version: 66.11
glider: 187
mission: 2
dive: 821
start: 4 18 113 9 53 3
data:
$ID,187
$MISSION,2
$DIVE,821
$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,-1590019
$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,39
$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
$GPS1,180413,094603,4749.406,-12515.685,12,3.0,31,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-78.2
$GPS2,180413,095231,4749.406,-12515.631,11,1.3,11,18.7
$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,349.1,595,-26.8,-7.021,-30.00
$D_GRID,482
$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,-0.85,-36.8,0.0,0.0,0,80,0.00,0.00,-60.40,0.000,2,0.000,0.000,106,2185,2690,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.86,-64.4,3.4,-3.4,11,110,11.25,2.28,-7.95,0.000,4,0.218,0.061,2912,793,3058,0,0,0,0,0,0,24.58,25.41,26.17
$GC,340,-0.86,-64.4,65.6,-20.8,60,347,0.00,2.22,0.00,0.000,6,0.000,0.050,2903,2207,3060,0,0,0,0,0,0,28.83,25.22,28.83
$GC,663,-0.86,-64.4,129.1,-18.6,117,671,0.00,2.28,0.00,0.000,4,0.000,0.048,2903,794,3061,0,0,0,0,0,0,28.83,25.19,28.83
$GC,852,-0.86,-64.4,163.7,-17.8,136,861,0.00,2.28,0.00,0.000,6,0.000,0.049,2892,2200,3061,0,0,0,0,0,0,28.83,25.18,28.83
$GC,1174,-0.86,-64.4,219.2,-17.3,156,1178,0.00,2.28,0.00,0.000,4,0.000,0.048,2892,790,3061,0,0,0,0,0,0,28.83,25.15,28.83
$GC,1300,-0.86,-64.4,240.3,-17.7,162,1305,0.15,2.30,0.00,0.000,6,0.172,0.048,2917,2207,3061,0,0,0,0,0,0,24.76,25.15,28.83
$GC,1602,-0.86,-64.4,288.3,-15.0,177,1608,0.00,2.30,0.00,0.000,4,0.000,0.048,2917,791,3062,0,0,0,0,0,0,28.83,25.12,28.83
$GC,1671,-0.86,-64.4,297.5,-15.4,180,1680,0.00,2.30,0.00,0.000,6,0.000,0.049,2909,2202,3061,0,0,0,0,0,0,28.83,25.10,28.83
$GC,1982,-0.86,-64.4,345.0,-14.1,196,1983,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2202,3061,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2283,-0.86,-64.4,385.7,-13.3,211,2288,0.00,2.33,0.00,0.000,4,0.000,0.061,2898,3604,3061,0,0,0,0,0,0,28.83,24.87,28.83
$GC,2391,-0.86,-64.4,400.2,-14.7,216,2400,0.00,2.28,0.00,0.000,6,0.000,0.042,2898,2188,3061,0,0,0,0,0,0,28.83,25.30,28.83
$GC,2703,-0.86,-64.4,446.6,-14.5,227,2708,0.00,2.22,0.00,0.000,4,0.000,0.050,2898,808,3061,0,0,0,0,0,0,28.83,25.06,28.83
$GC,2792,-0.86,-64.4,459.4,-14.2,230,2798,0.00,2.28,0.00,0.000,6,0.000,0.050,2887,2199,3061,0,0,0,0,0,0,28.83,25.05,28.83
$STATE,2969,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2970,begin apogee
$GC,2978,-0.22,0.0,485.4,-14.6,236,3039,0.77,0.00,57.70,0.843,6,0.138,0.000,3118,2339,2794,0,0,0,0,0,0,24.19,28.83,23.62
$STATE,3040,end apogee,CONTROL_FINISHED_OK
$STATE,3040,begin climb
$GC,3043,0.86,64.4,489.3,0.0,238,3111,1.02,0.00,59.70,0.806,6,0.076,0.000,3470,2339,2530,0,0,0,0,0,0,24.85,28.83,23.39
$GC,3412,0.86,64.4,465.5,7.6,251,3418,0.00,2.30,0.00,0.000,4,0.000,0.063,3470,3724,2524,0,0,0,0,0,0,28.83,25.30,28.83
$GC,3451,0.86,64.4,463.0,7.9,252,3457,0.00,2.25,0.00,0.000,6,0.000,0.046,3481,2334,2523,0,0,0,0,0,0,28.83,25.51,28.83
$GC,3772,0.86,64.4,436.2,8.0,263,3773,0.00,0.00,0.00,0.000,6,0.000,0.000,3481,2333,2522,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4072,0.86,64.4,413.2,7.7,273,4078,0.00,2.35,0.00,0.000,4,0.000,0.064,3481,3735,2521,0,0,0,0,0,0,28.83,25.09,28.83
$GC,4274,0.86,64.4,395.6,9.0,280,4278,0.00,2.28,0.00,0.000,6,0.000,0.047,3493,2322,2519,0,0,0,0,0,0,28.83,25.38,28.83
$GC,4593,0.86,64.4,369.8,7.9,296,4598,0.00,2.28,0.00,0.000,4,0.000,0.053,3504,922,2519,0,0,0,0,0,0,28.83,25.15,28.83
$GC,4612,0.86,64.4,368.4,7.8,297,4619,0.12,2.30,0.00,0.000,6,0.184,0.054,3476,2320,2519,0,0,0,0,0,0,24.85,25.14,28.83
