version: 66.11
glider: 187
mission: 2
dive: 830
start: 4 19 113 11 44 58
data:
$ID,187
$MISSION,2
$DIVE,830
$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,-1590030.2
$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,37
$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
$GPS1,190413,113759,4749.750,-12515.721,87,1.7,93,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-79.3
$GPS2,190413,114425,4749.693,-12515.673,14,1.5,14,18.7
$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,97.1,553,-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,-36.8,0.0,0.0,0,65,0.00,0.00,-46.12,0.000,2,0.000,0.000,113,2191,2589,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.87,-67.4,3.3,-3.0,8,100,11.20,2.38,-10.93,0.000,4,0.218,0.074,2903,3610,3072,0,0,0,0,0,0,24.59,25.30,26.18
$GC,331,-0.87,-67.4,70.2,-21.1,58,339,0.00,2.20,0.00,0.000,6,0.000,0.042,2903,2196,3075,0,0,0,0,0,0,28.83,25.38,28.83
$GC,646,-0.87,-67.4,130.4,-17.5,111,653,0.00,2.30,0.00,0.000,4,0.000,0.059,2892,3608,3076,0,0,0,0,0,0,28.83,24.98,28.83
$GC,725,-0.87,-67.4,144.3,-17.5,119,733,0.00,2.25,0.00,0.000,6,0.000,0.041,2892,2193,3076,0,0,0,0,0,0,28.83,25.35,28.83
$GC,1036,-0.87,-67.4,195.8,-17.0,140,1043,0.00,2.17,0.00,0.000,4,0.000,0.049,2892,801,3076,0,0,0,0,0,0,28.83,25.11,28.83
$GC,1155,-0.87,-67.4,216.4,-17.0,148,1161,0.10,2.25,0.00,0.000,6,0.157,0.048,2910,2199,3076,0,0,0,0,0,0,24.73,25.12,28.83
$GC,1476,-0.87,-67.4,265.5,-15.8,164,1480,0.00,2.20,0.00,0.000,4,0.000,0.048,2910,798,3076,0,0,0,0,0,0,28.83,25.08,28.83
$GC,1522,-0.87,-67.4,271.8,-16.1,166,1526,0.00,2.28,0.00,0.000,6,0.000,0.049,2901,2201,3076,0,0,0,0,0,0,28.83,25.08,28.83
$GC,1825,-0.87,-67.4,320.3,-15.2,181,1827,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2200,3076,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2124,-0.87,-67.4,366.7,-14.9,196,2126,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2201,3076,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2434,-0.87,-67.4,415.8,-15.2,210,2440,0.00,2.28,0.00,0.000,4,0.000,0.047,2901,795,3076,0,0,0,0,0,0,28.83,25.05,28.83
$GC,2564,-0.87,-67.4,433.4,-14.7,214,2569,0.00,2.30,0.00,0.000,6,0.000,0.050,2891,2202,3076,0,0,0,0,0,0,28.83,25.02,28.83
$GC,2884,-0.87,-67.4,481.0,-14.2,225,2890,0.00,2.33,0.00,0.000,4,0.000,0.060,2880,3604,3076,0,0,0,0,0,0,28.83,24.80,28.83
$STATE,2912,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2912,begin apogee
$GC,2922,-0.22,0.0,485.6,-14.3,226,2986,0.80,0.00,60.38,0.845,6,0.142,0.000,3117,2314,2794,0,0,0,0,0,0,24.05,28.83,23.65
$STATE,2986,end apogee,CONTROL_FINISHED_OK
$STATE,2987,begin climb
$GC,2989,0.87,67.4,489.8,0.0,228,3058,1.00,2.35,62.25,0.807,4,0.076,0.051,3477,924,2518,0,0,0,0,0,0,24.86,24.81,23.39
$GC,3077,0.87,83.8,486.5,4.9,232,3098,0.00,2.33,16.38,0.750,6,0.000,0.052,3477,2325,2452,0,0,0,0,0,0,28.83,25.01,23.42
$GC,3398,0.87,83.8,454.7,10.0,242,3403,0.00,2.33,0.00,0.000,4,0.000,0.063,3477,3729,2446,0,0,0,0,0,0,28.83,25.28,28.83
$GC,3638,0.87,83.8,428.6,11.1,250,3643,0.00,2.25,0.00,0.000,6,0.000,0.044,3489,2328,2444,0,0,0,0,0,0,28.83,25.48,28.83
$GC,3958,0.87,83.8,396.3,9.9,261,3962,0.00,2.28,0.00,0.000,4,0.000,0.052,3500,930,2443,0,0,0,0,0,0,28.83,25.22,28.83
$GC,4085,0.87,83.8,384.8,9.5,267,4089,0.00,2.30,0.00,0.000,6,0.000,0.052,3500,2333,2443,0,0,0,0,0,0,28.83,25.20,28.83
