version: 66.11
glider: 187
mission: 2
dive: 876
start: 4 23 113 20 10 2
data:
$ID,187
$MISSION,2
$DIVE,876
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$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,50
$T_MISSION,60
$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,-1590087.9
$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,36
$R_STBD_OVSHOOT,37
$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
$GPS1,230413,200427,4751.713,-12510.320,10,2.4,29,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-78.6
$GPS2,230413,200933,4751.662,-12510.274,9,3.7,28,18.7
$SPEED_LIMITS,0.173,0.248
$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,316.9,497,-18.5,-10.000,-21.95
$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,-0.63,-136.3,0.0,0.0,0,58,0.00,0.00,-39.75,0.000,2,0.000,0.000,109,2190,2450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-0.63,-136.3,3.1,-3.3,7,99,11.48,0.00,-21.23,0.000,6,0.217,0.000,2983,2189,3353,0,0,0,0,0,0,24.58,28.83,26.18
$GC,405,-0.63,-136.3,71.4,-16.2,73,413,0.00,2.20,0.00,0.000,4,0.000,0.049,2983,787,3356,0,0,0,0,0,0,28.83,25.23,28.83
$GC,464,-0.63,-136.3,80.1,-13.7,83,471,0.00,2.20,0.00,0.000,6,0.000,0.049,2975,2189,3356,0,0,0,0,0,0,28.83,25.23,28.83
$GC,782,-0.63,-136.3,127.1,-14.9,139,790,0.00,2.35,0.00,0.000,4,0.000,0.060,2965,3613,3356,0,0,0,0,0,0,28.83,25.02,28.83
$GC,851,-0.63,-136.3,137.4,-14.6,146,860,0.00,2.25,0.00,0.000,6,0.000,0.041,2965,2197,3356,0,0,0,0,0,0,28.83,25.39,28.83
$STATE,948,end dive,TARGET_DEPTH_EXCEEDED
$STATE,948,begin apogee
$GC,955,-0.22,0.0,152.0,-14.5,153,1072,0.47,0.00,113.00,0.622,6,0.116,0.000,3118,2342,2794,0,0,0,0,0,0,24.94,28.83,23.89
$STATE,1073,end apogee,CONTROL_FINISHED_OK
$STATE,1073,begin climb
$GC,1077,0.63,136.3,158.9,0.0,165,1201,0.80,2.30,115.97,0.619,4,0.083,0.060,3394,3725,2237,0,0,0,0,0,0,24.94,24.90,23.74
$GC,1301,0.67,221.4,153.8,5.6,188,1381,0.00,2.28,70.75,0.610,6,0.000,0.043,3405,2308,1890,0,0,0,0,0,0,28.83,25.39,23.84
$GC,1681,0.69,290.5,129.6,6.4,216,1743,0.00,2.30,56.80,0.601,4,0.000,0.051,3415,923,1608,0,0,0,0,0,0,28.83,25.19,23.99
$GC,1827,0.71,326.8,118.9,8.1,231,1865,0.00,2.20,30.58,0.583,6,0.000,0.050,3415,2316,1460,0,0,0,0,0,0,28.83,25.29,23.96
$GC,2175,0.71,326.8,85.3,12.2,297,2181,0.00,2.30,0.00,0.000,4,0.000,0.062,3415,3733,1454,0,0,0,0,0,0,28.83,25.20,28.83
$GC,2215,0.71,326.8,80.0,12.7,304,2222,0.00,2.20,0.00,0.000,6,0.000,0.044,3425,2336,1453,0,0,0,0,0,0,28.83,25.45,28.83
$GC,2527,0.73,373.3,48.6,7.6,365,2570,0.00,2.33,37.67,0.560,4,0.000,0.051,3434,918,1271,0,0,0,0,0,0,28.83,25.30,24.12
$GC,2619,0.75,420.3,41.4,7.6,381,2666,0.00,2.22,38.88,0.543,6,0.000,0.050,3434,2327,1079,0,0,0,0,0,0,28.83,25.33,24.01
$GC,2976,0.77,468.8,16.1,7.5,449,3023,0.00,2.28,38.90,0.538,4,0.000,0.052,3436,914,880,0,0,0,0,0,0,28.83,25.30,24.12
$GC,3052,0.80,552.9,11.1,5.6,462,3129,0.00,2.25,66.45,0.535,6,0.000,0.049,3436,2326,536,0,0,0,0,0,0,28.83,25.35,23.94
$STATE,3140,end climb,SURFACE_DEPTH_REACHED
$STATE,3140,begin surface coast
$FINISH,1.2,1.019249
$STATE,3177,end surface coast,CONTROL_FINISHED_OK
$STATE,3178,begin surface
$SM_CCo,3257,0.00,0.000,0,0,531,554.87
$SM_GC,2.01,8.52,0.20,0.00,0.024,0.071,0.000,123,2187,531,-9.47,1.10,554.87,0,0,0,0,0,0,25.60,25.53,28.83
$IRIDIUM_FIX,4732.49,-12507.66,230413,191952
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.97
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,19.00
$XPDR_PINGS,0
$24V_AH,23.7,119.299
$10V_AH,9.9,88.369
$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,21.275,32.075,569.000,0.000,0.000,25.493,35.863,111.602,0.000,0.000,30.280,1048.395,887.649,587.021,894.658,153.264,0.000,1017.179,0.000,702.882,0.000,0.536,0.000
$DEVICE_MAMPS,217.260,74.970,621.945,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,323.276,358.965,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296716
$DATA_FILE_SIZE,26930,484
$CAP_FILE_SIZE,48997,0
$CFSIZE,260165632,186257408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.203,137.4,1
$GPS,230413,210527,4751.814,-12510.177,11,3.5,30,18.7