version: 66.11
glider: 187
mission: 2
dive: 835
start: 4 20 113 2 26 33
data:
$ID,187
$MISSION,2
$DIVE,835
$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,-1590036.5
$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,27
$R_STBD_OVSHOOT,26
$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
$GPS1,200413,021854,4750.207,-12515.153,126,1.1,127,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-78.6
$GPS2,200413,022549,4750.141,-12515.144,14,1.6,14,18.7
$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,202.2,1010,-25.9,-7.021,-29.18
$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,-0.83,-39.5,0.0,0.0,0,63,0.00,0.00,-44.62,0.000,2,0.000,0.000,105,2202,2560,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.83,-60.7,3.3,-4.4,8,99,11.35,2.35,-11.12,0.000,4,0.220,0.074,2912,3602,3046,0,0,0,0,0,0,24.56,25.29,26.17
$GC,332,-0.83,-60.7,66.6,-18.6,58,339,0.00,2.20,0.00,0.000,6,0.000,0.041,2911,2188,3048,0,0,0,0,0,0,28.83,25.37,28.83
$GC,646,-0.83,-60.7,122.4,-16.8,117,656,0.00,2.35,0.00,0.000,4,0.000,0.060,2901,3605,3049,0,0,0,0,0,0,28.83,24.97,28.83
$GC,695,-0.83,-60.7,131.0,-17.1,122,705,0.00,2.25,0.00,0.000,6,0.000,0.041,2901,2189,3049,0,0,0,0,0,0,28.83,25.34,28.83
$GC,1007,-0.83,-60.7,181.7,-15.2,143,1014,0.00,2.17,0.00,0.000,4,0.000,0.048,2901,797,3049,0,0,0,0,0,0,28.83,25.10,28.83
$GC,1186,-0.83,-60.7,209.7,-15.1,158,1191,0.10,2.28,0.00,0.000,6,0.159,0.049,2918,2202,3049,0,0,0,0,0,0,24.70,25.10,28.83
$GC,1505,-0.83,-60.7,254.5,-14.0,174,1511,0.00,2.28,0.00,0.000,4,0.000,0.047,2919,793,3049,0,0,0,0,0,0,28.83,25.08,28.83
$GC,1573,-0.83,-60.7,263.1,-14.1,177,1577,0.00,2.30,0.00,0.000,6,0.000,0.049,2910,2203,3049,0,0,0,0,0,0,28.83,25.06,28.83
$GC,1875,-0.83,-60.7,307.3,-14.0,192,1881,0.00,2.28,0.00,0.000,4,0.000,0.048,2910,797,3049,0,0,0,0,0,0,28.83,25.06,28.83
$GC,1935,-0.83,-60.7,315.8,-14.0,195,1941,0.00,2.28,0.00,0.000,6,0.000,0.049,2899,2199,3049,0,0,0,0,0,0,28.83,25.05,28.83
$GC,2257,-0.83,-60.7,360.1,-13.4,211,2261,0.00,2.33,0.00,0.000,4,0.000,0.060,2889,3619,3049,0,0,0,0,0,0,28.83,24.83,28.83
$GC,2295,-0.83,-60.7,365.7,-13.9,213,2301,0.15,2.28,0.00,0.000,6,0.164,0.041,2924,2201,3049,0,0,0,0,0,0,24.82,25.27,28.83
$GC,2615,-0.83,-60.7,408.3,-12.8,228,2621,0.00,2.28,0.00,0.000,4,0.000,0.049,2924,800,3049,0,0,0,0,0,0,28.83,25.00,28.83
$GC,2745,-0.83,-60.7,423.7,-12.9,232,2750,0.00,2.30,0.00,0.000,6,0.000,0.050,2916,2203,3049,0,0,0,0,0,0,28.83,24.98,28.83
$STATE,3032,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3032,begin apogee
$GC,3039,-0.22,0.0,464.1,-13.3,242,3098,0.65,0.00,54.85,0.832,6,0.131,0.000,3115,2342,2794,0,0,0,0,0,0,24.37,28.83,23.65
$STATE,3099,end apogee,CONTROL_FINISHED_OK
$STATE,3099,begin climb
$GC,3101,0.83,60.7,467.4,0.0,244,3165,0.98,2.40,56.40,0.790,4,0.075,0.063,3457,3731,2545,0,0,0,0,0,0,24.85,24.80,23.42
$GC,3234,0.84,70.5,461.5,5.8,248,3254,0.00,2.30,9.73,0.711,6,0.000,0.045,3468,2323,2506,0,0,0,0,0,0,28.83,25.34,23.66
$GC,3556,0.84,70.5,435.6,8.3,259,3561,0.00,2.33,0.00,0.000,4,0.000,0.063,3468,3718,2501,0,0,0,0,0,0,28.83,25.24,28.83
$GC,3798,0.84,70.5,412.6,9.8,267,3802,0.00,2.20,0.00,0.000,6,0.000,0.046,3479,2325,2499,0,0,0,0,0,0,28.83,25.42,28.83
$GC,4105,0.84,71.3,388.2,6.9,280,4106,0.00,0.00,0.00,0.000,6,0.000,0.000,3480,2324,2499,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4406,0.84,78.1,369.1,6.2,295,4415,0.00,0.00,7.22,0.653,6,0.000,0.000,3480,2324,2475,0,0,0,0,0,0,28.83,28.83,24.05
$GC,4715,0.84,78.1,344.3,8.6,310,4721,0.00,2.35,0.00,0.000,4,0.000,0.063,3480,3729,2473,0,0,0,0,0,0,28.83,25.08,28.83
