version: 66.11
glider: 187
mission: 2
dive: 853
start: 4 22 113 6 19 23
data:
$ID,187
$MISSION,2
$DIVE,853
$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,-1590059
$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,40
$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
$GPS1,220413,061223,4749.559,-12515.041,88,1.1,106,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-79.0
$GPS2,220413,061849,4749.541,-12515.021,13,1.4,13,18.7
$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,259.3,304,-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,16,-0.85,-36.8,0.0,0.0,0,63,0.00,0.00,-44.55,0.000,2,0.000,0.000,109,2207,2559,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.87,-71.1,3.1,-2.5,8,99,11.25,2.30,-12.35,0.000,4,0.219,0.071,2902,3616,3087,0,0,0,0,0,0,24.53,25.29,26.16
$GC,274,-0.87,-71.1,52.0,-21.9,47,281,0.00,2.22,0.00,0.000,6,0.000,0.041,2902,2192,3089,0,0,0,0,0,0,28.83,25.34,28.83
$GC,589,-0.87,-71.1,111.9,-16.4,108,596,0.00,2.20,0.00,0.000,4,0.000,0.048,2902,788,3090,0,0,0,0,0,0,28.83,25.13,28.83
$GC,659,-0.87,-71.1,124.1,-17.8,119,668,0.00,2.30,0.00,0.000,6,0.000,0.049,2891,2202,3090,0,0,0,0,0,0,28.83,25.11,28.83
$GC,969,-0.87,-71.1,183.4,-19.2,140,978,0.00,2.25,0.00,0.000,4,0.000,0.047,2891,801,3091,0,0,0,0,0,0,28.83,25.08,28.83
$GC,1070,-0.87,-71.1,202.6,-18.9,150,1075,0.00,2.25,0.00,0.000,6,0.000,0.048,2880,2194,3091,0,0,0,0,0,0,28.83,25.09,28.83
$GC,1389,-0.87,-71.1,260.9,-17.5,166,1395,0.12,2.25,0.00,0.000,4,0.181,0.047,2910,795,3091,0,0,0,0,0,0,25.67,25.04,28.83
$GC,1437,-0.87,-71.1,267.4,-16.9,168,1441,0.00,2.30,0.00,0.000,6,0.000,0.049,2900,2205,3091,0,0,0,0,0,0,28.83,25.03,28.83
$GC,1740,-0.87,-71.1,317.5,-16.0,183,1745,0.00,2.28,0.00,0.000,4,0.000,0.048,2901,790,3091,0,0,0,0,0,0,28.83,25.03,28.83
$GC,1839,-0.87,-71.1,334.1,-16.7,188,1845,0.00,2.30,0.00,0.000,6,0.000,0.049,2890,2203,3091,0,0,0,0,0,0,28.83,25.01,28.83
$GC,2159,-0.87,-71.1,385.6,-16.4,204,2161,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2202,3091,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2471,-0.87,-71.1,433.4,-15.1,216,2472,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2202,3090,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2769,-0.87,-71.1,475.2,-14.0,226,2775,0.00,2.30,0.00,0.000,4,0.000,0.049,2890,795,3090,0,0,0,0,0,0,28.83,24.94,28.83
$STATE,2827,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2827,begin apogee
$GC,2836,-0.22,0.0,483.9,-14.4,228,2905,0.80,0.00,63.42,0.846,6,0.137,0.000,3118,2333,2794,0,0,0,0,0,0,24.03,28.83,23.64
$STATE,2906,end apogee,CONTROL_FINISHED_OK
$STATE,2906,begin climb
$GC,2910,0.87,71.1,487.9,0.0,230,2982,1.05,2.42,65.55,0.807,4,0.078,0.063,3476,3733,2504,0,0,0,0,0,0,24.77,24.74,23.39
$GC,3019,0.87,84.1,484.2,5.3,234,3037,0.00,2.33,13.48,0.755,6,0.000,0.045,3487,2323,2450,0,0,0,0,0,0,28.83,25.16,23.51
$GC,3362,0.87,84.1,446.0,11.1,246,3363,0.00,0.00,0.00,0.000,6,0.000,0.000,3487,2322,2444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3661,0.87,84.1,414.6,10.3,256,3666,0.00,2.35,0.00,0.000,4,0.000,0.063,3487,3726,2442,0,0,0,0,0,0,28.83,25.10,28.83
$GC,3840,0.87,84.1,394.5,11.0,263,3846,0.00,2.30,0.00,0.000,6,0.000,0.046,3499,2317,2441,0,0,0,0,0,0,28.83,25.36,28.83
$GC,4162,0.87,84.1,364.0,9.1,279,4163,0.00,0.00,0.00,0.000,6,0.000,0.000,3498,2315,2440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4461,0.87,84.1,337.6,8.2,294,4466,0.00,2.40,0.00,0.000,4,0.000,0.063,3499,3737,2439,0,0,0,0,0,0,28.83,24.89,28.83
