version: 66.11
glider: 187
mission: 2
dive: 807
start: 4 16 113 21 33 4
data:
$ID,187
$MISSION,2
$DIVE,807
$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,-1589999.5
$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
$GPS1,160413,212151,4751.189,-12514.877,11,3.5,31,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-75.7
$GPS2,160413,213233,4751.128,-12514.881,29,3.5,48,18.7
$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,26.9,5919,-13.3,-7.021,-18.50
$D_GRID,318
$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,-136.3,0.0,0.0,0,80,0.00,0.00,-60.28,0.000,2,0.000,0.000,106,2193,2642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.47,-136.3,3.3,-2.3,11,122,11.68,2.28,-15.48,0.000,4,0.213,0.062,3034,800,3354,0,0,0,0,0,0,24.50,25.36,26.22
$GC,257,-0.47,-136.3,33.2,-14.4,43,264,0.00,2.22,0.00,0.000,6,0.000,0.051,3026,2206,3356,0,0,0,0,0,0,28.83,25.20,28.83
$GC,569,-0.47,-136.3,77.8,-12.4,104,576,0.00,2.22,0.00,0.000,4,0.000,0.049,3026,794,3356,0,0,0,0,0,0,28.83,25.18,28.83
$GC,621,-0.47,-136.3,84.2,-12.2,113,628,0.00,2.25,0.00,0.000,6,0.000,0.050,3019,2203,3357,0,0,0,0,0,0,28.83,25.16,28.83
$GC,945,-0.47,-136.3,122.1,-10.5,174,952,0.00,2.33,0.00,0.000,4,0.000,0.061,3008,3604,3356,0,0,0,0,0,0,28.83,24.96,28.83
$GC,1075,-0.47,-136.3,136.1,-10.3,187,1083,0.12,2.25,0.00,0.000,6,0.133,0.042,3043,2189,3357,0,0,0,0,0,0,25.20,25.39,28.83
$GC,1386,-0.47,-136.3,163.2,-9.3,208,1394,0.00,2.17,0.00,0.000,4,0.000,0.050,3043,804,3357,0,0,0,0,0,0,28.83,25.13,28.83
$GC,1423,-0.47,-136.3,167.0,-9.4,212,1433,0.00,2.28,0.00,0.000,6,0.000,0.050,3036,2201,3357,0,0,0,0,0,0,28.83,25.13,28.83
$GC,1735,-0.47,-136.3,195.8,-9.2,233,1737,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2201,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2037,-0.47,-136.3,221.7,-8.4,249,2038,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2201,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2334,-0.47,-136.3,246.6,-8.1,264,2340,0.00,2.35,0.00,0.000,4,0.000,0.061,3026,3609,3357,0,0,0,0,0,0,28.83,24.88,28.83
$GC,2373,-0.47,-136.3,249.8,-8.1,266,2379,0.00,2.28,0.00,0.000,6,0.000,0.043,3025,2196,3357,0,0,0,0,0,0,28.83,25.32,28.83
$GC,2695,-0.47,-136.3,276.7,-8.4,282,2699,0.00,2.22,0.00,0.000,4,0.000,0.050,3026,804,3357,0,0,0,0,0,0,28.83,25.08,28.83
$GC,2754,-0.47,-136.3,281.9,-8.7,285,2759,0.00,2.25,0.00,0.000,6,0.000,0.050,3017,2194,3357,0,0,0,0,0,0,28.83,25.06,28.83
$GC,3074,-0.47,-136.3,310.0,-8.7,301,3079,0.00,2.35,0.00,0.000,4,0.000,0.063,3007,3602,3356,0,0,0,0,0,0,28.83,24.83,28.83
$GC,3154,-0.47,-136.3,317.5,-9.3,305,3160,0.10,2.25,0.00,0.000,6,0.100,0.043,3044,2199,3356,0,0,0,0,0,0,25.06,25.32,28.83
$STATE,3171,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3171,begin apogee
$GC,3178,-0.22,0.0,319.4,-9.4,306,3299,0.22,0.00,116.20,0.731,6,0.112,0.000,3123,2342,2794,0,0,0,0,0,0,25.51,28.83,23.60
$STATE,3300,end apogee,CONTROL_FINISHED_OK
$STATE,3300,begin climb
$GC,3303,0.47,136.3,324.3,0.0,312,3433,0.65,2.42,118.53,0.703,4,0.080,0.063,3345,3733,2236,0,0,0,0,0,0,24.82,24.77,23.49
$GC,3455,0.50,198.0,320.1,4.6,320,3514,0.00,2.30,52.53,0.696,6,0.000,0.044,3355,2330,1985,0,0,0,0,0,0,28.83,25.17,23.51
$GC,3816,0.50,198.0,294.3,7.3,338,3820,0.00,2.25,0.00,0.000,4,0.000,0.054,3360,921,1976,0,0,0,0,0,0,28.83,25.34,28.83
$GC,3845,0.50,198.0,292.0,7.3,339,3849,0.00,2.28,0.00,0.000,6,0.000,0.052,3360,2322,1976,0,0,0,0,0,0,28.83,25.36,28.83
