version: 66.11
glider: 187
mission: 2
dive: 820
start: 4 18 113 6 41 15
data:
$ID,187
$MISSION,2
$DIVE,820
$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,-1590017.8
$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,25
$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
$GPS1,180413,063354,4749.013,-12514.918,79,1.0,80,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-78.5
$GPS2,180413,064031,4748.995,-12514.859,15,1.5,15,18.7
$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,293.9,1221,-15.2,-7.021,-19.96
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.52,-108.5,0.0,0.0,0,69,0.00,0.00,-49.55,0.000,2,0.000,0.000,105,2200,2670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.53,-136.3,3.3,-2.4,9,105,11.73,2.33,-14.52,0.000,4,0.220,0.065,3014,789,3353,0,0,0,0,0,0,24.56,25.35,26.20
$GC,315,-0.53,-136.3,49.1,-15.4,55,322,0.00,2.22,0.00,0.000,6,0.000,0.050,3006,2201,3356,0,0,0,0,0,0,28.83,25.21,28.83
$GC,629,-0.53,-136.3,97.5,-15.6,116,636,0.00,2.28,0.00,0.000,4,0.000,0.061,2995,3611,3357,0,0,0,0,0,0,28.83,24.99,28.83
$GC,655,-0.53,-136.3,101.4,-14.7,120,663,0.00,2.20,0.00,0.000,6,0.000,0.043,2994,2197,3357,0,0,0,0,0,0,28.83,25.37,28.83
$GC,977,-0.53,-136.3,144.3,-12.9,159,985,0.00,2.25,0.00,0.000,4,0.000,0.050,2995,801,3357,0,0,0,0,0,0,28.83,25.12,28.83
$GC,1086,-0.53,-136.3,157.9,-12.4,170,1096,0.15,2.28,0.00,0.000,6,0.138,0.049,3026,2200,3357,0,0,0,0,0,0,24.92,25.13,28.83
$GC,1396,-0.53,-136.3,186.1,-8.7,191,1398,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2200,3358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1703,-0.53,-136.3,212.1,-8.2,209,1707,0.00,2.20,0.00,0.000,4,0.000,0.050,3026,801,3357,0,0,0,0,0,0,28.83,25.08,28.83
$GC,1782,-0.53,-136.3,218.9,-8.5,213,1787,0.00,2.25,0.00,0.000,6,0.000,0.049,3020,2195,3357,0,0,0,0,0,0,28.83,25.10,28.83
$GC,2105,-0.53,-136.3,246.5,-8.9,229,2109,0.00,2.30,0.00,0.000,4,0.000,0.062,3009,3607,3357,0,0,0,0,0,0,28.83,24.85,28.83
$GC,2153,-0.53,-136.3,250.9,-8.8,231,2157,0.00,2.25,0.00,0.000,6,0.000,0.043,3009,2201,3357,0,0,0,0,0,0,28.83,25.31,28.83
$GC,2471,-0.53,-136.3,281.4,-9.5,247,2477,0.00,2.28,0.00,0.000,4,0.000,0.050,3009,797,3357,0,0,0,0,0,0,28.83,25.03,28.83
$GC,2539,-0.53,-136.3,287.2,-9.7,250,2543,0.00,2.30,0.00,0.000,6,0.000,0.050,3001,2202,3357,0,0,0,0,0,0,28.83,25.04,28.83
$GC,2843,-0.53,-136.3,319.8,-10.8,265,2847,0.00,2.25,0.00,0.000,4,0.000,0.050,3001,788,3357,0,0,0,0,0,0,28.83,25.02,28.83
$GC,2881,-0.53,-136.3,324.2,-10.9,267,2888,0.12,2.33,0.00,0.000,6,0.145,0.050,3024,2207,3357,0,0,0,0,0,0,24.86,25.03,28.83
$GC,3203,-0.53,-136.3,354.3,-9.2,283,3204,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2207,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3503,-0.53,-136.3,379.6,-8.2,298,3507,0.00,2.30,0.00,0.000,4,0.000,0.063,3016,3611,3357,0,0,0,0,0,0,28.83,24.77,28.83
