version: 66.11
glider: 187
mission: 2
dive: 811
start: 4 17 113 5 28 30
data:
$ID,187
$MISSION,2
$DIVE,811
$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,-1590006.5
$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,38
$R_STBD_OVSHOOT,25
$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
$GPS1,170413,051836,4750.716,-12512.027,41,1.1,41,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-78.3
$GPS2,170413,052755,4750.668,-12511.932,14,1.3,14,18.7
$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,223.3,4576,-13.3,-7.021,-18.50
$D_GRID,312
$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,-0.47,-136.3,0.0,0.0,0,74,0.00,0.00,-55.95,0.000,2,0.000,0.000,109,2194,2504,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-0.47,-136.3,3.1,-3.0,10,118,11.68,2.40,-20.17,0.000,4,0.215,0.075,3027,3611,3351,0,0,0,0,0,0,24.51,25.27,26.22
$GC,222,-0.47,-136.3,29.9,-15.6,36,230,0.00,2.20,0.00,0.000,6,0.000,0.043,3027,2198,3355,0,0,0,0,0,0,28.83,25.46,28.83
$GC,537,-0.47,-136.3,73.8,-12.7,97,544,0.00,2.20,0.00,0.000,4,0.000,0.049,3027,788,3355,0,0,0,0,0,0,28.83,25.25,28.83
$GC,596,-0.47,-136.3,81.0,-12.1,108,604,0.00,2.22,0.00,0.000,6,0.000,0.050,3017,2201,3355,0,0,0,0,0,0,28.83,25.25,28.83
$GC,920,-0.47,-136.3,121.9,-11.8,169,928,0.00,2.33,0.00,0.000,4,0.000,0.060,3006,3608,3355,0,0,0,0,0,0,28.83,25.06,28.83
$GC,1030,-0.47,-136.3,134.1,-10.3,180,1040,0.10,2.25,0.00,0.000,6,0.102,0.041,3044,2189,3355,0,0,0,0,0,0,25.20,25.45,28.83
$GC,1342,-0.47,-136.3,159.4,-8.0,201,1348,0.00,2.17,0.00,0.000,4,0.000,0.049,3044,804,3355,0,0,0,0,0,0,28.83,25.21,28.83
$GC,1420,-0.47,-136.3,166.2,-8.6,209,1428,0.00,2.25,0.00,0.000,6,0.000,0.049,3037,2200,3355,0,0,0,0,0,0,28.83,25.21,28.83
$GC,1730,-0.47,-136.3,192.0,-8.3,230,1738,0.00,2.33,0.00,0.000,4,0.000,0.061,3026,3604,3355,0,0,0,0,0,0,28.83,25.00,28.83
$GC,1789,-0.47,-136.3,196.9,-8.4,236,1799,0.00,2.25,0.00,0.000,6,0.000,0.041,3026,2196,3355,0,0,0,0,0,0,28.83,25.41,28.83
$GC,2110,-0.47,-136.3,226.1,-9.2,253,2111,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2196,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2410,-0.47,-136.3,254.4,-9.7,268,2415,0.00,2.22,0.00,0.000,4,0.000,0.050,3026,808,3355,0,0,0,0,0,0,28.83,25.15,28.83
$GC,2449,-0.47,-136.3,258.5,-10.3,270,2455,0.00,2.28,0.00,0.000,6,0.000,0.050,3017,2201,3355,0,0,0,0,0,0,28.83,25.15,28.83
$GC,2769,-0.47,-136.3,292.1,-10.7,286,2770,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2201,3355,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2987,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2987,begin apogee
$GC,2995,-0.22,0.0,313.1,-9.2,297,3115,0.30,0.00,115.32,0.728,6,0.112,0.000,3118,2340,2796,0,0,0,0,0,0,25.32,28.83,23.62
$STATE,3116,end apogee,CONTROL_FINISHED_OK
$STATE,3116,begin climb
$GC,3119,0.47,136.3,316.6,0.0,303,3242,0.68,0.00,118.72,0.700,6,0.082,0.000,3347,2340,2238,0,0,0,0,0,0,24.84,28.83,23.56
