version: 66.11
glider: 187
mission: 2
dive: 860
start: 4 23 113 0 24 39
data:
$ID,187
$MISSION,2
$DIVE,860
$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,-1590067.9
$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,41
$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
$GPS1,230413,001835,4751.230,-12511.359,38,0.8,38,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-77.8
$GPS2,230413,002406,4751.184,-12511.364,12,1.0,18,18.7
$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,340.9,1939,-13.3,-7.021,-18.50
$D_GRID,189
$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,14,begin dive
$GC,17,-0.47,-136.3,0.0,0.0,0,86,0.00,0.00,-66.50,0.000,2,0.000,0.000,109,2188,2723,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.47,-136.3,3.7,-4.9,12,117,11.68,0.00,-11.95,0.000,6,0.216,0.000,3035,2184,3352,0,0,0,0,0,0,24.54,28.83,26.19
$GC,424,-0.47,-136.3,61.0,-13.6,76,431,0.00,2.20,0.00,0.000,4,0.000,0.050,3035,801,3357,0,0,0,0,0,0,28.83,25.15,28.83
$GC,485,-0.47,-136.3,69.5,-13.5,87,492,0.00,2.20,0.00,0.000,6,0.000,0.050,3027,2199,3356,0,0,0,0,0,0,28.83,25.16,28.83
$GC,800,-0.47,-136.3,104.8,-9.6,148,806,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2198,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1114,-0.47,-136.3,134.3,-9.2,190,1123,0.00,2.28,0.00,0.000,4,0.000,0.048,3027,801,3357,0,0,0,0,0,0,28.83,25.10,28.83
$GC,1205,-0.47,-136.3,143.0,-9.7,199,1214,0.00,2.25,0.00,0.000,6,0.000,0.050,3018,2194,3357,0,0,0,0,0,0,28.83,25.10,28.83
$GC,1514,-0.47,-136.3,176.0,-10.9,220,1523,0.00,2.35,0.00,0.000,4,0.000,0.061,3008,3607,3357,0,0,0,0,0,0,28.83,24.86,28.83
$GC,1584,-0.47,-136.3,183.3,-10.2,227,1595,0.12,2.28,0.00,0.000,6,0.131,0.041,3044,2187,3357,0,0,0,0,0,0,25.10,25.32,28.83
$STATE,1651,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1652,begin apogee
$GC,1660,-0.22,0.0,189.5,-8.3,232,1777,0.22,0.00,113.62,0.653,6,0.114,0.000,3123,2349,2794,0,0,0,0,0,0,25.48,28.83,23.80
$STATE,1778,end apogee,CONTROL_FINISHED_OK
$STATE,1778,begin climb
$GC,1781,0.47,136.3,194.8,0.0,244,1905,0.62,2.38,116.12,0.623,4,0.082,0.063,3342,3726,2237,0,0,0,0,0,0,24.89,24.85,23.68
$GC,1938,0.49,179.2,190.0,5.3,260,1984,0.00,2.20,36.78,0.624,6,0.000,0.044,3352,2332,2061,0,0,0,0,0,0,28.83,25.22,23.68
$GC,2286,0.51,225.5,170.0,5.2,285,2333,0.00,2.33,38.75,0.626,4,0.000,0.052,3361,925,1872,0,0,0,0,0,0,28.83,25.23,23.97
$GC,2396,0.52,258.8,164.0,5.7,296,2436,0.00,2.22,28.98,0.612,6,0.000,0.050,3361,2322,1736,0,0,0,0,0,0,28.83,25.30,23.90
$GC,2736,0.52,258.8,140.0,7.8,320,2743,0.00,2.33,0.00,0.000,4,0.000,0.063,3361,3733,1730,0,0,0,0,0,0,28.83,25.18,28.83
$GC,2775,0.52,258.8,136.5,8.9,324,2783,0.00,2.25,0.00,0.000,6,0.000,0.044,3369,2334,1730,0,0,0,0,0,0,28.83,25.44,28.83
$GC,3085,0.52,258.8,111.8,7.9,359,3092,0.00,2.28,0.00,0.000,4,0.000,0.053,3379,913,1729,0,0,0,0,0,0,28.83,25.20,28.83
$GC,3181,0.53,271.4,105.2,6.5,377,3200,0.00,2.25,10.45,0.551,6,0.000,0.050,3379,2336,1687,0,0,0,0,0,0,28.83,25.21,24.18
$GC,3509,0.54,311.2,84.8,5.4,440,3549,0.00,0.00,34.00,0.591,6,0.000,0.000,3378,2336,1524,0,0,0,0,0,0,28.83,28.83,24.06
$GC,3856,0.55,343.2,63.2,5.7,507,3892,0.00,2.33,27.27,0.572,4,0.000,0.051,3380,924,1393,0,0,0,0,0,0,28.83,25.34,24.10
$GC,3940,0.56,367.5,58.3,6.1,522,3970,0.00,2.22,21.12,0.549,6,0.000,0.050,3380,2325,1293,0,0,0,0,0,0,28.83,25.39,24.06
$GC,4278,0.56,367.5,27.8,9.0,587,4285,0.00,2.30,0.00,0.000,4,0.000,0.063,3380,3736,1287,0,0,0,0,0,0,28.83,25.15,28.83
$GC,4517,0.56,367.5,7.7,9.1,633,4524,0.00,2.22,0.00,0.000,6,0.000,0.043,3380,2308,1285,0,0,0,0,0,0,28.83,25.44,28.83
$STATE,4554,end climb,SURFACE_DEPTH_REACHED
$STATE,4555,begin surface coast
$FINISH,1.2,1.013381
$STATE,4596,end surface coast,CONTROL_FINISHED_OK
$STATE,4596,begin surface
$SM_CCo,4677,0.00,0.000,0,0,1282,370.65
$SM_GC,1.99,8.32,0.15,0.00,0.023,0.081,0.000,104,2195,1282,-9.47,1.30,370.65,0,0,0,0,0,0,25.80,25.94,28.83
$IRIDIUM_FIX,4732.49,-12510.28,220413,222216
$TT8_MAMPS,0.027713,0.027713
$HUMID,49.64
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,19.00
$XPDR_PINGS,2
$24V_AH,23.7,118.058
$10V_AH,9.8,87.772
$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,20.975,41.250,427.100,0.000,0.000,25.877,43.706,132.983,0.500,0.000,19.032,1476.453,1678.162,523.895,1147.817,190.353,0.000,1054.593,0.000,935.728,0.000,0.535,0.000
$DEVICE_MAMPS,215.730,81.090,652.545,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,438.779,484.034,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33480,648
$CAP_FILE_SIZE,62339,0
$CFSIZE,260165632,186822656
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.287,160.8,1
$GPS,230413,014325,4751.350,-12511.144,11,1.6,11,18.7