version: 66.11
glider: 187
mission: 2
dive: 863
start: 4 23 113 4 13 34
data:
$ID,187
$MISSION,2
$DIVE,863
$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,-1590071.6
$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,46
$R_STBD_OVSHOOT,24
$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
$GPS1,230413,040755,4751.551,-12511.017,13,1.4,13,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-76.8
$GPS2,230413,041301,4751.520,-12510.979,16,1.7,16,18.7
$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,6.3,1163,-13.3,-7.021,-18.50
$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,-0.47,-136.3,0.0,0.0,0,108,0.00,0.00,-88.95,0.000,2,0.000,0.000,109,2193,2592,0,0,0,0,0,0,28.83,28.83,28.83
$GC,113,-0.47,-136.3,3.1,-2.7,16,144,11.68,0.00,-15.82,0.000,6,0.215,0.000,3030,2192,3352,0,0,0,0,0,0,24.48,28.83,26.17
$GC,450,-0.47,-136.3,56.2,-11.3,81,457,0.00,2.20,0.00,0.000,4,0.000,0.049,3030,795,3357,0,0,0,0,0,0,28.83,25.25,28.83
$GC,521,-0.47,-136.3,64.0,-10.1,94,527,0.00,2.22,0.00,0.000,6,0.000,0.050,3022,2208,3356,0,0,0,0,0,0,28.83,25.24,28.83
$GC,832,-0.47,-136.3,100.0,-9.2,155,840,0.00,2.22,0.00,0.000,4,0.000,0.048,3023,798,3356,0,0,0,0,0,0,28.83,25.21,28.83
$GC,887,-0.47,-136.3,105.6,-9.9,165,894,0.00,2.22,0.00,0.000,6,0.000,0.049,3013,2212,3356,0,0,0,0,0,0,28.83,25.20,28.83
$GC,1200,-0.47,-136.3,138.4,-11.2,204,1201,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2212,3356,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1450,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1450,begin apogee
$GC,1457,-0.22,0.0,166.6,-10.7,221,1574,0.32,0.00,113.60,0.637,6,0.112,0.000,3121,2342,2793,0,0,0,0,0,0,25.26,28.83,23.85
$STATE,1575,end apogee,CONTROL_FINISHED_OK
$STATE,1575,begin climb
$GC,1580,0.47,136.3,172.8,0.0,233,1704,0.62,2.38,116.60,0.607,4,0.082,0.062,3341,3721,2236,0,0,0,0,0,0,24.89,24.89,23.75
$GC,1735,0.50,198.4,169.3,4.6,249,1793,0.00,2.20,51.67,0.613,6,0.000,0.043,3350,2328,1985,0,0,0,0,0,0,28.83,25.22,23.72
$GC,2093,0.52,254.0,151.0,4.8,275,2144,0.00,2.33,46.00,0.610,4,0.000,0.051,3355,928,1758,0,0,0,0,0,0,28.83,25.22,23.98
$GC,2203,0.52,266.3,144.3,6.5,286,2223,0.00,2.25,11.57,0.553,6,0.000,0.049,3355,2318,1707,0,0,0,0,0,0,28.83,25.30,23.96
$GC,2527,0.52,270.2,122.3,6.9,308,2535,0.00,2.40,3.88,0.393,4,0.000,0.062,3355,3744,1692,0,0,0,0,0,0,28.83,25.32,24.20
$GC,2564,0.52,270.2,119.2,7.5,312,2571,0.00,2.22,0.00,0.000,6,0.000,0.044,3358,2326,1691,0,0,0,0,0,0,28.83,25.53,28.83
$GC,2876,0.54,319.8,97.9,5.1,373,2924,0.00,2.33,41.85,0.594,4,0.000,0.051,3359,920,1489,0,0,0,0,0,0,28.83,25.27,24.06
$GC,2997,0.56,354.8,92.3,5.6,394,3034,0.00,2.22,29.60,0.571,6,0.000,0.049,3359,2335,1346,0,0,0,0,0,0,28.83,25.36,24.01
$GC,3341,0.56,354.8,59.6,11.5,460,3348,0.00,2.28,0.00,0.000,4,0.000,0.063,3359,3734,1340,0,0,0,0,0,0,28.83,25.19,28.83
$GC,3578,0.56,354.8,38.7,7.9,506,3585,0.00,2.20,0.00,0.000,6,0.000,0.043,3359,2319,1338,0,0,0,0,0,0,28.83,25.48,28.83
$GC,3894,0.56,354.8,8.5,7.6,567,3900,0.00,0.00,0.00,0.000,6,0.000,0.000,3359,2318,1337,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3950,end climb,SURFACE_DEPTH_REACHED
$STATE,3950,begin surface coast
$FINISH,1.3,1.023284
$STATE,4006,end surface coast,CONTROL_FINISHED_OK
$STATE,4006,begin surface
$SM_CCo,4087,0.00,0.000,0,0,1334,358.14
$SM_GC,2.14,8.35,0.17,0.00,0.028,0.077,0.000,108,2189,1334,-9.46,1.19,358.14,0,0,0,0,0,0,25.78,25.91,28.83
$IRIDIUM_FIX,4735.69,-12516.60,230413,020218
$TT8_MAMPS,0.027713,0.027713
$HUMID,49.40
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,18.90
$XPDR_PINGS,1
$24V_AH,23.7,118.319
$10V_AH,9.8,87.880
$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,20.975,32.025,414.775,0.000,0.000,25.438,35.763,121.616,0.250,0.000,17.261,1347.127,1345.253,497.000,1042.129,173.390,0.000,978.609,0.000,851.863,0.000,0.536,0.000
$DEVICE_MAMPS,214.965,84.915,637.245,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,398.267,440.985,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296748
$DATA_FILE_SIZE,30202,589
$CAP_FILE_SIZE,55453,0
$CFSIZE,260165632,186724352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.391,148.9,1
$GPS,230413,052251,4751.795,-12510.467,13,2.1,32,18.7