version: 66.11
glider: 187
mission: 2
dive: 851
start: 4 22 113 1 4 23
data:
$ID,187
$MISSION,2
$DIVE,851
$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,-1590056.5
$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,33
$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
$GPS1,220413,004606,4749.606,-12515.710,96,1.4,97,18.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-79.6
$GPS2,220413,010349,4749.451,-12515.672,13,1.4,13,18.7
$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,358.5,593,-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,-36.8,0.0,0.0,0,69,0.00,0.00,-49.58,0.000,2,0.000,0.000,106,2196,2688,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.86,-60.1,3.4,-4.0,9,99,11.27,2.28,-7.50,0.000,4,0.218,0.059,2914,784,3041,0,0,0,0,0,0,24.53,25.40,26.15
$GC,147,-0.86,-60.1,26.5,-26.4,22,154,0.00,2.25,0.00,0.000,6,0.000,0.050,2905,2211,3043,0,0,0,0,0,0,28.83,25.25,28.83
$GC,461,-0.86,-60.1,93.7,-18.3,83,468,0.00,2.25,0.00,0.000,4,0.000,0.047,2905,783,3044,0,0,0,0,0,0,28.83,25.13,28.83
$GC,551,-0.86,-60.1,111.1,-18.5,100,559,0.00,2.25,0.00,0.000,6,0.000,0.049,2894,2209,3044,0,0,0,0,0,0,28.83,25.10,28.83
$GC,875,-0.86,-60.1,165.2,-16.2,127,882,0.00,2.25,0.00,0.000,4,0.000,0.047,2894,784,3044,0,0,0,0,0,0,28.83,25.08,28.83
$GC,1002,-0.86,-60.1,186.0,-15.5,140,1012,0.12,2.30,0.00,0.000,6,0.179,0.048,2911,2200,3044,0,0,0,0,0,0,24.73,25.06,28.83
$GC,1323,-0.86,-60.1,232.5,-14.2,158,1327,0.00,2.28,0.00,0.000,4,0.000,0.047,2911,788,3045,0,0,0,0,0,0,28.83,25.04,28.83
$GC,1382,-0.86,-60.1,241.5,-14.8,161,1387,0.00,2.28,0.00,0.000,6,0.000,0.049,2903,2193,3045,0,0,0,0,0,0,28.83,25.03,28.83
$GC,1704,-0.86,-60.1,288.6,-13.9,177,1705,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2193,3045,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2003,-0.86,-60.1,328.7,-13.8,192,2007,0.00,2.28,0.00,0.000,4,0.000,0.048,2903,787,3044,0,0,0,0,0,0,28.83,24.98,28.83
$GC,2070,-0.86,-60.1,337.3,-14.3,195,2074,0.00,2.33,0.00,0.000,6,0.000,0.049,2892,2207,3044,0,0,0,0,0,0,28.83,24.97,28.83
$GC,2372,-0.86,-60.1,381.9,-14.6,210,2377,0.00,2.35,0.00,0.000,4,0.000,0.060,2881,3611,3044,0,0,0,0,0,0,28.83,24.75,28.83
$GC,2393,-0.86,-60.1,384.8,-14.6,211,2398,0.10,2.28,0.00,0.000,6,0.152,0.043,2909,2194,3044,0,0,0,0,0,0,24.77,25.20,28.83
$GC,2722,-0.86,-60.1,426.9,-12.2,224,2728,0.00,2.28,0.00,0.000,4,0.000,0.049,2909,796,3044,0,0,0,0,0,0,28.83,24.94,28.83
$GC,2800,-0.86,-60.1,434.5,-12.3,226,2804,0.00,2.30,0.00,0.000,6,0.000,0.050,2901,2198,3044,0,0,0,0,0,0,28.83,24.94,28.83
$GC,3103,-0.86,-60.1,476.5,-13.5,236,3107,0.00,2.33,0.00,0.000,4,0.000,0.061,2890,3619,3044,0,0,0,0,0,0,28.83,24.68,28.83
$STATE,3159,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3159,begin apogee
$GC,3168,-0.22,0.0,485.6,-14.4,238,3225,0.75,0.00,53.75,0.851,6,0.140,0.000,3114,2320,2793,0,0,0,0,0,0,24.01,28.83,23.68
$STATE,3226,end apogee,CONTROL_FINISHED_OK
$STATE,3226,begin climb
$GC,3229,0.86,60.1,490.5,0.0,240,3291,1.02,2.38,55.42,0.809,4,0.079,0.051,3479,920,2549,0,0,0,0,0,0,24.78,24.81,23.40
$GC,3311,0.88,113.6,489.9,0.0,242,3368,0.00,2.35,50.10,0.800,6,0.000,0.052,3479,2331,2330,0,0,0,0,0,0,28.83,24.98,23.37
$GC,3682,0.88,113.6,448.3,12.9,255,3687,0.00,2.35,0.00,0.000,4,0.000,0.064,3480,3737,2322,0,0,0,0,0,0,28.83,25.27,28.83
