version: 66.11
glider: 187
mission: 2
dive: 843
start: 4 21 113 1 42 39
data:
$ID,187
$MISSION,2
$DIVE,843
$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,-1590046.5
$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,45
$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
$GPS1,210413,013520,4749.988,-12515.656,76,4.9,96,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-78.6
$GPS2,210413,014206,4749.949,-12515.645,14,1.7,14,18.7
$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,157.5,812,-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,13,begin dive
$GC,17,-0.85,-36.8,0.0,0.0,0,63,0.00,0.00,-44.20,0.000,2,0.000,0.000,104,2194,2560,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.86,-63.0,3.3,-3.6,8,99,11.45,2.38,-10.98,0.000,4,0.225,0.071,2901,3607,3054,0,0,0,0,0,0,24.53,25.30,26.15
$GC,259,-0.86,-63.0,55.3,-21.9,44,266,0.00,2.20,0.00,0.000,6,0.000,0.042,2901,2200,3056,0,0,0,0,0,0,28.83,25.38,28.83
$GC,573,-0.86,-63.0,114.7,-17.3,105,579,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2194,3057,0,0,0,0,0,0,28.83,28.83,28.83
$GC,892,-0.86,-63.0,170.0,-17.4,130,901,0.00,2.28,0.00,0.000,4,0.000,0.049,2901,788,3058,0,0,0,0,0,0,28.83,25.10,28.83
$GC,1132,-0.86,-63.0,209.2,-16.1,152,1138,0.00,2.30,0.00,0.000,6,0.000,0.049,2890,2200,3058,0,0,0,0,0,0,28.83,25.08,28.83
$GC,1455,-0.86,-63.0,259.2,-15.8,168,1456,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2200,3057,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1754,-0.86,-63.0,306.8,-15.4,183,1758,0.00,2.22,0.00,0.000,4,0.000,0.048,2890,787,3058,0,0,0,0,0,0,28.83,25.05,28.83
$GC,1770,-0.86,-63.0,306.8,-15.4,183,1775,0.15,2.33,0.00,0.000,6,0.169,0.049,2916,2210,3057,0,0,0,0,0,0,24.65,25.02,28.83
$GC,2073,-0.86,-63.0,351.2,-12.8,198,2078,0.00,2.28,0.00,0.000,4,0.000,0.049,2915,802,3057,0,0,0,0,0,0,28.83,25.01,28.83
$GC,2192,-0.86,-63.0,366.9,-13.1,204,2197,0.00,2.30,0.00,0.000,6,0.000,0.050,2907,2209,3057,0,0,0,0,0,0,28.83,25.01,28.83
$GC,2513,-0.86,-63.0,410.0,-13.4,219,2518,0.00,2.25,0.00,0.000,4,0.000,0.049,2906,787,3057,0,0,0,0,0,0,28.83,24.98,28.83
$GC,2560,-0.86,-63.0,414.2,-13.5,220,2564,0.00,2.33,0.00,0.000,6,0.000,0.050,2896,2204,3058,0,0,0,0,0,0,28.83,24.97,28.83
$GC,2862,-0.86,-63.0,457.6,-13.7,230,2868,0.00,2.38,0.00,0.000,4,0.000,0.061,2885,3623,3057,0,0,0,0,0,0,28.83,24.75,28.83
$GC,2971,-0.86,-63.0,471.0,-14.7,233,2981,0.12,2.30,0.00,0.000,6,0.169,0.042,2913,2194,3057,0,0,0,0,0,0,24.84,25.21,28.83
$STATE,3039,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3039,begin apogee
$GC,3046,-0.22,0.0,484.1,-14.8,236,3108,0.65,0.00,56.58,0.846,6,0.129,0.000,3114,2342,2794,0,0,0,0,0,0,24.34,28.83,23.64
$STATE,3109,end apogee,CONTROL_FINISHED_OK
$STATE,3109,begin climb
$GC,3112,0.86,63.0,487.8,0.0,238,3174,1.05,0.00,58.35,0.808,6,0.077,0.000,3473,2341,2537,0,0,0,0,0,0,24.78,28.83,23.40
$GC,3463,0.86,63.5,466.8,7.0,250,3468,0.00,2.30,0.00,0.000,4,0.000,0.063,3473,3728,2530,0,0,0,0,0,0,28.83,25.28,28.83
$GC,3703,0.86,63.5,446.1,8.7,258,3708,0.00,2.22,0.00,0.000,6,0.000,0.044,3485,2339,2528,0,0,0,0,0,0,28.83,25.47,28.83
$GC,4033,0.87,68.5,423.1,6.4,269,4043,0.00,2.35,4.85,0.581,4,0.000,0.063,3485,3726,2514,0,0,0,0,0,0,28.83,25.35,24.06
$GC,4272,0.87,68.5,403.8,8.4,277,4278,0.00,2.28,0.00,0.000,6,0.000,0.046,3496,2324,2512,0,0,0,0,0,0,28.83,25.41,28.83
$GC,4584,0.87,68.5,380.5,7.4,292,4588,0.00,2.33,0.00,0.000,4,0.000,0.063,3496,3727,2512,0,0,0,0,0,0,28.83,24.98,28.83
$GC,4822,0.87,68.5,359.2,9.3,304,4828,0.10,2.28,0.00,0.000,6,0.166,0.045,3479,2324,2511,0,0,0,0,0,0,24.83,25.29,28.83