$GC,4955,0.84,78.1,324.2,8.3,322,4961,0.00,2.30,0.00,0.000,6,0.000,0.046,3491,2322,2472,0,0,0,0,0,0,28.83,25.30,28.83
$GC,5278,0.84,78.1,299.7,7.8,338,5282,0.00,2.33,0.00,0.000,4,0.000,0.063,3492,3725,2472,0,0,0,0,0,0,28.83,24.89,28.83
$GC,5513,0.84,78.1,278.6,9.2,349,5518,0.15,2.30,0.00,0.000,6,0.182,0.046,3468,2321,2471,0,0,0,0,0,0,24.76,25.25,28.83
$GC,5816,0.84,81.7,256.3,6.6,364,5826,0.00,2.40,4.38,0.500,4,0.000,0.063,3468,3728,2460,0,0,0,0,0,0,28.83,25.20,24.07
$GC,6055,0.84,81.7,238.4,7.8,375,6064,0.00,2.30,0.00,0.000,6,0.000,0.045,3477,2319,2458,0,0,0,0,0,0,28.83,25.28,28.83
$GC,6366,0.84,81.7,215.6,7.1,391,6371,0.00,2.38,0.00,0.000,4,0.000,0.063,3477,3720,2459,0,0,0,0,0,0,28.83,24.83,28.83
$GC,6605,0.84,81.7,196.4,8.3,405,6615,0.00,2.28,0.00,0.000,6,0.000,0.044,3488,2323,2458,0,0,0,0,0,0,28.83,25.21,28.83
$GC,6916,0.84,81.7,173.6,7.3,426,6917,0.00,0.00,0.00,0.000,6,0.000,0.000,3488,2323,2459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7215,0.84,81.7,151.3,7.2,446,7225,0.00,2.38,0.00,0.000,4,0.000,0.062,3488,3721,2458,0,0,0,0,0,0,28.83,24.74,28.83
$GC,7255,0.84,81.7,148.3,7.4,450,7265,0.12,2.28,0.00,0.000,6,0.187,0.046,3472,2326,2458,0,0,0,0,0,0,24.76,25.16,28.83
$GC,7569,0.85,88.5,129.1,6.2,471,7584,0.00,2.28,7.70,0.550,4,0.000,0.053,3480,918,2433,0,0,0,0,0,0,28.83,25.16,24.11
$GC,7725,0.85,88.5,116.9,8.4,490,7733,0.00,2.22,0.00,0.000,6,0.000,0.052,3480,2319,2432,0,0,0,0,0,0,28.83,25.15,28.83
$GC,8041,0.86,117.3,97.3,3.5,551,8077,0.00,2.30,26.90,0.610,4,0.000,0.051,3492,922,2314,0,0,0,0,0,0,28.83,25.22,24.03
$GC,8087,0.86,130.3,95.0,5.4,558,8107,0.00,2.25,13.20,0.569,6,0.000,0.054,3492,2334,2261,0,0,0,0,0,0,28.83,25.24,23.87
$GC,8413,0.86,130.3,68.5,9.0,621,8420,0.00,2.30,0.00,0.000,4,0.000,0.063,3492,3741,2257,0,0,0,0,0,0,28.83,25.10,28.83
$GC,8591,0.87,141.8,55.4,5.6,655,8610,0.00,2.22,10.45,0.537,6,0.000,0.045,3503,2324,2214,0,0,0,0,0,0,28.83,25.35,24.12
$GC,8918,0.87,149.8,39.6,6.0,718,8932,0.00,2.33,7.88,0.503,4,0.000,0.061,3503,3743,2183,0,0,0,0,0,0,28.83,25.36,24.14
$GC,8976,0.87,154.8,35.8,6.4,728,8990,0.15,2.22,6.38,0.475,6,0.167,0.046,3476,2321,2161,0,0,0,0,0,0,25.18,25.55,24.12
$GC,9299,0.89,196.9,23.8,1.9,790,9343,0.00,2.25,36.25,0.564,4,0.000,0.051,3485,916,1989,0,0,0,0,0,0,28.83,25.30,24.08
$GC,9574,0.90,213.6,10.1,5.0,842,9595,0.00,2.25,14.57,0.526,6,0.000,0.051,3485,2327,1923,0,0,0,0,0,0,28.83,25.27,24.14
$STATE,9685,end climb,SURFACE_DEPTH_REACHED
$STATE,9688,begin surface coast
$FINISH,1.1,1.008502
$STATE,9753,end surface coast,CONTROL_FINISHED_OK
$STATE,9753,begin surface
$SM_CCo,9775,62.42,0.452,4,0,1570,300.00
$SM_GC,2.52,8.75,0.20,62.42,0.032,0.071,0.452,110,2192,1570,-9.45,1.02,300.00,0,0,0,0,4,0,25.73,25.82,24.01
$IRIDIUM_FIX,4732.49,-12519.22,190413,232353
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.77
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.10
$XPDR_PINGS,1
$24V_AH,23.4,115.966
$10V_AH,9.7,86.331
$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,22.400,87.425,255.900,62.425,0.000,27.426,43.849,208.340,0.250,0.000,15.329,2211.235,5627.474,490.560,1693.593,266.407,0.000,1242.113,0.000,1405.004,0.000,0.535,0.000
$DEVICE_MAMPS,219.555,81.090,831.555,452.115,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,601.263,571.813,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296792
$DATA_FILE_SIZE,46850,876
$CAP_FILE_SIZE,99644,0
$CFSIZE,260165632,188149760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$CURRENT,0.118, 73.8,1
$GPS,200413,051214,4749.763,-12514.604,41,1.8,42,18.7