version: 66.11
glider: 187
mission: 2
dive: 842
start: 4 20 113 22 49 41
data:
$ID,187
$MISSION,2
$DIVE,842
$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,-1590045.2
$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,34
$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
$GPS1,200413,224136,4749.521,-12515.373,98,0.9,99,18.7
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-77.8
$GPS2,200413,224907,4749.476,-12515.269,15,1.4,15,18.7
$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,303.5,231,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.85,-36.8,0.0,0.0,0,63,0.00,0.00,-44.22,0.000,2,0.000,0.000,104,2195,2559,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.86,-65.1,3.3,-3.3,8,99,11.27,2.28,-11.43,0.000,4,0.220,0.063,2908,790,3062,0,0,0,0,0,0,24.54,25.38,26.16
$GC,147,-0.86,-65.1,23.5,-23.8,22,154,0.00,2.22,0.00,0.000,6,0.000,0.049,2899,2202,3063,0,0,0,0,0,0,28.83,25.28,28.83
$GC,461,-0.86,-65.1,94.7,-20.1,83,468,0.00,2.22,0.00,0.000,4,0.000,0.048,2898,787,3064,0,0,0,0,0,0,28.83,25.16,28.83
$GC,547,-0.86,-65.1,110.5,-16.8,99,555,0.00,2.22,0.00,0.000,6,0.000,0.049,2889,2201,3065,0,0,0,0,0,0,28.83,25.15,28.83
$GC,860,-0.86,-65.1,162.9,-16.3,126,867,0.00,2.22,0.00,0.000,4,0.000,0.047,2888,780,3065,0,0,0,0,0,0,28.83,25.13,28.83
$GC,949,-0.86,-65.1,177.9,-16.7,135,958,0.12,2.30,0.00,0.000,6,0.154,0.049,2914,2204,3065,0,0,0,0,0,0,24.66,25.10,28.83
$GC,1274,-0.86,-65.1,227.7,-14.6,154,1276,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2204,3066,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1573,-0.86,-65.1,271.1,-14.4,169,1579,0.00,2.30,0.00,0.000,4,0.000,0.047,2913,784,3066,0,0,0,0,0,0,28.83,25.06,28.83
$GC,1644,-0.86,-65.1,279.7,-14.4,172,1652,0.00,2.30,0.00,0.000,6,0.000,0.049,2905,2201,3065,0,0,0,0,0,0,28.83,25.05,28.83
$GC,1953,-0.86,-65.1,327.9,-15.3,188,1959,0.00,2.28,0.00,0.000,4,0.000,0.047,2905,787,3065,0,0,0,0,0,0,28.83,25.04,28.83
$GC,2041,-0.86,-65.1,340.4,-15.7,192,2045,0.00,2.33,0.00,0.000,6,0.000,0.050,2894,2206,3065,0,0,0,0,0,0,28.83,25.00,28.83
$GC,2344,-0.86,-65.1,387.8,-15.2,207,2349,0.00,2.33,0.00,0.000,4,0.000,0.060,2883,3606,3065,0,0,0,0,0,0,28.83,24.80,28.83
$GC,2434,-0.86,-65.1,401.9,-15.8,212,2439,0.10,2.28,0.00,0.000,6,0.153,0.042,2912,2186,3065,0,0,0,0,0,0,24.81,25.24,28.83
$GC,2763,-0.86,-65.1,446.4,-12.8,223,2769,0.00,2.25,0.00,0.000,4,0.000,0.049,2912,801,3065,0,0,0,0,0,0,28.83,24.98,28.83
