version: 66.11
glider: 187
mission: 2
dive: 840
start: 4 20 113 17 19 44
data:
$ID,187
$MISSION,2
$DIVE,840
$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,-1590042.8
$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,33
$R_STBD_OVSHOOT,26
$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
$GPS1,200413,171152,4749.482,-12515.028,44,4.3,64,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-77.3
$GPS2,200413,171855,4749.484,-12514.980,18,1.9,18,18.7
$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,242.5,398,-25.8,-7.021,-29.04
$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,-0.82,-39.9,0.0,0.0,0,58,0.00,0.00,-39.45,0.000,2,0.000,0.000,106,2201,2439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-0.83,-70.4,3.1,-3.3,7,99,11.23,2.35,-16.33,0.000,4,0.216,0.073,2910,3603,3084,0,0,0,0,0,0,24.58,25.28,26.19
$GC,112,-0.83,-70.4,13.9,-23.6,15,119,0.00,2.20,0.00,0.000,6,0.000,0.043,2910,2193,3085,0,0,0,0,0,0,28.83,25.46,28.83
$GC,425,-0.83,-70.4,84.1,-18.9,76,432,0.00,2.33,0.00,0.000,4,0.000,0.060,2899,3610,3087,0,0,0,0,0,0,28.83,25.00,28.83
$GC,486,-0.83,-70.4,95.8,-19.5,87,493,0.00,2.20,0.00,0.000,6,0.000,0.042,2899,2198,3087,0,0,0,0,0,0,28.83,25.35,28.83
$GC,796,-0.83,-70.4,153.3,-18.2,124,804,0.00,2.25,0.00,0.000,4,0.000,0.048,2898,801,3087,0,0,0,0,0,0,28.83,25.10,28.83
$GC,927,-0.83,-70.4,176.8,-17.6,137,936,0.10,2.25,0.00,0.000,6,0.160,0.049,2917,2199,3087,0,0,0,0,0,0,24.71,25.11,28.83
$GC,1246,-0.83,-70.4,225.9,-14.7,156,1247,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2199,3088,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1546,-0.83,-70.4,269.8,-14.9,171,1551,0.00,2.28,0.00,0.000,4,0.000,0.048,2917,800,3088,0,0,0,0,0,0,28.83,25.06,28.83
$GC,1627,-0.83,-70.4,281.3,-14.3,175,1631,0.00,2.25,0.00,0.000,6,0.000,0.050,2908,2194,3088,0,0,0,0,0,0,28.83,25.04,28.83
$GC,1946,-0.83,-70.4,328.7,-14.5,191,1952,0.00,2.28,0.00,0.000,4,0.000,0.048,2908,794,3088,0,0,0,0,0,0,28.83,25.03,28.83
$GC,2034,-0.83,-70.4,340.9,-15.2,195,2038,0.00,2.30,0.00,0.000,6,0.000,0.050,2898,2200,3088,0,0,0,0,0,0,28.83,25.01,28.83
$GC,2337,-0.83,-70.4,387.2,-14.4,210,2339,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2200,3088,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2646,-0.83,-70.4,436.4,-16.8,222,2651,0.00,2.28,0.00,0.000,4,0.000,0.048,2898,797,3088,0,0,0,0,0,0,28.83,25.01,28.83
$GC,2684,-0.83,-70.4,441.5,-16.4,223,2688,0.15,2.30,0.00,0.000,6,0.168,0.049,2923,2203,3088,0,0,0,0,0,0,24.61,24.98,28.83
$STATE,2964,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2964,begin apogee
$GC,2972,-0.22,0.0,482.4,-14.2,233,3039,0.62,0.00,62.85,0.841,6,0.133,0.000,3115,2345,2794,0,0,0,0,0,0,24.33,28.83,23.61
$STATE,3039,end apogee,CONTROL_FINISHED_OK
$STATE,3040,begin climb
$GC,3042,0.83,70.4,486.8,0.0,235,3114,1.00,2.35,64.97,0.806,4,0.078,0.051,3473,925,2505,0,0,0,0,0,0,24.79,24.79,23.38
$GC,3128,0.85,112.4,486.0,1.9,239,3173,0.00,2.30,39.47,0.788,6,0.000,0.053,3472,2308,2334,0,0,0,0,0,0,28.83,24.94,23.34
$GC,3487,0.85,112.4,453.7,9.6,251,3492,0.00,2.38,0.00,0.000,4,0.000,0.064,3473,3734,2325,0,0,0,0,0,0,28.83,25.28,28.83
$GC,3728,0.85,112.4,420.5,14.5,259,3732,0.00,2.28,0.00,0.000,6,0.000,0.046,3484,2327,2324,0,0,0,0,0,0,28.83,25.45,28.83
$GC,4047,0.85,112.4,379.4,13.1,272,4052,0.00,2.38,0.00,0.000,4,0.000,0.063,3484,3735,2323,0,0,0,0,0,0,28.83,25.08,28.83
