version: 66.11
glider: 187
mission: 2
dive: 813
start: 4 17 113 9 58 46
data:
$ID,187
$MISSION,2
$DIVE,813
$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,-1590009
$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,45
$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
$GPS1,170413,094827,4749.434,-12513.413,14,2.2,33,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-78.3
$GPS2,170413,095812,4749.390,-12513.404,11,1.5,16,18.7
$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,241.8,2328,-13.3,-7.021,-18.50
$D_GRID,421
$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,-136.3,0.0,0.0,0,74,0.00,0.00,-55.62,0.000,2,0.000,0.000,107,2186,2588,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-0.47,-136.3,3.3,-3.0,10,117,11.65,2.38,-16.70,0.000,4,0.214,0.073,3025,3603,3352,0,0,0,0,0,0,24.49,25.26,26.21
$GC,165,-0.47,-136.3,22.0,-17.7,25,173,0.00,2.17,0.00,0.000,6,0.000,0.043,3024,2205,3355,0,0,0,0,0,0,28.83,25.45,28.83
$GC,480,-0.47,-136.3,70.7,-13.4,86,487,0.00,2.22,0.00,0.000,4,0.000,0.050,3024,787,3355,0,0,0,0,0,0,28.83,25.22,28.83
$GC,525,-0.47,-136.3,76.8,-12.9,94,532,0.00,2.25,0.00,0.000,6,0.000,0.050,3014,2207,3355,0,0,0,0,0,0,28.83,25.20,28.83
$GC,838,-0.47,-136.3,114.4,-11.7,155,845,0.00,2.30,0.00,0.000,4,0.000,0.061,3004,3618,3355,0,0,0,0,0,0,28.83,25.02,28.83
$GC,939,-0.47,-136.3,126.4,-12.4,169,948,0.10,2.25,0.00,0.000,6,0.106,0.041,3041,2200,3356,0,0,0,0,0,0,25.16,25.41,28.83
$GC,1251,-0.47,-136.3,157.5,-9.2,190,1257,0.00,2.20,0.00,0.000,4,0.000,0.049,3040,801,3356,0,0,0,0,0,0,28.83,25.18,28.83
$GC,1300,-0.47,-136.3,161.9,-8.8,195,1307,0.00,2.25,0.00,0.000,6,0.000,0.050,3035,2197,3355,0,0,0,0,0,0,28.83,25.18,28.83
$GC,1611,-0.47,-136.3,187.3,-8.0,216,1618,0.00,2.30,0.00,0.000,4,0.000,0.062,3025,3608,3355,0,0,0,0,0,0,28.83,24.96,28.83
$GC,1678,-0.47,-136.3,193.3,-8.4,223,1687,0.00,2.28,0.00,0.000,6,0.000,0.042,3024,2189,3356,0,0,0,0,0,0,28.83,25.39,28.83
$GC,2004,-0.47,-136.3,222.4,-9.0,241,2009,0.00,2.22,0.00,0.000,4,0.000,0.049,3024,803,3356,0,0,0,0,0,0,28.83,25.15,28.83
$GC,2063,-0.47,-136.3,228.2,-9.5,244,2069,0.00,2.28,0.00,0.000,6,0.000,0.050,3015,2200,3356,0,0,0,0,0,0,28.83,25.15,28.83
$GC,2385,-0.47,-136.3,258.3,-9.0,260,2389,0.00,2.30,0.00,0.000,4,0.000,0.062,3006,3612,3355,0,0,0,0,0,0,28.83,24.94,28.83
$GC,2424,-0.47,-136.3,261.9,-8.9,262,2430,0.10,2.25,0.00,0.000,6,0.100,0.043,3043,2207,3355,0,0,0,0,0,0,25.13,25.37,28.83
$GC,2746,-0.47,-136.3,284.9,-7.4,278,2750,0.00,2.25,0.00,0.000,4,0.000,0.050,3043,792,3355,0,0,0,0,0,0,28.83,25.11,28.83
$GC,2773,-0.47,-136.3,287.2,-7.5,279,2779,0.00,2.30,0.00,0.000,6,0.000,0.050,3036,2200,3355,0,0,0,0,0,0,28.83,25.11,28.83
$GC,3096,-0.47,-136.3,313.0,-8.3,295,3100,0.00,2.30,0.00,0.000,4,0.000,0.063,3025,3611,3355,0,0,0,0,0,0,28.83,24.89,28.83
