version: 66.11
glider: 187
mission: 2
dive: 822
start: 4 18 113 12 55 36
data:
$ID,187
$MISSION,2
$DIVE,822
$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,-1590020.2
$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,31
$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
$GPS1,180413,124825,4750.107,-12515.161,53,2.5,73,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-77.5
$GPS2,180413,125503,4750.122,-12515.110,15,2.7,34,18.7
$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,208.0,982,-26.8,-7.021,-30.00
$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,17,-0.85,-36.8,0.0,0.0,0,63,0.00,0.00,-44.22,0.000,2,0.000,0.000,107,2202,2533,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.87,-72.4,3.0,-2.4,8,99,11.23,2.33,-14.23,0.000,4,0.218,0.063,2908,780,3091,0,0,0,0,0,0,24.57,25.38,26.19
$GC,179,-0.87,-72.4,28.5,-23.6,28,185,0.00,2.25,0.00,0.000,6,0.000,0.051,2899,2205,3093,0,0,0,0,0,0,28.83,25.26,28.83
$GC,491,-0.87,-72.4,98.9,-19.7,89,497,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2205,3094,0,0,0,0,0,0,28.83,28.83,28.83
$GC,804,-0.87,-72.4,154.2,-17.1,124,810,0.00,2.30,0.00,0.000,4,0.000,0.060,2889,3614,3095,0,0,0,0,0,0,28.83,24.99,28.83
$GC,831,-0.87,-72.4,159.5,-17.3,127,839,0.00,2.25,0.00,0.000,6,0.000,0.042,2889,2194,3094,0,0,0,0,0,0,28.83,25.37,28.83
$GC,1147,-0.87,-72.4,214.5,-17.5,147,1151,0.00,2.22,0.00,0.000,4,0.000,0.049,2889,804,3094,0,0,0,0,0,0,28.83,25.14,28.83
$GC,1185,-0.87,-72.4,221.8,-18.0,149,1191,0.15,2.28,0.00,0.000,6,0.170,0.048,2914,2204,3094,0,0,0,0,0,0,24.77,25.15,28.83
$GC,1505,-0.87,-72.4,273.0,-16.0,165,1511,0.00,2.28,0.00,0.000,4,0.000,0.049,2914,802,3095,0,0,0,0,0,0,28.83,25.10,28.83
$GC,1626,-0.87,-72.4,292.0,-15.6,171,1631,0.00,2.25,0.00,0.000,6,0.000,0.050,2905,2195,3095,0,0,0,0,0,0,28.83,25.10,28.83
$GC,1945,-0.87,-72.4,341.4,-15.1,187,1951,0.00,2.25,0.00,0.000,4,0.000,0.048,2905,800,3095,0,0,0,0,0,0,28.83,25.09,28.83
$GC,2025,-0.87,-72.4,353.0,-14.5,191,2031,0.00,2.28,0.00,0.000,6,0.000,0.050,2895,2200,3095,0,0,0,0,0,0,28.83,25.07,28.83
$GC,2348,-0.87,-72.4,402.0,-16.1,207,2349,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2200,3095,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2645,-0.87,-72.4,450.3,-15.6,217,2651,0.00,2.28,0.00,0.000,4,0.000,0.048,2895,800,3094,0,0,0,0,0,0,28.83,25.06,28.83
$GC,2705,-0.87,-72.4,459.4,-15.4,219,2711,0.08,2.28,0.00,0.000,6,0.158,0.050,2906,2199,3095,0,0,0,0,0,0,24.73,25.04,28.83
$STATE,2732,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2732,begin apogee
$GC,2741,-0.22,0.0,464.0,-15.3,220,2808,0.68,0.00,64.30,0.830,6,0.131,0.000,3115,2340,2794,0,0,0,0,0,0,24.39,28.83,23.63
$STATE,2809,end apogee,CONTROL_FINISHED_OK
$STATE,2809,begin climb
$GC,2812,0.87,72.4,468.3,0.0,222,2883,1.02,0.00,66.93,0.793,6,0.080,0.000,3469,2340,2498,0,0,0,0,0,0,24.83,28.83,23.39
$GC,3175,0.87,72.4,444.0,7.3,235,3181,0.00,2.33,0.00,0.000,4,0.000,0.063,3469,3734,2490,0,0,0,0,0,0,28.83,25.29,28.83
$GC,3327,0.87,72.4,431.5,8.4,240,3331,0.00,2.25,0.00,0.000,6,0.000,0.046,3481,2337,2488,0,0,0,0,0,0,28.83,25.49,28.83
$GC,3655,0.87,72.4,404.3,9.4,251,3661,0.00,2.35,0.00,0.000,4,0.000,0.063,3481,3728,2487,0,0,0,0,0,0,28.83,25.13,28.83
$GC,3896,0.87,72.4,377.6,11.0,262,3901,0.00,2.28,0.00,0.000,6,0.000,0.047,3493,2319,2486,0,0,0,0,0,0,28.83,25.40,28.83
$GC,4217,0.87,72.4,350.4,7.8,278,4221,0.00,2.33,0.00,0.000,4,0.000,0.063,3493,3729,2486,0,0,0,0,0,0,28.83,25.02,28.83