$GC,2892,-0.86,-65.1,462.2,-13.1,227,2898,0.00,2.30,0.00,0.000,6,0.000,0.050,2903,2204,3065,0,0,0,0,0,0,28.83,24.97,28.83
$STATE,3031,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3031,begin apogee
$GC,3038,-0.22,0.0,482.3,-13.5,232,3100,0.70,0.00,58.20,0.845,6,0.134,0.000,3115,2345,2794,0,0,0,0,0,0,24.23,28.83,23.63
$STATE,3100,end apogee,CONTROL_FINISHED_OK
$STATE,3101,begin climb
$GC,3105,0.86,65.1,486.1,0.0,234,3173,1.02,2.33,60.08,0.806,4,0.077,0.061,3470,3731,2529,0,0,0,0,0,0,24.78,24.77,23.39
$GC,3211,0.87,76.8,481.9,5.5,238,3233,0.00,2.33,12.48,0.750,6,0.000,0.045,3482,2317,2478,0,0,0,0,0,0,28.83,25.20,23.53
$GC,3533,0.87,76.8,451.6,10.1,249,3539,0.00,2.28,0.00,0.000,4,0.000,0.052,3493,921,2474,0,0,0,0,0,0,28.83,25.36,28.83
$GC,3612,0.87,76.8,445.8,9.8,251,3622,0.00,2.28,0.00,0.000,6,0.000,0.052,3493,2312,2473,0,0,0,0,0,0,28.83,25.33,28.83
$GC,3923,0.87,76.8,414.9,9.1,262,3929,0.00,2.38,0.00,0.000,4,0.000,0.063,3494,3736,2472,0,0,0,0,0,0,28.83,25.09,28.83
$GC,3941,0.87,76.8,414.9,9.1,262,3945,0.00,2.30,0.00,0.000,6,0.000,0.046,3504,2321,2471,0,0,0,0,0,0,28.83,25.39,28.83
$GC,4254,0.87,76.8,385.5,8.6,275,4259,0.00,2.38,0.00,0.000,4,0.000,0.064,3504,3734,2471,0,0,0,0,0,0,28.83,25.01,28.83
$GC,4493,0.87,76.8,361.3,10.3,287,4499,0.15,2.30,0.00,0.000,6,0.184,0.045,3480,2324,2470,0,0,0,0,0,0,24.83,25.31,28.83
$GC,4814,0.87,76.8,335.4,7.7,303,4818,0.00,2.38,0.00,0.000,4,0.000,0.064,3480,3731,2469,0,0,0,0,0,0,28.83,24.89,28.83
$GC,5053,0.87,76.8,313.8,9.2,315,5059,0.00,2.30,0.00,0.000,6,0.000,0.045,3490,2323,2468,0,0,0,0,0,0,28.83,25.25,28.83
$GC,5373,0.87,76.8,286.4,8.7,331,5379,0.00,2.40,0.00,0.000,4,0.000,0.063,3490,3738,2468,0,0,0,0,0,0,28.83,24.83,28.83
$GC,5614,0.87,76.8,263.3,9.4,343,5619,0.00,2.30,0.00,0.000,6,0.000,0.046,3501,2322,2468,0,0,0,0,0,0,28.83,25.21,28.83
$GC,5935,0.87,77.3,239.0,7.0,359,5939,0.00,2.35,0.00,0.000,4,0.000,0.063,3501,3734,2468,0,0,0,0,0,0,28.83,24.78,28.83
$GC,6052,0.87,77.3,229.9,8.5,364,6062,0.15,2.33,0.00,0.000,6,0.183,0.046,3478,2314,2467,0,0,0,0,0,0,24.70,25.19,28.83
$GC,6365,0.87,77.3,207.3,7.4,380,6369,0.00,2.40,0.00,0.000,4,0.000,0.064,3478,3742,2467,0,0,0,0,0,0,28.83,24.75,28.83
$GC,6544,0.87,77.3,192.7,8.1,392,6552,0.00,2.25,0.00,0.000,6,0.000,0.046,3487,2322,2467,0,0,0,0,0,0,28.83,25.17,28.83
$GC,6853,0.87,87.2,172.9,5.7,413,6866,0.00,2.42,8.35,0.584,4,0.000,0.063,3487,3742,2438,0,0,0,0,0,0,28.83,25.14,24.06
