version: 66.11
glider: 187
mission: 2
dive: 831
start: 4 19 113 14 27 15
data:
$ID,187
$MISSION,2
$DIVE,831
$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,-1590031.5
$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,39
$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
$GPS1,190413,142006,4749.581,-12514.015,67,1.8,68,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-79.1
$GPS2,190413,142643,4749.540,-12513.984,12,1.9,12,18.7
$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,247.8,1578,-13.3,-7.021,-18.50
$D_GRID,450
$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,-136.3,0.0,0.0,0,63,0.00,0.00,-44.28,0.000,2,0.000,0.000,109,2204,2537,0,0,0,0,0,0,28.83,28.83,28.83
$GC,66,-0.47,-136.3,3.0,-2.2,8,103,11.70,0.00,-18.15,0.000,6,0.218,0.000,3030,2202,3352,0,0,0,0,0,0,24.60,28.83,26.19
$GC,409,-0.47,-136.3,61.0,-13.7,74,416,0.00,2.22,0.00,0.000,4,0.000,0.050,3030,790,3354,0,0,0,0,0,0,28.83,25.18,28.83
$GC,449,-0.47,-136.3,66.2,-13.4,81,456,0.00,2.22,0.00,0.000,6,0.000,0.050,3024,2202,3354,0,0,0,0,0,0,28.83,25.19,28.83
$GC,763,-0.47,-136.3,105.3,-11.9,142,770,0.00,2.30,0.00,0.000,4,0.000,0.061,3013,3615,3355,0,0,0,0,0,0,28.83,24.95,28.83
$GC,812,-0.47,-136.3,111.0,-11.4,151,820,0.00,2.22,0.00,0.000,6,0.000,0.043,3013,2187,3356,0,0,0,0,0,0,28.83,25.35,28.83
$GC,1128,-0.47,-136.3,146.0,-10.4,181,1139,0.12,2.25,0.00,0.000,4,0.144,0.048,3048,793,3356,0,0,0,0,0,0,25.84,25.09,28.83
$GC,1198,-0.47,-136.3,151.9,-7.7,188,1207,0.00,2.28,0.00,0.000,6,0.000,0.050,3041,2199,3356,0,0,0,0,0,0,28.83,25.10,28.83
$GC,1509,-0.47,-136.3,177.7,-8.5,209,1510,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2199,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1823,-0.47,-136.3,205.5,-8.9,229,1824,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2199,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2123,-0.47,-136.3,231.7,-8.4,244,2124,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2199,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2424,-0.47,-136.3,256.0,-8.1,259,2425,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2199,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2723,-0.47,-136.3,278.9,-7.5,274,2728,0.00,2.35,0.00,0.000,4,0.000,0.062,3030,3608,3355,0,0,0,0,0,0,28.83,24.78,28.83
$GC,2751,-0.47,-136.3,280.4,-7.5,275,2755,0.00,2.28,0.00,0.000,6,0.000,0.043,3030,2201,3355,0,0,0,0,0,0,28.83,25.25,28.83
$GC,3054,-0.47,-136.3,305.2,-8.1,290,3059,0.00,2.28,0.00,0.000,4,0.000,0.050,3030,798,3355,0,0,0,0,0,0,28.83,24.98,28.83
$GC,3093,-0.47,-136.3,308.6,-8.2,292,3099,0.00,2.28,0.00,0.000,6,0.000,0.050,3026,2195,3355,0,0,0,0,0,0,28.83,24.98,28.83
$GC,3413,-0.47,-136.3,335.8,-8.7,308,3414,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2195,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3714,-0.47,-136.3,361.6,-8.6,323,3719,0.00,2.38,0.00,0.000,4,0.000,0.063,3016,3612,3355,0,0,0,0,0,0,28.83,24.72,28.83
