version: 66.11
glider: 187
mission: 2
dive: 824
start: 4 18 113 18 26 46
data:
$ID,187
$MISSION,2
$DIVE,824
$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,-1590022.8
$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,39
$R_STBD_OVSHOOT,28
$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
$GPS1,180413,181935,4749.158,-12515.335,39,1.6,40,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-78.9
$GPS2,180413,182600,4749.156,-12515.238,18,1.6,24,18.7
$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,300.3,822,-20.8,-7.021,-24.60
$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,16,-0.67,-61.0,0.0,0.0,0,69,0.00,0.00,-50.15,0.000,2,0.000,0.000,130,2200,2676,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.70,-117.4,3.3,-2.4,9,105,11.38,2.25,-13.12,0.000,4,0.218,0.061,2965,787,3276,0,0,0,0,0,0,24.56,25.38,26.20
$GC,261,-0.70,-117.4,44.4,-18.0,44,268,0.00,2.22,0.00,0.000,6,0.000,0.051,2957,2198,3278,0,0,0,0,0,0,28.83,25.23,28.83
$GC,573,-0.70,-117.4,103.2,-16.6,105,578,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2197,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,892,-0.70,-117.4,153.6,-16.0,139,900,0.00,2.22,0.00,0.000,4,0.000,0.050,2957,793,3279,0,0,0,0,0,0,28.83,25.15,28.83
$GC,948,-0.70,-117.4,162.5,-14.7,145,957,0.00,2.30,0.00,0.000,6,0.000,0.050,2946,2205,3279,0,0,0,0,0,0,28.83,25.13,28.83
$GC,1261,-0.70,-117.4,210.8,-15.3,165,1265,0.00,2.30,0.00,0.000,4,0.000,0.060,2936,3616,3279,0,0,0,0,0,0,28.83,24.94,28.83
$GC,1288,-0.70,-117.4,215.5,-15.5,166,1295,0.12,2.30,0.00,0.000,6,0.155,0.041,2966,2191,3280,0,0,0,0,0,0,25.05,25.34,28.83
$GC,1608,-0.70,-117.4,259.2,-13.4,182,1614,0.00,2.28,0.00,0.000,4,0.000,0.050,2966,787,3280,0,0,0,0,0,0,28.83,25.08,28.83
$GC,1649,-0.70,-117.4,264.5,-13.4,184,1654,0.00,2.28,0.00,0.000,6,0.000,0.050,2958,2194,3280,0,0,0,0,0,0,28.83,25.10,28.83
$GC,1970,-0.70,-117.4,309.0,-13.8,200,1974,0.00,2.22,0.00,0.000,4,0.000,0.050,2958,786,3279,0,0,0,0,0,0,28.83,25.08,28.83
$GC,2006,-0.70,-117.4,313.0,-13.6,201,2010,0.00,2.30,0.00,0.000,6,0.000,0.050,2948,2199,3279,0,0,0,0,0,0,28.83,25.08,28.83
$GC,2310,-0.70,-117.4,357.2,-14.5,216,2314,0.00,2.22,0.00,0.000,4,0.000,0.049,2948,791,3279,0,0,0,0,0,0,28.83,25.07,28.83
$GC,2408,-0.70,-117.4,371.6,-14.5,221,2414,0.12,2.30,0.00,0.000,6,0.162,0.050,2967,2199,3279,0,0,0,0,0,0,24.82,25.06,28.83
$GC,2718,-0.70,-117.4,414.2,-13.1,235,2724,0.00,2.33,0.00,0.000,4,0.000,0.061,2959,3602,3279,0,0,0,0,0,0,28.83,24.84,28.83
$GC,2749,-0.70,-117.4,418.2,-13.1,236,2754,0.00,2.25,0.00,0.000,6,0.000,0.042,2959,2192,3279,0,0,0,0,0,0,28.83,25.29,28.83
$GC,3078,-0.70,-117.4,461.0,-12.4,247,3084,0.00,2.28,0.00,0.000,4,0.000,0.050,2959,790,3279,0,0,0,0,0,0,28.83,25.01,28.83
$GC,3126,-0.70,-117.4,464.7,-12.3,248,3130,0.00,2.33,0.00,0.000,6,0.000,0.050,2949,2208,3279,0,0,0,0,0,0,28.83,25.01,28.83
$STATE,3275,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3275,begin apogee
$GC,3284,-0.22,0.0,485.8,-12.6,253,3389,0.52,0.00,102.15,0.837,6,0.119,0.000,3116,2348,2794,0,0,0,0,0,0,24.75,28.83,23.49
$STATE,3390,end apogee,CONTROL_FINISHED_OK
$STATE,3390,begin climb
$GC,3393,0.70,117.4,490.6,0.0,256,3509,0.88,2.38,105.95,0.806,4,0.081,0.051,3426,917,2314,0,0,0,0,0,0,24.72,24.68,23.34
$GC,3547,0.70,128.6,484.8,6.1,261,3568,0.00,2.33,11.35,0.731,6,0.000,0.053,3427,2315,2268,0,0,0,0,0,0,28.83,25.07,23.46
$GC,3868,0.70,128.6,447.4,11.8,272,3874,0.00,2.35,0.00,0.000,4,0.000,0.065,3426,3729,2262,0,0,0,0,0,0,28.83,25.26,28.83
$GC,4036,0.70,128.6,427.7,13.1,277,4040,0.00,2.28,0.00,0.000,6,0.000,0.044,3437,2323,2260,0,0,0,0,0,0,28.83,25.47,28.83
