version: 66.11
glider: 187
mission: 2
dive: 816
start: 4 17 113 19 12 41
data:
$ID,187
$MISSION,2
$DIVE,816
$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,-1590012.8
$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,36
$R_STBD_OVSHOOT,29
$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
$GPS1,170413,190548,4749.902,-12514.590,52,1.7,66,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-77.2
$GPS2,170413,191155,4749.861,-12514.558,13,2.0,13,18.7
$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,249.0,987,-21.7,-7.021,-25.41
$D_GRID,462
$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,-0.70,-56.1,0.0,0.0,0,63,0.00,0.00,-44.58,0.000,2,0.000,0.000,103,2196,2552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.72,-111.2,3.1,-2.2,8,104,11.45,2.33,-17.02,0.000,4,0.218,0.074,2948,3607,3251,0,0,0,0,0,0,24.51,25.27,26.20
$GC,179,-0.72,-111.2,28.4,-24.3,28,186,0.00,2.22,0.00,0.000,6,0.000,0.043,2948,2194,3253,0,0,0,0,0,0,28.83,25.41,28.83
$GC,493,-0.72,-111.2,94.5,-17.2,89,499,0.00,2.20,0.00,0.000,4,0.000,0.050,2948,789,3254,0,0,0,0,0,0,28.83,25.20,28.83
$GC,557,-0.72,-111.2,105.0,-15.7,101,564,0.00,2.22,0.00,0.000,6,0.000,0.050,2938,2199,3254,0,0,0,0,0,0,28.83,25.20,28.83
$GC,872,-0.72,-111.2,155.7,-15.4,133,873,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2199,3254,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1177,-0.72,-111.2,204.7,-16.4,153,1183,0.00,2.28,0.00,0.000,4,0.000,0.048,2938,797,3254,0,0,0,0,0,0,28.83,25.16,28.83
$GC,1226,-0.72,-111.2,211.3,-16.5,155,1236,0.12,2.30,0.00,0.000,6,0.155,0.049,2957,2210,3254,0,0,0,0,0,0,24.93,25.15,28.83
$GC,1538,-0.72,-111.2,255.5,-13.5,171,1539,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2210,3254,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1838,-0.72,-111.2,293.3,-12.1,186,1839,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2210,3254,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2137,-0.72,-111.2,329.4,-12.3,201,2138,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2210,3254,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2437,-0.72,-111.2,368.0,-12.9,216,2443,0.00,2.33,0.00,0.000,4,0.000,0.050,2957,787,3254,0,0,0,0,0,0,28.83,25.06,28.83
$GC,2518,-0.72,-111.2,378.2,-12.6,220,2523,0.00,2.30,0.00,0.000,6,0.000,0.050,2949,2199,3254,0,0,0,0,0,0,28.83,25.06,28.83
$GC,2847,-0.72,-111.2,420.3,-12.8,234,2848,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2199,3254,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3147,-0.72,-111.2,458.8,-12.9,244,3148,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2199,3254,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3174,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3174,begin apogee
$GC,3183,-0.22,0.0,463.1,-13.3,245,3283,0.52,0.00,97.22,0.823,6,0.120,0.000,3117,2338,2794,0,0,0,0,0,0,24.77,28.83,23.49
$STATE,3284,end apogee,CONTROL_FINISHED_OK
$STATE,3285,begin climb
$GC,3287,0.72,111.2,468.1,0.0,248,3395,0.93,2.35,100.47,0.793,4,0.079,0.064,3430,3731,2339,0,0,0,0,0,0,24.74,24.68,23.35
$GC,3415,0.73,129.4,463.5,5.4,253,3437,0.00,2.33,16.90,0.733,6,0.000,0.045,3441,2325,2266,0,0,0,0,0,0,28.83,25.06,23.38
$GC,3738,0.73,129.4,423.3,11.8,264,3739,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,2325,2259,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4038,0.73,129.4,391.0,10.8,275,4043,0.00,2.35,0.00,0.000,4,0.000,0.066,3441,3719,2257,0,0,0,0,0,0,28.83,25.17,28.83
$GC,4258,0.73,129.4,362.6,12.9,286,4263,0.00,2.25,0.00,0.000,6,0.000,0.046,3451,2330,2256,0,0,0,0,0,0,28.83,25.41,28.83
