version: 66.11
glider: 187
mission: 2
dive: 815
start: 4 17 113 16 33 42
data:
$ID,187
$MISSION,2
$DIVE,815
$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,-1590011.5
$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,34
$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
$GPS1,170413,162559,4749.420,-12515.682,39,1.8,40,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-77.8
$GPS2,170413,163307,4749.374,-12515.661,16,1.9,16,18.7
$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,22.8,661,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.85,-36.8,0.0,0.0,0,70,0.00,0.00,-50.45,0.000,2,0.000,0.000,110,2194,2547,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.87,-76.8,3.0,-1.8,9,106,11.18,2.22,-13.80,0.000,4,0.216,0.060,2906,787,3108,0,0,0,0,0,0,24.53,25.39,26.21
$GC,255,-0.87,-76.8,47.9,-24.4,43,263,0.00,2.22,0.00,0.000,6,0.000,0.050,2897,2198,3110,0,0,0,0,0,0,28.83,25.22,28.83
$GC,569,-0.87,-76.8,114.6,-21.0,104,576,0.00,2.30,0.00,0.000,4,0.000,0.060,2886,3615,3111,0,0,0,0,0,0,28.83,25.02,28.83
$GC,619,-0.87,-76.8,125.0,-20.4,111,629,0.00,2.30,0.00,0.000,6,0.000,0.041,2886,2183,3111,0,0,0,0,0,0,28.83,25.37,28.83
$GC,930,-0.87,-76.8,180.2,-17.5,132,938,0.00,2.22,0.00,0.000,4,0.000,0.049,2886,798,3111,0,0,0,0,0,0,28.83,25.17,28.83
$GC,1110,-0.87,-76.8,211.8,-17.4,147,1115,0.10,2.28,0.00,0.000,6,0.154,0.049,2904,2203,3111,0,0,0,0,0,0,24.78,25.15,28.83
$GC,1429,-0.87,-76.8,263.0,-15.9,163,1435,0.00,2.28,0.00,0.000,4,0.000,0.047,2904,801,3111,0,0,0,0,0,0,28.83,25.13,28.83
$GC,1558,-0.87,-76.8,282.6,-16.3,169,1567,0.00,2.28,0.00,0.000,6,0.000,0.049,2896,2199,3111,0,0,0,0,0,0,28.83,25.13,28.83
$GC,1869,-0.87,-76.8,333.4,-15.4,185,1875,0.00,2.28,0.00,0.000,4,0.000,0.047,2896,798,3111,0,0,0,0,0,0,28.83,25.12,28.83
$GC,1977,-0.87,-76.8,349.0,-15.6,190,1981,0.00,2.30,0.00,0.000,6,0.000,0.049,2886,2209,3111,0,0,0,0,0,0,28.83,25.10,28.83
$GC,2280,-0.87,-76.8,397.3,-15.6,205,2285,0.00,2.33,0.00,0.000,4,0.000,0.061,2875,3606,3111,0,0,0,0,0,0,28.83,24.89,28.83
$GC,2327,-0.87,-76.8,402.1,-15.4,207,2332,0.15,2.28,0.00,0.000,6,0.165,0.042,2910,2197,3111,0,0,0,0,0,0,24.87,25.31,28.83
$GC,2629,-0.87,-76.8,448.9,-13.4,217,2635,0.00,2.28,0.00,0.000,4,0.000,0.050,2911,792,3111,0,0,0,0,0,0,28.83,25.06,28.83
$GC,2708,-0.87,-76.8,457.2,-13.3,219,2718,0.00,2.30,0.00,0.000,6,0.000,0.050,2902,2199,3111,0,0,0,0,0,0,28.83,25.05,28.83
$STATE,2866,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2866,begin apogee
$GC,2874,-0.22,0.0,482.4,-14.0,225,2945,0.70,0.00,67.82,0.841,6,0.134,0.000,3114,2339,2795,0,0,0,0,0,0,24.34,28.83,23.57
$STATE,2946,end apogee,CONTROL_FINISHED_OK
$STATE,2946,begin climb
$GC,2949,0.87,76.8,486.1,0.0,227,3027,1.05,2.33,71.15,0.803,4,0.079,0.050,3482,928,2479,0,0,0,0,0,0,24.80,24.80,23.37
$GC,3049,0.88,93.5,483.0,4.8,231,3070,0.00,2.33,16.52,0.744,6,0.000,0.052,3482,2320,2411,0,0,0,0,0,0,28.83,25.03,23.43
$GC,3389,0.88,93.5,446.6,10.4,243,3395,0.00,2.38,0.00,0.000,4,0.000,0.063,3482,3748,2404,0,0,0,0,0,0,28.83,25.29,28.83
$GC,3630,0.88,93.5,418.2,11.9,251,3635,0.00,2.28,0.00,0.000,6,0.000,0.046,3494,2334,2402,0,0,0,0,0,0,28.83,25.48,28.83
$GC,3949,0.88,93.5,385.6,9.8,264,3955,0.00,2.38,0.00,0.000,4,0.000,0.064,3494,3747,2401,0,0,0,0,0,0,28.83,25.11,28.83
$GC,4009,0.88,93.5,379.1,10.6,267,4015,0.00,2.33,0.00,0.000,6,0.000,0.046,3506,2322,2400,0,0,0,0,0,0,28.83,25.41,28.83
