version: 66.11
glider: 187
mission: 2
dive: 806
start: 4 16 113 18 22 9
data:
$ID,187
$MISSION,2
$DIVE,806
$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,-1589998.2
$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,44
$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
$GPS1,160413,181135,4749.924,-12516.352,35,1.5,35,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-77.0
$GPS2,160413,182136,4749.855,-12516.254,16,1.4,21,18.7
$SPEED_LIMITS,0.122,0.210
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$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,10.2,8370,-13.3,-7.021,-18.50
$D_GRID,441
$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,17,-0.47,-136.3,0.0,0.0,0,80,0.00,0.00,-60.38,0.000,2,0.000,0.000,110,2190,2473,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.47,-136.3,3.1,-1.6,11,128,11.62,2.22,-22.42,0.000,4,0.213,0.064,3037,801,3353,0,0,0,0,0,0,24.51,25.32,26.22
$GC,238,-0.47,-136.3,27.7,-14.8,39,244,0.00,2.22,0.00,0.000,6,0.000,0.051,3028,2209,3355,0,0,0,0,0,0,28.83,25.19,28.83
$GC,551,-0.47,-136.3,76.0,-14.3,100,558,0.00,2.22,0.00,0.000,4,0.000,0.049,3028,798,3355,0,0,0,0,0,0,28.83,25.15,28.83
$GC,628,-0.47,-136.3,86.2,-12.6,114,634,0.00,2.22,0.00,0.000,6,0.000,0.050,3021,2207,3355,0,0,0,0,0,0,28.83,25.14,28.83
$GC,949,-0.47,-136.3,127.2,-11.8,169,959,0.00,2.35,0.00,0.000,4,0.000,0.061,3010,3612,3356,0,0,0,0,0,0,28.83,24.94,28.83
$GC,1010,-0.47,-136.3,134.0,-11.0,175,1019,0.08,2.25,0.00,0.000,6,0.108,0.041,3040,2193,3356,0,0,0,0,0,0,25.16,25.39,28.83
$GC,1321,-0.47,-136.3,161.3,-8.4,196,1328,0.00,2.17,0.00,0.000,4,0.000,0.050,3040,804,3357,0,0,0,0,0,0,28.83,25.10,28.83
$GC,1410,-0.47,-136.3,168.8,-8.0,205,1419,0.00,2.25,0.00,0.000,6,0.000,0.050,3033,2196,3356,0,0,0,0,0,0,28.83,25.12,28.83
$GC,1720,-0.47,-136.3,194.4,-8.4,226,1728,0.00,2.35,0.00,0.000,4,0.000,0.062,3022,3605,3356,0,0,0,0,0,0,28.83,24.87,28.83
$GC,1749,-0.47,-136.3,197.0,-8.5,229,1759,0.00,2.25,0.00,0.000,6,0.000,0.042,3022,2201,3356,0,0,0,0,0,0,28.83,25.33,28.83
$GC,2071,-0.47,-136.3,226.2,-9.3,246,2072,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2201,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2369,-0.47,-136.3,253.5,-9.3,261,2375,0.00,2.28,0.00,0.000,4,0.000,0.050,3022,798,3356,0,0,0,0,0,0,28.83,25.05,28.83
$GC,2429,-0.47,-136.3,259.2,-9.4,264,2435,0.00,2.30,0.00,0.000,6,0.000,0.050,3013,2205,3356,0,0,0,0,0,0,28.83,25.04,28.83
$GC,2750,-0.47,-136.3,289.8,-9.5,280,2755,0.00,2.33,0.00,0.000,4,0.000,0.063,3003,3602,3356,0,0,0,0,0,0,28.83,24.82,28.83
$GC,2790,-0.47,-136.3,293.7,-9.7,282,2796,0.10,2.22,0.00,0.000,6,0.103,0.043,3041,2209,3356,0,0,0,0,0,0,25.03,25.29,28.83
$GC,3110,-0.47,-136.3,317.9,-7.7,298,3115,0.00,2.28,0.00,0.000,4,0.000,0.050,3041,799,3356,0,0,0,0,0,0,28.83,25.02,28.83
