version: 66.11
glider: 187
mission: 2
dive: 868
start: 4 23 113 10 41 28
data:
$ID,187
$MISSION,2
$DIVE,868
$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,-1590077.9
$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,33
$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
$GPS1,230413,103531,4751.630,-12510.341,60,1.5,60,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-79.3
$GPS2,230413,104055,4751.632,-12510.305,13,1.4,13,18.7
$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,320.3,554,-13.3,-7.021,-18.50
$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,17,-0.47,-136.3,0.0,0.0,0,63,0.00,0.00,-44.60,0.000,2,0.000,0.000,108,2195,2572,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.47,-136.3,3.1,-3.0,8,106,11.68,2.35,-16.10,0.000,4,0.217,0.073,3026,3604,3353,0,0,0,0,0,0,24.61,25.31,26.18
$GC,129,-0.47,-136.3,21.2,-28.9,18,137,0.00,2.22,0.00,0.000,6,0.000,0.042,3025,2192,3355,0,0,0,0,0,0,28.83,25.46,28.83
$GC,444,-0.47,-136.3,70.1,-15.2,79,451,0.00,2.20,0.00,0.000,4,0.000,0.049,3025,794,3356,0,0,0,0,0,0,28.83,25.21,28.83
$GC,549,-0.47,-136.3,85.1,-13.3,99,556,0.00,2.22,0.00,0.000,6,0.000,0.049,3016,2209,3356,0,0,0,0,0,0,28.83,25.21,28.83
$GC,873,-0.47,-136.3,122.3,-11.7,160,882,0.00,2.30,0.00,0.000,4,0.000,0.047,3015,783,3356,0,0,0,0,0,0,28.83,25.17,28.83
$GC,923,-0.47,-136.3,128.4,-12.3,165,933,0.12,2.30,0.00,0.000,6,0.137,0.049,3041,2199,3357,0,0,0,0,0,0,25.02,25.17,28.83
$GC,1237,-0.47,-136.3,159.0,-9.4,186,1238,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2199,3357,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1411,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1411,begin apogee
$GC,1418,-0.22,0.0,175.2,-8.7,198,1534,0.22,0.00,112.88,0.640,6,0.113,0.000,3120,2339,2794,0,0,0,0,0,0,25.48,28.83,23.85
$STATE,1535,end apogee,CONTROL_FINISHED_OK
$STATE,1535,begin climb
$GC,1539,0.47,136.3,178.6,0.0,210,1662,0.68,2.38,116.30,0.616,4,0.084,0.061,3348,3728,2237,0,0,0,0,0,0,24.90,24.89,23.74
$GC,1691,0.49,185.0,173.6,5.1,223,1741,0.00,2.28,41.92,0.614,6,0.000,0.042,3358,2319,2037,0,0,0,0,0,0,28.83,25.25,23.71
$GC,2041,0.52,269.0,156.8,3.7,248,2121,0.00,2.30,69.22,0.622,4,0.000,0.050,3365,928,1694,0,0,0,0,0,0,28.83,25.13,23.91
$GC,2151,0.55,339.4,152.3,4.2,259,2215,0.00,2.25,58.35,0.612,6,0.000,0.050,3365,2310,1410,0,0,0,0,0,0,28.83,25.23,23.79
$GC,2511,0.56,347.5,132.2,6.7,285,2523,0.00,2.30,6.82,0.499,4,0.000,0.051,3367,919,1376,0,0,0,0,0,0,28.83,25.40,24.15
$GC,2561,0.57,379.8,129.3,5.7,290,2594,0.00,2.28,28.20,0.594,6,0.000,0.049,3367,2332,1244,0,0,0,0,0,0,28.83,25.43,24.03
$GC,2893,0.57,379.8,95.6,10.1,341,2900,0.00,2.30,0.00,0.000,4,0.000,0.063,3365,3739,1237,0,0,0,0,0,0,28.83,25.20,28.83
$GC,3025,0.57,379.8,81.4,11.2,366,3032,0.00,2.22,0.00,0.000,6,0.000,0.043,3365,2312,1236,0,0,0,0,0,0,28.83,25.48,28.83
$GC,3339,0.57,379.8,45.9,10.5,427,3345,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,2313,1235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3650,0.57,379.8,17.1,9.8,488,3657,0.00,2.20,0.00,0.000,4,0.000,0.050,3365,924,1234,0,0,0,0,0,0,28.83,25.20,28.83
$GC,3687,0.57,379.8,13.7,9.3,494,3694,0.00,2.20,0.00,0.000,6,0.000,0.049,3365,2326,1235,0,0,0,0,0,0,28.83,25.24,28.83
$STATE,3804,end climb,SURFACE_DEPTH_REACHED
$STATE,3804,begin surface coast
$FINISH,1.2,1.001369
$STATE,3851,end surface coast,CONTROL_FINISHED_OK
$STATE,3851,begin surface
$SM_CCo,3932,0.00,0.000,0,0,1231,383.40
$SM_GC,1.96,8.35,0.20,0.00,0.027,0.071,0.000,107,2186,1231,-9.47,1.07,383.40,0,0,0,0,0,0,25.75,25.89,28.83
$IRIDIUM_FIX,4735.69,-12513.98,230413,090926
$TT8_MAMPS,0.027713,0.027713
$HUMID,49.48
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,19.00
$XPDR_PINGS,2
$24V_AH,23.7,118.682
$10V_AH,9.9,88.076
$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,21.050,36.700,433.700,0.000,0.000,23.792,42.061,135.684,0.500,0.000,14.271,1234.014,1387.526,509.165,967.010,167.790,0.000,942.055,0.000,762.677,0.000,0.536,0.000
$DEVICE_MAMPS,217.260,79.560,639.540,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,356.573,392.197,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,26830,526
$CAP_FILE_SIZE,53879,0
$CFSIZE,260165632,186535936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.701,156.4,1
$GPS,230413,114809,4751.640,-12510.397,12,2.4,31,18.7