6,94.4,6.4,413,4052,0.00,0.00,13.82,0.572,6,0.000,0.000,3381,2324,1575,0,0,0,0,0,0,28.83,28.83,24.18
$GC,4356,0.54,298.6,70.7,7.1,476,4363,0.00,2.22,0.00,0.000,4,0.000,0.052,3382,925,1572,0,0,0,0,0,0,28.83,25.21,28.83
$GC,4392,0.54,298.6,68.3,7.4,482,4399,0.00,2.22,0.00,0.000,6,0.000,0.050,3382,2330,1571,0,0,0,0,0,0,28.83,25.22,28.83
$GC,4704,0.56,347.1,51.4,5.1,543,4753,0.00,2.28,41.08,0.578,4,0.000,0.050,3382,920,1376,0,0,0,0,0,0,28.83,25.27,24.07
$GC,4796,0.57,391.8,46.3,5.2,559,4844,0.00,2.25,37.28,0.550,6,0.000,0.050,3382,2332,1194,0,0,0,0,0,0,28.83,25.32,23.95
$GC,5151,0.57,391.8,16.3,7.6,627,5158,0.00,2.30,0.00,0.000,4,0.000,0.063,3382,3733,1188,0,0,0,0,0,0,28.83,25.15,28.83
$STATE,5294,end climb,SURFACE_DEPTH_REACHED
$STATE,5294,begin surface coast
$FINISH,2.1,1.023793
$STATE,5310,end surface coast,CONTROL_FINISHED_OK
$STATE,5310,begin surface
$SM_CCo,5392,0.00,0.000,0,0,1183,395.18
$SM_GC,2.29,8.40,2.50,0.00,0.027,0.044,0.000,109,2188,1183,-9.46,0.93,395.18,0,0,0,0,0,0,25.76,25.39,28.83
$IRIDIUM_FIX,4732.49,-12510.28,220413,202037
$TT8_MAMPS,0.027713,0.027713
$HUMID,49.13
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,19.00
$XPDR_PINGS,4
$24V_AH,23.6,117.972
$10V_AH,9.8,87.730
$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,21.025,50.375,454.550,0.000,0.000,26.548,37.301,139.607,1.000,0.000,18.034,1544.464,2272.399,541.983,1176.863,198.835,0.000,1084.666,0.000,963.659,0.000,0.536,0.000
$DEVICE_MAMPS,217.260,81.855,670.140,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,446.497,478.161,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296768
$DATA_FILE_SIZE,33517,657
$CAP_FILE_SIZE,68097,0
$CFSIZE,260165632,186855424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.334,153.2,1
$GPS,230413,001835,4751.230,-12511.359,38,0.8,38,18.7