version: 66.11
glider: 187
mission: 2
dive: 838
start: 4 20 113 11 34 4
data:
$ID,187
$MISSION,2
$DIVE,838
$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,-1590040.2
$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,38
$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
$GPS1,200413,112705,4749.466,-12516.102,56,2.0,57,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-74.3
$GPS2,200413,113331,4749.435,-12516.051,11,1.8,11,18.7
$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,40.3,1041,-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,16,-0.85,-36.8,0.0,0.0,0,69,0.00,0.00,-50.50,0.000,2,0.000,0.000,113,2197,2514,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.86,-63.8,3.2,-3.5,9,105,11.27,2.20,-12.73,0.000,4,0.219,0.059,2912,793,3055,0,0,0,0,0,0,24.51,25.39,26.17
$GC,315,-0.86,-63.8,62.1,-20.7,55,321,0.00,2.22,0.00,0.000,6,0.000,0.050,2904,2202,3057,0,0,0,0,0,0,28.83,25.18,28.83
$GC,628,-0.86,-63.8,122.8,-18.4,114,636,0.00,2.25,0.00,0.000,4,0.000,0.048,2903,795,3058,0,0,0,0,0,0,28.83,25.15,28.83
$GC,787,-0.86,-63.8,150.1,-16.0,130,796,0.00,2.30,0.00,0.000,6,0.000,0.048,2893,2212,3057,0,0,0,0,0,0,28.83,25.13,28.83
$GC,1097,-0.86,-63.8,199.5,-15.9,151,1106,0.00,2.30,0.00,0.000,4,0.000,0.047,2893,787,3057,0,0,0,0,0,0,28.83,25.10,28.83
$GC,1178,-0.86,-63.8,213.0,-16.9,156,1183,0.10,2.28,0.00,0.000,6,0.156,0.049,2911,2192,3057,0,0,0,0,0,0,24.71,25.10,28.83
$GC,1497,-0.86,-63.8,261.7,-14.8,172,1498,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2192,3058,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1798,-0.86,-63.8,305.6,-14.4,187,1803,0.00,2.25,0.00,0.000,4,0.000,0.049,2911,791,3057,0,0,0,0,0,0,28.83,25.06,28.83
$GC,1905,-0.86,-63.8,320.1,-14.5,192,1909,0.00,2.30,0.00,0.000,6,0.000,0.049,2902,2200,3058,0,0,0,0,0,0,28.83,25.04,28.83
$GC,2207,-0.86,-63.8,365.4,-14.6,207,2208,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2200,3058,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2509,-0.86,-63.8,410.1,-15.1,221,2513,0.00,2.30,0.00,0.000,4,0.000,0.060,2891,3617,3057,0,0,0,0,0,0,28.83,24.81,28.83
$GC,2565,-0.86,-63.8,417.7,-15.2,223,2569,0.00,2.30,0.00,0.000,6,0.000,0.042,2891,2194,3058,0,0,0,0,0,0,28.83,25.25,28.83
$STATE,2874,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2875,begin apogee
$GC,2882,-0.22,0.0,466.0,-14.4,234,2943,0.75,0.00,56.95,0.835,6,0.135,0.000,3117,2338,2793,0,0,0,0,0,0,24.18,28.83,23.67
$STATE,2944,end apogee,CONTROL_FINISHED_OK
$STATE,2944,begin climb
$GC,2947,0.86,63.8,469.5,0.0,236,3015,1.02,2.38,58.45,0.795,4,0.075,0.062,3469,3721,2534,0,0,0,0,0,0,24.84,24.80,23.42
$GC,3118,0.86,63.8,459.3,7.3,242,3123,0.00,2.25,0.00,0.000,6,0.000,0.044,3480,2331,2528,0,0,0,0,0,0,28.83,25.42,28.83
$GC,3448,0.86,63.8,434.4,7.5,253,3453,0.00,2.33,0.00,0.000,4,0.000,0.063,3480,3726,2526,0,0,0,0,0,0,28.83,25.22,28.83
$GC,3495,0.86,63.8,431.9,7.8,254,3499,0.00,2.28,0.00,0.000,6,0.000,0.046,3492,2324,2525,0,0,0,0,0,0,28.83,25.46,28.83
$GC,3797,0.86,63.8,406.8,7.8,264,3798,0.00,0.00,0.00,0.000,6,0.000,0.000,3492,2323,2525,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4108,0.86,63.8,383.5,7.4,278,4113,0.00,2.35,0.00,0.000,4,0.000,0.063,3491,3722,2523,0,0,0,0,0,0,28.83,25.03,28.83
$GC,4236,0.86,63.8,374.1,8.0,284,4245,0.00,2.28,0.00,0.000,6,0.000,0.045,3503,2324,2522,0,0,0,0,0,0,28.83,25.34,28.83
$GC,4547,0.86,65.4,351.8,6.8,300,4553,0.00,2.35,0.00,0.000,4,0.000,0.063,3503,3720,2522,0,0,0,0,0,0,28.83,24.95,28.83