$GC,4702,0.87,84.1,314.5,9.8,306,4707,0.10,2.28,0.00,0.000,6,0.161,0.046,3481,2331,2439,0,0,0,0,0,0,24.79,25.25,28.83
$GC,5021,0.87,84.1,290.2,7.9,322,5026,0.00,2.38,0.00,0.000,4,0.000,0.063,3481,3730,2438,0,0,0,0,0,0,28.83,24.82,28.83
$GC,5260,0.87,84.1,268.0,9.4,334,5267,0.00,2.30,0.00,0.000,6,0.000,0.046,3491,2321,2437,0,0,0,0,0,0,28.83,25.19,28.83
$GC,5584,0.87,84.1,240.5,8.9,350,5588,0.00,2.25,0.00,0.000,4,0.000,0.053,3501,920,2438,0,0,0,0,0,0,28.83,24.96,28.83
$GC,5819,0.87,84.1,220.7,8.2,361,5823,0.00,2.33,0.00,0.000,6,0.000,0.052,3501,2332,2438,0,0,0,0,0,0,28.83,24.95,28.83
$GC,6122,0.87,84.1,194.6,8.1,377,6129,0.00,2.30,0.00,0.000,4,0.000,0.053,3513,925,2438,0,0,0,0,0,0,28.83,24.93,28.83
$GC,6260,0.87,84.1,182.8,8.3,391,6271,0.15,2.30,0.00,0.000,6,0.171,0.052,3477,2325,2437,0,0,0,0,0,0,24.56,24.93,28.83
$GC,6572,0.87,84.1,160.5,7.2,412,6579,0.00,2.25,0.00,0.000,4,0.000,0.052,3486,920,2437,0,0,0,0,0,0,28.83,24.91,28.83
$GC,6640,0.87,84.1,155.3,7.6,419,6650,0.00,2.33,0.00,0.000,6,0.000,0.053,3486,2327,2437,0,0,0,0,0,0,28.83,24.90,28.83
$GC,6952,0.88,100.9,134.6,4.8,440,6971,0.00,2.40,14.30,0.605,4,0.000,0.063,3486,3744,2381,0,0,0,0,0,0,28.83,25.12,24.07
$GC,7022,0.88,104.7,130.4,6.5,447,7032,0.00,2.30,4.60,0.466,6,0.000,0.046,3498,2318,2367,0,0,0,0,0,0,28.83,25.43,24.02
$GC,7334,0.88,106.3,106.7,6.8,490,7341,0.00,2.22,0.00,0.000,4,0.000,0.052,3509,919,2366,0,0,0,0,0,0,28.83,25.10,28.83
$GC,7535,0.88,107.5,93.4,6.9,529,7548,0.00,2.28,4.35,0.440,6,0.000,0.051,3509,2336,2354,0,0,0,0,0,0,28.83,25.04,24.15
$GC,7857,0.89,127.5,79.3,4.4,591,7882,0.00,2.30,18.90,0.586,4,0.000,0.061,3508,3744,2273,0,0,0,0,0,0,28.83,25.24,24.13
$GC,7990,0.89,127.5,69.9,7.9,615,7998,0.15,2.25,0.00,0.000,6,0.175,0.045,3483,2313,2270,0,0,0,0,0,0,25.04,25.45,28.83
$GC,8306,0.90,144.1,55.9,4.8,676,8324,0.00,0.00,15.43,0.562,6,0.000,0.000,3483,2313,2206,0,0,0,0,0,0,28.83,28.83,24.14
$GC,8629,0.90,155.0,36.8,5.6,739,8649,0.00,2.38,10.38,0.526,4,0.000,0.064,3483,3730,2161,0,0,0,0,0,0,28.83,25.32,24.14
$GC,8809,0.90,163.7,24.7,5.9,773,8829,0.00,2.22,9.10,0.508,6,0.000,0.046,3492,2318,2125,0,0,0,0,0,0,28.83,25.40,24.13
$GC,9139,0.92,211.2,13.3,0.8,836,9188,0.00,2.22,40.35,0.555,4,0.000,0.050,3503,923,1931,0,0,0,0,0,0,28.83,25.27,24.09
$STATE,9325,end climb,SURFACE_DEPTH_REACHED
$STATE,9325,begin surface coast
$FINISH,1.1,1.024139
$STATE,9391,end surface coast,CONTROL_FINISHED_OK
$STATE,9391,begin surface
$SM_CCo,9414,58.25,0.459,3,0,1570,300.00
$SM_GC,2.35,8.82,2.10,58.25,0.033,0.054,0.459,112,2201,1570,-9.46,-0.82,300.00,0,0,0,0,3,0,25.64,25.27,23.99
$IRIDIUM_FIX,4735.69,-12521.07,220413,060616
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.54
$INTERNAL_PRESSURE,9.11829
$TCM_TEMP,19.10
$XPDR_PINGS,1
$24V_AH,23.4,117.429
$10V_AH,9.8,87.401
$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,22.450,82.650,259.850,58.250,0.000,33.094,38.379,181.108,0.250,0.000,14.118,2201.690,5296.328,481.420,1629.211,272.423,0.000,1210.215,0.000,1375.595,0.000,0.536,0.000
$DEVICE_MAMPS,218.790,71.145,846.090,459.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,605.751,586.670,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296760
$DATA_FILE_SIZE,46846,884
$CAP_FILE_SIZE,95493,0
$CFSIZE,260165632,187133952
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.100,118.7,1
$GPS,220413,085909,4749.285,-12515.264,36,4.8,56,18.7