$GC,4286,0.85,112.4,345.0,14.5,284,4292,0.00,2.30,0.00,0.000,6,0.000,0.045,3496,2327,2322,0,0,0,0,0,0,28.83,25.35,28.83
$GC,4608,0.85,112.4,306.4,11.7,300,4609,0.00,0.00,0.00,0.000,6,0.000,0.000,3496,2324,2322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4907,0.85,112.4,271.8,11.6,315,4908,0.00,0.00,0.00,0.000,6,0.000,0.000,3496,2323,2322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5207,0.85,112.4,240.3,10.2,330,5212,0.00,2.38,0.00,0.000,4,0.000,0.063,3496,3730,2321,0,0,0,0,0,0,28.83,24.89,28.83
$GC,5256,0.85,112.4,235.8,10.7,332,5266,0.15,2.30,0.00,0.000,6,0.175,0.047,3472,2323,2320,0,0,0,0,0,0,24.80,25.25,28.83
$GC,5567,0.85,112.4,206.4,8.6,348,5572,0.00,2.40,0.00,0.000,4,0.000,0.064,3471,3734,2320,0,0,0,0,0,0,28.83,24.84,28.83
$GC,5646,0.85,112.4,198.4,10.1,352,5656,0.00,2.30,0.00,0.000,6,0.000,0.046,3481,2323,2320,0,0,0,0,0,0,28.83,25.24,28.83
$GC,5958,0.85,112.4,170.2,9.0,373,5966,0.00,2.40,0.00,0.000,4,0.000,0.064,3480,3737,2320,0,0,0,0,0,0,28.83,24.82,28.83
$GC,6066,0.85,112.4,158.2,11.7,384,6075,0.00,2.30,0.00,0.000,6,0.000,0.046,3492,2324,2320,0,0,0,0,0,0,28.83,25.22,28.83
$GC,6378,0.85,112.4,128.6,9.4,405,6386,0.00,2.28,0.00,0.000,4,0.000,0.053,3504,901,2320,0,0,0,0,0,0,28.83,24.98,28.83
$GC,6436,0.85,112.4,122.8,9.8,411,6446,0.15,2.35,0.00,0.000,6,0.168,0.053,3461,2329,2319,0,0,0,0,0,0,24.58,24.97,28.83
$GC,6750,0.85,116.5,99.8,6.5,468,6757,0.00,2.33,0.00,0.000,4,0.000,0.065,3461,3738,2319,0,0,0,0,0,0,28.83,24.77,28.83
$GC,6840,0.85,116.5,92.9,8.0,485,6847,0.00,2.28,0.00,0.000,6,0.000,0.046,3470,2316,2319,0,0,0,0,0,0,28.83,25.20,28.83
$GC,7153,0.86,136.2,74.4,4.6,546,7178,0.00,2.42,19.42,0.581,4,0.000,0.063,3470,3735,2237,0,0,0,0,0,0,28.83,25.12,24.09
$GC,7409,0.86,147.6,58.4,5.6,595,7428,0.00,2.22,10.55,0.539,6,0.000,0.045,3481,2321,2191,0,0,0,0,0,0,28.83,25.37,24.08
$GC,7738,0.87,150.6,37.5,6.7,658,7751,0.00,2.38,4.07,0.402,4,0.000,0.063,3482,3731,2179,0,0,0,0,0,0,28.83,25.29,24.15
$GC,7956,0.87,156.1,21.9,6.4,700,7970,0.00,2.22,6.40,0.471,6,0.000,0.045,3493,2317,2156,0,0,0,0,0,0,28.83,25.34,24.15
$GC,8280,0.89,206.1,12.9,0.9,762,8330,0.00,0.00,42.90,0.555,6,0.000,0.000,3493,2317,1952,0,0,0,0,0,0,28.83,28.83,24.03
$STATE,8496,end climb,SURFACE_DEPTH_REACHED
$STATE,8496,begin surface coast
$FINISH,1.0,1.023976
$STATE,8573,end surface coast,CONTROL_FINISHED_OK
$STATE,8573,begin surface
$SM_CCo,8594,66.35,0.454,4,0,1570,300.00
$SM_GC,2.91,8.68,0.17,66.35,0.026,0.076,0.454,107,2190,1570,-9.46,1.13,300.00,0,0,0,0,4,0,25.75,25.84,23.96
$IRIDIUM_FIX,4735.69,-12437.45,200413,141456
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.81
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.10
$XPDR_PINGS,1
$24V_AH,23.3,116.402
$10V_AH,9.9,86.632
$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,22.075,74.150,250.650,66.350,0.000,25.856,47.102,210.808,0.250,0.000,18.843,2056.943,4781.486,480.943,1559.855,246.711,0.000,1161.786,0.000,1267.309,0.000,0.535,0.000
$DEVICE_MAMPS,216.495,80.325,840.735,454.410,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,560.453,536.370,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43616,818
$CAP_FILE_SIZE,89749,0
$CFSIZE,260165632,187879424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.112, 88.3,1
$GPS,200413,194613,4749.214,-12515.363,46,2.5,66,18.7