version: 66.11
glider: 187
mission: 2
dive: 817
start: 4 17 113 21 46 3
data:
$ID,187
$MISSION,2
$DIVE,817
$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,-1590014
$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,46
$R_STBD_OVSHOOT,24
$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
$GPS1,170413,213924,4749.535,-12515.354,56,1.3,57,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-79.8
$GPS2,170413,214531,4749.502,-12515.306,12,2.0,12,18.7
$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,326.4,194,-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,-36.8,0.0,0.0,0,65,0.00,0.00,-45.83,0.000,2,0.000,0.000,117,2194,2576,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-0.87,-76.1,3.1,-1.9,8,101,11.18,2.20,-12.90,0.000,4,0.217,0.060,2909,799,3107,0,0,0,0,0,0,24.55,25.39,26.19
$GC,186,-0.87,-76.1,33.7,-27.1,29,193,0.00,2.22,0.00,0.000,6,0.000,0.050,2900,2211,3108,0,0,0,0,0,0,28.83,25.27,28.83
$GC,498,-0.87,-76.1,103.1,-18.5,90,505,0.00,2.22,0.00,0.000,4,0.000,0.049,2900,797,3109,0,0,0,0,0,0,28.83,25.21,28.83
$GC,564,-0.87,-76.1,115.8,-18.8,102,571,0.00,2.22,0.00,0.000,6,0.000,0.050,2889,2208,3109,0,0,0,0,0,0,28.83,25.20,28.83
$GC,875,-0.87,-76.1,168.9,-16.3,125,883,0.00,2.28,0.00,0.000,4,0.000,0.048,2890,801,3109,0,0,0,0,0,0,28.83,25.18,28.83
$GC,975,-0.87,-76.1,186.3,-18.2,135,984,0.10,2.25,0.00,0.000,6,0.152,0.049,2908,2198,3110,0,0,0,0,0,0,24.82,25.18,28.83
$GC,1296,-0.87,-76.1,236.5,-15.6,153,1300,0.00,2.33,0.00,0.000,4,0.000,0.060,2899,3604,3110,0,0,0,0,0,0,28.83,24.96,28.83
$GC,1343,-0.87,-76.1,242.7,-15.1,155,1347,0.00,2.25,0.00,0.000,6,0.000,0.041,2899,2204,3110,0,0,0,0,0,0,28.83,25.37,28.83
$GC,1645,-0.87,-76.1,290.8,-15.7,170,1646,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2200,3110,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1947,-0.87,-76.1,337.8,-15.8,185,1951,0.00,2.20,0.00,0.000,4,0.000,0.050,2899,801,3110,0,0,0,0,0,0,28.83,25.10,28.83
$GC,2114,-0.87,-76.1,364.1,-15.3,193,2120,0.00,2.30,0.00,0.000,6,0.000,0.050,2889,2211,3110,0,0,0,0,0,0,28.83,25.09,28.83
$GC,2446,-0.87,-76.1,415.5,-15.6,208,2447,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2211,3110,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2745,-0.87,-76.1,461.9,-15.1,218,2750,0.00,2.30,0.00,0.000,4,0.000,0.050,2889,801,3110,0,0,0,0,0,0,28.83,25.05,28.83
$GC,2834,-0.87,-76.1,475.9,-15.5,221,2841,0.15,2.30,0.00,0.000,6,0.164,0.050,2914,2204,3110,0,0,0,0,0,0,24.70,25.05,28.83
$STATE,2892,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2892,begin apogee
$GC,2901,-0.22,0.0,484.1,-14.7,223,2972,0.65,0.00,67.68,0.838,6,0.132,0.000,3115,2342,2794,0,0,0,0,0,0,24.39,28.83,23.59
$STATE,2973,end apogee,CONTROL_FINISHED_OK
$STATE,2973,begin climb
$GC,2976,0.87,76.1,488.2,0.0,225,3050,1.05,0.00,70.10,0.805,6,0.074,0.000,3476,2342,2483,0,0,0,0,0,0,24.84,28.83,23.36
$GC,3335,0.87,76.1,460.0,9.7,237,3341,0.00,2.30,0.00,0.000,4,0.000,0.063,3477,3722,2475,0,0,0,0,0,0,28.83,25.29,28.83
$GC,3366,0.87,76.1,456.8,10.0,238,3370,0.00,2.25,0.00,0.000,6,0.000,0.047,3488,2325,2475,0,0,0,0,0,0,28.83,25.51,28.83
$GC,3695,0.87,76.1,425.2,9.1,249,3700,0.00,2.30,0.00,0.000,4,0.000,0.052,3499,921,2474,0,0,0,0,0,0,28.83,25.30,28.83
$GC,3743,0.87,76.1,422.6,9.0,250,3747,0.00,2.30,0.00,0.000,6,0.000,0.053,3499,2324,2473,0,0,0,0,0,0,28.83,25.29,28.83
$GC,4046,0.87,76.1,393.1,9.4,261,4050,0.00,2.35,0.00,0.000,4,0.000,0.065,3499,3732,2472,0,0,0,0,0,0,28.83,25.10,28.83
$GC,4284,0.87,76.1,368.8,10.4,273,4291,0.15,2.30,0.00,0.000,6,0.185,0.046,3475,2319,2471,0,0,0,0,0,0,24.91,25.38,28.83