$GC,3533,0.49,195.2,297.1,4.7,324,3589,0.00,0.00,49.42,0.708,6,0.000,0.000,3347,2340,1997,0,0,0,0,0,0,28.83,28.83,23.82
$GC,3890,0.51,226.5,276.4,5.8,342,3922,0.00,2.33,27.17,0.687,4,0.000,0.050,3355,931,1869,0,0,0,0,0,0,28.83,25.34,23.93
$GC,3950,0.52,259.7,273.5,5.7,344,3984,0.00,2.28,29.33,0.675,6,0.000,0.050,3355,2322,1735,0,0,0,0,0,0,28.83,25.39,23.83
$GC,4295,0.54,300.8,253.0,5.4,362,4335,0.00,2.30,35.08,0.683,4,0.000,0.052,3356,933,1566,0,0,0,0,0,0,28.83,25.29,23.91
$GC,4352,0.55,335.3,250.2,5.7,365,4389,0.00,2.28,30.12,0.657,6,0.000,0.051,3356,2325,1426,0,0,0,0,0,0,28.83,25.36,23.82
$GC,4703,0.56,367.5,229.0,5.7,383,4736,0.00,2.30,27.52,0.664,4,0.000,0.053,3356,933,1294,0,0,0,0,0,0,28.83,25.34,23.96
$GC,4774,0.58,410.8,225.3,5.3,386,4816,0.00,2.28,37.03,0.653,6,0.000,0.050,3356,2338,1119,0,0,0,0,0,0,28.83,25.42,23.87
$GC,5129,0.58,410.8,190.5,12.2,405,5136,0.00,2.28,0.00,0.000,4,0.000,0.063,3356,3740,1111,0,0,0,0,0,0,28.83,25.29,28.83
$GC,5364,0.58,410.8,158.7,13.8,429,5374,0.00,2.28,0.00,0.000,6,0.000,0.044,3356,2321,1109,0,0,0,0,0,0,28.83,25.56,28.83
$GC,5676,0.58,410.8,119.3,12.3,450,5682,0.00,0.00,0.00,0.000,6,0.000,0.000,3356,2321,1108,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5990,0.58,410.8,82.9,11.3,511,5997,0.00,2.20,0.00,0.000,4,0.000,0.051,3356,926,1107,0,0,0,0,0,0,28.83,25.30,28.83
$GC,6045,0.58,410.8,76.7,10.6,521,6052,0.00,2.20,0.00,0.000,6,0.000,0.050,3356,2326,1107,0,0,0,0,0,0,28.83,25.31,28.83
$GC,6357,0.58,410.8,42.5,11.3,582,6364,0.00,2.25,0.00,0.000,4,0.000,0.051,3356,919,1107,0,0,0,0,0,0,28.83,25.26,28.83
$GC,6397,0.58,410.8,38.0,11.3,589,6404,0.00,2.22,0.00,0.000,6,0.000,0.050,3356,2333,1107,0,0,0,0,0,0,28.83,25.29,28.83
$GC,6711,0.58,410.8,6.9,9.8,650,6718,0.00,2.22,0.00,0.000,4,0.000,0.051,3356,926,1107,0,0,0,0,0,0,28.83,25.24,28.83
$STATE,6740,end climb,SURFACE_DEPTH_REACHED
$STATE,6740,begin surface coast
$FINISH,2.6,1.024218
$STATE,6751,end surface coast,CONTROL_FINISHED_OK
$STATE,6751,begin surface
$SM_CCo,6832,0.00,0.000,0,0,1105,414.31
$SM_GC,2.26,8.30,2.08,0.00,0.026,0.050,0.000,118,2201,1105,-9.45,-0.85,414.31,0,0,0,0,0,0,25.80,25.29,28.83
$IRIDIUM_FIX,4732.49,-12507.66,170413,030306
$TT8_MAMPS,0.027713,0.027713
$HUMID,49.48
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,18.70
$XPDR_PINGS,2
$24V_AH,23.6,113.930
$10V_AH,9.7,84.912
$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,21.050,58.775,469.725,0.000,0.000,28.921,41.161,362.575,0.500,0.000,15.741,1613.565,3559.452,596.182,1369.547,260.790,0.000,1150.884,0.000,986.036,0.000,0.535,0.000
$DEVICE_MAMPS,214.965,81.855,728.280,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,447.964,434.368,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296808
$DATA_FILE_SIZE,36937,657
$CAP_FILE_SIZE,75289,0
$CFSIZE,260165632,189497344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.511, 66.8,1
$GPS,170413,072333,4750.191,-12512.571,13,2.1,32,18.7