version: 66.11
glider: 187
mission: 2
dive: 861
start: 4 23 113 1 49 16
data:
$ID,187
$MISSION,2
$DIVE,861
$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,-1590069.1
$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,46
$R_STBD_OVSHOOT,27
$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
$GPS1,230413,014325,4751.350,-12511.144,11,1.6,11,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-78.1
$GPS2,230413,014843,4751.310,-12511.143,11,1.6,11,18.7
$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,339.6,1580,-13.3,-7.021,-18.50
$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,16,-0.47,-136.3,0.0,0.0,0,74,0.00,0.00,-55.72,0.000,2,0.000,0.000,104,2197,2552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-0.47,-136.3,3.3,-3.8,10,117,11.82,2.22,-16.85,0.000,4,0.221,0.063,3032,798,3352,0,0,0,0,0,0,24.54,25.35,26.20
$GC,134,-0.47,-136.3,17.3,-20.6,19,141,0.00,2.22,0.00,0.000,6,0.000,0.050,3024,2198,3353,0,0,0,0,0,0,28.83,25.31,28.83
$GC,448,-0.47,-136.3,63.4,-12.6,80,455,0.00,2.20,0.00,0.000,4,0.000,0.049,3024,804,3354,0,0,0,0,0,0,28.83,25.17,28.83
$GC,544,-0.47,-136.3,75.4,-12.1,98,550,0.00,2.22,0.00,0.000,6,0.000,0.049,3015,2210,3354,0,0,0,0,0,0,28.83,25.16,28.83
$GC,856,-0.47,-136.3,115.5,-11.8,159,862,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2210,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1165,-0.47,-136.3,150.5,-10.2,184,1166,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2210,3355,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1402,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1402,begin apogee
$GC,1409,-0.22,0.0,175.6,-10.5,200,1526,0.32,0.00,113.20,0.645,6,0.112,0.000,3122,2339,2793,0,0,0,0,0,0,25.24,28.83,23.82
$STATE,1527,end apogee,CONTROL_FINISHED_OK
$STATE,1527,begin climb
$GC,1531,0.47,136.3,181.3,0.0,212,1655,0.62,2.30,115.75,0.616,4,0.082,0.060,3343,3722,2237,0,0,0,0,0,0,24.91,24.87,23.70
$GC,1697,0.49,191.1,177.3,4.8,229,1748,0.00,2.20,46.17,0.620,6,0.000,0.044,3352,2328,2014,0,0,0,0,0,0,28.83,25.27,23.72
$GC,2045,0.51,237.8,158.5,5.2,254,2094,0.00,2.33,38.92,0.617,4,0.000,0.051,3361,925,1822,0,0,0,0,0,0,28.83,25.24,23.98
$GC,2155,0.53,284.2,153.1,5.2,265,2205,0.00,2.25,39.42,0.608,6,0.000,0.049,3361,2314,1633,0,0,0,0,0,0,28.83,25.32,23.91
$GC,2505,0.53,284.2,130.6,7.2,290,2506,0.00,0.00,0.00,0.000,6,0.000,0.000,3361,2314,1627,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2806,0.56,360.3,114.5,4.0,326,2876,0.00,2.25,62.28,0.604,4,0.000,0.050,3364,919,1323,0,0,0,0,0,0,28.83,25.18,24.01
$GC,2917,0.59,432.4,110.4,4.2,345,2982,0.00,2.22,58.65,0.581,6,0.000,0.048,3363,2328,1030,0,0,0,0,0,0,28.83,25.27,23.84
$GC,3289,0.59,432.4,67.9,13.9,416,3296,0.00,2.30,0.00,0.000,4,0.000,0.063,3363,3739,1021,0,0,0,0,0,0,28.83,25.19,28.83
$GC,3340,0.59,432.4,61.2,12.3,425,3347,0.00,2.22,0.00,0.000,6,0.000,0.044,3363,2316,1020,0,0,0,0,0,0,28.83,25.48,28.83
$GC,3654,0.59,432.4,26.6,12.0,486,3661,0.00,2.20,0.00,0.000,4,0.000,0.050,3364,924,1019,0,0,0,0,0,0,28.83,25.27,28.83
$GC,3780,0.59,432.4,12.1,11.0,510,3788,0.00,2.20,0.00,0.000,6,0.000,0.048,3364,2330,1018,0,0,0,0,0,0,28.83,25.29,28.83
$STATE,3862,end climb,SURFACE_DEPTH_REACHED
$STATE,3863,begin surface coast
$FINISH,1.2,1.017464
$STATE,3906,end surface coast,CONTROL_FINISHED_OK
$STATE,3906,begin surface
$SM_CCo,3985,0.00,0.000,0,0,1015,436.39
$SM_GC,2.28,8.32,0.20,0.00,0.025,0.072,0.000,110,2192,1015,-9.46,1.13,436.39,0,0,0,0,0,0,25.77,25.88,28.83
$IRIDIUM_FIX,4732.49,-12510.28,230413,000027
$TT8_MAMPS,0.027713,0.027713
$HUMID,49.56
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,18.80
$XPDR_PINGS,1
$24V_AH,23.7,118.152
$10V_AH,9.8,87.807
$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,21.100,31.725,474.400,0.000,0.000,27.655,36.129,134.859,0.250,0.000,12.554,1207.041,1442.000,528.166,973.269,162.289,0.000,978.459,0.000,773.657,0.000,0.536,0.000
$DEVICE_MAMPS,221.085,86.445,644.895,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,359.477,399.689,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296764
$DATA_FILE_SIZE,26937,534
$CAP_FILE_SIZE,52929,0
$CFSIZE,260165632,186806272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.516,180.3,1
$GPS,230413,025631,4751.513,-12511.106,13,1.7,13,18.7