$GC,3123,-0.47,-136.3,315.6,-8.5,296,3129,0.00,2.30,0.00,0.000,6,0.000,0.044,3025,2190,3355,0,0,0,0,0,0,28.83,25.34,28.83
$GC,3445,-0.47,-136.3,344.0,-8.7,312,3446,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2187,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3744,-0.47,-136.3,368.7,-8.3,327,3749,0.00,2.38,0.00,0.000,4,0.000,0.063,3016,3601,3355,0,0,0,0,0,0,28.83,24.87,28.83
$GC,3771,-0.47,-136.3,370.4,-8.3,328,3775,0.00,2.28,0.00,0.000,6,0.000,0.043,3016,2197,3355,0,0,0,0,0,0,28.83,25.32,28.83
$GC,4073,-0.47,-136.3,398.8,-9.4,343,4079,0.00,2.28,0.00,0.000,4,0.000,0.050,3016,794,3355,0,0,0,0,0,0,28.83,25.06,28.83
$GC,4121,-0.47,-136.3,401.7,-9.8,345,4125,0.00,2.33,0.00,0.000,6,0.000,0.052,3016,2210,3354,0,0,0,0,0,0,28.83,25.03,28.83
$STATE,4330,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4330,begin apogee
$GC,4339,-0.22,0.0,423.2,-9.0,352,4460,0.30,0.00,116.97,0.800,6,0.116,0.000,3117,2344,2796,0,0,0,0,0,0,25.27,28.83,23.49
$STATE,4460,end apogee,CONTROL_FINISHED_OK
$STATE,4461,begin climb
$GC,4463,0.47,136.3,428.4,0.0,356,4588,0.68,0.00,120.55,0.770,6,0.081,0.000,3345,2344,2238,0,0,0,0,0,0,24.75,28.83,23.43
$GC,4875,0.48,167.8,408.3,5.8,370,4905,0.00,0.00,27.38,0.763,6,0.000,0.000,3344,2344,2108,0,0,0,0,0,0,28.83,28.83,23.81
$GC,5203,0.49,176.3,387.5,6.7,384,5216,0.00,2.35,7.82,0.656,4,0.000,0.053,3355,922,2074,0,0,0,0,0,0,28.83,25.46,24.01
$GC,5244,0.49,183.9,385.3,6.7,385,5257,0.00,2.28,8.27,0.662,6,0.000,0.053,3355,2317,2044,0,0,0,0,0,0,28.83,25.48,23.95
$GC,5565,0.49,183.9,361.6,7.1,402,5567,0.00,0.00,0.00,0.000,6,0.000,0.000,3355,2317,2040,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5865,0.49,186.7,340.3,6.9,417,5871,0.00,2.35,0.00,0.000,4,0.000,0.064,3355,3732,2039,0,0,0,0,0,0,28.83,25.13,28.83
$GC,5895,0.49,192.3,338.9,6.8,418,5908,0.00,2.28,8.20,0.654,6,0.000,0.046,3362,2328,2008,0,0,0,0,0,0,28.83,25.43,24.06
$GC,6216,0.50,198.0,315.7,6.8,435,6227,0.00,2.33,6.12,0.600,4,0.000,0.054,3373,918,1986,0,0,0,0,0,0,28.83,25.48,24.08
$GC,6288,0.50,201.7,311.0,6.9,438,6298,0.00,2.25,4.97,0.553,6,0.000,0.054,3373,2333,1971,0,0,0,0,0,0,28.83,25.44,24.06
$GC,6596,0.50,201.7,287.3,8.0,453,6602,0.00,2.38,0.00,0.000,4,0.000,0.065,3373,3744,1969,0,0,0,0,0,0,28.83,25.13,28.83
$GC,6624,0.50,201.7,285.5,8.2,454,6628,0.00,2.33,0.00,0.000,6,0.000,0.046,3382,2322,1968,0,0,0,0,0,0,28.83,25.44,28.83
$GC,6927,0.50,201.7,257.5,8.9,469,6932,0.00,2.28,0.00,0.000,4,0.000,0.054,3392,923,1968,0,0,0,0,0,0,28.83,25.18,28.83
$GC,6954,0.50,201.7,255.7,9.0,470,6959,0.12,2.30,0.00,0.000,6,0.128,0.053,3357,2325,1967,0,0,0,0,0,0,25.10,25.18,28.83
$GC,7256,0.50,206.0,233.5,6.8,485,7263,0.00,0.00,4.97,0.527,6,0.000,0.000,3357,2325,1954,0,0,0,0,0,0,28.83,28.83,24.11
