version: 66.11
glider: 187
mission: 2
dive: 834
start: 4 19 113 23 36 57
data:
$ID,187
$MISSION,2
$DIVE,834
$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,-1590035.2
$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,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
$GPS1,190413,232953,4749.521,-12515.685,32,1.0,50,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-76.0
$GPS2,190413,233625,4749.446,-12515.617,16,1.4,16,18.7
$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,354.3,539,-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,-36.8,0.0,0.0,0,71,0.00,0.00,-51.62,0.000,2,0.000,0.000,107,2195,2541,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.86,-62.2,3.4,-3.7,9,106,11.15,2.28,-11.70,0.000,4,0.214,0.060,2908,784,3050,0,0,0,0,0,0,24.52,25.37,26.18
$GC,213,-0.86,-62.2,39.4,-25.3,34,220,0.00,2.25,0.00,0.000,6,0.000,0.051,2899,2206,3052,0,0,0,0,0,0,28.83,25.19,28.83
$GC,526,-0.86,-62.2,106.0,-19.3,95,532,0.00,2.25,0.00,0.000,4,0.000,0.048,2900,784,3054,0,0,0,0,0,0,28.83,25.15,28.83
$GC,680,-0.86,-62.2,131.3,-15.9,118,689,0.00,2.30,0.00,0.000,6,0.000,0.049,2889,2201,3053,0,0,0,0,0,0,28.83,25.14,28.83
$GC,990,-0.86,-62.2,179.8,-15.1,139,992,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2201,3053,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1307,-0.86,-62.2,229.0,-15.6,157,1311,0.00,2.28,0.00,0.000,4,0.000,0.048,2888,794,3053,0,0,0,0,0,0,28.83,25.10,28.83
$GC,1375,-0.86,-62.2,238.5,-15.8,160,1385,0.15,2.30,0.00,0.000,6,0.167,0.049,2913,2207,3054,0,0,0,0,0,0,24.71,25.08,28.83
$GC,1687,-0.86,-62.2,284.2,-14.6,176,1691,0.00,2.30,0.00,0.000,4,0.000,0.048,2913,786,3053,0,0,0,0,0,0,28.83,25.08,28.83
$GC,1847,-0.86,-62.2,307.9,-14.5,184,1851,0.00,2.30,0.00,0.000,6,0.000,0.050,2905,2205,3054,0,0,0,0,0,0,28.83,25.06,28.83
$GC,2165,-0.86,-62.2,356.0,-15.3,200,2171,0.00,2.33,0.00,0.000,4,0.000,0.060,2894,3603,3053,0,0,0,0,0,0,28.83,24.84,28.83
$GC,2286,-0.86,-62.2,376.0,-16.9,206,2291,0.00,2.25,0.00,0.000,6,0.000,0.042,2894,2196,3053,0,0,0,0,0,0,28.83,25.28,28.83
$GC,2615,-0.86,-62.2,424.0,-14.0,220,2621,0.00,2.28,0.00,0.000,4,0.000,0.049,2894,791,3053,0,0,0,0,0,0,28.83,25.02,28.83
$GC,2675,-0.86,-62.2,432.5,-14.0,222,2682,0.12,2.30,0.00,0.000,6,0.177,0.050,2911,2199,3053,0,0,0,0,0,0,24.70,25.01,28.83
$GC,3007,-0.86,-62.2,475.8,-13.4,233,3011,0.00,2.35,0.00,0.000,4,0.000,0.061,2902,3606,3053,0,0,0,0,0,0,28.83,24.79,28.83
$STATE,3063,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3063,begin apogee
$GC,3072,-0.22,0.0,484.8,-14.7,235,3132,0.73,0.00,56.38,0.842,6,0.140,0.000,3119,2316,2793,0,0,0,0,0,0,24.15,28.83,23.67
$STATE,3133,end apogee,CONTROL_FINISHED_OK
$STATE,3133,begin climb
$GC,3136,0.86,62.2,489.4,0.0,237,3202,1.02,2.35,57.28,0.802,4,0.075,0.050,3483,927,2539,0,0,0,0,0,0,24.86,24.82,23.39
$GC,3255,0.87,84.4,486.5,4.1,241,3282,0.00,2.30,21.55,0.782,6,0.000,0.052,3483,2325,2449,0,0,0,0,0,0,28.83,25.20,23.57
$GC,3606,0.87,84.4,455.0,10.3,253,3611,0.00,2.35,0.00,0.000,4,0.000,0.063,3483,3735,2442,0,0,0,0,0,0,28.83,25.25,28.83
$GC,3825,0.87,84.4,430.9,11.4,260,3831,0.00,2.30,0.00,0.000,6,0.000,0.045,3494,2321,2440,0,0,0,0,0,0,28.83,25.44,28.83
$GC,4145,0.87,84.4,397.2,10.1,271,4151,0.00,2.38,0.00,0.000,4,0.000,0.063,3495,3732,2440,0,0,0,0,0,0,28.83,25.07,28.83
$GC,4315,0.87,84.4,378.1,12.2,279,4324,0.00,2.30,0.00,0.000,6,0.000,0.045,3506,2321,2438,0,0,0,0,0,0,28.83,25.35,28.83