$GC,3157,-0.47,-136.3,321.1,-7.9,300,3162,0.00,2.30,0.00,0.000,6,0.000,0.050,3040,2204,3356,0,0,0,0,0,0,28.83,25.02,28.83
$GC,3460,-0.47,-136.3,342.0,-6.7,315,3465,0.00,2.35,0.00,0.000,4,0.000,0.063,3030,3606,3356,0,0,0,0,0,0,28.83,24.79,28.83
$GC,3488,-0.47,-136.3,343.3,-6.8,316,3492,0.00,2.28,0.00,0.000,6,0.000,0.044,3029,2197,3356,0,0,0,0,0,0,28.83,25.27,28.83
$GC,3792,-0.47,-136.3,366.9,-8.0,331,3793,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2194,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4090,-0.47,-136.3,392.1,-8.7,346,4091,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2194,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4400,-0.47,-136.3,418.2,-8.3,358,4405,0.00,2.40,0.00,0.000,4,0.000,0.063,3020,3612,3354,0,0,0,0,0,0,28.83,24.75,28.83
$GC,4461,-0.47,-136.3,423.3,-8.4,360,4465,0.00,2.28,0.00,0.000,6,0.000,0.044,3020,2198,3354,0,0,0,0,0,0,28.83,25.24,28.83
$STATE,4666,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4667,begin apogee
$GC,4674,-0.22,0.0,441.3,-8.6,367,4796,0.30,0.00,118.35,0.809,6,0.110,0.000,3122,2340,2794,0,0,0,0,0,0,25.30,28.83,23.42
$STATE,4797,end apogee,CONTROL_FINISHED_OK
$STATE,4797,begin climb
$GC,4799,0.47,136.3,445.9,0.0,371,4927,0.68,2.38,120.57,0.779,4,0.077,0.065,3351,3726,2237,0,0,0,0,0,0,24.75,24.64,23.34
$GC,4949,0.51,222.6,443.3,3.6,375,5028,0.00,2.33,74.00,0.766,6,0.000,0.046,3361,2324,1886,0,0,0,0,0,0,28.83,25.03,23.32
$GC,5339,0.51,222.6,410.1,8.0,389,5345,0.00,2.30,0.00,0.000,4,0.000,0.054,3370,918,1877,0,0,0,0,0,0,28.83,25.37,28.83
$GC,5378,0.51,222.6,407.8,7.8,390,5385,0.00,2.30,0.00,0.000,6,0.000,0.053,3370,2326,1877,0,0,0,0,0,0,28.83,25.39,28.83
$GC,5689,0.51,222.6,382.1,8.0,404,5695,0.00,2.38,0.00,0.000,4,0.000,0.065,3370,3743,1876,0,0,0,0,0,0,28.83,25.18,28.83
$GC,5737,0.51,222.6,378.5,8.5,406,5742,0.00,2.30,0.00,0.000,6,0.000,0.046,3379,2332,1875,0,0,0,0,0,0,28.83,25.46,28.83
$GC,6040,0.51,222.6,351.7,8.8,421,6045,0.00,2.30,0.00,0.000,4,0.000,0.054,3389,917,1875,0,0,0,0,0,0,28.83,25.23,28.83
$GC,6099,0.51,222.6,346.4,9.0,424,6106,0.12,2.30,0.00,0.000,6,0.128,0.053,3355,2325,1875,0,0,0,0,0,0,25.15,25.24,28.83
$GC,6419,0.51,222.6,322.2,7.4,440,6425,0.00,2.38,0.00,0.000,4,0.000,0.064,3355,3737,1874,0,0,0,0,0,0,28.83,25.05,28.83
$GC,6448,0.51,222.6,320.8,7.3,441,6458,0.00,2.33,0.00,0.000,6,0.000,0.046,3361,2307,1874,0,0,0,0,0,0,28.83,25.38,28.83
$GC,6759,0.51,222.6,296.0,8.2,457,6765,0.00,2.28,0.00,0.000,4,0.000,0.054,3371,923,1874,0,0,0,0,0,0,28.83,25.15,28.83
$GC,6819,0.51,222.6,291.4,7.8,460,6825,0.00,2.30,0.00,0.000,6,0.000,0.053,3371,2326,1874,0,0,0,0,0,0,28.83,25.15,28.83
$GC,7139,0.51,222.6,266.0,8.2,476,7140,0.00,0.00,0.00,0.000,6,0.000,0.000,3371,2325,1874,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7439,0.51,222.6,241.1,8.4,491,7445,0.00,2.33,0.00,0.000,4,0.000,0.054,3380,916,1874,0,0,0,0,0,0,28.83,25.10,28.83