$GC,7557,0.50,206.0,212.3,7.1,500,7558,0.00,0.00,0.00,0.000,6,0.000,0.000,3357,2325,1953,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7856,0.50,210.3,191.3,6.9,517,7867,0.00,2.35,5.35,0.524,4,0.000,0.054,3365,916,1936,0,0,0,0,0,0,28.83,25.35,24.11
$GC,7907,0.51,228.2,188.2,6.3,522,7929,0.00,2.30,17.73,0.651,6,0.000,0.053,3365,2330,1863,0,0,0,0,0,0,28.83,25.37,24.06
$GC,8230,0.51,236.0,167.4,6.7,544,8240,0.00,0.00,7.38,0.566,6,0.000,0.000,3365,2330,1832,0,0,0,0,0,0,28.83,28.83,24.09
$GC,8541,0.51,236.2,145.0,7.0,565,8543,0.00,0.00,0.00,0.000,6,0.000,0.000,3365,2330,1830,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8842,0.51,236.2,124.2,7.1,585,8851,0.00,2.33,0.00,0.000,4,0.000,0.054,3373,916,1829,0,0,0,0,0,0,28.83,25.15,28.83
$GC,8913,0.51,236.9,119.2,7.0,593,8920,0.00,2.25,0.00,0.000,6,0.000,0.052,3372,2326,1828,0,0,0,0,0,0,28.83,25.17,28.83
$GC,9226,0.53,273.5,98.3,5.6,654,9263,0.00,0.00,32.95,0.612,6,0.000,0.000,3373,2325,1678,0,0,0,0,0,0,28.83,28.83,24.02
$GC,9569,0.55,331.2,77.9,4.7,720,9621,0.00,0.00,48.38,0.583,6,0.000,0.000,3373,2325,1442,0,0,0,0,0,0,28.83,28.83,23.97
$GC,9929,0.56,360.9,57.8,5.8,789,9961,0.00,2.40,24.90,0.571,4,0.000,0.064,3373,3733,1321,0,0,0,0,0,0,28.83,25.32,24.07
$GC,9975,0.58,399.0,55.2,5.5,796,10017,0.00,2.25,31.92,0.553,6,0.000,0.046,3373,2317,1166,0,0,0,0,0,0,28.83,25.52,23.99
$GC,10325,0.58,399.0,22.9,9.6,863,10332,0.00,2.22,0.00,0.000,4,0.000,0.051,3373,914,1159,0,0,0,0,0,0,28.83,25.32,28.83
$GC,10366,0.58,399.0,19.3,9.0,870,10372,0.00,2.25,0.00,0.000,6,0.000,0.050,3373,2328,1159,0,0,0,0,0,0,28.83,25.32,28.83
$STATE,10604,end climb,SURFACE_DEPTH_REACHED
$STATE,10605,begin surface coast
$FINISH,1.3,1.013394
$STATE,10755,end surface coast,CONTROL_FINISHED_OK
$STATE,10755,begin surface
$SM_CCo,10835,0.00,0.000,0,0,1154,402.29
$SM_GC,2.25,8.43,0.20,0.00,0.029,0.071,0.000,106,2197,1154,-9.48,0.96,402.29,0,0,0,0,0,0,25.80,25.93,28.83
$IRIDIUM_FIX,4732.49,-12509.51,170413,070724
$TT8_MAMPS,0.027713,0.027713
$HUMID,50.07
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,19.00
$XPDR_PINGS,8
$24V_AH,23.4,114.160
$10V_AH,9.8,85.029
$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,21.375,91.900,473.875,0.000,0.000,25.618,35.042,391.692,2.000,0.000,17.205,2312.245,6339.572,599.979,1823.170,351.107,0.000,1392.526,0.000,1421.990,0.000,0.536,0.000
$DEVICE_MAMPS,214.200,83.385,800.190,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,647.664,614.804,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296716
$DATA_FILE_SIZE,50226,946
$CAP_FILE_SIZE,110298,0
$CFSIZE,260165632,189362176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.158, 99.5,1
$GPS,170413,130036,4749.176,-12514.692,37,1.0,38,18.7