$GC,4330,0.88,93.5,346.1,10.4,283,4335,0.00,2.38,0.00,0.000,4,0.000,0.064,3506,3734,2400,0,0,0,0,0,0,28.83,25.05,28.83
$GC,4537,0.88,93.5,323.0,11.8,293,4542,0.15,2.30,0.00,0.000,6,0.184,0.045,3481,2323,2400,0,0,0,0,0,0,24.89,25.36,28.83
$GC,4840,0.88,93.5,293.2,9.5,308,4845,0.00,2.38,0.00,0.000,4,0.000,0.064,3482,3728,2399,0,0,0,0,0,0,28.83,24.98,28.83
$GC,4867,0.88,93.5,291.3,9.5,309,4871,0.00,2.30,0.00,0.000,6,0.000,0.046,3491,2320,2399,0,0,0,0,0,0,28.83,25.33,28.83
$GC,5169,0.88,93.5,263.0,8.8,324,5175,0.00,2.38,0.00,0.000,4,0.000,0.063,3491,3729,2399,0,0,0,0,0,0,28.83,24.95,28.83
$GC,5209,0.88,93.5,258.9,9.6,326,5215,0.00,2.30,0.00,0.000,6,0.000,0.047,3502,2322,2398,0,0,0,0,0,0,28.83,25.30,28.83
$GC,5530,0.88,93.5,231.8,8.2,342,5532,0.00,0.00,0.00,0.000,6,0.000,0.000,3502,2321,2398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5830,0.88,93.5,205.8,8.5,357,5835,0.00,2.38,0.00,0.000,4,0.000,0.063,3502,3732,2398,0,0,0,0,0,0,28.83,24.91,28.83
$GC,5877,0.88,93.5,202.1,8.9,359,5882,0.15,2.30,0.00,0.000,6,0.182,0.046,3478,2324,2398,0,0,0,0,0,0,24.80,25.27,28.83
$GC,6185,0.88,93.5,175.4,8.4,379,6193,0.00,2.30,0.00,0.000,4,0.000,0.053,3486,921,2398,0,0,0,0,0,0,28.83,25.06,28.83
$GC,6314,0.88,93.5,164.0,8.7,392,6324,0.00,2.33,0.00,0.000,6,0.000,0.053,3487,2333,2398,0,0,0,0,0,0,28.83,25.05,28.83
$GC,6626,0.88,93.5,139.1,8.4,413,6627,0.00,0.00,0.00,0.000,6,0.000,0.000,3487,2333,2398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6924,0.88,97.4,116.8,6.5,439,6930,0.00,0.00,0.00,0.000,6,0.000,0.000,3487,2333,2398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7237,0.89,119.9,97.0,4.1,500,7269,0.00,2.35,21.58,0.600,4,0.000,0.063,3487,3730,2304,0,0,0,0,0,0,28.83,25.10,24.04
$GC,7421,0.89,119.9,83.6,7.7,534,7428,0.00,2.22,0.00,0.000,6,0.000,0.046,3498,2313,2302,0,0,0,0,0,0,28.83,25.42,28.83
$GC,7733,0.90,142.8,67.6,4.0,595,7764,0.00,2.40,20.83,0.578,4,0.000,0.063,3499,3733,2209,0,0,0,0,0,0,28.83,25.25,24.06
$GC,7998,0.90,142.8,49.0,7.0,645,8005,0.00,2.20,0.00,0.000,6,0.000,0.045,3510,2324,2207,0,0,0,0,0,0,28.83,25.42,28.83
$GC,8310,0.90,157.3,29.5,5.1,706,8331,0.00,2.30,13.35,0.535,4,0.000,0.052,3521,922,2151,0,0,0,0,0,0,28.83,25.39,24.12
$GC,8545,0.91,177.6,14.2,4.4,751,8571,0.12,2.22,18.27,0.541,6,0.164,0.052,3491,2331,2068,0,0,0,0,0,0,25.03,25.27,24.11
$STATE,8795,end climb,SURFACE_DEPTH_REACHED
$STATE,8795,begin surface coast
$FINISH,1.3,1.012433
$STATE,8888,end surface coast,CONTROL_FINISHED_OK
$STATE,8888,begin surface
$SM_CCo,8909,84.47,0.464,5,0,1570,300.00
$SM_GC,2.58,8.82,0.20,84.47,0.034,0.071,0.464,104,2195,1570,-9.48,0.99,300.00,0,0,0,0,5,0,25.82,25.89,23.93
$IRIDIUM_FIX,4732.49,-12505.82,170413,131341
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.14
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.10
$XPDR_PINGS,1
$24V_AH,23.4,114.348
$10V_AH,9.8,85.151
$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,22.425,83.275,229.525,84.475,0.000,27.273,37.650,219.682,0.250,0.000,17.448,2049.025,5067.198,497.319,1575.353,265.285,0.000,1187.180,0.000,1289.207,0.000,0.536,0.000
$DEVICE_MAMPS,216.495,81.090,840.735,463.590,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,560.450,532.463,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43525,817
$CAP_FILE_SIZE,92284,0
$CFSIZE,260165632,189263872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$CURRENT,0.088,110.5,1
$GPS,170413,190548,4749.902,-12514.590,52,1.7,66,18.7