$GC,4387,0.87,83.8,354.7,10.0,282,4392,0.00,2.38,0.00,0.000,4,0.000,0.063,3499,3746,2441,0,0,0,0,0,0,28.83,24.98,28.83
$GC,4628,0.87,83.8,327.6,11.2,294,4633,0.10,2.28,0.00,0.000,6,0.165,0.045,3482,2335,2440,0,0,0,0,0,0,24.87,25.32,28.83
$GC,4947,0.87,83.8,297.8,9.0,310,4952,0.00,2.38,0.00,0.000,4,0.000,0.063,3482,3735,2440,0,0,0,0,0,0,28.83,24.91,28.83
$GC,5188,0.87,83.8,272.8,10.2,322,5193,0.00,2.28,0.00,0.000,6,0.000,0.046,3492,2326,2439,0,0,0,0,0,0,28.83,25.28,28.83
$GC,5508,0.87,83.8,243.5,9.0,338,5509,0.00,0.00,0.00,0.000,6,0.000,0.000,3491,2324,2439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5807,0.87,83.8,216.5,9.0,353,5813,0.00,2.38,0.00,0.000,4,0.000,0.063,3492,3732,2439,0,0,0,0,0,0,28.83,24.85,28.83
$GC,6048,0.87,83.8,192.8,9.5,368,6056,0.00,2.28,0.00,0.000,6,0.000,0.046,3503,2326,2439,0,0,0,0,0,0,28.83,25.24,28.83
$GC,6357,0.87,83.8,166.6,8.1,389,6365,0.00,2.38,0.00,0.000,4,0.000,0.063,3503,3730,2438,0,0,0,0,0,0,28.83,24.82,28.83
$GC,6598,0.87,83.8,144.7,8.7,413,6606,0.10,2.28,0.00,0.000,6,0.168,0.045,3485,2325,2439,0,0,0,0,0,0,24.73,25.21,28.83
$GC,6909,0.88,93.3,126.5,5.8,434,6922,0.00,0.00,7.75,0.546,6,0.000,0.000,3485,2325,2412,0,0,0,0,0,0,28.83,28.83,24.08
$GC,7223,0.88,93.3,104.6,7.8,483,7230,0.00,2.30,0.00,0.000,4,0.000,0.063,3485,3732,2411,0,0,0,0,0,0,28.83,24.96,28.83
$GC,7283,0.88,93.3,99.9,8.0,494,7291,0.00,2.22,0.00,0.000,6,0.000,0.046,3494,2322,2411,0,0,0,0,0,0,28.83,25.29,28.83
$GC,7598,0.88,105.3,82.5,5.5,555,7616,0.00,2.40,12.40,0.564,4,0.000,0.063,3494,3735,2362,0,0,0,0,0,0,28.83,25.21,24.10
$GC,7650,0.88,111.9,79.5,6.1,564,7663,0.00,2.22,7.15,0.512,6,0.000,0.046,3505,2320,2337,0,0,0,0,0,0,28.83,25.48,24.03
$GC,7970,0.90,146.5,66.6,2.5,626,8008,0.00,2.33,30.90,0.589,4,0.000,0.062,3505,3734,2195,0,0,0,0,0,0,28.83,25.22,24.01
$GC,8022,0.91,167.8,65.0,4.2,634,8048,0.00,2.22,19.62,0.564,6,0.000,0.046,3516,2323,2109,0,0,0,0,0,0,28.83,25.42,23.90
$GC,8354,0.91,167.8,38.0,8.4,698,8361,0.00,2.33,0.00,0.000,4,0.000,0.063,3517,3738,2102,0,0,0,0,0,0,28.83,25.10,28.83
$GC,8591,0.91,167.8,16.8,7.7,744,8598,0.15,2.22,0.00,0.000,6,0.170,0.044,3490,2322,2101,0,0,0,0,0,0,24.96,25.36,28.83
$GC,8905,0.92,210.8,7.5,1.4,805,8949,0.00,2.22,35.72,0.549,4,0.000,0.050,3499,924,1932,0,0,0,0,0,0,28.83,25.30,24.07
$STATE,9005,end climb,SURFACE_DEPTH_REACHED
$STATE,9005,begin surface coast
$FINISH,1.0,1.023971
$STATE,9093,end surface coast,CONTROL_FINISHED_OK
$STATE,9093,begin surface
$SM_CCo,9116,62.85,0.451,4,0,1570,300.00
$SM_GC,2.62,8.80,2.08,62.85,0.033,0.050,0.451,109,2200,1570,-9.46,-0.90,300.00,0,0,0,0,4,0,25.75,25.31,23.99
$IRIDIUM_FIX,4732.49,-12512.13,190413,080822
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.54
$INTERNAL_PRESSURE,9.11829
$TCM_TEMP,19.10
$XPDR_PINGS,1
$24V_AH,23.4,115.546
$10V_AH,9.9,86.030
$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,22.250,81.975,252.550,62.850,0.000,28.485,35.567,188.436,0.250,0.000,15.288,2100.857,5177.926,469.893,1595.504,248.767,0.000,1181.173,0.000,1336.336,0.000,0.536,0.000
$DEVICE_MAMPS,218.025,74.205,844.560,450.585,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,575.819,552.196,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46882,840
$CAP_FILE_SIZE,92554,0
$CFSIZE,260165632,188436480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.102, 78.4,1
$GPS,190413,142006,4749.581,-12514.015,67,1.8,68,18.7