version: 66.11
glider: 187
mission: 2
dive: 810
start: 4 17 113 3 33 23
data:
$ID,187
$MISSION,2
$DIVE,810
$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,-1590005.2
$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,35
$R_STBD_OVSHOOT,27
$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
$GPS1,170413,032313,4751.456,-12511.903,10,1.9,10,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-77.6
$GPS2,170413,033248,4751.424,-12511.832,11,1.2,16,18.7
$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,191.7,5429,-13.3,-7.021,-18.50
$D_GRID,250
$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,-0.47,-136.3,0.0,0.0,0,69,0.00,0.00,-50.42,0.000,2,0.000,0.000,105,2188,2566,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.47,-136.3,3.1,-1.6,9,111,11.65,2.33,-18.12,0.000,4,0.213,0.073,3024,3606,3350,0,0,0,0,0,0,24.55,25.26,26.22
$GC,282,-0.47,-136.3,38.7,-13.9,48,289,0.00,2.20,0.00,0.000,6,0.000,0.042,3024,2190,3353,0,0,0,0,0,0,28.83,25.46,28.83
$GC,594,-0.47,-136.3,78.6,-11.9,109,601,0.00,2.17,0.00,0.000,4,0.000,0.049,3024,792,3354,0,0,0,0,0,0,28.83,25.25,28.83
$GC,644,-0.47,-136.3,84.5,-11.4,118,652,0.00,2.22,0.00,0.000,6,0.000,0.050,3014,2206,3354,0,0,0,0,0,0,28.83,25.22,28.83
$GC,958,-0.47,-136.3,124.5,-12.9,175,968,0.00,2.35,0.00,0.000,4,0.000,0.060,3004,3619,3354,0,0,0,0,0,0,28.83,25.03,28.83
$GC,1071,-0.47,-136.3,138.0,-11.7,186,1078,0.15,2.20,0.00,0.000,6,0.119,0.040,3048,2191,3354,0,0,0,0,0,0,25.23,25.46,28.83
$GC,1382,-0.47,-136.3,164.0,-7.7,207,1389,0.00,2.17,0.00,0.000,4,0.000,0.048,3048,793,3354,0,0,0,0,0,0,28.83,25.20,28.83
$GC,1438,-0.47,-136.3,168.6,-7.8,213,1447,0.00,2.30,0.00,0.000,6,0.000,0.049,3041,2210,3354,0,0,0,0,0,0,28.83,25.19,28.83
$GC,1749,-0.47,-136.3,194.3,-8.1,234,1757,0.00,2.30,0.00,0.000,4,0.000,0.062,3030,3603,3354,0,0,0,0,0,0,28.83,24.98,28.83
$GC,1808,-0.47,-136.3,199.1,-8.1,240,1819,0.00,2.22,0.00,0.000,6,0.000,0.041,3030,2197,3354,0,0,0,0,0,0,28.83,25.41,28.83
$GC,2134,-0.47,-136.3,226.2,-8.5,257,2139,0.00,2.22,0.00,0.000,4,0.000,0.049,3030,804,3354,0,0,0,0,0,0,28.83,25.16,28.83
$GC,2174,-0.47,-136.3,229.7,-8.8,259,2179,0.00,2.25,0.00,0.000,6,0.000,0.050,3026,2196,3354,0,0,0,0,0,0,28.83,25.15,28.83
$STATE,2410,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2410,begin apogee
$GC,2417,-0.22,0.0,251.8,-9.5,271,2535,0.28,0.00,114.70,0.692,6,0.109,0.000,3119,2339,2794,0,0,0,0,0,0,25.40,28.83,23.66
$STATE,2536,end apogee,CONTROL_FINISHED_OK
$STATE,2537,begin climb
$GC,2541,0.47,136.3,257.2,0.0,277,2665,0.65,2.38,117.22,0.662,4,0.081,0.050,3355,926,2238,0,0,0,0,0,0,24.88,24.89,23.60
$GC,2695,0.50,197.9,252.9,4.6,286,2753,0.00,2.22,52.17,0.669,6,0.000,0.050,3355,2317,1986,0,0,0,0,0,0,28.83,25.16,23.60
$GC,3057,0.51,222.5,230.5,6.0,304,3083,0.00,2.40,21.10,0.644,4,0.000,0.063,3355,3740,1885,0,0,0,0,0,0,28.83,25.32,24.00
