version: 66.11
glider: 187
mission: 2
dive: 812
start: 4 17 113 7 33 29
data:
$ID,187
$MISSION,2
$DIVE,812
$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,-1590007.8
$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,43
$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
$GPS1,170413,072333,4750.191,-12512.571,13,2.1,32,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-76.9
$GPS2,170413,073254,4750.112,-12512.475,12,1.0,17,18.7
$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,216.5,3579,-13.3,-7.021,-18.50
$D_GRID,344
$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,-136.3,0.0,0.0,0,84,0.00,0.00,-65.93,0.000,2,0.000,0.000,118,2204,2589,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.47,-136.3,3.1,-1.8,12,127,11.62,2.33,-17.05,0.000,4,0.214,0.074,3024,3607,3352,0,0,0,0,0,0,24.47,25.27,26.22
$GC,180,-0.47,-136.3,22.7,-17.7,28,187,0.00,2.20,0.00,0.000,6,0.000,0.043,3023,2196,3355,0,0,0,0,0,0,28.83,25.45,28.83
$GC,494,-0.47,-136.3,71.3,-14.3,89,500,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2189,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,806,-0.47,-136.3,110.6,-12.0,150,813,0.00,2.33,0.00,0.000,4,0.000,0.060,3014,3609,3355,0,0,0,0,0,0,28.83,25.07,28.83
$GC,851,-0.47,-136.3,116.0,-10.9,158,859,0.00,2.20,0.00,0.000,6,0.000,0.043,3014,2192,3355,0,0,0,0,0,0,28.83,25.44,28.83
$GC,1164,-0.47,-136.3,152.0,-11.8,183,1171,0.00,2.17,0.00,0.000,4,0.000,0.049,3013,804,3355,0,0,0,0,0,0,28.83,25.22,28.83
$GC,1222,-0.47,-136.3,159.0,-11.7,189,1232,0.15,2.28,0.00,0.000,6,0.128,0.049,3047,2203,3355,0,0,0,0,0,0,25.06,25.22,28.83
$GC,1534,-0.47,-136.3,188.8,-9.3,210,1541,0.00,2.30,0.00,0.000,4,0.000,0.062,3038,3616,3355,0,0,0,0,0,0,28.83,25.01,28.83
$GC,1563,-0.47,-136.3,191.6,-9.2,213,1571,0.00,2.25,0.00,0.000,6,0.000,0.042,3038,2209,3355,0,0,0,0,0,0,28.83,25.42,28.83
$GC,1882,-0.47,-136.3,221.3,-9.1,231,1888,0.00,2.28,0.00,0.000,4,0.000,0.049,3038,796,3355,0,0,0,0,0,0,28.83,25.19,28.83
$GC,1922,-0.47,-136.3,225.1,-9.3,233,1928,0.00,2.30,0.00,0.000,6,0.000,0.050,3029,2208,3355,0,0,0,0,0,0,28.83,25.17,28.83
$GC,2243,-0.47,-136.3,256.8,-10.1,249,2248,0.00,2.33,0.00,0.000,4,0.000,0.062,3019,3604,3355,0,0,0,0,0,0,28.83,24.97,28.83
$GC,2290,-0.47,-136.3,260.9,-10.0,251,2294,0.00,2.28,0.00,0.000,6,0.000,0.042,3019,2189,3355,0,0,0,0,0,0,28.83,25.39,28.83
$GC,2592,-0.47,-136.3,293.0,-9.9,266,2598,0.00,2.25,0.00,0.000,4,0.000,0.048,3019,794,3355,0,0,0,0,0,0,28.83,25.15,28.83
$GC,2641,-0.47,-136.3,297.0,-10.0,268,2650,0.00,2.30,0.00,0.000,6,0.000,0.050,3015,2202,3355,0,0,0,0,0,0,28.83,25.13,28.83
$GC,2952,-0.47,-136.3,326.9,-8.8,284,2958,0.00,2.35,0.00,0.000,4,0.000,0.061,3005,3607,3355,0,0,0,0,0,0,28.83,24.94,28.83
$GC,3013,-0.47,-136.3,332.4,-9.2,287,3018,0.10,2.25,0.00,0.000,6,0.105,0.042,3043,2199,3355,0,0,0,0,0,0,25.12,25.37,28.83
$STATE,3170,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3170,begin apogee
$GC,3178,-0.22,0.0,344.0,-7.5,295,3298,0.22,0.00,116.35,0.749,6,0.114,0.000,3121,2342,2793,0,0,0,0,0,0,25.53,28.83,23.58
$STATE,3299,end apogee,CONTROL_FINISHED_OK
$STATE,3299,begin climb
$GC,3302,0.47,136.3,349.1,0.0,301,3432,0.65,2.40,118.20,0.721,4,0.080,0.063,3343,3725,2236,0,0,0,0,0,0,24.83,24.79,23.52
$GC,3442,0.51,222.5,346.1,3.6,308,3520,0.00,2.30,73.03,0.711,6,0.000,0.044,3353,2327,1886,0,0,0,0,0,0,28.83,25.12,23.50
$GC,3824,0.51,222.5,319.5,7.4,327,3828,0.00,2.22,0.00,0.000,4,0.000,0.053,3361,925,1877,0,0,0,0,0,0,28.83,25.39,28.83
