version: 66.11
glider: 187
mission: 2
dive: 827
start: 4 19 113 2 56 21
data:
$ID,187
$MISSION,2
$DIVE,827
$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,-1590026.5
$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,41
$R_STBD_OVSHOOT,24
$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
$GPS1,190413,024900,4749.596,-12515.226,54,1.9,55,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-76.8
$GPS2,190413,025548,4749.593,-12515.154,16,2.0,21,18.7
$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,245.3,120,-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,-36.8,0.0,0.0,0,69,0.00,0.00,-49.40,0.000,2,0.000,0.000,115,2185,2655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,72,-0.87,-67.5,3.3,-3.0,9,99,11.10,2.28,-9.45,0.000,4,0.214,0.063,2909,792,3073,0,0,0,0,0,0,24.52,25.39,26.17
$GC,162,-0.87,-67.5,27.4,-24.5,25,168,0.00,2.22,0.00,0.000,6,0.000,0.051,2900,2202,3075,0,0,0,0,0,0,28.83,25.27,28.83
$GC,474,-0.87,-67.5,95.7,-18.1,86,480,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2202,3076,0,0,0,0,0,0,28.83,28.83,28.83
$GC,789,-0.87,-67.5,149.8,-16.5,124,797,0.00,2.25,0.00,0.000,4,0.000,0.048,2900,795,3077,0,0,0,0,0,0,28.83,25.15,28.83
$GC,918,-0.87,-67.5,171.0,-15.7,137,927,0.00,2.30,0.00,0.000,6,0.000,0.049,2890,2212,3077,0,0,0,0,0,0,28.83,25.14,28.83
$GC,1230,-0.87,-67.5,219.8,-15.5,156,1234,0.00,2.28,0.00,0.000,4,0.000,0.048,2890,797,3077,0,0,0,0,0,0,28.83,25.13,28.83
$GC,1288,-0.87,-67.5,229.4,-16.0,159,1295,0.15,2.28,0.00,0.000,6,0.168,0.049,2915,2200,3077,0,0,0,0,0,0,24.75,25.11,28.83
$GC,1610,-0.87,-67.5,274.0,-14.1,175,1611,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2200,3077,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1909,-0.87,-67.5,316.7,-14.6,190,1914,0.00,2.25,0.00,0.000,4,0.000,0.048,2915,794,3077,0,0,0,0,0,0,28.83,25.08,28.83
$GC,1936,-0.87,-67.5,319.7,-14.7,191,1940,0.00,2.30,0.00,0.000,6,0.000,0.050,2907,2204,3077,0,0,0,0,0,0,28.83,25.06,28.83
$GC,2238,-0.87,-67.5,366.9,-15.2,206,2244,0.00,2.35,0.00,0.000,4,0.000,0.060,2896,3619,3077,0,0,0,0,0,0,28.83,24.85,28.83
$GC,2280,-0.87,-67.5,373.0,-15.2,208,2284,0.00,2.28,0.00,0.000,6,0.000,0.041,2895,2195,3076,0,0,0,0,0,0,28.83,25.32,28.83
$GC,2598,-0.87,-67.5,419.1,-15.0,222,2604,0.00,2.25,0.00,0.000,4,0.000,0.049,2896,801,3077,0,0,0,0,0,0,28.83,25.03,28.83
$GC,2748,-0.87,-67.5,443.4,-16.1,227,2754,0.12,2.30,0.00,0.000,6,0.177,0.050,2912,2208,3077,0,0,0,0,0,0,24.72,25.03,28.83
$STATE,3045,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3045,begin apogee
$GC,3054,-0.22,0.0,482.4,-13.7,237,3118,0.68,0.00,60.62,0.845,6,0.132,0.000,3120,2337,2794,0,0,0,0,0,0,24.33,28.83,23.59
$STATE,3119,end apogee,CONTROL_FINISHED_OK
$STATE,3119,begin climb
$GC,3122,0.87,67.5,486.2,0.0,239,3191,0.98,2.40,62.67,0.804,4,0.068,0.062,3469,3729,2517,0,0,0,0,0,0,24.89,24.77,23.39
$GC,3271,0.87,67.5,476.9,8.0,245,3276,0.00,2.28,0.00,0.000,6,0.000,0.046,3480,2324,2512,0,0,0,0,0,0,28.83,25.37,28.83
$GC,3599,0.87,67.5,450.4,8.8,256,3605,0.00,2.35,0.00,0.000,4,0.000,0.063,3480,3722,2509,0,0,0,0,0,0,28.83,25.27,28.83
$GC,3840,0.87,67.5,425.4,9.8,264,3845,0.00,2.25,0.00,0.000,6,0.000,0.046,3492,2325,2508,0,0,0,0,0,0,28.83,25.45,28.83
$GC,4169,0.87,67.5,401.5,7.4,275,4175,0.00,2.35,0.00,0.000,4,0.000,0.063,3492,3719,2507,0,0,0,0,0,0,28.83,25.09,28.83
$GC,4409,0.87,67.5,380.6,9.7,287,4415,0.00,2.28,0.00,0.000,6,0.000,0.046,3503,2324,2506,0,0,0,0,0,0,28.83,25.35,28.83
$GC,4731,0.87,72.1,357.4,6.4,303,4735,0.00,2.28,0.00,0.000,4,0.000,0.053,3514,924,2506,0,0,0,0,0,0,28.83,25.13,28.83