$GC,4456,0.87,72.4,328.0,10.0,290,4461,0.08,2.28,0.00,0.000,6,0.174,0.047,3483,2323,2485,0,0,0,0,0,0,24.95,25.33,28.83
$GC,4775,0.87,72.4,303.6,7.0,306,4781,0.00,2.35,0.00,0.000,4,0.000,0.064,3482,3719,2484,0,0,0,0,0,0,28.83,24.94,28.83
$GC,5015,0.87,72.4,284.0,8.1,318,5021,0.00,2.28,0.00,0.000,6,0.000,0.046,3492,2319,2484,0,0,0,0,0,0,28.83,25.29,28.83
$GC,5338,0.87,73.0,261.8,6.9,334,5342,0.00,2.22,0.00,0.000,4,0.000,0.053,3503,921,2484,0,0,0,0,0,0,28.83,25.06,28.83
$GC,5373,0.87,73.0,259.7,7.1,335,5377,0.00,2.30,0.00,0.000,6,0.000,0.053,3502,2320,2484,0,0,0,0,0,0,28.83,25.06,28.83
$GC,5676,0.87,73.0,238.0,7.1,350,5681,0.00,2.38,0.00,0.000,4,0.000,0.064,3503,3734,2484,0,0,0,0,0,0,28.83,24.87,28.83
$GC,5915,0.87,73.0,219.2,7.9,362,5922,0.15,2.30,0.00,0.000,6,0.184,0.046,3479,2319,2484,0,0,0,0,0,0,24.75,25.24,28.83
$GC,6238,0.87,82.7,199.9,5.7,378,6255,0.00,2.40,8.05,0.591,4,0.000,0.064,3479,3739,2455,0,0,0,0,0,0,28.83,25.21,24.06
$GC,6445,0.87,82.7,184.3,7.6,399,6455,0.00,2.30,0.00,0.000,6,0.000,0.046,3489,2319,2453,0,0,0,0,0,0,28.83,25.39,28.83
$GC,6757,0.87,89.3,164.7,6.2,420,6769,0.00,0.00,7.72,0.568,6,0.000,0.000,3489,2318,2429,0,0,0,0,0,0,28.83,28.83,24.08
$GC,7071,0.87,89.3,140.6,7.8,441,7079,0.00,2.35,0.00,0.000,4,0.000,0.063,3489,3728,2426,0,0,0,0,0,0,28.83,25.03,28.83
$GC,7260,0.87,89.3,124.1,9.3,460,7269,0.00,2.28,0.00,0.000,6,0.000,0.046,3500,2320,2426,0,0,0,0,0,0,28.83,25.27,28.83
$GC,7572,0.88,104.5,103.7,5.0,515,7592,0.00,2.33,14.57,0.589,4,0.000,0.053,3511,914,2368,0,0,0,0,0,0,28.83,25.32,24.10
$GC,7673,0.88,110.9,98.3,6.2,533,7686,0.12,2.25,7.57,0.530,6,0.177,0.053,3482,2337,2340,0,0,0,0,0,0,25.10,25.36,24.03
$GC,7996,0.89,137.0,81.6,3.6,595,8028,0.00,2.30,23.90,0.593,4,0.000,0.062,3482,3744,2232,0,0,0,0,0,0,28.83,25.28,24.06
$GC,8260,0.89,137.0,60.9,7.1,645,8266,0.00,2.22,0.00,0.000,6,0.000,0.046,3492,2322,2229,0,0,0,0,0,0,28.83,25.42,28.83
$GC,8573,0.90,157.2,44.2,4.4,706,8599,0.00,2.33,18.05,0.558,4,0.000,0.063,3492,3740,2151,0,0,0,0,0,0,28.83,25.32,24.14
$GC,8737,0.90,157.2,33.6,7.1,737,8744,0.00,2.22,0.00,0.000,6,0.000,0.045,3503,2320,2148,0,0,0,0,0,0,28.83,25.46,28.83
$GC,9050,0.91,178.5,17.6,4.2,798,9075,0.00,0.00,18.92,0.542,6,0.000,0.000,3503,2319,2065,0,0,0,0,0,0,28.83,28.83,24.15
$STATE,9329,end climb,SURFACE_DEPTH_REACHED
$STATE,9330,begin surface coast
$FINISH,1.2,1.012384
$STATE,9412,end surface coast,CONTROL_FINISHED_OK
$STATE,9412,begin surface
$SM_CCo,9433,83.75,0.470,4,0,1571,300.00
$SM_GC,2.15,8.75,0.17,83.75,0.028,0.077,0.470,104,2192,1571,-9.47,1.16,300.00,0,0,0,0,4,0,25.77,25.91,23.94
$IRIDIUM_FIX,4732.49,-12519.22,180413,090906
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.11
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.20
$XPDR_PINGS,1
$24V_AH,23.4,114.924
$10V_AH,9.9,85.565
$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,22.250,78.200,230.025,83.750,0.000,26.892,35.047,179.606,0.250,0.000,35.810,2187.116,5367.229,473.884,1646.141,267.950,0.000,1202.233,0.000,1378.836,0.000,0.536,0.000
$DEVICE_MAMPS,218.025,81.090,830.025,470.475,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,595.878,567.949,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296784
$DATA_FILE_SIZE,46886,868
$CAP_FILE_SIZE,95358,0
$CFSIZE,260165632,188870656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.088, 95.5,1
$GPS,180413,153557,4749.454,-12514.951,22,5.3,42,18.7