version: 66.11
glider: 187
mission: 2
dive: 862
start: 4 23 113 3 2 39
data:
$ID,187
$MISSION,2
$DIVE,862
$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,-1590070.4
$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,43
$R_STBD_OVSHOOT,29
$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
$GPS1,230413,025631,4751.513,-12511.106,13,1.7,13,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-77.0
$GPS2,230413,030205,4751.456,-12511.089,15,0.8,31,18.7
$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,345.5,1344,-26.8,-7.021,-30.00
$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,13,begin dive
$GC,17,-0.85,-36.8,0.0,0.0,0,85,0.00,0.00,-66.22,0.000,2,0.000,0.000,110,2193,2533,0,0,0,0,0,0,28.83,28.83,28.83
$GC,90,-0.87,-72.5,3.0,-2.3,12,122,11.12,2.33,-12.62,0.000,4,0.214,0.074,2901,3612,3093,0,0,0,0,0,0,24.51,25.22,26.20
$GC,150,-0.87,-72.5,19.9,-30.6,22,158,0.00,2.20,0.00,0.000,6,0.000,0.041,2901,2209,3094,0,0,0,0,0,0,28.83,25.42,28.83
$GC,465,-0.87,-72.5,89.0,-22.0,83,472,0.00,2.22,0.00,0.000,4,0.000,0.050,2900,791,3095,0,0,0,0,0,0,28.83,25.18,28.83
$GC,600,-0.87,-72.5,116.1,-19.8,109,607,0.00,2.22,0.00,0.000,6,0.000,0.048,2890,2208,3095,0,0,0,0,0,0,28.83,25.20,28.83
$STATE,877,end dive,TARGET_DEPTH_EXCEEDED
$STATE,877,begin apogee
$GC,886,-0.22,0.0,165.4,-17.4,130,952,0.75,0.00,62.58,0.640,6,0.138,0.000,3116,2341,2794,0,0,0,0,0,0,24.40,28.83,23.94
$STATE,953,end apogee,CONTROL_FINISHED_OK
$STATE,953,begin climb
$GC,956,0.87,72.5,170.5,0.0,137,1030,1.02,2.33,63.85,0.615,4,0.081,0.060,3474,3714,2496,0,0,0,0,0,0,24.98,24.96,23.74
$GC,1101,0.87,75.2,163.5,6.7,152,1109,0.00,2.22,0.00,0.000,6,0.000,0.044,3485,2323,2493,0,0,0,0,0,0,28.83,25.39,28.83
$GC,1412,0.88,98.5,147.1,4.0,173,1440,0.00,2.30,22.92,0.602,4,0.000,0.050,3495,925,2391,0,0,0,0,0,0,28.83,25.37,24.10
$GC,1461,0.88,111.4,144.5,5.3,178,1480,0.00,2.22,12.60,0.568,6,0.000,0.051,3495,2300,2340,0,0,0,0,0,0,28.83,25.39,23.99
$GC,1781,0.88,111.4,113.6,8.5,208,1787,0.00,2.33,0.00,0.000,4,0.000,0.061,3495,3735,2335,0,0,0,0,0,0,28.83,25.20,28.83
$GC,2018,0.88,111.4,88.0,10.2,254,2026,0.00,2.20,0.00,0.000,6,0.000,0.043,3507,2323,2333,0,0,0,0,0,0,28.83,25.44,28.83
$GC,2335,0.89,129.3,65.9,4.7,315,2360,0.00,2.33,16.00,0.555,4,0.000,0.062,3507,3737,2264,0,0,0,0,0,0,28.83,25.33,24.20
$GC,2590,0.89,129.3,46.9,7.1,364,2598,0.15,2.20,0.00,0.000,6,0.172,0.044,3480,2324,2262,0,0,0,0,0,0,25.06,25.46,28.83
$GC,2905,0.90,145.4,34.4,4.9,425,2925,0.00,2.40,14.25,0.536,4,0.000,0.061,3480,3745,2200,0,0,0,0,0,0,28.83,25.34,24.20
$GC,3036,0.90,147.4,26.0,6.7,449,3042,0.00,2.22,0.00,0.000,6,0.000,0.044,3490,2326,2197,0,0,0,0,0,0,28.83,25.51,28.83
$FREEZE,18.42,8.628,-1.744,0,1,0
$STATE,3332,end climb,NO_VERTICAL_VELOCITY
$STATE,3332,begin surface
$SM_CCo,3336,314.33,0.481,20,0,470,570.08
$SM_GC,1.93,8.82,0.17,0.00,0.031,0.076,0.000,109,2195,463,-9.46,1.39,571.79,0,0,0,0,0,0,25.51,25.41,28.83
$IRIDIUM_FIX,4732.49,-12535.24,230413,010116
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.74
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,19.00
$XPDR_PINGS,0
$24V_AH,23.7,118.238
$10V_AH,9.8,87.843
$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,21.875,32.075,192.200,314.325,0.000,25.817,35.698,133.246,0.000,0.000,32.514,1222.428,1166.704,708.187,949.866,164.566,0.000,1110.557,0.000,736.258,0.000,0.535,0.000
$DEVICE_MAMPS,214.200,84.150,640.305,481.185,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,344.671,380.704,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,26866,507
$CAP_FILE_SIZE,51975,0
$CFSIZE,260165632,186769408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,20,0,0
$CURRENT,0.090,122.8,1
$GPS,230413,040755,4751.551,-12511.017,13,1.4,13,18.7