$GC,4778,0.87,79.2,354.9,6.1,305,4793,0.15,2.28,9.70,0.692,6,0.177,0.053,3479,2310,2471,0,0,0,0,0,0,24.75,25.13,24.03
$GC,5105,0.87,79.2,330.8,8.0,322,5109,0.00,2.33,0.00,0.000,4,0.000,0.065,3479,3734,2470,0,0,0,0,0,0,28.83,25.08,28.83
$GC,5339,0.87,79.2,308.9,9.9,333,5343,0.00,2.30,0.00,0.000,6,0.000,0.046,3488,2324,2467,0,0,0,0,0,0,28.83,25.33,28.83
$GC,5642,0.87,79.2,282.0,8.3,348,5647,0.00,2.38,0.00,0.000,4,0.000,0.063,3489,3734,2468,0,0,0,0,0,0,28.83,24.92,28.83
$GC,5881,0.87,79.2,260.6,9.1,360,5887,0.00,2.30,0.00,0.000,6,0.000,0.046,3500,2324,2467,0,0,0,0,0,0,28.83,25.26,28.83
$GC,6203,0.87,79.2,234.5,7.9,376,6207,0.00,2.33,0.00,0.000,4,0.000,0.063,3500,3736,2467,0,0,0,0,0,0,28.83,24.85,28.83
$GC,6442,0.87,79.2,213.9,8.6,388,6448,0.10,2.28,0.00,0.000,6,0.167,0.046,3483,2327,2466,0,0,0,0,0,0,24.77,25.24,28.83
$GC,6752,0.87,80.6,192.7,6.8,405,6760,0.00,2.38,0.00,0.000,4,0.000,0.063,3482,3734,2466,0,0,0,0,0,0,28.83,24.81,28.83
$GC,6882,0.87,80.6,183.1,7.1,418,6890,0.00,2.30,0.00,0.000,6,0.000,0.046,3492,2320,2466,0,0,0,0,0,0,28.83,25.22,28.83
$GC,7191,0.87,80.6,161.9,7.3,439,7200,0.00,2.38,0.00,0.000,4,0.000,0.063,3492,3732,2466,0,0,0,0,0,0,28.83,24.78,28.83
$GC,7252,0.87,80.6,157.4,7.6,445,7260,0.00,2.28,0.00,0.000,6,0.000,0.046,3503,2328,2466,0,0,0,0,0,0,28.83,25.20,28.83
$GC,7562,0.87,86.6,136.3,6.2,466,7575,0.00,0.00,7.40,0.549,6,0.000,0.000,3503,2328,2442,0,0,0,0,0,0,28.83,28.83,24.08
$GC,7878,0.88,96.2,115.6,5.8,497,7897,0.00,2.28,10.80,0.579,4,0.000,0.053,3514,912,2400,0,0,0,0,0,0,28.83,25.32,24.07
$GC,7932,0.88,105.7,112.5,5.8,506,7952,0.15,2.28,10.18,0.567,6,0.171,0.054,3478,2334,2362,0,0,0,0,0,0,25.06,25.37,24.00
$GC,8261,0.88,112.6,92.2,6.1,569,8275,0.00,2.38,7.32,0.524,4,0.000,0.064,3478,3744,2334,0,0,0,0,0,0,28.83,25.34,24.10
$GC,8508,0.88,113.6,75.0,6.9,616,8516,0.00,2.22,0.00,0.000,6,0.000,0.045,3487,2322,2332,0,0,0,0,0,0,28.83,25.39,28.83
$GC,8825,0.90,142.9,64.7,3.2,677,8861,0.00,2.28,27.27,0.586,4,0.000,0.052,3498,929,2209,0,0,0,0,0,0,28.83,25.33,24.07
$GC,9092,0.90,145.1,48.9,6.7,728,9099,0.00,2.22,0.00,0.000,6,0.000,0.052,3498,2334,2206,0,0,0,0,0,0,28.83,25.25,28.83
$GC,9407,0.91,173.6,32.1,3.3,789,9443,0.00,2.35,26.80,0.562,4,0.000,0.063,3498,3734,2084,0,0,0,0,0,0,28.83,25.29,24.08
$GC,9587,0.91,173.6,19.5,8.1,823,9594,0.00,2.22,0.00,0.000,6,0.000,0.045,3510,2324,2081,0,0,0,0,0,0,28.83,25.42,28.83
$STATE,9878,end climb,SURFACE_DEPTH_REACHED
$STATE,9878,begin surface coast
$FINISH,1.2,1.024299
$STATE,9975,end surface coast,CONTROL_FINISHED_OK
$STATE,9976,begin surface
$SM_CCo,9997,88.55,0.467,5,0,1570,300.00
$SM_GC,1.81,8.93,0.17,88.55,0.036,0.074,0.467,126,2205,1570,-9.47,1.13,300.00,0,0,0,0,5,0,25.57,25.94,23.94
$IRIDIUM_FIX,4732.49,-12353.85,180413,232335
$TT8_MAMPS,0.027713,0.027713
$HUMID,47.95
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.10
$XPDR_PINGS,1
$24V_AH,23.4,115.304
$10V_AH,9.8,85.856
$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,22.350,87.575,222.775,88.550,0.000,29.014,39.910,197.142,0.250,0.000,22.023,2266.601,5775.924,488.541,1726.896,266.489,0.000,1253.136,0.000,1445.060,0.000,0.535,0.000
$DEVICE_MAMPS,214.200,87.210,844.560,466.650,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,616.753,583.353,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50183,899
$CAP_FILE_SIZE,99965,0
$CFSIZE,260165632,188596224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$CURRENT,0.115, 93.2,1
$GPS,190413,054636,4749.284,-12515.119,63,1.2,64,18.7