$GC,3793,-0.47,-136.3,368.6,-8.8,327,3799,0.00,2.30,0.00,0.000,6,0.000,0.044,3016,2196,3355,0,0,0,0,0,0,28.83,25.22,28.83
$GC,4113,-0.47,-136.3,396.6,-9.0,343,4118,0.00,2.28,0.00,0.000,4,0.000,0.050,3016,800,3354,0,0,0,0,0,0,28.83,24.94,28.83
$GC,4206,-0.47,-136.3,405.1,-9.5,347,4210,0.12,2.25,0.00,0.000,6,0.132,0.051,3042,2205,3354,0,0,0,0,0,0,24.82,24.94,28.83
$GC,4523,-0.47,-136.3,427.9,-7.0,358,4529,0.00,2.35,0.00,0.000,4,0.000,0.063,3033,3605,3354,0,0,0,0,0,0,28.83,24.68,28.83
$GC,4601,-0.47,-136.3,432.3,-7.2,360,4605,0.00,2.30,0.00,0.000,6,0.000,0.044,3033,2189,3354,0,0,0,0,0,0,28.83,25.20,28.83
$STATE,4870,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4870,begin apogee
$GC,4878,-0.22,0.0,452.2,-7.2,369,4999,0.25,0.00,117.18,0.820,6,0.110,0.000,3119,2334,2794,0,0,0,0,0,0,25.40,28.83,23.46
$STATE,5000,end apogee,CONTROL_FINISHED_OK
$STATE,5000,begin climb
$GC,5003,0.47,136.3,457.4,0.0,373,5131,0.68,2.38,120.65,0.794,4,0.080,0.065,3348,3726,2238,0,0,0,0,0,0,24.70,24.62,23.35
$GC,5166,0.50,195.6,452.3,4.7,378,5224,0.00,2.25,51.62,0.781,6,0.000,0.046,3357,2328,1995,0,0,0,0,0,0,28.83,25.10,23.39
$GC,5523,0.50,195.6,423.6,8.1,390,5524,0.00,0.00,0.00,0.000,6,0.000,0.000,3358,2328,1986,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5824,0.50,195.6,399.6,8.2,400,5829,0.00,2.28,0.00,0.000,4,0.000,0.054,3367,930,1985,0,0,0,0,0,0,28.83,25.28,28.83
$GC,5883,0.50,195.6,394.6,8.2,403,5889,0.00,2.28,0.00,0.000,6,0.000,0.053,3367,2318,1984,0,0,0,0,0,0,28.83,25.28,28.83
$GC,6204,0.50,195.6,367.6,8.4,419,6209,0.00,2.35,0.00,0.000,4,0.000,0.065,3367,3743,1984,0,0,0,0,0,0,28.83,25.06,28.83
$GC,6231,0.50,195.6,365.8,8.5,420,6235,0.00,2.30,0.00,0.000,6,0.000,0.046,3377,2329,1983,0,0,0,0,0,0,28.83,25.38,28.83
$GC,6534,0.50,195.6,337.6,10.0,435,6538,0.00,2.38,0.00,0.000,4,0.000,0.066,3377,3731,1983,0,0,0,0,0,0,28.83,24.98,28.83
$GC,6573,0.50,195.6,333.5,10.2,437,6579,0.12,2.30,0.00,0.000,6,0.140,0.047,3353,2329,1982,0,0,0,0,0,0,25.13,25.32,28.83
$GC,6894,0.50,195.6,310.4,7.0,453,6898,0.00,2.30,0.00,0.000,4,0.000,0.054,3361,916,1982,0,0,0,0,0,0,28.83,25.09,28.83
$GC,6961,0.50,195.6,306.0,7.4,456,6965,0.00,2.33,0.00,0.000,6,0.000,0.053,3361,2329,1982,0,0,0,0,0,0,28.83,25.10,28.83
$GC,7263,0.50,195.9,283.7,7.0,471,7269,0.00,2.35,0.00,0.000,4,0.000,0.066,3361,3728,1982,0,0,0,0,0,0,28.83,24.89,28.83
$GC,7291,0.50,195.9,282.2,7.1,472,7295,0.00,2.30,0.00,0.000,6,0.000,0.047,3371,2320,1982,0,0,0,0,0,0,28.83,25.27,28.83
$GC,7594,0.50,195.9,259.0,7.5,487,7599,0.00,2.28,0.00,0.000,4,0.000,0.054,3381,927,1981,0,0,0,0,0,0,28.83,25.03,28.83
$GC,7653,0.50,195.9,254.6,7.5,490,7659,0.00,2.30,0.00,0.000,6,0.000,0.053,3381,2323,1982,0,0,0,0,0,0,28.83,25.05,28.83
$GC,7974,0.50,195.9,228.5,8.2,506,7979,0.00,2.38,0.00,0.000,4,0.000,0.064,3381,3735,1981,0,0,0,0,0,0,28.83,24.84,28.83
$GC,8041,0.50,195.9,223.0,9.0,509,8046,0.12,2.30,0.00,0.000,6,0.140,0.046,3357,2327,1981,0,0,0,0,0,0,25.03,25.24,28.83