$GC,7467,0.51,222.6,239.7,8.3,492,7471,0.00,2.33,0.00,0.000,6,0.000,0.053,3381,2330,1874,0,0,0,0,0,0,28.83,25.11,28.83
$GC,7770,0.51,222.6,215.0,7.7,507,7771,0.00,0.00,0.00,0.000,6,0.000,0.000,3381,2330,1874,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8074,0.51,222.6,189.1,8.8,524,8075,0.00,0.00,0.00,0.000,6,0.000,0.000,3381,2330,1874,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8375,0.51,222.6,163.1,7.8,544,8383,0.00,2.30,0.00,0.000,4,0.000,0.054,3390,926,1873,0,0,0,0,0,0,28.83,25.05,28.83
$GC,8404,0.51,222.6,160.6,8.1,547,8414,0.12,2.30,0.00,0.000,6,0.124,0.053,3356,2326,1873,0,0,0,0,0,0,24.97,25.06,28.83
$GC,8717,0.51,231.1,140.0,6.7,568,8733,0.00,2.33,6.82,0.536,4,0.000,0.053,3362,925,1851,0,0,0,0,0,0,28.83,25.22,24.06
$GC,8756,0.52,250.6,137.5,6.2,572,8784,0.00,2.28,19.00,0.617,6,0.000,0.053,3362,2325,1770,0,0,0,0,0,0,28.83,25.29,23.99
$GC,9087,0.54,302.6,119.2,5.0,597,9134,0.00,0.00,44.38,0.620,6,0.000,0.000,3362,2325,1560,0,0,0,0,0,0,28.83,28.83,23.89
$GC,9443,0.54,319.9,97.9,6.3,665,9461,0.00,0.00,15.12,0.578,6,0.000,0.000,3362,2325,1488,0,0,0,0,0,0,28.83,28.83,24.06
$GC,9766,0.56,366.6,76.0,5.2,728,9814,0.00,2.25,39.42,0.586,4,0.000,0.051,3363,921,1298,0,0,0,0,0,0,28.83,25.28,23.99
$GC,9924,0.56,366.6,62.9,10.4,757,9931,0.00,2.22,0.00,0.000,6,0.000,0.051,3362,2329,1294,0,0,0,0,0,0,28.83,25.35,28.83
$GC,10237,0.56,366.6,32.0,8.3,818,10243,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,2329,1292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10549,0.56,366.6,8.0,8.9,879,10556,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,2329,1291,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10590,end climb,SURFACE_DEPTH_REACHED
$STATE,10591,begin surface coast
$FINISH,1.4,1.005663
$STATE,10633,end surface coast,CONTROL_FINISHED_OK
$STATE,10633,begin surface
$SM_CCo,10713,0.00,0.000,0,0,1288,369.42
$SM_GC,2.26,8.35,0.20,0.00,0.027,0.073,0.000,107,2191,1288,-9.47,1.07,369.42,0,0,0,0,0,0,25.79,25.92,28.83
$IRIDIUM_FIX,4732.49,-12519.22,160413,141454
$TT8_MAMPS,0.026964,0.026964
$HUMID,49.09
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,18.90
$XPDR_PINGS,1
$24V_AH,23.3,113.402
$10V_AH,9.8,84.665
$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,21.375,92.125,437.675,0.000,0.000,26.188,35.297,397.237,0.250,0.000,22.062,2184.383,6406.220,601.035,1783.232,341.325,0.000,1371.741,0.000,1371.405,0.000,0.536,0.000
$DEVICE_MAMPS,212.670,78.030,809.370,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,611.934,570.802,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296804
$DATA_FILE_SIZE,50162,895
$CAP_FILE_SIZE,105480,0
$CFSIZE,260165632,189685760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.114,188.8,1
$GPS,160413,212151,4751.189,-12514.877,11,3.5,31,18.7