version: 66.11
glider: 187
mission: 2
dive: 808
start: 4 16 113 23 59 15
data:
$ID,187
$MISSION,2
$DIVE,808
$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,-1590002.8
$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,36
$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
$GPS1,160413,234825,4751.943,-12513.403,14,1.6,14,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-79.2
$GPS2,160413,235842,4751.917,-12513.340,17,1.8,34,18.7
$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,57.2,3815,-13.3,-7.021,-18.50
$D_GRID,210
$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,-136.3,0.0,0.0,0,63,0.00,0.00,-44.33,0.000,2,0.000,0.000,114,2189,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.47,-136.3,3.1,-2.0,8,113,11.60,2.22,-24.17,0.000,4,0.212,0.061,3036,787,3351,0,0,0,0,0,0,24.53,25.32,26.22
$GC,267,-0.47,-136.3,34.2,-15.1,45,274,0.00,2.22,0.00,0.000,6,0.000,0.051,3028,2197,3353,0,0,0,0,0,0,28.83,25.20,28.83
$GC,580,-0.47,-136.3,78.3,-12.5,106,587,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2198,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,893,-0.47,-136.3,112.9,-10.8,167,899,0.00,2.33,0.00,0.000,4,0.000,0.061,3017,3620,3354,0,0,0,0,0,0,28.83,24.98,28.83
$GC,958,-0.47,-136.3,119.9,-10.6,179,965,0.00,2.25,0.00,0.000,6,0.000,0.042,3017,2189,3354,0,0,0,0,0,0,28.83,25.39,28.83
$GC,1263,-0.47,-136.3,152.0,-10.7,200,1271,0.00,2.22,0.00,0.000,4,0.000,0.048,3017,798,3354,0,0,0,0,0,0,28.83,25.16,28.83
$GC,1352,-0.47,-136.3,161.7,-10.8,209,1362,0.12,2.28,0.00,0.000,6,0.134,0.049,3042,2202,3354,0,0,0,0,0,0,25.01,25.15,28.83
$GC,1665,-0.47,-136.3,188.6,-8.6,230,1673,0.00,2.30,0.00,0.000,4,0.000,0.061,3034,3606,3354,0,0,0,0,0,0,28.83,24.93,28.83
$GC,1722,-0.47,-136.3,194.2,-9.0,236,1731,0.00,2.28,0.00,0.000,6,0.000,0.041,3034,2187,3354,0,0,0,0,0,0,28.83,25.37,28.83
$STATE,1889,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1890,begin apogee
$GC,1897,-0.22,0.0,210.9,-10.1,246,2014,0.25,0.00,114.28,0.663,6,0.110,0.000,3119,2335,2794,0,0,0,0,0,0,25.45,28.83,23.70
$STATE,2015,end apogee,CONTROL_FINISHED_OK
$STATE,2015,begin climb
$GC,2020,0.47,136.3,217.8,0.0,252,2144,0.65,2.40,116.78,0.637,4,0.082,0.063,3345,3723,2238,0,0,0,0,0,0,24.89,24.86,23.60
$GC,2171,0.51,238.4,215.7,3.0,260,2262,0.00,2.28,85.40,0.649,6,0.000,0.044,3355,2331,1822,0,0,0,0,0,0,28.83,25.24,23.59
$GC,2573,0.51,242.4,188.5,6.9,283,2581,0.00,2.28,0.00,0.000,4,0.000,0.052,3364,924,1813,0,0,0,0,0,0,28.83,25.34,28.83
$GC,2642,0.52,251.0,183.7,6.7,290,2662,0.00,2.28,11.23,0.578,6,0.000,0.051,3364,2323,1769,0,0,0,0,0,0,28.83,25.35,24.08
$GC,2966,0.52,254.1,162.2,6.9,312,2967,0.00,0.00,0.00,0.000,6,0.000,0.000,3364,2323,1765,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3263,0.52,255.4,142.1,7.0,332,3272,0.00,2.33,4.75,0.462,4,0.000,0.052,3371,918,1752,0,0,0,0,0,0,28.83,25.43,24.15
$GC,3304,0.52,268.7,139.4,6.5,336,3322,0.00,2.28,13.23,0.584,6,0.000,0.051,3371,2329,1698,0,0,0,0,0,0,28.83,25.45,24.10
$GC,3624,0.53,276.7,116.4,6.7,364,3637,0.00,2.33,7.65,0.530,4,0.000,0.053,3377,921,1666,0,0,0,0,0,0,28.83,25.48,24.13
$GC,3677,0.53,281.1,112.9,6.8,373,3690,0.00,2.20,5.53,0.478,6,0.000,0.051,3378,2325,1647,0,0,0,0,0,0,28.83,25.48,24.10
$GC,3997,0.53,284.2,90.9,6.9,435,4010,0.00,2.30,3.88,0.401,4,0.000,0.053,3383,925,1634,0,0,0,0,0,0,28.83,25.45,24.17
$GC,4024,0.54,304.5,89.1,6.2,439,4048,0.00,2.20,18.92,0.581,6,0.000,0.052,3383,2326,1552,0,0,0,0,0,0,28.83,25.46,24.11
$GC,4359,0.55,332.6,67.1,5.9,503,4389,0.00,2.38,24.30,0.575,4,0.000,0.063,3383,3734,1437,0,0,0,0,0,0,28.83,25.35,24.08
$GC,4423,0.56,346.7,63.2,6.5,514,4442,0.00,2.20,13.38,0.543,6,0.000,0.045,3383,2326,1379,0,0,0,0,0,0,28.83,25.53,24.03
$GC,4749,0.56,346.7,39.6,8.7,577,4755,0.00,0.00,0.00,0.000,6,0.000,0.000,3383,2326,1374,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5060,0.56,346.7,13.0,7.0,638,5067,0.00,2.22,0.00,0.000,4,0.000,0.051,3383,919,1372,0,0,0,0,0,0,28.83,25.28,28.83
$GC,5120,0.56,346.7,8.3,7.5,649,5127,0.00,2.22,0.00,0.000,6,0.000,0.049,3383,2327,1372,0,0,0,0,0,0,28.83,25.30,28.83
$STATE,5178,end climb,SURFACE_DEPTH_REACHED
$STATE,5178,begin surface coast
$FINISH,1.3,1.001102
$STATE,5237,end surface coast,CONTROL_FINISHED_OK
$STATE,5237,begin surface
$SM_CCo,5317,0.00,0.000,0,0,1369,349.55
$SM_GC,2.24,8.35,0.20,0.00,0.024,0.073,0.000,113,2187,1369,-9.47,1.07,349.55,0,0,0,0,0,0,25.80,25.93,28.83
$IRIDIUM_FIX,4732.49,-12512.13,160413,212151
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.77
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.00
$XPDR_PINGS,3
$24V_AH,23.6,113.608
$10V_AH,9.7,84.768
$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,20.975,50.400,419.300,0.000,0.000,37.579,41.057,386.518,0.750,0.000,37.760,1586.545,2150.339,513.568,1427.334,259.774,0.000,1067.995,0.000,993.294,0.000,0.536,0.000
$DEVICE_MAMPS,211.905,76.500,663.255,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,456.591,490.139,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,36935,671
$CAP_FILE_SIZE,72693,0
$CFSIZE,260165632,189624320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.152,275.8,1
$GPS,170413,012901,4752.117,-12512.115,31,2.0,31,18.7