version: 66.11
glider: 187
mission: 2
dive: 847
start: 4 21 113 13 23 32
data:
$ID,187
$MISSION,2
$DIVE,847
$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,-1590051.5
$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,37
$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
$GPS1,210413,131623,4749.758,-12515.880,46,1.9,47,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-79.3
$GPS2,210413,132300,4749.736,-12515.860,12,1.3,17,18.7
$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,84.1,800,-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,-36.8,0.0,0.0,0,64,0.00,0.00,-44.55,0.000,2,0.000,0.000,106,2196,2554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.87,-69.1,3.1,-2.8,8,99,11.15,2.33,-12.20,0.000,4,0.216,0.072,2899,3615,3078,0,0,0,0,0,0,24.56,25.29,26.17
$GC,329,-0.87,-69.1,68.1,-22.7,58,335,0.00,2.20,0.00,0.000,6,0.000,0.040,2899,2195,3081,0,0,0,0,0,0,28.83,25.38,28.83
$GC,647,-0.87,-69.1,128.7,-17.9,114,655,0.00,2.22,0.00,0.000,4,0.000,0.048,2899,805,3082,0,0,0,0,0,0,28.83,25.11,28.83
$GC,766,-0.87,-69.1,149.2,-17.2,126,775,0.00,2.28,0.00,0.000,6,0.000,0.048,2889,2204,3082,0,0,0,0,0,0,28.83,25.09,28.83
$GC,1076,-0.87,-69.1,200.3,-15.9,147,1082,0.00,2.28,0.00,0.000,4,0.000,0.047,2889,801,3081,0,0,0,0,0,0,28.83,25.06,28.83
$GC,1137,-0.87,-69.1,210.5,-16.7,150,1142,0.10,2.25,0.00,0.000,6,0.152,0.049,2907,2198,3082,0,0,0,0,0,0,24.68,25.07,28.83
$GC,1456,-0.87,-69.1,260.2,-15.6,166,1462,0.00,2.28,0.00,0.000,4,0.000,0.047,2907,797,3082,0,0,0,0,0,0,28.83,25.05,28.83
$GC,1516,-0.87,-69.1,269.3,-15.4,169,1522,0.00,2.30,0.00,0.000,6,0.000,0.049,2899,2207,3082,0,0,0,0,0,0,28.83,25.02,28.83
$GC,1837,-0.87,-69.1,318.1,-15.0,185,1838,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2207,3082,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2136,-0.87,-69.1,362.8,-14.6,200,2142,0.00,2.28,0.00,0.000,4,0.000,0.048,2899,799,3082,0,0,0,0,0,0,28.83,24.99,28.83
$GC,2284,-0.87,-69.1,383.8,-14.8,207,2288,0.00,2.30,0.00,0.000,6,0.000,0.049,2888,2206,3082,0,0,0,0,0,0,28.83,24.98,28.83
$GC,2587,-0.87,-69.1,429.2,-14.6,219,2588,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2205,3082,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2886,-0.87,-69.1,473.9,-14.8,229,2892,0.00,2.35,0.00,0.000,4,0.000,0.060,2877,3611,3082,0,0,0,0,0,0,28.83,24.72,28.83
$STATE,2943,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2943,begin apogee
$GC,2953,-0.22,0.0,483.0,-14.9,231,3019,0.80,0.00,61.75,0.845,6,0.140,0.000,3115,2322,2794,0,0,0,0,0,0,23.99,28.83,23.65
$STATE,3020,end apogee,CONTROL_FINISHED_OK
$STATE,3020,begin climb
$GC,3022,0.87,69.1,487.5,0.0,233,3093,1.02,2.42,63.80,0.806,4,0.076,0.063,3471,3743,2511,0,0,0,0,0,0,24.81,24.75,23.39
$GC,3154,0.87,69.8,480.8,6.9,238,3159,0.00,2.33,0.00,0.000,6,0.000,0.045,3482,2326,2507,0,0,0,0,0,0,28.83,25.28,28.83
$GC,3468,0.87,69.8,452.9,8.8,249,3472,0.00,2.35,0.00,0.000,4,0.000,0.063,3482,3735,2504,0,0,0,0,0,0,28.83,25.23,28.83
$GC,3706,0.87,69.8,427.6,10.7,257,3712,0.00,2.30,0.00,0.000,6,0.000,0.045,3494,2322,2502,0,0,0,0,0,0,28.83,25.42,28.83
$GC,4028,0.87,69.8,396.4,9.4,268,4033,0.00,2.38,0.00,0.000,4,0.000,0.064,3494,3734,2501,0,0,0,0,0,0,28.83,25.03,28.83
$GC,4267,0.87,69.8,371.8,10.3,280,4273,0.10,2.28,0.00,0.000,6,0.166,0.045,3476,2330,2500,0,0,0,0,0,0,24.87,25.32,28.83
$GC,4587,0.87,69.8,346.4,7.5,296,4592,0.00,2.38,0.00,0.000,4,0.000,0.063,3477,3736,2500,0,0,0,0,0,0,28.83,24.91,28.83
$GC,4828,0.87,69.8,327.3,7.4,308,4833,0.00,2.28,0.00,0.000,6,0.000,0.046,3486,2330,2499,0,0,0,0,0,0,28.83,25.27,28.83