$GC,4577,0.73,129.4,325.7,11.5,302,4583,0.00,2.38,0.00,0.000,4,0.000,0.064,3451,3732,2256,0,0,0,0,0,0,28.83,25.04,28.83
$GC,4605,0.73,129.4,323.1,11.7,303,4610,0.12,2.30,0.00,0.000,6,0.178,0.047,3434,2324,2255,0,0,0,0,0,0,25.03,25.36,28.83
$GC,4908,0.73,129.4,291.8,9.5,318,4909,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2320,2255,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5207,0.73,129.4,263.7,9.2,333,5213,0.00,2.35,0.00,0.000,4,0.000,0.065,3434,3714,2254,0,0,0,0,0,0,28.83,24.95,28.83
$GC,5328,0.73,129.4,251.2,10.5,339,5333,0.00,2.25,0.00,0.000,6,0.000,0.047,3442,2324,2254,0,0,0,0,0,0,28.83,25.31,28.83
$GC,5649,0.73,129.4,222.9,9.0,355,5653,0.00,2.33,0.00,0.000,4,0.000,0.065,3443,3730,2253,0,0,0,0,0,0,28.83,24.91,28.83
$GC,5765,0.73,129.4,210.7,11.3,360,5769,0.00,2.30,0.00,0.000,6,0.000,0.046,3454,2321,2253,0,0,0,0,0,0,28.83,25.29,28.83
$GC,6079,0.73,129.4,178.8,9.7,379,6086,0.00,2.33,0.00,0.000,4,0.000,0.065,3454,3722,2253,0,0,0,0,0,0,28.83,24.89,28.83
$GC,6238,0.73,129.4,160.3,11.7,395,6247,0.10,2.25,0.00,0.000,6,0.156,0.046,3436,2330,2253,0,0,0,0,0,0,24.85,25.27,28.83
$GC,6547,0.73,129.4,133.8,8.3,416,6556,0.00,2.35,0.00,0.000,4,0.000,0.064,3435,3723,2252,0,0,0,0,0,0,28.83,24.87,28.83
$GC,6659,0.73,129.4,124.5,8.5,427,6666,0.00,2.22,0.00,0.000,6,0.000,0.047,3444,2317,2252,0,0,0,0,0,0,28.83,25.25,28.83
$GC,6972,0.74,145.4,104.3,5.6,480,6991,0.00,2.33,12.80,0.580,4,0.000,0.053,3456,916,2200,0,0,0,0,0,0,28.83,25.21,24.07
$GC,7019,0.74,146.5,101.4,6.9,488,7026,0.00,2.25,0.00,0.000,6,0.000,0.054,3455,2319,2199,0,0,0,0,0,0,28.83,25.30,28.83
$GC,7333,0.74,146.5,76.9,7.9,549,7340,0.00,2.33,0.00,0.000,4,0.000,0.064,3455,3740,2197,0,0,0,0,0,0,28.83,25.01,28.83
$GC,7574,0.74,154.4,59.1,6.3,595,7593,0.12,2.22,9.23,0.531,6,0.171,0.046,3436,2322,2163,0,0,0,0,0,0,24.98,25.32,24.10
$GC,7902,0.75,186.5,43.2,4.2,658,7939,0.00,2.38,28.60,0.571,4,0.000,0.065,3437,3732,2031,0,0,0,0,0,0,28.83,25.22,24.03
$GC,8170,0.75,186.5,25.3,7.2,709,8176,0.00,2.20,0.00,0.000,6,0.000,0.045,3446,2324,2027,0,0,0,0,0,0,28.83,25.44,28.83
$GC,8482,0.77,227.2,9.1,3.4,770,8523,0.00,2.33,34.20,0.551,4,0.000,0.053,3456,916,1866,0,0,0,0,0,0,28.83,25.30,24.03
$GC,8536,0.78,257.2,6.8,4.4,778,8568,0.00,2.25,26.05,0.521,6,0.000,0.053,3456,2335,1744,0,0,0,0,0,0,28.83,25.34,23.94
$STATE,8583,end climb,SURFACE_DEPTH_REACHED
$STATE,8584,begin surface coast
$FINISH,1.2,1.005639
$STATE,8652,end surface coast,CONTROL_FINISHED_OK
$STATE,8652,begin surface
$SM_CCo,8674,26.02,0.398,1,0,1570,300.00
$SM_GC,2.14,8.65,0.20,26.02,0.030,0.072,0.398,117,2194,1570,-9.46,1.33,300.00,0,0,0,0,1,0,25.75,25.69,24.04
$IRIDIUM_FIX,4732.49,-12512.13,170413,161605
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.54
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.10
$XPDR_PINGS,3
$24V_AH,23.4,114.431
$10V_AH,9.7,85.204
$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,22.025,69.175,325.475,26.025,0.000,27.001,38.835,169.628,0.750,0.000,13.815,1996.143,4916.413,470.413,1458.654,250.614,0.000,1137.221,0.000,1223.408,0.000,0.536,0.000
$DEVICE_MAMPS,218.025,81.855,823.140,397.800,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,547.140,521.493,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296756
$DATA_FILE_SIZE,43533,799
$CAP_FILE_SIZE,87660,0
$CFSIZE,260165632,189218816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.071,105.8,1
$GPS,170413,213924,4749.535,-12515.354,56,1.3,57,18.7