version: 66.11
glider: 187
mission: 2
dive: 852
start: 4 22 113 3 30 41
data:
$ID,187
$MISSION,2
$DIVE,852
$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,-1590057.8
$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
$GPS1,220413,032406,4750.208,-12515.133,66,1.7,67,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-78.5
$GPS2,220413,033007,4750.191,-12515.105,15,1.7,15,18.7
$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,203.2,1109,-26.8,-7.021,-30.00
$D_GRID,462
$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,-0.85,-36.8,0.0,0.0,0,63,0.00,0.00,-44.38,0.000,2,0.000,0.000,106,2187,2552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,66,-0.87,-71.5,3.1,-2.5,8,98,11.15,2.33,-12.68,0.000,4,0.216,0.069,2902,3620,3089,0,0,0,0,0,0,24.59,25.29,26.17
$GC,214,-0.87,-71.5,41.2,-24.5,35,220,0.00,2.20,0.00,0.000,6,0.000,0.040,2902,2201,3090,0,0,0,0,0,0,28.83,25.40,28.83
$GC,526,-0.87,-71.5,105.9,-16.8,96,533,0.00,2.20,0.00,0.000,4,0.000,0.048,2901,794,3092,0,0,0,0,0,0,28.83,25.14,28.83
$GC,632,-0.87,-71.5,123.4,-15.6,114,641,0.00,2.28,0.00,0.000,6,0.000,0.050,2891,2204,3092,0,0,0,0,0,0,28.83,25.11,28.83
$GC,941,-0.87,-71.5,176.6,-16.9,135,950,0.00,2.33,0.00,0.000,4,0.000,0.059,2881,3610,3092,0,0,0,0,0,0,28.83,24.91,28.83
$GC,971,-0.87,-71.5,181.8,-17.2,138,981,0.12,2.28,0.00,0.000,6,0.165,0.041,2909,2191,3092,0,0,0,0,0,0,24.96,25.29,28.83
$GC,1287,-0.87,-71.5,231.3,-15.6,156,1292,0.00,2.22,0.00,0.000,4,0.000,0.048,2909,805,3092,0,0,0,0,0,0,28.83,25.06,28.83
$GC,1394,-0.87,-71.5,246.0,-14.6,161,1398,0.00,2.28,0.00,0.000,6,0.000,0.048,2900,2204,3092,0,0,0,0,0,0,28.83,25.06,28.83
$GC,1697,-0.87,-71.5,293.9,-15.7,176,1701,0.00,2.25,0.00,0.000,4,0.000,0.048,2900,805,3092,0,0,0,0,0,0,28.83,25.03,28.83
$GC,1844,-0.87,-71.5,317.2,-16.5,183,1848,0.00,2.28,0.00,0.000,6,0.000,0.049,2890,2200,3092,0,0,0,0,0,0,28.83,25.02,28.83
$GC,2146,-0.87,-71.5,367.8,-16.5,198,2151,0.00,2.35,0.00,0.000,4,0.000,0.060,2879,3613,3092,0,0,0,0,0,0,28.83,24.79,28.83
$GC,2175,-0.87,-71.5,371.0,-16.5,199,2185,0.15,2.28,0.00,0.000,6,0.159,0.040,2915,2192,3092,0,0,0,0,0,0,24.82,25.27,28.83
$GC,2486,-0.87,-71.5,416.5,-13.7,213,2491,0.00,2.25,0.00,0.000,4,0.000,0.049,2915,806,3092,0,0,0,0,0,0,28.83,24.97,28.83
$GC,2524,-0.87,-71.5,420.4,-13.3,214,2528,0.00,2.28,0.00,0.000,6,0.000,0.050,2905,2199,3092,0,0,0,0,0,0,28.83,24.97,28.83
$STATE,2833,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2833,begin apogee
$GC,2842,-0.22,0.0,466.5,-14.9,225,2909,0.70,0.00,63.47,0.835,6,0.132,0.000,3118,2340,2794,0,0,0,0,0,0,24.25,28.83,23.65
$STATE,2910,end apogee,CONTROL_FINISHED_OK
$STATE,2910,begin climb
$GC,2912,0.87,71.5,471.0,0.0,227,2985,1.02,2.33,65.82,0.796,4,0.078,0.061,3473,3721,2501,0,0,0,0,0,0,24.79,24.75,23.41
$GC,3097,0.87,71.5,460.8,8.5,234,3102,0.00,2.25,0.00,0.000,6,0.000,0.045,3484,2333,2495,0,0,0,0,0,0,28.83,25.40,28.83
$GC,3416,0.87,71.5,431.7,8.3,245,3422,0.00,2.35,0.00,0.000,4,0.000,0.063,3484,3733,2492,0,0,0,0,0,0,28.83,25.20,28.83
$GC,3604,0.87,71.5,416.3,8.2,251,3608,0.00,2.30,0.00,0.000,6,0.000,0.045,3496,2321,2491,0,0,0,0,0,0,28.83,25.41,28.83
$GC,3908,0.87,71.5,389.2,9.8,263,3912,0.00,2.35,0.00,0.000,4,0.000,0.063,3496,3717,2491,0,0,0,0,0,0,28.83,25.05,28.83
$GC,3994,0.87,71.5,379.9,11.6,267,3999,0.12,2.28,0.00,0.000,6,0.188,0.046,3480,2322,2490,0,0,0,0,0,0,24.96,25.34,28.83
$GC,4296,0.87,71.5,351.6,7.9,282,4302,0.00,2.38,0.00,0.000,4,0.000,0.063,3479,3719,2489,0,0,0,0,0,0,28.83,24.96,28.83
$GC,4536,0.87,71.5,332.2,8.0,294,4542,0.00,2.28,0.00,0.000,6,0.000,0.046,3489,2324,2487,0,0,0,0,0,0,28.83,25.28,28.83
