version: 66.11
glider: 187
mission: 2
dive: 818
start: 4 18 113 0 37 43
data:
$ID,187
$MISSION,2
$DIVE,818
$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,-1590015.2
$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,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
$GPS1,180413,003036,4750.461,-12515.218,103,0.9,104,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-78.3
$GPS2,180413,003700,4750.453,-12515.172,11,1.8,11,18.7
$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,186.3,1583,-15.6,-7.021,-20.23
$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,17,-0.53,-104.4,0.0,0.0,0,69,0.00,0.00,-49.70,0.000,2,0.000,0.000,104,2209,2673,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.54,-136.3,3.4,-2.6,9,105,11.62,2.38,-14.45,0.000,4,0.217,0.076,3002,3612,3354,0,0,0,0,0,0,24.57,25.27,26.19
$GC,184,-0.54,-136.3,26.8,-15.4,29,191,0.00,2.20,0.00,0.000,6,0.000,0.042,3002,2195,3356,0,0,0,0,0,0,28.83,25.44,28.83
$GC,497,-0.54,-136.3,77.7,-16.1,90,504,0.00,2.22,0.00,0.000,4,0.000,0.050,3003,787,3357,0,0,0,0,0,0,28.83,25.17,28.83
$GC,597,-0.54,-136.3,91.7,-12.7,109,604,0.00,2.22,0.00,0.000,6,0.000,0.050,2992,2201,3357,0,0,0,0,0,0,28.83,25.18,28.83
$GC,914,-0.54,-136.3,134.0,-13.1,157,922,0.00,2.38,0.00,0.000,4,0.000,0.061,2981,3619,3357,0,0,0,0,0,0,28.83,24.96,28.83
$GC,945,-0.54,-136.3,138.0,-13.0,160,953,0.10,2.28,0.00,0.000,6,0.110,0.042,3033,2189,3357,0,0,0,0,0,0,25.02,25.36,28.83
$GC,1255,-0.54,-136.3,168.1,-8.9,181,1262,0.00,2.25,0.00,0.000,4,0.000,0.050,3033,796,3358,0,0,0,0,0,0,28.83,25.11,28.83
$GC,1314,-0.54,-136.3,173.4,-8.4,187,1324,0.00,2.30,0.00,0.000,6,0.000,0.050,3028,2205,3358,0,0,0,0,0,0,28.83,25.10,28.83
$GC,1625,-0.54,-136.3,197.8,-7.4,208,1633,0.00,2.30,0.00,0.000,4,0.000,0.062,3018,3614,3358,0,0,0,0,0,0,28.83,24.89,28.83
$GC,1654,-0.54,-136.3,200.2,-7.9,211,1663,0.00,2.30,0.00,0.000,6,0.000,0.042,3018,2185,3358,0,0,0,0,0,0,28.83,25.32,28.83
$GC,1965,-0.54,-136.3,227.5,-9.3,227,1969,0.00,2.22,0.00,0.000,4,0.000,0.050,3018,807,3358,0,0,0,0,0,0,28.83,25.08,28.83
$GC,2024,-0.54,-136.3,233.4,-9.7,230,2029,0.00,2.28,0.00,0.000,6,0.000,0.050,3010,2200,3358,0,0,0,0,0,0,28.83,25.08,28.83
$GC,2344,-0.54,-136.3,265.8,-10.1,246,2345,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2200,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2645,-0.54,-136.3,296.9,-10.6,261,2649,0.00,2.25,0.00,0.000,4,0.000,0.050,3009,809,3358,0,0,0,0,0,0,28.83,25.06,28.83
$GC,2673,-0.54,-136.3,299.2,-10.7,262,2682,0.00,2.28,0.00,0.000,6,0.000,0.050,3001,2201,3358,0,0,0,0,0,0,28.83,25.06,28.83
$GC,2984,-0.54,-136.3,330.2,-9.1,278,2989,0.00,2.35,0.00,0.000,4,0.000,0.062,2990,3609,3358,0,0,0,0,0,0,28.83,24.82,28.83
$GC,3026,-0.54,-136.3,333.9,-9.0,280,3030,0.00,2.20,0.00,0.000,6,0.000,0.044,2990,2207,3357,0,0,0,0,0,0,28.83,25.27,28.83
$GC,3336,-0.54,-136.3,364.8,-10.4,295,3338,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2203,3358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3634,-0.54,-136.3,396.0,-10.5,310,3640,0.12,2.28,0.00,0.000,4,0.154,0.050,3024,800,3357,0,0,0,0,0,0,25.82,24.98,28.83
$GC,3695,-0.54,-136.3,401.1,-9.0,313,3700,0.00,2.28,0.00,0.000,6,0.000,0.051,3017,2194,3358,0,0,0,0,0,0,28.83,25.00,28.83
$GC,4024,-0.54,-136.3,428.1,-8.5,324,4029,0.00,2.35,0.00,0.000,4,0.000,0.063,3007,3600,3357,0,0,0,0,0,0,28.83,24.75,28.83
$GC,4055,-0.54,-136.3,431.0,-9.1,325,4059,0.00,2.25,0.00,0.000,6,0.000,0.044,3007,2206,3357,0,0,0,0,0,0,28.83,25.23,28.83
$STATE,4262,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4262,begin apogee
$GC,4270,-0.22,0.0,451.9,-10.1,332,4392,0.35,0.00,117.95,0.819,6,0.110,0.000,3125,2336,2794,0,0,0,0,0,0,25.21,28.83,23.46
