version: 66.11
glider: 187
mission: 2
dive: 832
start: 4 19 113 17 43 10
data:
$ID,187
$MISSION,2
$DIVE,832
$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,-1590032.8
$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,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
$GPS1,190413,173606,4749.609,-12515.007,32,1.2,32,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-77.8
$GPS2,190413,174236,4749.597,-12514.985,14,1.5,19,18.7
$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,242.3,329,-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,-36.8,0.0,0.0,0,80,0.00,0.00,-61.08,0.000,2,0.000,0.000,107,2196,2685,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.86,-55.7,3.5,-4.6,11,110,11.23,2.33,-7.12,0.000,4,0.217,0.072,2899,3613,3024,0,0,0,0,0,0,24.51,25.29,26.17
$GC,276,-0.86,-55.7,55.4,-21.9,47,282,0.00,2.22,0.00,0.000,6,0.000,0.041,2899,2195,3027,0,0,0,0,0,0,28.83,25.40,28.83
$GC,590,-0.86,-55.7,113.5,-17.0,108,595,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2188,3028,0,0,0,0,0,0,28.83,28.83,28.83
$GC,904,-0.86,-55.7,163.3,-15.7,134,912,0.00,2.22,0.00,0.000,4,0.000,0.048,2899,802,3028,0,0,0,0,0,0,28.83,25.13,28.83
$GC,1083,-0.86,-55.7,193.0,-16.6,152,1092,0.00,2.28,0.00,0.000,6,0.000,0.049,2889,2201,3028,0,0,0,0,0,0,28.83,25.11,28.83
$GC,1400,-0.86,-55.7,243.5,-16.0,169,1404,0.00,2.25,0.00,0.000,4,0.000,0.047,2889,802,3028,0,0,0,0,0,0,28.83,25.10,28.83
$GC,1438,-0.86,-55.7,249.7,-15.7,171,1445,0.15,2.28,0.00,0.000,6,0.171,0.048,2914,2202,3028,0,0,0,0,0,0,24.71,25.10,28.83
$GC,1760,-0.86,-55.7,294.6,-14.0,187,1761,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2201,3028,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2059,-0.86,-55.7,334.5,-12.9,202,2060,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,2201,3028,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2360,-0.86,-55.7,374.8,-13.6,217,2364,0.00,2.30,0.00,0.000,4,0.000,0.060,2905,3610,3028,0,0,0,0,0,0,28.83,24.83,28.83
$GC,2439,-0.86,-55.7,386.0,-14.1,221,2444,0.00,2.25,0.00,0.000,6,0.000,0.042,2905,2207,3028,0,0,0,0,0,0,28.83,25.27,28.83
$GC,2769,-0.86,-55.7,431.0,-13.5,234,2774,0.00,2.28,0.00,0.000,4,0.000,0.049,2905,794,3027,0,0,0,0,0,0,28.83,25.03,28.83
$GC,2860,-0.86,-55.7,443.6,-13.9,237,2864,0.00,2.28,0.00,0.000,6,0.000,0.050,2894,2194,3027,0,0,0,0,0,0,28.83,25.01,28.83
$STATE,3126,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3126,begin apogee
$GC,3135,-0.22,0.0,482.3,-14.1,246,3189,0.75,0.00,50.62,0.842,6,0.137,0.000,3119,2337,2794,0,0,0,0,0,0,24.17,28.83,23.67
$STATE,3190,end apogee,CONTROL_FINISHED_OK
$STATE,3190,begin climb
$GC,3193,0.86,55.7,486.1,0.0,248,3248,1.00,0.00,51.70,0.802,6,0.077,0.000,3466,2337,2567,0,0,0,0,0,0,24.84,28.83,23.42
$GC,3539,0.86,58.6,466.6,6.6,260,3544,0.00,2.30,0.00,0.000,4,0.000,0.063,3467,3720,2560,0,0,0,0,0,0,28.83,25.31,28.83
$GC,3609,0.86,58.6,461.9,7.2,262,3614,0.00,2.25,0.00,0.000,6,0.000,0.045,3478,2326,2559,0,0,0,0,0,0,28.83,25.51,28.83
$GC,3929,0.87,67.2,441.2,5.9,273,3945,0.00,2.35,10.20,0.730,4,0.000,0.063,3478,3720,2519,0,0,0,0,0,0,28.83,25.39,24.00
$GC,3967,0.87,75.5,439.3,5.9,274,3981,0.00,2.28,9.27,0.714,6,0.000,0.046,3490,2319,2486,0,0,0,0,0,0,28.83,25.58,23.91
$GC,4280,0.87,75.5,412.4,8.7,284,4284,0.00,2.35,0.00,0.000,4,0.000,0.063,3490,3721,2483,0,0,0,0,0,0,28.83,25.18,28.83
$GC,4520,0.87,75.5,389.5,9.5,294,4524,0.00,2.22,0.00,0.000,6,0.000,0.046,3501,2319,2482,0,0,0,0,0,0,28.83,25.39,28.83
$GC,4840,0.87,75.5,363.2,7.9,310,4844,0.00,2.30,0.00,0.000,4,0.000,0.063,3501,3720,2482,0,0,0,0,0,0,28.83,24.98,28.83
