version: 66.11
glider: 187
mission: 2
dive: 809
start: 4 17 113 1 38 47
data:
$ID,187
$MISSION,2
$DIVE,809
$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,-1590004
$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,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
$GPS1,170413,012901,4752.117,-12512.115,31,2.0,31,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-77.9
$GPS2,170413,013812,4752.075,-12512.057,13,1.1,18,18.7
$SPEED_LIMITS,0.122,0.210
$TGT_NAME,PARKING
$TGT_LATLONG,4749.600,-12515.250
$TGT_RADIUS,3000.000
$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,165.8,6064,-13.3,-7.021,-18.50
$D_GRID,249
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.47,-136.3,0.0,0.0,0,75,0.00,0.00,-55.33,0.000,2,0.000,0.000,113,2189,2605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.47,-136.3,3.2,-2.1,10,117,11.73,2.38,-16.48,0.000,4,0.218,0.076,3024,3602,3354,0,0,0,0,0,0,24.52,25.25,26.21
$GC,292,-0.47,-136.3,39.3,-13.0,50,299,0.00,2.17,0.00,0.000,6,0.000,0.042,3024,2205,3356,0,0,0,0,0,0,28.83,25.44,28.83
$GC,604,-0.47,-136.3,81.8,-10.7,111,611,0.00,2.20,0.00,0.000,4,0.000,0.049,3024,794,3356,0,0,0,0,0,0,28.83,25.22,28.83
$GC,680,-0.47,-136.3,90.3,-10.9,125,688,0.00,2.22,0.00,0.000,6,0.000,0.050,3014,2208,3357,0,0,0,0,0,0,28.83,25.20,28.83
$GC,997,-0.47,-136.3,127.1,-11.0,179,1006,0.00,2.33,0.00,0.000,4,0.000,0.060,3004,3613,3357,0,0,0,0,0,0,28.83,25.03,28.83
$GC,1109,-0.47,-136.3,139.3,-11.2,190,1117,0.15,2.20,0.00,0.000,6,0.120,0.042,3049,2194,3357,0,0,0,0,0,0,25.20,25.41,28.83
$GC,1419,-0.47,-136.3,167.1,-9.0,211,1426,0.00,2.17,0.00,0.000,4,0.000,0.049,3049,797,3357,0,0,0,0,0,0,28.83,25.18,28.83
$GC,1488,-0.47,-136.3,173.6,-9.4,218,1496,0.00,2.25,0.00,0.000,6,0.000,0.050,3042,2197,3357,0,0,0,0,0,0,28.83,25.18,28.83
$GC,1797,-0.47,-136.3,201.2,-8.6,239,1803,0.00,2.35,0.00,0.000,4,0.000,0.061,3032,3608,3357,0,0,0,0,0,0,28.83,24.96,28.83
$GC,1857,-0.47,-136.3,206.3,-8.7,242,1863,0.00,2.22,0.00,0.000,6,0.000,0.042,3031,2208,3357,0,0,0,0,0,0,28.83,25.40,28.83
$GC,2178,-0.47,-136.3,235.4,-9.2,258,2180,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2205,3356,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2335,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2335,begin apogee
$GC,2342,-0.22,0.0,250.6,-9.6,266,2462,0.28,0.00,115.35,0.685,6,0.109,0.000,3125,2339,2794,0,0,0,0,0,0,25.41,28.83,23.67
$STATE,2463,end apogee,CONTROL_FINISHED_OK
$STATE,2463,begin climb
$GC,2466,0.47,136.3,256.2,0.0,272,2587,0.65,0.00,117.40,0.662,6,0.080,0.000,3347,2339,2238,0,0,0,0,0,0,24.89,28.83,23.60
$GC,2880,0.49,177.7,237.1,5.4,293,2921,0.00,2.35,35.17,0.662,4,0.000,0.050,3350,918,2068,0,0,0,0,0,0,28.83,25.27,23.88
$GC,2999,0.50,212.4,231.0,5.6,299,3035,0.00,2.28,29.70,0.653,6,0.000,0.050,3350,2317,1928,0,0,0,0,0,0,28.83,25.37,23.84
