version: 66.11
glider: 187
mission: 2
dive: 869
start: 4 23 113 11 54 25
data:
$ID,187
$MISSION,2
$DIVE,869
$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,-1590079.1
$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
$GPS1,230413,114809,4751.640,-12510.397,12,2.4,31,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-78.2
$GPS2,230413,115351,4751.612,-12510.350,16,3.0,35,18.7
$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,305.9,597,-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,17,-0.85,-36.8,0.0,0.0,0,80,0.00,0.00,-60.80,0.000,2,0.000,0.000,106,2186,2619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,85,-0.87,-67.4,3.2,-3.0,11,112,11.23,2.28,-9.48,0.000,4,0.217,0.060,2908,791,3071,0,0,0,0,0,0,24.49,25.35,26.18
$GC,135,-0.87,-67.4,19.8,-30.4,19,142,0.00,2.22,0.00,0.000,6,0.000,0.049,2899,2207,3073,0,0,0,0,0,0,28.83,25.30,28.83
$GC,449,-0.87,-67.4,85.9,-15.9,80,455,0.00,2.22,0.00,0.000,4,0.000,0.047,2899,802,3075,0,0,0,0,0,0,28.83,25.20,28.83
$GC,489,-0.87,-67.4,93.5,-19.6,87,496,0.00,2.20,0.00,0.000,6,0.000,0.050,2889,2200,3075,0,0,0,0,0,0,28.83,25.19,28.83
$GC,806,-0.87,-67.4,153.9,-17.7,125,813,0.00,2.20,0.00,0.000,4,0.000,0.047,2888,794,3075,0,0,0,0,0,0,28.83,25.19,28.83
$STATE,931,end dive,TARGET_DEPTH_EXCEEDED
$STATE,931,begin apogee
$GC,940,-0.22,0.0,175.2,-15.7,138,1004,0.80,0.00,58.33,0.647,6,0.139,0.000,3116,2331,2793,0,0,0,0,0,0,24.29,28.83,23.95
$STATE,1005,end apogee,CONTROL_FINISHED_OK
$STATE,1005,begin climb
$GC,1009,0.87,67.4,179.7,0.0,145,1075,1.02,2.40,59.42,0.617,4,0.083,0.061,3472,3735,2518,0,0,0,0,0,0,24.98,24.97,23.75
$GC,1105,0.87,73.8,174.9,6.2,155,1117,0.00,2.28,6.88,0.513,6,0.000,0.043,3483,2328,2493,0,0,0,0,0,0,28.83,25.29,23.77
$GC,1416,0.87,75.1,152.2,6.9,176,1423,0.00,2.30,0.00,0.000,4,0.000,0.060,3483,3733,2488,0,0,0,0,0,0,28.83,25.20,28.83
$GC,1654,0.87,80.9,137.1,6.3,200,1666,0.00,2.25,6.82,0.513,6,0.000,0.042,3495,2328,2464,0,0,0,0,0,0,28.83,25.44,24.20
$GC,1968,0.88,94.0,118.9,5.3,223,1986,0.00,0.00,13.38,0.571,6,0.000,0.000,3495,2328,2409,0,0,0,0,0,0,28.83,28.83,24.19
$GC,2293,0.88,99.8,95.8,6.3,286,2306,0.00,2.25,6.12,0.488,4,0.000,0.050,3506,920,2386,0,0,0,0,0,0,28.83,25.46,24.20
$GC,2435,0.88,99.8,85.6,7.7,313,2441,0.00,2.22,0.00,0.000,6,0.000,0.050,3506,2333,2386,0,0,0,0,0,0,28.83,25.34,28.83
$GC,2747,0.89,134.2,75.2,2.5,374,2785,0.00,2.30,30.80,0.583,4,0.000,0.060,3506,3733,2246,0,0,0,0,0,0,28.83,25.29,24.13
$GC,3017,0.89,134.2,53.4,9.4,425,3024,0.15,2.20,0.00,0.000,6,0.168,0.044,3480,2323,2241,0,0,0,0,0,0,25.07,25.46,28.83
$GC,3332,0.90,148.8,35.9,5.1,486,3352,0.00,2.33,13.12,0.532,4,0.000,0.060,3479,3739,2185,0,0,0,0,0,0,28.83,25.35,24.22
$GC,3584,0.91,168.4,21.0,4.5,534,3609,0.00,2.20,17.75,0.537,6,0.000,0.043,3489,2323,2106,0,0,0,0,0,0,28.83,25.47,24.20
$GC,3919,0.93,223.9,10.9,-0.3,598,3967,0.00,0.00,45.92,0.545,6,0.000,0.000,3489,2323,1881,0,0,0,0,0,0,28.83,28.83,24.13
$STATE,4104,end climb,SURFACE_DEPTH_REACHED
$STATE,4104,begin surface coast
$FINISH,1.0,1.012529
$STATE,4180,end surface coast,CONTROL_FINISHED_OK
$STATE,4180,begin surface
$SM_CCo,4201,50.55,0.441,3,0,1570,300.00
$SM_GC,2.96,8.73,0.17,50.55,0.029,0.073,0.441,104,2199,1570,-9.48,1.22,300.00,0,0,0,0,3,0,25.77,25.84,24.08
$IRIDIUM_FIX,4735.69,-12516.60,230413,101023
$TT8_MAMPS,0.027713,0.027713
$HUMID,49.17
$INTERNAL_PRESSURE,9.13782
$TCM_TEMP,19.20
$XPDR_PINGS,1
$24V_AH,23.8,118.742
$10V_AH,9.8,88.117
$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,21.925,36.525,258.550,50.550,0.000,25.793,37.228,134.970,0.250,0.000,37.491,1536.138,1339.242,402.350,1157.909,188.743,0.000,902.847,0.000,934.780,0.000,0.536,0.000
$DEVICE_MAMPS,217.260,73.440,647.190,440.640,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,441.490,485.591,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33625,648
$CAP_FILE_SIZE,60468,0
$CFSIZE,260165632,186486784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.168,148.0,1
$GPS,230413,130652,4751.444,-12510.324,19,3.1,38,18.7