version: 66.11
glider: 187
mission: 2
dive: 867
start: 4 23 113 9 22 0
data:
$ID,187
$MISSION,2
$DIVE,867
$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,-1590076.6
$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,47
$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
$GPS1,230413,091536,4752.007,-12510.188,41,0.9,41,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-78.6
$GPS2,230413,092125,4751.966,-12510.216,17,1.6,17,18.7
$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,251.1,94,-26.8,-7.021,-30.00
$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,-0.85,-36.8,0.0,0.0,0,73,0.00,0.00,-55.00,0.000,2,0.000,0.000,109,2184,2631,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-0.86,-55.5,3.4,-4.6,10,105,11.23,2.28,-7.97,0.000,4,0.218,0.063,2910,795,3024,0,0,0,0,0,0,24.55,25.39,26.17
$GC,113,-0.86,-55.5,16.4,-35.4,15,119,0.00,2.20,0.00,0.000,6,0.000,0.047,2901,2202,3026,0,0,0,0,0,0,28.83,25.39,28.83
$GC,425,-0.86,-55.5,86.5,-18.1,76,432,0.00,2.20,0.00,0.000,4,0.000,0.047,2901,795,3028,0,0,0,0,0,0,28.83,25.23,28.83
$GC,445,-0.86,-55.5,89.9,-16.5,79,452,0.00,2.22,0.00,0.000,6,0.000,0.048,2891,2212,3028,0,0,0,0,0,0,28.83,25.21,28.83
$GC,767,-0.86,-55.5,146.4,-16.2,122,775,0.00,2.25,0.00,0.000,4,0.000,0.047,2890,805,3028,0,0,0,0,0,0,28.83,25.19,28.83
$GC,827,-0.86,-55.5,155.7,-15.5,128,836,0.15,2.28,0.00,0.000,6,0.173,0.048,2915,2207,3028,0,0,0,0,0,0,24.79,25.18,28.83
$STATE,954,end dive,TARGET_DEPTH_EXCEEDED
$STATE,954,begin apogee
$GC,962,-0.22,0.0,175.9,-15.8,137,1016,0.65,0.00,49.03,0.649,6,0.133,0.000,3116,2352,2793,0,0,0,0,0,0,24.50,28.83,23.98
$STATE,1017,end apogee,CONTROL_FINISHED_OK
$STATE,1017,begin climb
$GC,1020,0.86,55.5,181.7,0.0,143,1077,1.00,2.33,49.08,0.623,4,0.082,0.061,3466,3718,2566,0,0,0,0,0,0,25.03,25.01,23.77
$GC,1219,0.87,69.5,176.2,5.2,163,1237,0.00,2.17,12.98,0.591,6,0.000,0.043,3477,2327,2509,0,0,0,0,0,0,28.83,25.47,24.03
$GC,1540,0.87,69.5,153.9,7.4,185,1547,0.00,2.28,0.00,0.000,4,0.000,0.060,3477,3724,2506,0,0,0,0,0,0,28.83,25.22,28.83
$GC,1757,0.87,69.5,140.2,7.3,207,1765,0.00,2.25,0.00,0.000,6,0.000,0.042,3489,2326,2505,0,0,0,0,0,0,28.83,25.45,28.83
$GC,2068,0.87,90.8,122.9,4.2,228,2096,0.00,2.33,19.48,0.596,4,0.000,0.061,3488,3715,2422,0,0,0,0,0,0,28.83,25.33,24.16
$GC,2137,0.88,94.3,119.0,6.6,236,2151,0.00,2.17,4.72,0.448,6,0.000,0.044,3500,2326,2408,0,0,0,0,0,0,28.83,25.53,24.10
$GC,2458,0.88,94.3,96.2,8.5,298,2464,0.00,2.28,0.00,0.000,4,0.000,0.060,3500,3719,2406,0,0,0,0,0,0,28.83,25.15,28.83
$GC,2697,0.89,130.4,82.6,2.3,344,2735,0.00,2.22,32.15,0.592,6,0.000,0.044,3511,2318,2261,0,0,0,0,0,0,28.83,25.41,24.10
$GC,3044,0.90,142.8,60.5,5.4,410,3064,0.00,2.28,11.15,0.537,4,0.000,0.060,3511,3718,2210,0,0,0,0,0,0,28.83,25.39,24.18
$GC,3295,0.90,144.6,44.5,6.8,458,3302,0.15,2.20,0.00,0.000,6,0.168,0.044,3485,2320,2209,0,0,0,0,0,0,25.06,25.46,28.83
$GC,3608,0.90,161.8,26.4,4.8,519,3633,0.00,2.22,17.27,0.544,4,0.000,0.051,3494,925,2132,0,0,0,0,0,0,28.83,25.41,24.22
$GC,3713,0.91,189.9,22.4,3.3,538,3744,0.00,2.17,24.58,0.549,6,0.000,0.050,3494,2310,2019,0,0,0,0,0,0,28.83,25.40,24.11
$GC,4054,0.94,244.6,10.1,-0.1,603,4107,0.00,2.22,45.42,0.542,4,0.000,0.049,3505,919,1793,0,0,0,0,0,0,28.83,25.29,24.12
$GC,4136,0.95,268.6,8.3,3.9,617,4162,0.00,2.25,20.48,0.523,6,0.000,0.051,3504,2328,1698,0,0,0,0,0,0,28.83,25.34,24.01
$STATE,4198,end climb,SURFACE_DEPTH_REACHED
$STATE,4198,begin surface coast
$FINISH,1.1,1.016493
$STATE,4261,end surface coast,CONTROL_FINISHED_OK
$STATE,4261,begin surface
$SM_CCo,4282,22.77,0.371,1,0,1570,300.00
$SM_GC,1.80,8.82,0.20,22.77,0.033,0.069,0.371,109,2197,1570,-9.46,0.99,300.00,0,0,0,0,1,0,25.74,25.71,24.15
$IRIDIUM_FIX,4738.89,-12611.09,230413,070723
$TT8_MAMPS,0.027713,0.027713
$HUMID,50.31
$INTERNAL_PRESSURE,9.13782
$TCM_TEMP,19.20
$XPDR_PINGS,1
$24V_AH,23.8,118.595
$10V_AH,9.8,88.040
$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,22.000,45.200,286.325,22.775,0.000,26.991,43.863,148.108,0.250,0.000,18.382,1511.932,1413.414,404.123,1155.639,189.624,0.000,913.826,0.000,925.002,0.000,0.536,0.000
$DEVICE_MAMPS,218.025,78.030,648.720,371.025,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,435.553,476.136,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33612,640
$CAP_FILE_SIZE,63029,0
$CFSIZE,260165632,186560512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.133,141.4,1
$GPS,230413,103531,4751.630,-12510.341,60,1.5,60,18.7