$GC,3841,0.88,113.6,427.2,14.4,260,3847,0.00,2.30,0.00,0.000,6,0.000,0.045,3492,2328,2320,0,0,0,0,0,0,28.83,25.45,28.83
$GC,4162,0.88,113.6,380.9,13.6,273,4167,0.00,2.38,0.00,0.000,4,0.000,0.064,3492,3733,2319,0,0,0,0,0,0,28.83,25.09,28.83
$GC,4230,0.88,113.6,371.8,14.9,276,4234,0.00,2.30,0.00,0.000,6,0.000,0.046,3503,2325,2318,0,0,0,0,0,0,28.83,25.37,28.83
$GC,4533,0.88,113.6,330.7,12.2,291,4537,0.00,2.38,0.00,0.000,4,0.000,0.064,3503,3728,2318,0,0,0,0,0,0,28.83,25.00,28.83
$GC,4620,0.88,113.6,319.7,13.9,295,4625,0.15,2.30,0.00,0.000,6,0.178,0.046,3478,2324,2317,0,0,0,0,0,0,24.87,25.30,28.83
$GC,4922,0.88,113.6,284.6,11.2,310,4927,0.00,2.40,0.00,0.000,4,0.000,0.064,3478,3736,2317,0,0,0,0,0,0,28.83,24.91,28.83
$GC,5083,0.88,113.6,263.9,13.0,318,5088,0.00,2.30,0.00,0.000,6,0.000,0.046,3488,2322,2316,0,0,0,0,0,0,28.83,25.27,28.83
$GC,5404,0.88,113.6,226.8,12.0,334,5408,0.00,2.35,0.00,0.000,4,0.000,0.064,3488,3736,2315,0,0,0,0,0,0,28.83,24.86,28.83
$GC,5521,0.88,113.6,212.4,13.3,339,5530,0.00,2.33,0.00,0.000,6,0.000,0.045,3500,2316,2314,0,0,0,0,0,0,28.83,25.24,28.83
$GC,5842,0.88,113.6,176.1,10.4,359,5851,0.00,2.40,0.00,0.000,4,0.000,0.064,3500,3735,2315,0,0,0,0,0,0,28.83,24.80,28.83
$GC,6072,0.88,113.6,148.6,11.3,382,6081,0.10,2.28,0.00,0.000,6,0.161,0.045,3482,2330,2314,0,0,0,0,0,0,24.76,25.20,28.83
$GC,6384,0.88,113.6,116.9,10.5,405,6391,0.00,2.28,0.00,0.000,4,0.000,0.053,3491,915,2314,0,0,0,0,0,0,28.83,24.96,28.83
$GC,6444,0.88,113.6,110.0,10.6,416,6451,0.00,2.25,0.00,0.000,6,0.000,0.054,3491,2324,2314,0,0,0,0,0,0,28.83,24.95,28.83
$GC,6758,0.88,113.6,83.3,7.6,477,6766,0.00,2.35,0.00,0.000,4,0.000,0.064,3491,3738,2313,0,0,0,0,0,0,28.83,24.75,28.83
$GC,6951,0.88,113.6,67.5,7.9,514,6958,0.00,2.25,0.00,0.000,6,0.000,0.046,3502,2318,2313,0,0,0,0,0,0,28.83,25.17,28.83
$GC,7265,0.90,155.6,54.7,1.5,575,7308,0.00,2.35,34.58,0.585,4,0.000,0.062,3502,3737,2158,0,0,0,0,0,0,28.83,25.12,24.02
$GC,7519,0.90,155.6,37.7,9.6,623,7525,0.00,2.25,0.00,0.000,6,0.000,0.045,3514,2314,2153,0,0,0,0,0,0,28.83,25.37,28.83
$GC,7832,0.92,203.5,17.4,0.7,684,7880,0.00,2.22,40.53,0.560,4,0.000,0.050,3525,920,1962,0,0,0,0,0,0,28.83,25.25,24.03
$GC,7934,0.93,224.2,14.6,4.3,702,7961,0.12,2.22,18.23,0.532,6,0.160,0.052,3494,2326,1878,0,0,0,0,0,0,25.10,25.30,23.96
$STATE,8134,end climb,SURFACE_DEPTH_REACHED
$STATE,8134,begin surface coast
$FINISH,1.0,1.011617
$STATE,8196,end surface coast,CONTROL_FINISHED_OK
$STATE,8196,begin surface
$SM_CCo,8216,49.00,0.454,2,0,1570,300.00
$SM_GC,2.94,8.73,0.20,49.00,0.028,0.073,0.454,106,2188,1570,-9.47,1.07,300.00,0,0,0,0,2,0,25.74,25.79,24.04
$IRIDIUM_FIX,4732.49,-12517.37,220413,000018
$TT8_MAMPS,0.027713,0.027713
$HUMID,49.17
$INTERNAL_PRESSURE,9.11829
$TCM_TEMP,19.00
$XPDR_PINGS,1
$24V_AH,23.4,117.283
$10V_AH,9.8,87.284
$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,22.375,87.500,252.600,49.000,0.000,136.395,340.720,179.564,0.250,0.000,14.338,1889.250,4887.920,451.530,1870.668,247.055,0.000,1102.059,0.000,1185.310,0.000,0.535,0.000
$DEVICE_MAMPS,218.025,73.440,850.680,453.645,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,515.513,493.737,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,40123,752
$CAP_FILE_SIZE,90098,0
$CFSIZE,260165632,187256832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.065, 95.9,1
$GPS,220413,032406,4750.208,-12515.133,66,1.7,67,18.7