$GC,5143,0.87,75.9,336.4,6.1,320,5155,0.00,2.33,7.93,0.656,4,0.000,0.053,3487,918,2484,0,0,0,0,0,0,28.83,25.35,24.03
$GC,5387,0.87,76.2,320.4,7.0,331,5394,0.00,2.22,0.00,0.000,6,0.000,0.054,3487,2316,2483,0,0,0,0,0,0,28.83,25.21,28.83
$GC,5694,0.87,76.2,296.8,7.5,347,5695,0.00,0.00,0.00,0.000,6,0.000,0.000,3487,2316,2482,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5995,0.87,79.1,275.8,6.6,362,6004,0.00,2.40,4.15,0.496,4,0.000,0.064,3487,3734,2471,0,0,0,0,0,0,28.83,25.23,24.07
$GC,6132,0.87,79.1,265.9,7.9,368,6136,0.00,2.30,0.00,0.000,6,0.000,0.046,3499,2325,2470,0,0,0,0,0,0,28.83,25.34,28.83
$GC,6435,0.87,84.2,245.3,6.3,383,6444,0.00,0.00,6.68,0.591,6,0.000,0.000,3499,2324,2450,0,0,0,0,0,0,28.83,28.83,24.08
$GC,6734,0.87,84.2,223.4,7.6,398,6739,0.00,2.38,0.00,0.000,4,0.000,0.063,3499,3736,2448,0,0,0,0,0,0,28.83,24.98,28.83
$GC,6974,0.87,84.2,202.9,8.6,410,6980,0.15,2.33,0.00,0.000,6,0.181,0.045,3474,2314,2447,0,0,0,0,0,0,24.75,25.22,28.83
$GC,7287,0.87,84.2,179.7,7.5,430,7294,0.00,2.38,0.00,0.000,4,0.000,0.064,3474,3737,2447,0,0,0,0,0,0,28.83,24.73,28.83
$GC,7434,0.87,84.2,167.3,8.3,445,7442,0.00,2.33,0.00,0.000,6,0.000,0.046,3484,2318,2447,0,0,0,0,0,0,28.83,25.15,28.83
$GC,7745,0.88,93.8,146.2,5.8,466,7764,0.00,2.35,10.30,0.595,4,0.000,0.064,3484,3738,2409,0,0,0,0,0,0,28.83,25.13,24.10
$GC,7794,0.88,96.3,142.9,6.7,471,7805,0.00,2.28,3.75,0.419,6,0.000,0.046,3495,2327,2400,0,0,0,0,0,0,28.83,25.40,24.03
$GC,8105,0.88,96.3,119.3,8.5,492,8112,0.00,2.25,0.00,0.000,4,0.000,0.053,3507,919,2399,0,0,0,0,0,0,28.83,25.08,28.83
$GC,8166,0.88,96.3,114.1,8.2,503,8174,0.00,2.25,0.00,0.000,6,0.000,0.054,3507,2326,2399,0,0,0,0,0,0,28.83,25.05,28.83
$GC,8480,0.88,96.3,92.2,8.8,564,8487,0.00,2.28,0.00,0.000,4,0.000,0.052,3518,916,2399,0,0,0,0,0,0,28.83,24.96,28.83
$GC,8720,0.88,107.3,75.3,5.6,610,8740,0.15,2.25,11.52,0.564,6,0.174,0.052,3483,2326,2355,0,0,0,0,0,0,24.55,24.94,24.12
$GC,9049,0.89,123.6,60.9,4.9,673,9074,0.00,2.30,15.57,0.569,4,0.000,0.052,3492,923,2288,0,0,0,0,0,0,28.83,25.36,24.13
$GC,9306,0.89,138.8,49.8,5.0,722,9325,0.00,2.22,14.32,0.555,6,0.000,0.051,3492,2327,2228,0,0,0,0,0,0,28.83,25.21,24.12
$GC,9636,0.90,150.8,34.4,5.4,785,9655,0.00,2.25,11.65,0.535,4,0.000,0.050,3503,917,2177,0,0,0,0,0,0,28.83,25.40,24.14
$GC,9886,0.90,164.9,22.6,5.2,833,9905,0.00,2.22,13.40,0.535,6,0.000,0.051,3503,2326,2121,0,0,0,0,0,0,28.83,25.21,24.15
$GC,10214,0.93,216.9,14.6,0.2,896,10262,0.00,0.00,44.17,0.552,6,0.000,0.000,3503,2326,1908,0,0,0,0,0,0,28.83,28.83,24.06
$STATE,10470,end climb,SURFACE_DEPTH_REACHED
$STATE,10470,begin surface coast
$FINISH,1.1,1.002910
$STATE,10559,end surface coast,CONTROL_FINISHED_OK
$STATE,10559,begin surface
$SM_CCo,10579,56.80,0.457,3,0,1570,300.00
$SM_GC,2.65,8.90,0.20,56.80,0.036,0.071,0.457,110,2191,1570,-9.47,0.96,300.00,0,0,0,0,3,0,25.73,25.83,24.01
$IRIDIUM_FIX,4729.30,-12512.90,200413,222239
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.58
$INTERNAL_PRESSURE,9.11829
$TCM_TEMP,19.20
$XPDR_PINGS,1
$24V_AH,23.4,116.624
$10V_AH,9.8,86.816
$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,22.725,83.000,263.225,56.800,0.000,28.952,45.840,195.783,0.250,0.000,15.122,2416.041,6059.999,480.248,1817.094,289.100,0.000,1282.074,0.000,1536.901,0.000,0.535,0.000
$DEVICE_MAMPS,224.910,78.030,846.090,457.470,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,661.087,625.518,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296780
$DATA_FILE_SIZE,53529,962
$CAP_FILE_SIZE,104718,0
$CFSIZE,260165632,187686912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.085, 63.0,1
$GPS,210413,044206,4749.672,-12514.815,74,1.1,75,18.7