$GC,5149,0.87,76.1,308.5,6.2,324,5159,0.00,2.40,5.45,0.578,4,0.000,0.063,3486,3743,2483,0,0,0,0,0,0,28.83,25.26,24.08
$GC,5390,0.87,76.1,292.0,7.2,335,5398,0.00,2.25,0.00,0.000,6,0.000,0.046,3497,2317,2482,0,0,0,0,0,0,28.83,25.34,28.83
$GC,5698,0.87,83.1,271.8,6.1,351,5710,0.00,2.40,7.82,0.623,4,0.000,0.063,3498,3733,2455,0,0,0,0,0,0,28.83,25.27,24.07
$GC,5932,0.87,83.1,254.5,7.5,362,5937,0.12,2.25,0.00,0.000,6,0.190,0.046,3480,2325,2453,0,0,0,0,0,0,24.97,25.36,28.83
$GC,6239,0.87,85.0,234.3,6.8,377,6245,0.00,2.38,0.00,0.000,4,0.000,0.063,3480,3736,2453,0,0,0,0,0,0,28.83,24.87,28.83
$GC,6368,0.87,85.0,224.4,8.4,383,6378,0.00,2.30,0.00,0.000,6,0.000,0.045,3490,2324,2452,0,0,0,0,0,0,28.83,25.22,28.83
$GC,6680,0.87,85.0,200.9,7.3,399,6681,0.00,0.00,0.00,0.000,6,0.000,0.000,3490,2324,2452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6984,0.87,85.0,177.0,7.8,419,6993,0.00,2.38,0.00,0.000,4,0.000,0.063,3490,3733,2452,0,0,0,0,0,0,28.83,24.73,28.83
$GC,7075,0.87,85.0,169.5,8.1,428,7082,0.00,2.25,0.00,0.000,6,0.000,0.046,3501,2320,2452,0,0,0,0,0,0,28.83,25.15,28.83
$GC,7384,0.87,85.0,144.7,8.3,449,7385,0.00,0.00,0.00,0.000,6,0.000,0.000,3501,2320,2452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7685,0.87,90.2,124.2,6.3,469,7702,0.00,2.33,7.78,0.550,4,0.000,0.052,3512,916,2426,0,0,0,0,0,0,28.83,25.22,24.10
$GC,7835,0.87,90.2,113.3,7.7,493,7842,0.15,2.25,0.00,0.000,6,0.170,0.053,3476,2325,2425,0,0,0,0,0,0,24.85,25.18,28.83
$GC,8149,0.88,96.7,92.7,6.2,554,8163,0.00,2.38,7.60,0.535,4,0.000,0.063,3476,3733,2398,0,0,0,0,0,0,28.83,25.23,24.12
$GC,8296,0.88,96.7,81.9,7.1,581,8303,0.00,2.22,0.00,0.000,6,0.000,0.046,3485,2316,2397,0,0,0,0,0,0,28.83,25.39,28.83
$GC,8611,0.89,133.5,68.9,2.2,642,8656,0.00,2.28,33.50,0.597,4,0.000,0.052,3496,930,2247,0,0,0,0,0,0,28.83,25.25,24.03
$GC,8860,0.89,133.5,54.0,8.0,689,8867,0.00,2.22,0.00,0.000,6,0.000,0.052,3496,2325,2244,0,0,0,0,0,0,28.83,25.24,28.83
$GC,9173,0.90,158.2,36.2,3.8,750,9203,0.00,2.30,21.55,0.562,4,0.000,0.052,3507,919,2146,0,0,0,0,0,0,28.83,25.34,24.12
$GC,9223,0.91,168.4,33.5,5.7,758,9242,0.00,2.22,10.32,0.518,6,0.000,0.052,3507,2324,2105,0,0,0,0,0,0,28.83,25.36,24.00
$GC,9549,0.92,204.2,15.1,2.3,821,9585,0.00,2.40,30.23,0.553,4,0.000,0.064,3507,3744,1960,0,0,0,0,0,0,28.83,25.26,24.07
$GC,9666,0.92,212.7,10.3,5.9,842,9680,0.00,2.22,8.35,0.487,6,0.000,0.045,3518,2323,1925,0,0,0,0,0,0,28.83,25.45,24.06
$STATE,9761,end climb,SURFACE_DEPTH_REACHED
$STATE,9761,begin surface coast
$FINISH,1.0,1.024077
$STATE,9834,end surface coast,CONTROL_FINISHED_OK
$STATE,9834,begin surface
$SM_CCo,9855,64.43,0.451,4,0,1570,300.00
$SM_GC,2.14,8.90,0.17,64.43,0.035,0.076,0.451,105,2195,1570,-9.46,1.30,300.00,0,0,0,0,4,0,25.75,25.82,23.98
$IRIDIUM_FIX,4732.49,-12519.22,210413,101052
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.46
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.10
$XPDR_PINGS,3
$24V_AH,23.4,116.944
$10V_AH,9.8,87.051
$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,22.350,87.425,258.150,64.425,0.000,28.753,38.718,192.564,0.750,0.000,18.732,2187.517,5718.092,483.861,1681.786,272.297,0.000,1237.548,0.000,1411.220,0.000,0.536,0.000
$DEVICE_MAMPS,215.730,76.500,845.325,451.350,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,598.880,569.087,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296760
$DATA_FILE_SIZE,46930,874
$CAP_FILE_SIZE,97952,0
$CFSIZE,260165632,187469824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.077, 74.7,1
$GPS,210413,161124,4749.813,-12514.199,91,1.8,92,18.7