$GC,3123,0.51,236.3,225.8,6.5,307,3143,0.00,2.28,13.20,0.614,6,0.000,0.044,3361,2322,1829,0,0,0,0,0,0,28.83,25.51,23.94
$GC,3444,0.51,242.1,204.1,6.8,323,3455,0.00,2.30,5.85,0.519,4,0.000,0.052,3371,921,1807,0,0,0,0,0,0,28.83,25.48,24.10
$GC,3523,0.51,242.1,198.3,7.2,327,3532,0.00,2.28,0.00,0.000,6,0.000,0.051,3371,2325,1805,0,0,0,0,0,0,28.83,25.46,28.83
$GC,3833,0.51,242.1,174.9,7.5,348,3842,0.00,2.33,0.00,0.000,4,0.000,0.063,3372,3731,1804,0,0,0,0,0,0,28.83,25.22,28.83
$GC,3864,0.51,242.1,172.4,8.3,351,3873,0.00,2.25,0.00,0.000,6,0.000,0.045,3380,2326,1804,0,0,0,0,0,0,28.83,25.49,28.83
$GC,4173,0.51,242.1,147.9,7.2,372,4182,0.00,2.28,0.00,0.000,4,0.000,0.052,3389,918,1803,0,0,0,0,0,0,28.83,25.26,28.83
$GC,4243,0.52,265.3,143.5,6.1,379,4273,0.00,2.28,21.23,0.618,6,0.000,0.051,3389,2322,1711,0,0,0,0,0,0,28.83,25.27,24.09
$GC,4576,0.52,267.9,118.3,6.9,404,4582,0.00,2.30,0.00,0.000,4,0.000,0.063,3389,3737,1707,0,0,0,0,0,0,28.83,25.21,28.83
$GC,4605,0.52,267.9,115.8,8.8,409,4612,0.12,2.22,0.00,0.000,6,0.135,0.045,3362,2321,1707,0,0,0,0,0,0,25.31,25.49,28.83
$GC,4919,0.53,294.4,97.2,6.0,470,4949,0.00,2.30,25.00,0.599,4,0.000,0.053,3362,919,1592,0,0,0,0,0,0,28.83,25.37,24.06
$GC,4968,0.54,316.6,94.2,6.1,478,4993,0.00,2.22,19.95,0.572,6,0.000,0.050,3362,2330,1503,0,0,0,0,0,0,28.83,25.43,24.01
$GC,5301,0.57,374.7,74.1,4.7,542,5354,0.00,0.00,48.38,0.582,6,0.000,0.000,3362,2330,1265,0,0,0,0,0,0,28.83,28.83,24.01
$GC,5661,0.57,374.7,44.2,9.6,611,5667,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,2330,1258,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5973,0.57,374.7,16.4,8.9,672,5980,0.00,2.25,0.00,0.000,4,0.000,0.051,3362,917,1256,0,0,0,0,0,0,28.83,25.32,28.83
$GC,6042,0.57,374.7,10.2,8.2,685,6049,0.00,2.22,0.00,0.000,6,0.000,0.050,3362,2332,1256,0,0,0,0,0,0,28.83,25.32,28.83
$STATE,6109,end climb,SURFACE_DEPTH_REACHED
$STATE,6110,begin surface coast
$FINISH,1.3,1.003562
$STATE,6153,end surface coast,CONTROL_FINISHED_OK
$STATE,6153,begin surface
$SM_CCo,6234,0.00,0.000,0,0,1253,378.01
$SM_GC,2.38,8.30,0.20,0.00,0.025,0.071,0.000,109,2195,1253,-9.47,1.13,378.01,0,0,0,0,0,0,25.84,25.93,28.83
$IRIDIUM_FIX,4732.49,-12509.51,170413,010148
$TT8_MAMPS,0.027713,0.027713
$HUMID,49.44
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,19.00
$XPDR_PINGS,3
$24V_AH,23.6,113.813
$10V_AH,9.8,84.864
$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,21.150,63.850,438.800,0.000,0.000,28.557,41.725,376.856,0.750,0.000,17.358,1683.296,2852.115,549.349,1456.307,276.763,0.000,1147.935,0.000,1055.171,0.000,0.536,0.000
$DEVICE_MAMPS,213.435,81.090,692.325,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,480.090,499.890,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296772
$DATA_FILE_SIZE,36848,706
$CAP_FILE_SIZE,78909,0
$CFSIZE,260165632,189538304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.274, 62.6,1
$GPS,170413,051836,4750.716,-12512.027,41,1.1,41,18.7