$GC,3352,0.50,214.1,207.7,7.0,317,3356,0.00,2.30,0.00,0.000,4,0.000,0.063,3350,3735,1921,0,0,0,0,0,0,28.83,25.25,28.83
$GC,3407,0.50,214.1,203.7,7.5,319,3411,0.00,2.28,0.00,0.000,6,0.000,0.044,3357,2326,1920,0,0,0,0,0,0,28.83,25.51,28.83
$GC,3710,0.50,214.1,181.7,7.1,338,3718,0.00,2.25,0.00,0.000,4,0.000,0.053,3367,928,1919,0,0,0,0,0,0,28.83,25.30,28.83
$GC,3769,0.50,214.1,177.6,7.0,344,3777,0.00,2.28,0.00,0.000,6,0.000,0.051,3367,2324,1919,0,0,0,0,0,0,28.83,25.31,28.83
$GC,4079,0.51,226.4,156.4,6.5,365,4099,0.00,2.30,12.32,0.593,4,0.000,0.062,3366,3733,1871,0,0,0,0,0,0,28.83,25.32,24.12
$GC,4131,0.51,226.6,152.9,7.0,370,4138,0.00,2.20,0.00,0.000,6,0.000,0.045,3375,2326,1869,0,0,0,0,0,0,28.83,25.58,28.83
$GC,4439,0.51,227.1,131.1,7.0,391,4448,0.00,2.25,0.00,0.000,4,0.000,0.052,3385,928,1868,0,0,0,0,0,0,28.83,25.29,28.83
$GC,4499,0.51,231.7,127.0,6.8,397,4510,0.00,2.28,5.68,0.496,6,0.000,0.051,3385,2334,1849,0,0,0,0,0,0,28.83,25.29,24.12
$GC,4812,0.51,231.7,102.1,8.6,446,4819,0.00,2.30,0.00,0.000,4,0.000,0.064,3385,3745,1848,0,0,0,0,0,0,28.83,25.13,28.83
$GC,4863,0.51,231.7,97.4,9.5,455,4870,0.12,2.22,0.00,0.000,6,0.137,0.045,3359,2327,1847,0,0,0,0,0,0,25.26,25.45,28.83
$GC,5176,0.53,280.3,76.5,5.1,516,5224,0.00,2.40,41.92,0.592,4,0.000,0.063,3359,3734,1651,0,0,0,0,0,0,28.83,25.23,24.05
$GC,5242,0.55,324.8,73.0,5.3,527,5289,0.00,2.22,37.97,0.555,6,0.000,0.045,3359,2322,1468,0,0,0,0,0,0,28.83,25.43,23.87
$GC,5596,0.55,324.8,46.3,8.7,595,5604,0.00,2.20,0.00,0.000,4,0.000,0.050,3359,923,1459,0,0,0,0,0,0,28.83,25.34,28.83
$GC,5765,0.55,324.8,30.2,8.5,627,5772,0.00,2.20,0.00,0.000,6,0.000,0.050,3359,2328,1459,0,0,0,0,0,0,28.83,25.34,28.83
$GC,6077,0.55,324.8,6.0,7.8,688,6084,0.00,2.30,0.00,0.000,4,0.000,0.063,3359,3740,1459,0,0,0,0,0,0,28.83,25.13,28.83
$STATE,6099,end climb,SURFACE_DEPTH_REACHED
$STATE,6099,begin surface coast
$FINISH,1.3,1.024268
$STATE,6136,end surface coast,CONTROL_FINISHED_OK
$STATE,6136,begin surface
$SM_CCo,6218,0.00,0.000,0,0,1455,328.21
$SM_GC,2.49,8.35,2.50,0.00,0.028,0.045,0.000,105,2195,1455,-9.47,0.96,328.21,0,0,0,0,0,0,25.81,25.41,28.83
$IRIDIUM_FIX,4735.69,-12516.60,160413,232340
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.81
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,18.90
$XPDR_PINGS,2
$24V_AH,23.6,113.706
$10V_AH,9.7,84.816
$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,21.275,63.800,395.525,0.000,0.000,25.321,36.132,362.743,0.500,0.000,19.293,1674.771,2902.246,518.426,1413.516,271.216,0.000,1097.136,0.000,1039.820,0.000,0.536,0.000
$DEVICE_MAMPS,218.025,80.325,685.440,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,475.871,497.440,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296780
$DATA_FILE_SIZE,36961,699
$CAP_FILE_SIZE,77149,0
$CFSIZE,260165632,189579264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.218, 31.2,1
$GPS,170413,032313,4751.456,-12511.903,10,1.9,10,18.7