$GC,4856,0.87,71.5,309.8,7.4,310,4862,0.00,2.38,0.00,0.000,4,0.000,0.063,3489,3731,2487,0,0,0,0,0,0,28.83,24.87,28.83
$GC,5097,0.87,71.5,287.2,9.9,322,5102,0.00,2.28,0.00,0.000,6,0.000,0.046,3500,2331,2487,0,0,0,0,0,0,28.83,25.22,28.83
$GC,5417,0.87,71.5,260.9,8.1,338,5422,0.00,2.30,0.00,0.000,4,0.000,0.063,3500,3719,2487,0,0,0,0,0,0,28.83,24.82,28.83
$GC,5657,0.87,71.5,238.3,9.0,350,5662,0.10,2.28,0.00,0.000,6,0.168,0.046,3482,2320,2487,0,0,0,0,0,0,24.72,25.21,28.83
$GC,5976,0.87,77.2,216.7,6.3,366,5982,0.00,2.38,0.00,0.000,4,0.000,0.063,3482,3726,2487,0,0,0,0,0,0,28.83,24.77,28.83
$GC,6016,0.87,83.8,214.3,6.2,368,6036,0.00,2.30,9.80,0.620,6,0.000,0.046,3492,2308,2452,0,0,0,0,0,0,28.83,25.18,24.07
$GC,6342,0.87,84.8,192.3,6.9,386,6350,0.00,2.25,0.00,0.000,4,0.000,0.052,3503,922,2450,0,0,0,0,0,0,28.83,25.14,28.83
$GC,6371,0.87,84.8,190.2,7.2,389,6380,0.00,2.28,0.00,0.000,6,0.000,0.053,3502,2312,2450,0,0,0,0,0,0,28.83,25.14,28.83
$GC,6682,0.87,84.8,165.9,7.8,410,6683,0.00,0.00,0.00,0.000,6,0.000,0.000,3502,2312,2450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6981,0.88,95.1,145.3,5.7,430,7000,0.00,2.35,11.57,0.602,4,0.000,0.063,3503,3740,2405,0,0,0,0,0,0,28.83,25.22,24.09
$GC,7162,0.88,95.1,130.2,7.8,448,7170,0.10,2.28,0.00,0.000,6,0.168,0.045,3484,2325,2403,0,0,0,0,0,0,24.97,25.41,28.83
$GC,7473,0.88,95.1,108.2,7.3,489,7479,0.00,2.33,0.00,0.000,4,0.000,0.063,3484,3743,2403,0,0,0,0,0,0,28.83,24.89,28.83
$GC,7594,0.88,95.1,98.1,7.8,512,7601,0.00,2.22,0.00,0.000,6,0.000,0.046,3493,2325,2403,0,0,0,0,0,0,28.83,25.23,28.83
$GC,7907,0.89,124.1,82.1,3.2,573,7944,0.00,2.30,26.55,0.600,4,0.000,0.053,3505,919,2286,0,0,0,0,0,0,28.83,25.26,24.08
$GC,8176,0.90,142.9,64.8,4.6,624,8201,0.00,2.22,17.10,0.571,6,0.000,0.051,3504,2326,2210,0,0,0,0,0,0,28.83,25.22,24.09
$GC,8506,0.90,142.9,44.1,7.7,688,8513,0.00,2.22,0.00,0.000,4,0.000,0.052,3515,920,2207,0,0,0,0,0,0,28.83,25.18,28.83
$GC,8581,0.90,143.0,38.6,7.0,702,8589,0.12,2.22,0.00,0.000,6,0.167,0.052,3485,2326,2206,0,0,0,0,0,0,24.91,25.15,28.83
$GC,8895,0.90,154.5,22.1,5.5,763,8913,0.00,2.30,10.95,0.522,4,0.000,0.063,3485,3734,2162,0,0,0,0,0,0,28.83,25.29,24.16
$GC,8938,0.91,166.2,19.9,5.5,770,8957,0.00,2.20,11.68,0.522,6,0.000,0.045,3494,2324,2115,0,0,0,0,0,0,28.83,25.53,24.09
$GC,9263,0.92,210.3,8.9,1.2,833,9306,0.00,2.33,37.33,0.552,4,0.000,0.051,3505,919,1935,0,0,0,0,0,0,28.83,25.28,24.06
$STATE,9386,end climb,SURFACE_DEPTH_REACHED
$STATE,9386,begin surface coast
$FINISH,1.1,1.023776
$STATE,9457,end surface coast,CONTROL_FINISHED_OK
$STATE,9457,begin surface
$SM_CCo,9479,59.42,0.454,3,0,1570,300.00
$SM_GC,2.19,8.82,2.10,59.42,0.033,0.053,0.454,110,2203,1570,-9.46,-0.85,300.00,0,0,0,0,3,0,25.75,25.32,23.99
$IRIDIUM_FIX,4732.49,-12519.22,220413,000011
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.50
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.10
$XPDR_PINGS,1
$24V_AH,23.4,117.355
$10V_AH,9.8,87.342
$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,22.425,95.975,254.275,59.425,0.000,24.756,39.745,163.833,0.250,0.000,16.209,2178.311,5375.589,493.259,1625.522,252.173,0.000,1234.302,0.000,1384.094,0.000,0.536,0.000
$DEVICE_MAMPS,215.730,81.855,834.615,453.645,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,595.722,569.556,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296780
$DATA_FILE_SIZE,46929,869
$CAP_FILE_SIZE,98486,0
$CFSIZE,260165632,187187200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.083, 91.6,1
$GPS,220413,061223,4749.559,-12515.041,88,1.1,106,18.7