$GC,3880,0.51,222.5,315.8,7.4,329,3884,0.00,2.28,0.00,0.000,6,0.000,0.052,3361,2319,1876,0,0,0,0,0,0,28.83,25.39,28.83
$GC,4183,0.51,222.5,291.2,7.7,344,4188,0.00,2.35,0.00,0.000,4,0.000,0.063,3361,3729,1875,0,0,0,0,0,0,28.83,25.22,28.83
$GC,4222,0.51,222.5,287.7,8.1,346,4228,0.00,2.28,0.00,0.000,6,0.000,0.044,3370,2328,1876,0,0,0,0,0,0,28.83,25.49,28.83
$GC,4543,0.51,222.5,263.6,7.2,362,4548,0.00,2.28,0.00,0.000,4,0.000,0.053,3380,927,1874,0,0,0,0,0,0,28.83,25.27,28.83
$GC,4602,0.51,222.5,259.3,7.1,365,4608,0.00,2.30,0.00,0.000,6,0.000,0.052,3380,2336,1874,0,0,0,0,0,0,28.83,25.28,28.83
$GC,4922,0.51,222.5,233.3,8.4,381,4923,0.00,0.00,0.00,0.000,6,0.000,0.000,3380,2335,1874,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5223,0.51,222.5,207.4,8.8,396,5228,0.00,2.35,0.00,0.000,4,0.000,0.064,3380,3733,1874,0,0,0,0,0,0,28.83,25.07,28.83
$GC,5250,0.51,222.5,205.3,9.1,397,5255,0.00,2.30,0.00,0.000,6,0.000,0.045,3389,2324,1873,0,0,0,0,0,0,28.83,25.41,28.83
$GC,5552,0.51,222.5,177.7,8.9,416,5561,0.00,2.30,0.00,0.000,4,0.000,0.052,3396,919,1874,0,0,0,0,0,0,28.83,25.18,28.83
$GC,5602,0.51,222.5,173.4,8.3,421,5611,0.15,2.30,0.00,0.000,6,0.118,0.051,3354,2325,1874,0,0,0,0,0,0,25.08,25.20,28.83
$GC,5915,0.51,233.5,153.7,6.6,442,5932,0.00,2.33,9.23,0.571,4,0.000,0.063,3354,3738,1840,0,0,0,0,0,0,28.83,25.21,24.11
$GC,5952,0.51,233.5,150.8,7.2,446,5961,0.00,2.30,0.00,0.000,6,0.000,0.044,3360,2319,1839,0,0,0,0,0,0,28.83,25.53,28.83
$GC,6264,0.52,257.5,130.0,6.1,467,6292,0.00,2.28,21.85,0.611,4,0.000,0.050,3362,914,1743,0,0,0,0,0,0,28.83,25.30,24.04
$GC,6355,0.53,283.5,124.7,6.0,476,6383,0.00,2.25,23.05,0.609,6,0.000,0.051,3362,2333,1638,0,0,0,0,0,0,28.83,25.40,23.91
$GC,6685,0.55,323.6,105.8,5.4,533,6728,0.00,2.35,33.97,0.604,4,0.000,0.063,3362,3729,1473,0,0,0,0,0,0,28.83,25.25,23.99
$GC,6741,0.56,351.5,102.6,5.9,542,6772,0.00,2.22,24.67,0.562,6,0.000,0.045,3366,2317,1359,0,0,0,0,0,0,28.83,25.46,23.88
$GC,7082,0.56,351.5,79.9,7.5,607,7088,0.00,2.20,0.00,0.000,4,0.000,0.051,3366,923,1353,0,0,0,0,0,0,28.83,25.32,28.83
$GC,7292,0.56,351.5,57.8,9.9,648,7299,0.00,2.22,0.00,0.000,6,0.000,0.053,3366,2331,1351,0,0,0,0,0,0,28.83,25.29,28.83
$GC,7605,0.56,351.5,30.9,9.6,709,7612,0.00,2.30,0.00,0.000,4,0.000,0.064,3365,3739,1350,0,0,0,0,0,0,28.83,25.10,28.83
$GC,7650,0.56,351.5,26.6,9.8,717,7658,0.00,2.22,0.00,0.000,6,0.000,0.044,3366,2314,1350,0,0,0,0,0,0,28.83,25.48,28.83
$STATE,7904,end climb,SURFACE_DEPTH_REACHED
$STATE,7904,begin surface coast
$FINISH,1.4,1.012880
$STATE,7946,end surface coast,CONTROL_FINISHED_OK
$STATE,7946,begin surface
$SM_CCo,8027,0.00,0.000,0,0,1346,355.19
$SM_GC,2.11,8.32,0.17,0.00,0.026,0.076,0.000,107,2187,1346,-9.47,1.05,355.19,0,0,0,0,0,0,25.79,25.96,28.83
$IRIDIUM_FIX,4735.69,-12509.51,170413,050532
$TT8_MAMPS,0.027713,0.027713
$HUMID,49.60
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,19.00
$XPDR_PINGS,2
$24V_AH,23.5,114.039
$10V_AH,9.8,84.966
$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,21.225,87.100,420.350,0.000,0.000,28.869,39.542,366.268,0.500,0.000,18.563,1880.354,4281.551,572.533,1562.432,302.147,0.000,1242.369,0.000,1177.375,0.000,0.536,0.000
$DEVICE_MAMPS,214.200,77.265,748.935,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,528.122,519.841,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296788
$DATA_FILE_SIZE,40277,775
$CAP_FILE_SIZE,90953,0
$CFSIZE,260165632,189440000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.241, 83.0,1
$GPS,170413,094827,4749.434,-12513.413,14,2.2,33,18.7