$GC,8343,0.50,197.9,201.6,6.9,524,8348,0.00,2.28,0.00,0.000,4,0.000,0.053,3365,924,1981,0,0,0,0,0,0,28.83,25.00,28.83
$GC,8384,0.50,205.6,198.9,6.7,526,8402,0.00,2.28,7.70,0.579,6,0.000,0.053,3365,2319,1955,0,0,0,0,0,0,28.83,25.01,24.09
$GC,8705,0.50,205.6,175.5,7.2,548,8712,0.00,2.35,0.00,0.000,4,0.000,0.064,3365,3738,1954,0,0,0,0,0,0,28.83,24.99,28.83
$GC,8753,0.50,205.6,171.5,7.9,553,8762,0.00,2.33,0.00,0.000,6,0.000,0.046,3375,2310,1954,0,0,0,0,0,0,28.83,25.32,28.83
$GC,9064,0.50,205.6,147.9,7.5,574,9072,0.00,2.25,0.00,0.000,4,0.000,0.053,3385,926,1954,0,0,0,0,0,0,28.83,25.03,28.83
$GC,9113,0.50,205.6,144.0,7.7,579,9122,0.00,2.30,0.00,0.000,6,0.000,0.052,3385,2326,1954,0,0,0,0,0,0,28.83,25.05,28.83
$GC,9424,0.50,205.6,120.3,7.2,600,9426,0.00,0.00,0.00,0.000,6,0.000,0.000,3385,2326,1954,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9725,0.50,205.6,99.0,7.4,658,9732,0.00,2.28,0.00,0.000,4,0.000,0.053,3395,919,1953,0,0,0,0,0,0,28.83,24.97,28.83
$GC,9803,0.50,205.6,93.2,8.1,672,9811,0.15,2.28,0.00,0.000,6,0.121,0.052,3353,2333,1953,0,0,0,0,0,0,24.85,24.99,28.83
$GC,10118,0.53,280.7,77.6,4.0,733,10189,0.00,2.40,64.35,0.601,4,0.000,0.064,3353,3737,1648,0,0,0,0,0,0,28.83,25.06,23.94
$GC,10217,0.54,308.6,72.8,5.9,750,10248,0.00,2.25,23.98,0.565,6,0.000,0.045,3353,2319,1535,0,0,0,0,0,0,28.83,25.26,23.80
$GC,10555,0.54,308.6,47.9,9.2,815,10561,0.00,2.35,0.00,0.000,4,0.000,0.065,3351,3742,1527,0,0,0,0,0,0,28.83,25.14,28.83
$GC,10591,0.54,308.6,44.3,9.1,821,10598,0.00,2.22,0.00,0.000,6,0.000,0.044,3351,2321,1526,0,0,0,0,0,0,28.83,25.46,28.83
$GC,10905,0.54,319.6,20.5,6.6,882,10919,0.00,2.40,8.98,0.499,4,0.000,0.064,3351,3734,1491,0,0,0,0,0,0,28.83,25.32,24.15
$GC,10968,0.56,360.6,17.1,5.4,893,11013,0.00,2.20,35.45,0.550,6,0.000,0.044,3351,2323,1321,0,0,0,0,0,0,28.83,25.57,24.01
$STATE,11134,end climb,SURFACE_DEPTH_REACHED
$STATE,11134,begin surface coast
$FINISH,1.2,1.012567
$STATE,11180,end surface coast,CONTROL_FINISHED_OK
$STATE,11180,begin surface
$SM_CCo,11261,0.00,0.000,0,0,1311,363.53
$SM_GC,2.04,8.30,0.17,0.00,0.027,0.078,0.000,106,2197,1311,-9.45,1.30,363.53,0,0,0,0,0,0,25.73,25.80,28.83
$IRIDIUM_FIX,4735.69,-12513.98,190413,111100
$TT8_MAMPS,0.027713,0.027713
$HUMID,49.37
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,18.90
$XPDR_PINGS,1
$24V_AH,23.4,115.650
$10V_AH,9.9,86.093
$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,21.575,106.100,429.900,0.000,0.000,25.012,49.019,188.208,0.250,0.000,13.373,2311.149,6779.596,570.454,1711.463,287.845,0.000,1378.700,0.000,1439.353,0.000,0.535,0.000
$DEVICE_MAMPS,218.025,78.795,820.080,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,638.780,596.015,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296756
$DATA_FILE_SIZE,50254,933
$CAP_FILE_SIZE,109021,0
$CFSIZE,260165632,188366848
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.272, 86.6,1
$GPS,190413,173606,4749.609,-12515.007,32,1.2,32,18.7