$GC,4788,0.86,65.4,333.6,7.8,312,4794,0.12,2.25,0.00,0.000,6,0.168,0.046,3479,2324,2521,0,0,0,0,0,0,24.74,25.30,28.83
$GC,5109,0.87,70.4,313.3,6.4,328,5119,0.00,2.38,5.22,0.567,4,0.000,0.063,3479,3722,2506,0,0,0,0,0,0,28.83,25.27,24.07
$GC,5350,0.87,70.4,295.9,8.2,339,5357,0.00,2.20,0.00,0.000,6,0.000,0.046,3488,2324,2505,0,0,0,0,0,0,28.83,25.35,28.83
$GC,5658,0.87,71.6,274.0,6.9,355,5663,0.00,2.35,0.00,0.000,4,0.000,0.063,3488,3726,2505,0,0,0,0,0,0,28.83,24.90,28.83
$GC,5898,0.87,71.6,256.8,7.1,367,5903,0.00,2.25,0.00,0.000,6,0.000,0.046,3499,2327,2504,0,0,0,0,0,0,28.83,25.24,28.83
$GC,6218,0.87,86.9,239.9,5.0,383,6239,0.00,2.38,16.35,0.675,4,0.000,0.063,3499,3722,2438,0,0,0,0,0,0,28.83,25.20,24.03
$GC,6469,0.87,86.9,218.7,9.0,396,6474,0.08,2.25,0.00,0.000,6,0.171,0.046,3474,2327,2436,0,0,0,0,0,0,24.89,25.39,28.83
$GC,6788,0.87,88.3,195.6,6.8,413,6789,0.00,0.00,0.00,0.000,6,0.000,0.000,3473,2324,2436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7089,0.87,88.3,173.4,7.6,433,7097,0.00,2.30,0.00,0.000,4,0.000,0.064,3474,3719,2436,0,0,0,0,0,0,28.83,24.84,28.83
$GC,7228,0.87,88.3,161.3,8.1,447,7236,0.00,2.28,0.00,0.000,6,0.000,0.046,3483,2319,2435,0,0,0,0,0,0,28.83,25.22,28.83
$GC,7537,0.87,88.3,136.8,7.9,468,7546,0.00,2.35,0.00,0.000,4,0.000,0.062,3483,3717,2435,0,0,0,0,0,0,28.83,24.79,28.83
$GC,7763,0.88,93.4,119.8,6.3,491,7776,0.00,2.20,6.70,0.530,6,0.000,0.045,3495,2321,2413,0,0,0,0,0,0,28.83,25.20,24.10
$GC,8086,0.88,105.9,102.3,5.4,553,8105,0.00,2.25,12.52,0.581,4,0.000,0.051,3506,920,2363,0,0,0,0,0,0,28.83,25.34,24.10
$GC,8337,0.88,108.8,83.9,6.6,601,8351,0.00,2.22,4.32,0.435,6,0.000,0.052,3506,2314,2349,0,0,0,0,0,0,28.83,25.21,24.13
$GC,8660,0.89,134.8,70.1,3.6,663,8690,0.00,2.22,24.40,0.589,4,0.000,0.050,3516,925,2242,0,0,0,0,0,0,28.83,25.34,24.10
$GC,8704,0.90,153.4,68.1,4.6,670,8730,0.12,2.22,17.20,0.565,6,0.173,0.054,3487,2327,2167,0,0,0,0,0,0,25.11,25.35,23.93
$GC,9039,0.90,157.5,46.3,6.5,734,9046,0.00,0.00,4.43,0.417,6,0.000,0.000,3487,2327,2150,0,0,0,0,0,0,28.83,28.83,24.15
$GC,9352,0.91,180.6,24.8,4.0,795,9382,0.00,2.35,20.98,0.554,4,0.000,0.064,3487,3731,2055,0,0,0,0,0,0,28.83,25.32,24.16
$GC,9400,0.92,197.6,22.8,4.8,803,9425,0.00,2.20,15.32,0.532,6,0.000,0.046,3496,2324,1988,0,0,0,0,0,0,28.83,25.51,24.03
$GC,9733,0.93,219.4,5.5,4.2,867,9758,0.00,2.40,19.15,0.533,4,0.000,0.065,3496,3733,1897,0,0,0,0,0,0,28.83,25.32,24.16
$STATE,9763,end climb,SURFACE_DEPTH_REACHED
$STATE,9763,begin surface coast
$FINISH,1.1,1.023910
$STATE,9833,end surface coast,CONTROL_FINISHED_OK
$STATE,9833,begin surface
$SM_CCo,9856,51.62,0.441,3,0,1571,300.00
$SM_GC,3.00,8.77,2.47,51.62,0.031,0.044,0.441,105,2200,1571,-9.47,1.36,300.00,0,0,0,0,3,0,25.79,25.44,24.01
$IRIDIUM_FIX,4735.69,-12522.93,200413,080849
$TT8_MAMPS,0.027713,0.027713
$HUMID,49.01
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.10
$XPDR_PINGS,1
$24V_AH,23.4,116.239
$10V_AH,9.8,86.517
$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,22.250,82.650,262.000,51.625,0.000,26.558,39.030,188.651,0.250,0.000,12.487,2203.386,5709.988,468.759,1657.941,274.076,0.000,1216.744,0.000,1403.383,0.000,0.535,0.000
$DEVICE_MAMPS,218.790,74.970,834.615,441.405,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,607.277,576.619,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296768
$DATA_FILE_SIZE,50196,885
$CAP_FILE_SIZE,97700,0
$CFSIZE,260165632,187977728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.087, 63.2,1
$GPS,200413,142154,4750.108,-12514.854,106,0.9,107,18.7