$GC,4934,0.87,71.2,347.9,6.1,313,4944,0.00,2.40,5.47,0.589,4,0.000,0.064,3476,3742,2503,0,0,0,0,0,0,28.83,25.29,24.05
$GC,5144,0.87,71.2,332.7,7.2,323,5148,0.00,2.25,0.00,0.000,6,0.000,0.047,3485,2320,2500,0,0,0,0,0,0,28.83,25.40,28.83
$GC,5454,0.87,73.4,311.5,6.7,338,5458,0.00,2.33,0.00,0.000,4,0.000,0.064,3485,3738,2500,0,0,0,0,0,0,28.83,24.96,28.83
$GC,5692,0.87,73.4,293.7,7.6,350,5698,0.00,2.30,0.00,0.000,6,0.000,0.046,3496,2324,2500,0,0,0,0,0,0,28.83,25.28,28.83
$GC,6015,0.87,80.3,273.2,6.1,366,6032,0.00,2.33,9.75,0.656,4,0.000,0.063,3497,3736,2464,0,0,0,0,0,0,28.83,25.25,24.04
$GC,6262,0.87,80.3,253.9,8.3,378,6272,0.12,2.30,0.00,0.000,6,0.187,0.046,3480,2319,2462,0,0,0,0,0,0,25.02,25.39,28.83
$GC,6575,0.87,82.6,231.9,6.7,394,6580,0.00,2.33,0.00,0.000,4,0.000,0.064,3480,3734,2462,0,0,0,0,0,0,28.83,24.94,28.83
$GC,6703,0.87,82.6,221.1,8.4,400,6708,0.00,2.28,0.00,0.000,6,0.000,0.046,3490,2328,2462,0,0,0,0,0,0,28.83,25.28,28.83
$GC,7019,0.87,82.6,198.2,7.0,416,7020,0.00,0.00,0.00,0.000,6,0.000,0.000,3489,2327,2462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7318,0.87,82.8,176.7,7.0,436,7319,0.00,0.00,0.00,0.000,6,0.000,0.000,3489,2327,2462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7618,0.87,82.8,155.6,7.0,456,7626,0.00,2.30,0.00,0.000,4,0.000,0.053,3500,915,2462,0,0,0,0,0,0,28.83,24.98,28.83
$GC,7659,0.87,82.8,152.7,7.1,460,7666,0.00,2.30,0.00,0.000,6,0.000,0.054,3500,2320,2462,0,0,0,0,0,0,28.83,24.98,28.83
$GC,7968,0.87,84.4,131.7,6.8,481,7978,0.00,2.33,4.75,0.477,4,0.000,0.052,3511,921,2449,0,0,0,0,0,0,28.83,25.21,24.07
$GC,8108,0.87,90.2,123.2,6.3,495,8120,0.10,2.30,7.03,0.538,6,0.161,0.052,3482,2331,2426,0,0,0,0,0,0,24.77,25.13,24.08
$GC,8422,0.88,98.3,104.2,6.0,548,8440,0.00,2.38,8.82,0.555,4,0.000,0.064,3482,3746,2392,0,0,0,0,0,0,28.83,25.31,24.10
$GC,8671,0.88,99.3,87.6,6.9,596,8678,0.00,2.25,0.00,0.000,6,0.000,0.046,3492,2319,2390,0,0,0,0,0,0,28.83,25.37,28.83
$GC,8986,0.89,124.9,71.0,3.7,657,9017,0.00,2.33,24.70,0.591,4,0.000,0.062,3492,3734,2283,0,0,0,0,0,0,28.83,25.25,24.10
$GC,9096,0.90,145.6,66.5,4.3,677,9122,0.00,2.22,18.88,0.573,6,0.000,0.046,3503,2320,2199,0,0,0,0,0,0,28.83,25.48,23.99
$GC,9429,0.90,148.7,44.8,6.6,741,9436,0.00,2.33,0.00,0.000,4,0.000,0.063,3503,3737,2194,0,0,0,0,0,0,28.83,25.10,28.83
$GC,9544,0.90,148.7,35.9,8.0,763,9551,0.00,2.22,0.00,0.000,6,0.000,0.046,3514,2322,2193,0,0,0,0,0,0,28.83,25.37,28.83
$GC,9860,0.91,184.7,22.5,2.3,824,9897,0.00,0.00,33.38,0.560,6,0.000,0.000,3514,2321,2040,0,0,0,0,0,0,28.83,28.83,24.04
$STATE,10201,end climb,SURFACE_DEPTH_REACHED
$STATE,10203,begin surface coast
$FINISH,1.2,1.024291
$STATE,10279,end surface coast,CONTROL_FINISHED_OK
$STATE,10280,begin surface
$SM_CCo,10301,81.30,0.460,5,0,1570,300.00
$SM_GC,2.21,8.95,0.17,81.30,0.037,0.076,0.460,108,2203,1570,-9.48,1.10,300.00,0,0,0,0,5,0,25.73,25.91,23.96
$IRIDIUM_FIX,4732.49,-12505.82,180413,060658
$TT8_MAMPS,0.028462,0.028462
$HUMID,48.11
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.10
$XPDR_PINGS,1
$24V_AH,23.4,114.852
$10V_AH,9.8,85.507
$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,22.500,82.900,230.175,81.300,0.000,28.166,36.416,190.872,0.250,0.000,12.515,2272.027,6067.436,495.728,1694.953,269.949,0.000,1254.299,0.000,1433.318,0.000,0.535,0.000
$DEVICE_MAMPS,218.025,81.090,843.030,459.765,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,620.656,577.815,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296736
$DATA_FILE_SIZE,50238,905
$CAP_FILE_SIZE,100333,0
$CFSIZE,260165632,188919808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$CURRENT,0.074, 90.1,1
$GPS,180413,124825,4750.107,-12515.161,53,2.5,73,18.7