$GC,4164,0.50,198.0,267.2,7.7,355,4169,0.00,2.38,0.00,0.000,4,0.000,0.063,3360,3740,1975,0,0,0,0,0,0,28.83,25.16,28.83
$GC,4224,0.50,198.0,262.0,8.7,358,4229,0.00,2.28,0.00,0.000,6,0.000,0.044,3369,2331,1975,0,0,0,0,0,0,28.83,25.45,28.83
$GC,4545,0.50,198.0,236.2,7.7,374,4549,0.00,2.25,0.00,0.000,4,0.000,0.053,3379,919,1974,0,0,0,0,0,0,28.83,25.21,28.83
$GC,4603,0.50,198.0,231.6,7.6,377,4609,0.00,2.30,0.00,0.000,6,0.000,0.051,3379,2327,1974,0,0,0,0,0,0,28.83,25.22,28.83
$GC,4923,0.50,198.0,207.0,7.8,393,4929,0.00,2.40,0.00,0.000,4,0.000,0.063,3378,3745,1973,0,0,0,0,0,0,28.83,25.03,28.83
$GC,4965,0.50,198.0,203.5,8.2,395,4970,0.08,2.30,0.00,0.000,6,0.113,0.046,3360,2330,1973,0,0,0,0,0,0,25.15,25.37,28.83
$GC,5281,0.50,207.4,182.9,6.6,415,5299,0.00,2.35,7.47,0.562,4,0.000,0.053,3368,907,1947,0,0,0,0,0,0,28.83,25.32,24.08
$GC,5329,0.50,212.0,179.5,6.8,420,5339,0.00,2.28,5.80,0.522,6,0.000,0.052,3367,2319,1929,0,0,0,0,0,0,28.83,25.40,24.04
$GC,5642,0.50,212.0,158.0,7.0,441,5643,0.00,0.00,0.00,0.000,6,0.000,0.000,3368,2319,1927,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5940,0.50,212.0,137.2,7.0,461,5941,0.00,0.00,0.00,0.000,6,0.000,0.000,3368,2319,1926,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6239,0.51,221.7,116.6,6.6,487,6258,0.00,2.33,9.90,0.565,4,0.000,0.054,3373,913,1890,0,0,0,0,0,0,28.83,25.35,24.11
$GC,6322,0.52,255.4,111.2,5.7,502,6358,0.00,2.22,30.23,0.612,6,0.000,0.052,3373,2326,1752,0,0,0,0,0,0,28.83,25.39,23.91
$GC,6667,0.52,263.7,88.4,6.7,568,6680,0.00,0.00,7.85,0.523,6,0.000,0.000,3373,2325,1717,0,0,0,0,0,0,28.83,28.83,24.10
$GC,6986,0.54,297.9,69.4,5.7,630,7022,0.00,2.40,29.40,0.585,4,0.000,0.063,3373,3744,1579,0,0,0,0,0,0,28.83,25.29,24.02
$GC,7059,0.55,324.1,65.5,6.0,642,7089,0.00,2.25,23.05,0.557,6,0.000,0.045,3373,2308,1471,0,0,0,0,0,0,28.83,25.51,23.96
$GC,7398,0.55,324.1,44.9,8.4,707,7405,0.00,2.20,0.00,0.000,4,0.000,0.051,3373,915,1464,0,0,0,0,0,0,28.83,25.30,28.83
$GC,7533,0.55,324.1,33.8,7.8,733,7540,0.00,2.22,0.00,0.000,6,0.000,0.050,3373,2327,1463,0,0,0,0,0,0,28.83,25.29,28.83
$GC,7846,0.55,324.1,10.5,7.5,794,7853,0.00,2.33,0.00,0.000,4,0.000,0.064,3373,3734,1462,0,0,0,0,0,0,28.83,25.06,28.83
$STATE,7928,end climb,SURFACE_DEPTH_REACHED
$STATE,7928,begin surface coast
$FINISH,1.3,1.012136
$STATE,7988,end surface coast,CONTROL_FINISHED_OK
$STATE,7988,begin surface
$SM_CCo,8070,0.00,0.000,0,0,1458,327.72
$SM_GC,2.70,8.35,2.50,0.00,0.026,0.044,0.000,115,2196,1458,-9.45,1.05,327.72,0,0,0,0,0,0,25.79,25.35,28.83
$IRIDIUM_FIX,4732.49,-12514.75,160413,181835
$TT8_MAMPS,0.027713,0.027713
$HUMID,49.25
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,19.00
$XPDR_PINGS,2
$24V_AH,23.5,113.507
$10V_AH,9.8,84.721
$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,21.200,78.150,400.950,0.000,0.000,27.123,35.655,410.556,0.500,0.000,50.228,1981.554,4199.577,526.827,1687.580,318.020,0.000,1217.174,0.000,1238.658,0.000,0.535,0.000
$DEVICE_MAMPS,213.435,77.265,730.575,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,560.209,563.683,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296772
$DATA_FILE_SIZE,43614,821
$CAP_FILE_SIZE,92259,0
$CFSIZE,260165632,189648896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$CURRENT,0.060,214.1,1
$GPS,160413,234825,4751.943,-12513.403,14,1.6,14,18.7