$GC,6945,0.87,87.2,165.6,9.2,422,6953,0.00,2.30,0.00,0.000,6,0.000,0.046,3499,2324,2437,0,0,0,0,0,0,28.83,25.41,28.83
$GC,7256,0.88,93.1,143.1,6.2,443,7268,0.00,2.40,7.05,0.546,4,0.000,0.064,3499,3734,2414,0,0,0,0,0,0,28.83,25.24,24.09
$GC,7497,0.88,93.1,123.1,8.5,467,7508,0.12,2.30,0.00,0.000,6,0.187,0.045,3483,2321,2413,0,0,0,0,0,0,24.94,25.32,28.83
$GC,7811,0.88,101.5,104.2,5.9,522,7824,0.00,0.00,9.02,0.555,6,0.000,0.000,3482,2321,2380,0,0,0,0,0,0,28.83,28.83,24.12
$GC,8132,0.88,111.6,85.1,5.7,584,8150,0.00,2.28,10.35,0.559,4,0.000,0.054,3491,919,2339,0,0,0,0,0,0,28.83,25.37,24.11
$GC,8201,0.89,125.8,81.3,5.2,596,8226,0.00,2.22,14.20,0.576,6,0.000,0.053,3491,2326,2279,0,0,0,0,0,0,28.83,25.38,24.04
$GC,8534,0.90,145.4,59.7,4.4,660,8559,0.00,2.38,17.92,0.572,4,0.000,0.063,3491,3734,2200,0,0,0,0,0,0,28.83,25.29,24.12
$GC,8673,0.90,145.4,50.2,8.5,686,8679,0.00,2.22,0.00,0.000,6,0.000,0.046,3502,2318,2197,0,0,0,0,0,0,28.83,25.45,28.83
$GC,8987,0.90,157.0,31.5,5.5,747,9001,0.00,0.00,11.15,0.530,6,0.000,0.000,3502,2317,2154,0,0,0,0,0,0,28.83,28.83,24.15
$GC,9306,0.92,202.7,16.4,1.0,809,9354,0.00,2.35,39.45,0.558,4,0.000,0.063,3502,3741,1965,0,0,0,0,0,0,28.83,25.22,24.07
$GC,9588,0.92,204.9,6.3,6.7,862,9594,0.00,2.22,0.00,0.000,6,0.000,0.045,3513,2324,1959,0,0,0,0,0,0,28.83,25.40,28.83
$STATE,9624,end climb,SURFACE_DEPTH_REACHED
$STATE,9624,begin surface coast
$FINISH,1.2,1.023826
$STATE,9694,end surface coast,CONTROL_FINISHED_OK
$STATE,9694,begin surface
$SM_CCo,9714,66.57,0.460,4,0,1570,300.00
$SM_GC,2.46,8.85,0.17,66.57,0.031,0.076,0.460,106,2193,1570,-9.47,1.27,300.00,0,0,0,0,4,0,25.76,25.86,23.98
$IRIDIUM_FIX,4732.49,-12503.20,200413,191913
$TT8_MAMPS,0.028462,0.028462
$HUMID,48.38
$INTERNAL_PRESSURE,9.11829
$TCM_TEMP,19.10
$XPDR_PINGS,2
$24V_AH,23.4,116.551
$10V_AH,9.7,86.751
$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,22.500,92.550,248.250,66.575,0.000,28.165,40.455,245.632,0.500,0.000,15.865,2218.533,5544.120,497.425,1726.158,272.494,0.000,1251.715,0.000,1404.873,0.000,0.535,0.000
$DEVICE_MAMPS,219.555,81.855,844.560,459.765,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,605.808,571.720,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296732
$DATA_FILE_SIZE,47031,882
$CAP_FILE_SIZE,101127,0
$CFSIZE,260165632,187756544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.074, 78.3,1
$GPS,210413,013520,4749.988,-12515.656,76,4.9,96,18.7