$GC,3562,-0.53,-136.3,384.6,-8.4,301,3567,0.00,2.28,0.00,0.000,6,0.000,0.044,3016,2194,3357,0,0,0,0,0,0,28.83,25.24,28.83
$GC,3883,-0.53,-136.3,411.2,-8.0,315,3887,0.00,2.25,0.00,0.000,4,0.000,0.051,3017,802,3357,0,0,0,0,0,0,28.83,24.98,28.83
$GC,3919,-0.53,-136.3,413.6,-7.9,316,3924,0.00,2.30,0.00,0.000,6,0.000,0.050,3013,2202,3357,0,0,0,0,0,0,28.83,24.99,28.83
$GC,4232,-0.53,-136.3,439.5,-8.4,327,4237,0.00,2.30,0.00,0.000,4,0.000,0.051,3013,797,3356,0,0,0,0,0,0,28.83,24.96,28.83
$GC,4280,-0.53,-136.3,442.1,-8.5,328,4284,0.00,2.33,0.00,0.000,6,0.000,0.053,3004,2204,3356,0,0,0,0,0,0,28.83,24.94,28.83
$STATE,4369,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4369,begin apogee
$GC,4377,-0.22,0.0,451.7,-8.8,331,4499,0.35,0.00,117.88,0.814,6,0.112,0.000,3121,2342,2794,0,0,0,0,0,0,25.18,28.83,23.46
$STATE,4500,end apogee,CONTROL_FINISHED_OK
$STATE,4500,begin climb
$GC,4503,0.53,136.3,455.1,0.0,335,4631,0.73,0.00,121.00,0.784,6,0.078,0.000,3367,2342,2237,0,0,0,0,0,0,24.72,28.83,23.37
$GC,4933,0.53,136.3,423.4,8.0,350,4938,0.00,2.30,0.00,0.000,4,0.000,0.066,3367,3721,2228,0,0,0,0,0,0,28.83,25.28,28.83
$GC,5010,0.53,136.3,418.3,8.0,352,5014,0.00,2.28,0.00,0.000,6,0.000,0.046,3377,2322,2227,0,0,0,0,0,0,28.83,25.48,28.83
$GC,5312,0.53,136.3,393.3,8.0,363,5317,0.00,2.30,0.00,0.000,4,0.000,0.054,3388,921,2226,0,0,0,0,0,0,28.83,25.26,28.83
$GC,5381,0.53,136.3,388.6,7.9,366,5390,0.00,2.30,0.00,0.000,6,0.000,0.053,3388,2323,2226,0,0,0,0,0,0,28.83,25.26,28.83
$GC,5693,0.53,136.3,363.2,8.4,382,5697,0.00,2.33,0.00,0.000,4,0.000,0.065,3388,3733,2226,0,0,0,0,0,0,28.83,25.06,28.83
$GC,5800,0.53,136.3,353.5,9.8,387,5805,0.12,2.30,0.00,0.000,6,0.151,0.047,3366,2319,2225,0,0,0,0,0,0,25.13,25.37,28.83
$GC,6103,0.53,136.3,327.5,8.1,402,6107,0.00,2.38,0.00,0.000,4,0.000,0.065,3366,3728,2225,0,0,0,0,0,0,28.83,24.98,28.83
$GC,6162,0.53,136.3,322.2,8.5,405,6167,0.00,2.28,0.00,0.000,6,0.000,0.047,3374,2323,2224,0,0,0,0,0,0,28.83,25.34,28.83
$GC,6483,0.53,136.3,297.8,7.6,421,6484,0.00,0.00,0.00,0.000,6,0.000,0.000,3374,2323,2224,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6782,0.53,136.3,277.1,7.2,436,6787,0.00,2.38,0.00,0.000,4,0.000,0.065,3374,3728,2224,0,0,0,0,0,0,28.83,24.91,28.83
$GC,6850,0.53,136.3,272.4,7.6,439,6854,0.00,2.30,0.00,0.000,6,0.000,0.047,3384,2322,2224,0,0,0,0,0,0,28.83,25.29,28.83
$GC,7153,0.53,143.9,251.3,6.7,454,7163,0.00,2.33,5.32,0.545,4,0.000,0.054,3395,921,2207,0,0,0,0,0,0,28.83,25.29,24.06
$GC,7190,0.54,155.6,249.4,6.5,455,7208,0.00,2.30,12.73,0.662,6,0.000,0.054,3395,2324,2158,0,0,0,0,0,0,28.83,25.30,24.00
$GC,7522,0.54,155.6,224.6,7.5,472,7527,0.00,2.38,0.00,0.000,4,0.000,0.065,3395,3744,2155,0,0,0,0,0,0,28.83,25.07,28.83
$GC,7603,0.54,155.6,217.1,9.4,476,7608,0.10,2.30,0.00,0.000,6,0.122,0.047,3372,2324,2154,0,0,0,0,0,0,25.07,25.37,28.83
