version: 66.11
glider: 187
mission: 2
dive: 874
start: 4 23 113 18 13 22
data:
$ID,187
$MISSION,2
$DIVE,874
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$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,50
$T_MISSION,60
$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,-1590085.4
$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,45
$R_STBD_OVSHOOT,39
$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
$GPS1,230413,180735,4751.810,-12510.219,78,1.1,78,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-77.9
$GPS2,230413,181243,4751.786,-12510.135,14,1.9,14,18.7
$SPEED_LIMITS,0.173,0.248
$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,287.1,315,-19.4,-10.000,-22.72
$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,-0.66,-124.3,0.0,0.0,0,64,0.00,0.00,-45.50,0.000,2,0.000,0.000,107,2191,2598,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-0.66,-136.3,3.3,-3.6,8,101,11.43,0.00,-15.25,0.000,6,0.216,0.000,2976,2189,3352,0,0,0,0,0,0,24.57,28.83,26.18
$GC,405,-0.66,-136.3,73.8,-16.7,73,411,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2190,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,717,-0.66,-136.3,116.2,-12.2,134,724,0.00,2.30,0.00,0.000,4,0.000,0.060,2967,3604,3356,0,0,0,0,0,0,28.83,25.01,28.83
$GC,759,-0.66,-136.3,121.3,-13.1,140,766,0.00,2.20,0.00,0.000,6,0.000,0.041,2967,2195,3357,0,0,0,0,0,0,28.83,25.39,28.83
$STATE,990,end dive,TARGET_DEPTH_EXCEEDED
$STATE,990,begin apogee
$GC,997,-0.22,0.0,151.9,-13.1,156,1113,0.47,0.00,112.93,0.633,6,0.116,0.000,3120,2325,2794,0,0,0,0,0,0,24.92,28.83,23.86
$STATE,1114,end apogee,CONTROL_FINISHED_OK
$STATE,1114,begin climb
$GC,1118,0.66,136.3,158.0,0.0,168,1244,0.80,2.38,116.28,0.617,4,0.081,0.061,3400,3722,2237,0,0,0,0,0,0,24.93,24.89,23.73
$GC,1315,0.66,146.4,148.4,9.4,188,1332,0.00,2.22,9.20,0.531,6,0.000,0.044,3410,2321,2195,0,0,0,0,0,0,28.83,25.35,23.91
$GC,1636,0.68,182.5,119.3,8.0,210,1674,0.00,2.38,31.12,0.585,4,0.000,0.062,3411,3719,2049,0,0,0,0,0,0,28.83,25.26,24.08
$GC,1712,0.68,183.8,112.1,9.9,223,1720,0.00,2.20,0.00,0.000,6,0.000,0.044,3421,2329,2046,0,0,0,0,0,0,28.83,25.44,28.83
$GC,2028,0.69,206.7,87.1,8.7,284,2054,0.00,2.38,20.62,0.565,4,0.000,0.062,3421,3726,1950,0,0,0,0,0,0,28.83,25.32,24.18
$GC,2113,0.69,206.7,77.8,11.5,299,2121,0.00,2.20,0.00,0.000,6,0.000,0.044,3431,2327,1947,0,0,0,0,0,0,28.83,25.50,28.83
$GC,2427,0.72,283.8,51.1,5.6,360,2500,0.00,2.33,63.78,0.562,4,0.000,0.060,3432,3730,1634,0,0,0,0,0,0,28.83,25.17,24.06
$GC,2551,0.73,299.2,42.0,9.1,381,2571,0.00,2.22,13.30,0.516,6,0.000,0.044,3441,2319,1573,0,0,0,0,0,0,28.83,25.39,24.01
$GC,2880,0.74,343.2,14.3,7.5,444,2922,0.00,2.33,36.20,0.535,4,0.000,0.051,3448,911,1393,0,0,0,0,0,0,28.83,25.32,24.13
$GC,3017,0.77,405.8,5.4,6.5,469,3043,0.00,2.20,20.25,0.515,2,0.000,0.050,3447,2311,1295,0,0,0,0,0,0,28.83,25.33,28.83
$STATE,3044,end climb,SURFACE_DEPTH_REACHED
$STATE,3044,begin surface coast
$FINISH,1.3,1.023851
$STATE,3110,end surface coast,CONTROL_FINISHED_OK
$STATE,3110,begin surface
$SM_CCo,3191,0.00,0.000,0,0,1286,369.91
$SM_GC,2.00,8.52,0.17,0.00,0.024,0.073,0.000,116,2195,1286,-9.46,0.96,369.91,0,0,0,0,0,0,25.72,25.73,28.83
$IRIDIUM_FIX,4732.49,-12516.60,230413,171749
$TT8_MAMPS,0.026964,0.026964
$HUMID,49.64
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.10
$XPDR_PINGS,1
$24V_AH,23.7,119.121
$10V_AH,9.9,88.305
$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,21.225,27.700,423.675,0.000,0.000,25.901,35.605,127.012,0.250,0.000,15.148,1100.439,905.507,456.579,897.312,158.388,0.000,870.032,0.000,706.002,0.000,0.536,0.000
$DEVICE_MAMPS,216.495,77.265,632.655,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,327.438,362.401,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,26883,486
$CAP_FILE_SIZE,48265,0
$CFSIZE,260165632,186322944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.127,107.4,1
$GPS,230413,190725,4751.896,-12510.280,15,1.8,15,18.7