$GC,4878,0.87,75.5,359.7,8.3,312,4885,0.15,2.28,0.00,0.000,6,0.184,0.046,3477,2325,2481,0,0,0,0,0,0,24.87,25.34,28.83
$GC,5199,0.87,80.8,337.6,6.3,328,5209,0.00,2.38,5.62,0.597,4,0.000,0.063,3477,3722,2464,0,0,0,0,0,0,28.83,25.32,24.07
$GC,5441,0.87,80.8,318.3,8.4,339,5448,0.00,2.22,0.00,0.000,6,0.000,0.046,3486,2316,2463,0,0,0,0,0,0,28.83,25.37,28.83
$GC,5748,0.87,80.8,295.3,7.3,355,5754,0.00,2.38,0.00,0.000,4,0.000,0.063,3486,3731,2462,0,0,0,0,0,0,28.83,24.91,28.83
$GC,5989,0.87,80.8,271.6,9.7,367,5994,0.00,2.28,0.00,0.000,6,0.000,0.047,3498,2329,2462,0,0,0,0,0,0,28.83,25.25,28.83
$GC,6308,0.87,80.8,245.3,7.7,383,6314,0.00,2.38,0.00,0.000,4,0.000,0.063,3498,3734,2462,0,0,0,0,0,0,28.83,24.82,28.83
$GC,6549,0.87,80.8,225.6,8.1,395,6555,0.10,2.30,0.00,0.000,6,0.165,0.045,3481,2318,2461,0,0,0,0,0,0,24.75,25.21,28.83
$GC,6869,0.87,84.8,205.0,6.5,411,6878,0.00,2.40,4.82,0.506,4,0.000,0.063,3481,3725,2448,0,0,0,0,0,0,28.83,25.15,24.07
$GC,7112,0.87,84.8,186.5,7.9,430,7119,0.00,2.22,0.00,0.000,6,0.000,0.046,3490,2317,2447,0,0,0,0,0,0,28.83,25.27,28.83
$GC,7418,0.87,84.8,163.4,7.9,451,7427,0.00,2.38,0.00,0.000,4,0.000,0.063,3490,3727,2447,0,0,0,0,0,0,28.83,24.80,28.83
$GC,7660,0.87,84.8,143.2,7.1,475,7667,0.00,2.28,0.00,0.000,6,0.000,0.045,3502,2325,2447,0,0,0,0,0,0,28.83,25.20,28.83
$GC,7969,0.88,102.1,125.8,4.7,496,7991,0.00,2.38,17.38,0.610,4,0.000,0.063,3501,3720,2376,0,0,0,0,0,0,28.83,25.13,24.10
$GC,8217,0.88,102.1,104.8,9.2,536,8224,0.15,2.25,0.00,0.000,6,0.178,0.045,3477,2314,2373,0,0,0,0,0,0,24.92,25.37,28.83
$GC,8533,0.89,126.5,88.5,3.8,597,8564,0.00,2.33,22.38,0.595,4,0.000,0.064,3477,3722,2277,0,0,0,0,0,0,28.83,25.22,24.08
$GC,8637,0.89,127.5,82.5,6.9,616,8644,0.00,2.20,0.00,0.000,6,0.000,0.046,3485,2324,2275,0,0,0,0,0,0,28.83,25.46,28.83
$GC,8953,0.89,131.7,63.4,6.5,677,8967,0.00,2.28,5.78,0.477,4,0.000,0.053,3497,902,2257,0,0,0,0,0,0,28.83,25.39,24.12
$GC,9199,0.90,149.4,49.2,4.7,724,9224,0.00,2.22,16.80,0.558,6,0.000,0.051,3497,2314,2183,0,0,0,0,0,0,28.83,25.19,24.13
$GC,9532,0.90,152.8,29.6,6.6,788,9539,0.00,2.20,0.00,0.000,4,0.000,0.051,3508,925,2179,0,0,0,0,0,0,28.83,25.19,28.83
$GC,9691,0.91,190.0,22.6,2.2,818,9733,0.00,2.22,34.80,0.560,6,0.000,0.051,3508,2332,2019,0,0,0,0,0,0,28.83,25.15,24.06
$GC,10042,0.93,222.2,9.0,2.8,885,10075,0.00,2.38,27.35,0.542,4,0.000,0.063,3508,3739,1886,0,0,0,0,0,0,28.83,25.29,24.09
$STATE,10126,end climb,SURFACE_DEPTH_REACHED
$STATE,10126,begin surface coast
$FINISH,1.2,1.012589
$STATE,10168,end surface coast,CONTROL_FINISHED_OK
$STATE,10168,begin surface
$SM_CCo,10192,50.60,0.438,3,0,1570,300.00
$SM_GC,2.67,8.77,2.50,50.60,0.030,0.043,0.438,106,2197,1570,-9.47,0.96,300.00,0,0,0,0,3,0,25.76,25.46,24.02
$IRIDIUM_FIX,4735.69,-12516.60,190413,141402
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.50
$INTERNAL_PRESSURE,9.11829
$TCM_TEMP,19.10
$XPDR_PINGS,2
$24V_AH,23.4,115.721
$10V_AH,9.8,86.152
$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,22.300,87.350,256.725,50.600,0.000,27.720,34.616,187.652,0.500,0.000,20.475,2273.021,5940.475,468.563,1691.491,280.523,0.000,1230.497,0.000,1433.572,0.000,0.536,0.000
$DEVICE_MAMPS,217.260,81.855,841.500,437.580,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,622.600,591.274,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296764
$DATA_FILE_SIZE,50186,908
$CAP_FILE_SIZE,100102,0
$CFSIZE,260165632,188317696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.114,100.3,1
$GPS,190413,203654,4749.154,-12514.802,124,1.1,125,18.7