$GC,7917,0.54,155.6,193.5,7.3,493,7925,0.00,2.28,0.00,0.000,4,0.000,0.054,3380,919,2154,0,0,0,0,0,0,28.83,25.09,28.83
$GC,7967,0.54,155.6,189.7,7.8,498,7975,0.00,2.30,0.00,0.000,6,0.000,0.053,3380,2324,2154,0,0,0,0,0,0,28.83,25.10,28.83
$GC,8278,0.54,165.1,166.7,6.6,519,8291,0.00,0.00,9.40,0.594,6,0.000,0.000,3380,2324,2119,0,0,0,0,0,0,28.83,28.83,24.08
$GC,8592,0.55,181.4,146.5,6.2,540,8612,0.00,2.38,15.05,0.616,4,0.000,0.065,3380,3733,2053,0,0,0,0,0,0,28.83,25.29,24.08
$GC,8643,0.55,181.4,142.9,7.3,545,8651,0.00,2.25,0.00,0.000,6,0.000,0.047,3390,2309,2051,0,0,0,0,0,0,28.83,25.52,28.83
$GC,8952,0.55,181.4,119.2,8.2,566,8957,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,2309,2050,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9264,0.55,181.4,95.2,7.3,627,9269,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,2309,2049,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9576,0.56,219.3,77.4,5.2,688,9614,0.00,2.30,33.05,0.597,4,0.000,0.054,3400,923,1898,0,0,0,0,0,0,28.83,25.27,24.01
$GC,9643,0.58,252.9,73.6,5.4,699,9679,0.00,2.22,28.95,0.571,6,0.000,0.052,3400,2325,1762,0,0,0,0,0,0,28.83,25.32,23.90
$GC,9988,0.59,274.7,53.4,6.0,765,10013,0.00,2.38,18.70,0.560,4,0.000,0.065,3400,3733,1673,0,0,0,0,0,0,28.83,25.33,24.11
$GC,10083,0.59,274.7,46.6,7.5,782,10090,0.00,2.22,0.00,0.000,6,0.000,0.045,3408,2320,1671,0,0,0,0,0,0,28.83,25.49,28.83
$GC,10396,0.60,304.6,27.1,5.6,843,10427,0.00,2.33,25.40,0.553,4,0.000,0.053,3409,915,1551,0,0,0,0,0,0,28.83,25.37,24.10
$GC,10485,0.61,330.0,21.9,5.8,859,10515,0.00,2.25,22.12,0.540,6,0.000,0.051,3409,2337,1447,0,0,0,0,0,0,28.83,25.39,24.06
$GC,10823,0.63,388.0,5.1,4.2,924,10848,0.00,0.00,22.73,0.532,2,0.000,0.000,3409,2336,1338,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10849,end climb,SURFACE_DEPTH_REACHED
$STATE,10849,begin surface coast
$FINISH,1.3,1.024300
$STATE,10938,end surface coast,CONTROL_FINISHED_OK
$STATE,10938,begin surface
$SM_CCo,11018,0.00,0.000,0,0,1329,359.36
$SM_GC,2.01,8.50,0.22,0.00,0.029,0.067,0.000,115,2183,1329,-9.46,0.74,359.36,0,0,0,0,0,0,25.76,25.77,28.83
$IRIDIUM_FIX,4732.49,-12519.22,180413,030315
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.97
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,19.20
$XPDR_PINGS,2
$24V_AH,23.4,114.781
$10V_AH,9.8,85.447
$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,21.800,101.200,432.325,0.000,0.000,26.836,34.706,194.287,0.500,0.000,16.455,2349.788,6493.189,568.666,1721.450,294.862,0.000,1373.340,0.000,1457.970,0.000,0.536,0.000
$DEVICE_MAMPS,220.320,82.620,813.960,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,646.685,604.532,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296784
$DATA_FILE_SIZE,50082,945
$CAP_FILE_SIZE,109096,0
$CFSIZE,260165632,188968960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.101,128.7,1
$GPS,180413,094603,4749.406,-12515.685,12,3.0,31,18.7