$GC,4627,0.87,84.4,347.7,8.6,295,4628,0.00,0.00,0.00,0.000,6,0.000,0.000,3506,2321,2439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4927,0.87,84.4,320.6,9.0,310,4931,0.00,2.35,0.00,0.000,4,0.000,0.063,3506,3738,2438,0,0,0,0,0,0,28.83,24.92,28.83
$GC,5167,0.87,84.4,294.8,11.1,322,5172,0.12,2.28,0.00,0.000,6,0.161,0.046,3481,2334,2437,0,0,0,0,0,0,24.74,25.27,28.83
$GC,5485,0.87,84.4,265.5,9.3,338,5491,0.00,2.38,0.00,0.000,4,0.000,0.063,3481,3732,2437,0,0,0,0,0,0,28.83,24.87,28.83
$GC,5513,0.87,84.4,263.4,9.4,339,5518,0.00,2.33,0.00,0.000,6,0.000,0.046,3490,2311,2436,0,0,0,0,0,0,28.83,25.24,28.83
$GC,5817,0.87,84.4,235.1,9.0,354,5821,0.00,2.28,0.00,0.000,4,0.000,0.053,3501,921,2437,0,0,0,0,0,0,28.83,25.02,28.83
$GC,5883,0.87,84.4,229.9,8.6,357,5888,0.00,2.33,0.00,0.000,6,0.000,0.053,3501,2333,2437,0,0,0,0,0,0,28.83,25.01,28.83
$GC,6185,0.87,84.4,205.7,7.5,372,6191,0.00,2.35,0.00,0.000,4,0.000,0.063,3501,3732,2436,0,0,0,0,0,0,28.83,24.82,28.83
$GC,6427,0.87,84.4,183.3,8.9,392,6436,0.10,2.28,0.00,0.000,6,0.168,0.045,3483,2327,2435,0,0,0,0,0,0,24.74,25.22,28.83
$GC,6736,0.87,84.4,160.0,7.3,413,6744,0.00,2.38,0.00,0.000,4,0.000,0.063,3483,3731,2435,0,0,0,0,0,0,28.83,24.78,28.83
$GC,6977,0.87,84.4,138.4,8.8,437,6984,0.00,2.25,0.00,0.000,6,0.000,0.046,3492,2316,2435,0,0,0,0,0,0,28.83,25.20,28.83
$GC,7289,0.87,88.4,116.9,6.5,464,7296,0.00,2.35,0.00,0.000,4,0.000,0.063,3492,3735,2435,0,0,0,0,0,0,28.83,24.75,28.83
$GC,7529,0.87,88.7,100.8,7.0,510,7535,0.00,2.25,0.00,0.000,6,0.000,0.046,3504,2313,2435,0,0,0,0,0,0,28.83,25.18,28.83
$GC,7843,0.88,111.5,84.6,4.0,571,7874,0.00,2.35,22.80,0.592,4,0.000,0.064,3504,3733,2338,0,0,0,0,0,0,28.83,25.09,24.05
$GC,8108,0.88,114.3,67.6,6.7,621,8115,0.15,2.22,0.00,0.000,6,0.177,0.045,3479,2318,2335,0,0,0,0,0,0,24.94,25.37,28.83
$GC,8421,0.90,143.9,54.2,3.1,682,8457,0.00,2.25,28.80,0.579,4,0.000,0.052,3487,920,2206,0,0,0,0,0,0,28.83,25.27,24.04
$GC,8691,0.90,146.5,40.5,6.7,733,8697,0.00,2.22,0.00,0.000,6,0.000,0.052,3487,2326,2202,0,0,0,0,0,0,28.83,25.25,28.83
$GC,9005,0.91,183.1,27.2,2.2,794,9047,0.00,2.33,33.83,0.560,4,0.000,0.063,3488,3745,2045,0,0,0,0,0,0,28.83,25.24,24.05
$GC,9055,0.92,201.4,25.3,4.6,802,9081,0.00,2.25,16.77,0.530,6,0.000,0.045,3499,2314,1970,0,0,0,0,0,0,28.83,25.44,23.91
$GC,9388,0.92,211.8,5.3,5.7,866,9407,0.00,2.38,8.95,0.487,4,0.000,0.061,3499,3735,1929,0,0,0,0,0,0,28.83,25.37,24.14
$STATE,9412,end climb,SURFACE_DEPTH_REACHED
$STATE,9412,begin surface coast
$FINISH,1.1,1.023999
$STATE,9444,end surface coast,CONTROL_FINISHED_OK
$STATE,9444,begin surface
$SM_CCo,9468,61.10,0.444,4,0,1570,300.00
$SM_GC,2.48,8.70,2.50,61.10,0.028,0.047,0.444,106,2206,1570,-9.47,1.02,300.00,0,0,0,0,4,0,25.82,25.46,24.00
$IRIDIUM_FIX,4729.30,-12512.90,190413,202054
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.74
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.00
$XPDR_PINGS,2
$24V_AH,23.4,115.893
$10V_AH,9.7,86.270
$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,22.250,92.075,246.350,61.100,0.000,26.164,38.918,189.571,0.500,0.000,17.790,2192.046,5355.019,483.051,1649.956,267.266,0.000,1226.627,0.000,1390.490,0.000,0.536,0.000
$DEVICE_MAMPS,214.200,64.260,841.500,444.465,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,599.990,578.422,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46860,876
$CAP_FILE_SIZE,96760,0
$CFSIZE,260165632,188211200
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.075, 75.0,1
$GPS,200413,021854,4750.207,-12515.153,126,1.1,127,18.7