$GC,4607,0.87,76.1,343.0,7.8,289,4611,0.00,2.33,0.00,0.000,4,0.000,0.064,3475,3733,2470,0,0,0,0,0,0,28.83,25.00,28.83
$GC,4622,0.87,76.1,343.0,7.8,289,4627,0.00,2.30,0.00,0.000,6,0.000,0.047,3484,2325,2470,0,0,0,0,0,0,28.83,25.34,28.83
$GC,4925,0.87,76.1,318.0,7.5,304,4926,0.00,0.00,0.00,0.000,6,0.000,0.000,3484,2324,2470,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5226,0.87,76.1,294.5,8.4,319,5227,0.00,0.00,0.00,0.000,6,0.000,0.000,3484,2324,2470,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5526,0.87,76.1,269.9,8.6,334,5530,0.00,2.33,0.00,0.000,4,0.000,0.065,3484,3733,2470,0,0,0,0,0,0,28.83,24.91,28.83
$GC,5724,0.87,76.1,253.0,8.4,344,5731,0.00,2.30,0.00,0.000,6,0.000,0.046,3496,2326,2468,0,0,0,0,0,0,28.83,25.27,28.83
$GC,6047,0.87,76.1,230.1,7.3,360,6051,0.00,2.33,0.00,0.000,4,0.000,0.064,3496,3733,2469,0,0,0,0,0,0,28.83,24.87,28.83
$GC,6283,0.87,76.1,212.8,7.4,371,6288,0.12,2.30,0.00,0.000,6,0.190,0.046,3480,2324,2468,0,0,0,0,0,0,24.85,25.25,28.83
$GC,6591,0.87,82.5,193.3,6.2,388,6600,0.00,2.40,4.43,0.480,4,0.000,0.064,3480,3733,2457,0,0,0,0,0,0,28.83,25.19,24.07
$GC,6729,0.87,82.5,183.0,7.6,402,6739,0.00,2.30,0.00,0.000,6,0.000,0.046,3489,2320,2456,0,0,0,0,0,0,28.83,25.36,28.83
$GC,7041,0.87,82.5,161.4,7.3,423,7042,0.00,0.00,0.00,0.000,6,0.000,0.000,3489,2320,2456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7340,0.87,89.4,142.3,6.1,443,7358,0.00,2.40,8.12,0.565,4,0.000,0.063,3489,3733,2428,0,0,0,0,0,0,28.83,25.20,24.08
$GC,7544,0.87,89.4,125.3,9.8,463,7551,0.00,2.22,0.00,0.000,6,0.000,0.047,3501,2323,2426,0,0,0,0,0,0,28.83,25.38,28.83
$GC,7850,0.88,95.5,100.6,6.2,516,7864,0.00,2.33,6.97,0.526,4,0.000,0.053,3512,914,2404,0,0,0,0,0,0,28.83,25.36,24.10
$GC,8056,0.88,114.2,88.3,4.6,555,8083,0.12,2.25,17.88,0.591,6,0.181,0.052,3484,2327,2327,0,0,0,0,0,0,24.94,25.22,24.08
$GC,8393,0.90,150.4,69.5,2.3,619,8428,0.00,0.00,32.00,0.592,6,0.000,0.000,3484,2327,2179,0,0,0,0,0,0,28.83,28.83,23.97
$GC,8733,0.90,151.3,49.3,6.9,685,8740,0.00,2.30,0.00,0.000,4,0.000,0.064,3483,3735,2174,0,0,0,0,0,0,28.83,25.12,28.83
$GC,8834,0.90,151.3,41.5,8.0,704,8841,0.00,2.22,0.00,0.000,6,0.000,0.046,3493,2322,2174,0,0,0,0,0,0,28.83,25.38,28.83
$GC,9146,0.91,178.2,25.4,3.5,765,9172,0.00,0.00,23.77,0.555,6,0.000,0.000,3493,2321,2067,0,0,0,0,0,0,28.83,28.83,24.10
$GC,9479,0.92,195.0,10.1,4.8,829,9500,0.00,2.30,14.82,0.529,4,0.000,0.053,3504,925,1997,0,0,0,0,0,0,28.83,25.41,24.14
$STATE,9590,end climb,SURFACE_DEPTH_REACHED
$STATE,9592,begin surface coast
$FINISH,2.4,1.024298
$STATE,9613,end surface coast,CONTROL_FINISHED_OK
$STATE,9613,begin surface
$SM_CCo,9636,70.53,0.457,4,0,1570,300.00
$SM_GC,1.95,9.07,2.08,70.53,0.047,0.050,0.457,105,2201,1570,-9.47,-0.82,300.00,0,0,0,0,4,0,25.84,25.37,23.96
$IRIDIUM_FIX,4732.49,-12517.37,170413,191946
$TT8_MAMPS,0.028462,0.028462
$HUMID,48.46
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.10
$XPDR_PINGS,2
$24V_AH,23.4,114.504
$10V_AH,9.9,85.260
$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,22.600,77.750,245.775,70.525,0.000,25.365,39.721,173.526,0.500,0.000,13.290,2151.986,5645.416,473.747,1569.961,260.602,0.000,1181.893,0.000,1330.611,0.000,0.535,0.000
$DEVICE_MAMPS,217.260,82.620,838.440,456.705,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,586.130,553.298,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46913,854
$CAP_FILE_SIZE,94767,0
$CFSIZE,260165632,189157376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.088, 55.6,1
$GPS,180413,003036,4750.461,-12515.218,103,0.9,104,18.7