$GC,4340,0.70,128.6,393.3,10.3,288,4344,0.00,2.33,0.00,0.000,4,0.000,0.064,3437,3736,2259,0,0,0,0,0,0,28.83,25.08,28.83
$GC,4506,0.70,128.6,373.6,12.6,296,4510,0.00,2.30,0.00,0.000,6,0.000,0.046,3448,2325,2259,0,0,0,0,0,0,28.83,25.37,28.83
$GC,4811,0.70,128.6,343.7,9.2,311,4815,0.00,2.25,0.00,0.000,4,0.000,0.054,3459,917,2259,0,0,0,0,0,0,28.83,25.12,28.83
$GC,4859,0.70,128.6,338.9,9.3,313,4864,0.15,2.30,0.00,0.000,6,0.164,0.054,3422,2327,2258,0,0,0,0,0,0,24.86,25.13,28.83
$GC,5178,0.70,128.6,307.6,9.9,329,5179,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,2327,2258,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5480,0.70,128.6,278.7,9.6,344,5484,0.00,2.38,0.00,0.000,4,0.000,0.066,3422,3736,2258,0,0,0,0,0,0,28.83,24.89,28.83
$GC,5526,0.70,128.6,274.3,10.3,346,5530,0.00,2.33,0.00,0.000,6,0.000,0.047,3430,2317,2257,0,0,0,0,0,0,28.83,25.27,28.83
$GC,5828,0.70,128.6,242.3,10.2,361,5834,0.00,2.40,0.00,0.000,4,0.000,0.064,3431,3737,2257,0,0,0,0,0,0,28.83,24.87,28.83
$GC,5909,0.70,128.6,233.2,11.5,365,5914,0.00,2.30,0.00,0.000,6,0.000,0.047,3442,2322,2257,0,0,0,0,0,0,28.83,25.25,28.83
$GC,6229,0.70,128.6,199.2,10.2,381,6231,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,2321,2257,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6528,0.70,128.6,169.4,10.0,401,6537,0.00,2.38,0.00,0.000,4,0.000,0.064,3442,3728,2256,0,0,0,0,0,0,28.83,24.82,28.83
$GC,6589,0.70,128.6,162.8,11.3,407,6598,0.10,2.28,0.00,0.000,6,0.146,0.045,3423,2320,2256,0,0,0,0,0,0,24.85,25.25,28.83
$GC,6898,0.70,128.6,134.9,8.3,428,6907,0.00,2.40,0.00,0.000,4,0.000,0.064,3423,3739,2256,0,0,0,0,0,0,28.83,24.80,28.83
$GC,6998,0.70,128.6,125.3,9.1,438,7007,0.00,2.33,0.00,0.000,6,0.000,0.046,3432,2315,2256,0,0,0,0,0,0,28.83,25.21,28.83
$GC,7311,0.70,135.0,102.6,6.5,491,7319,0.00,0.00,4.57,0.451,6,0.000,0.000,3432,2314,2243,0,0,0,0,0,0,28.83,28.83,24.06
$GC,7626,0.70,136.1,80.3,6.9,552,7633,0.00,2.35,0.00,0.000,4,0.000,0.063,3432,3735,2242,0,0,0,0,0,0,28.83,24.88,28.83
$GC,7864,0.71,153.7,62.8,5.6,598,7889,0.00,2.22,17.83,0.571,6,0.000,0.045,3443,2321,2166,0,0,0,0,0,0,28.83,25.24,24.09
$GC,8197,0.72,174.9,46.6,5.3,662,8222,0.00,2.42,19.23,0.563,4,0.000,0.064,3443,3747,2079,0,0,0,0,0,0,28.83,25.24,24.08
$GC,8337,0.72,174.9,36.6,7.6,688,8344,0.00,2.25,0.00,0.000,6,0.000,0.046,3454,2327,2076,0,0,0,0,0,0,28.83,25.46,28.83
$GC,8649,0.73,200.8,19.1,4.9,749,8679,0.00,2.25,22.52,0.549,4,0.000,0.054,3465,920,1974,0,0,0,0,0,0,28.83,25.34,24.10
$GC,8703,0.73,212.8,16.2,6.0,758,8723,0.12,2.22,11.48,0.512,6,0.148,0.052,3433,2330,1925,0,0,0,0,0,0,25.21,25.37,24.00
$STATE,8925,end climb,SURFACE_DEPTH_REACHED
$STATE,8925,begin surface coast
$FINISH,1.2,1.024151
$STATE,9000,end surface coast,CONTROL_FINISHED_OK
$STATE,9000,begin surface
$SM_CCo,9021,56.05,0.451,3,0,1570,300.00
$SM_GC,1.98,8.70,0.20,56.05,0.035,0.073,0.451,105,2193,1570,-9.47,1.10,300.00,0,0,0,0,3,0,25.74,25.86,24.01
$IRIDIUM_FIX,4729.30,-12640.02,180413,151500
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.46
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.10
$XPDR_PINGS,1
$24V_AH,23.3,115.086
$10V_AH,9.7,85.677
$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,22.100,87.775,295.075,56.050,0.000,25.415,35.132,182.789,0.250,0.000,25.085,2078.213,5113.417,507.498,1538.472,260.636,0.000,1208.999,0.000,1279.581,0.000,0.536,0.000
$DEVICE_MAMPS,218.025,83.385,836.910,450.585,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,559.179,528.063,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296744
$DATA_FILE_SIZE,43603,815
$CAP_FILE_SIZE,94302,0
$CFSIZE,260165632,188772352
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.140,120.6,1
$GPS,180413,205954,4749.506,-12515.530,53,1.8,54,18.7