$STATE,4392,end apogee,CONTROL_FINISHED_OK
$STATE,4393,begin climb
$GC,4395,0.54,136.3,457.1,0.0,336,4524,0.73,2.42,120.72,0.789,4,0.077,0.064,3372,3724,2237,0,0,0,0,0,0,24.73,24.63,23.34
$GC,4554,0.56,176.6,450.6,5.0,342,4595,0.00,2.30,35.90,0.765,6,0.000,0.046,3382,2326,2073,0,0,0,0,0,0,28.83,25.10,23.39
$GC,4905,0.56,176.6,419.2,9.3,354,4906,0.00,0.00,0.00,0.000,6,0.000,0.000,3382,2326,2063,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5204,0.56,176.6,394.4,8.3,365,5209,0.00,2.33,0.00,0.000,4,0.000,0.054,3392,903,2061,0,0,0,0,0,0,28.83,25.28,28.83
$GC,5232,0.56,176.6,392.8,8.4,366,5236,0.00,2.33,0.00,0.000,6,0.000,0.054,3392,2318,2060,0,0,0,0,0,0,28.83,25.28,28.83
$GC,5535,0.56,176.6,362.6,10.5,381,5536,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,2318,2061,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5834,0.56,176.6,333.1,9.7,396,5840,0.00,2.38,0.00,0.000,4,0.000,0.066,3392,3731,2060,0,0,0,0,0,0,28.83,25.01,28.83
$GC,5935,0.56,176.6,322.2,10.9,401,5940,0.00,2.28,0.00,0.000,6,0.000,0.047,3401,2332,2059,0,0,0,0,0,0,28.83,25.34,28.83
$GC,6254,0.56,176.6,291.1,9.1,417,6259,0.00,2.38,0.00,0.000,4,0.000,0.066,3401,3732,2059,0,0,0,0,0,0,28.83,24.95,28.83
$GC,6294,0.56,176.6,286.9,9.6,419,6300,0.15,2.33,0.00,0.000,6,0.145,0.047,3372,2315,2058,0,0,0,0,0,0,25.02,25.30,28.83
$GC,6615,0.56,176.6,262.0,7.5,435,6619,0.00,2.28,0.00,0.000,4,0.000,0.054,3380,921,2059,0,0,0,0,0,0,28.83,25.08,28.83
$GC,6654,0.56,176.6,259.0,7.5,437,6659,0.00,2.33,0.00,0.000,6,0.000,0.054,3380,2329,2058,0,0,0,0,0,0,28.83,25.08,28.83
$GC,6974,0.56,177.4,235.1,7.0,453,6975,0.00,0.00,0.00,0.000,6,0.000,0.000,3380,2329,2058,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7276,0.56,177.5,214.2,7.0,468,7280,0.00,2.33,0.00,0.000,4,0.000,0.067,3380,3738,2058,0,0,0,0,0,0,28.83,24.86,28.83
$GC,7324,0.56,177.5,209.9,7.8,470,7330,0.00,2.33,0.00,0.000,6,0.000,0.047,3390,2319,2057,0,0,0,0,0,0,28.83,25.25,28.83
$GC,7644,0.56,177.5,183.7,8.5,489,7645,0.00,0.00,0.00,0.000,6,0.000,0.000,3389,2315,2057,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7945,0.56,177.5,160.4,7.6,509,7946,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,2315,2057,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8244,0.56,180.1,138.8,6.9,529,8254,0.00,2.28,0.00,0.000,4,0.000,0.054,3400,921,2057,0,0,0,0,0,0,28.83,24.99,28.83
$GC,8284,0.56,188.1,136.2,6.6,533,8302,0.00,2.30,8.77,0.565,6,0.000,0.053,3400,2323,2025,0,0,0,0,0,0,28.83,25.01,24.08
$GC,8606,0.56,188.1,113.3,7.2,567,8613,0.00,2.33,0.00,0.000,4,0.000,0.064,3400,3743,2022,0,0,0,0,0,0,28.83,25.01,28.83
$GC,8660,0.56,188.1,108.3,9.4,577,8668,0.12,2.25,0.00,0.000,6,0.147,0.047,3377,2320,2022,0,0,0,0,0,0,25.09,25.32,28.83
$GC,8974,0.57,203.5,86.6,6.3,638,8994,0.00,2.33,14.35,0.576,4,0.000,0.054,3386,910,1963,0,0,0,0,0,0,28.83,25.29,24.10
$GC,9038,0.58,238.9,82.7,5.3,649,9076,0.00,2.25,31.62,0.597,6,0.000,0.053,3385,2331,1819,0,0,0,0,0,0,28.83,25.37,23.89
$GC,9386,0.60,282.7,63.1,4.9,715,9427,0.00,0.00,36.67,0.581,6,0.000,0.000,3386,2331,1640,0,0,0,0,0,0,28.83,28.83,24.00
$GC,9735,0.61,302.6,45.2,6.0,782,9760,0.00,2.28,17.35,0.552,4,0.000,0.053,3386,911,1558,0,0,0,0,0,0,28.83,25.39,24.11
$GC,9803,0.62,329.2,41.2,5.7,794,9834,0.00,2.25,23.08,0.555,6,0.000,0.052,3386,2333,1451,0,0,0,0,0,0,28.83,25.40,24.03
$GC,10142,0.62,329.2,18.3,7.9,859,10149,0.00,2.30,0.00,0.000,4,0.000,0.065,3386,3742,1443,0,0,0,0,0,0,28.83,25.12,28.83
$STATE,10313,end climb,SURFACE_DEPTH_REACHED
$STATE,10313,begin surface coast
$FINISH,1.3,1.012676
$STATE,10360,end surface coast,CONTROL_FINISHED_OK
$STATE,10360,begin surface
$SM_CCo,10442,0.00,0.000,0,0,1439,332.38
$SM_GC,2.25,8.38,2.50,0.00,0.026,0.044,0.000,116,2194,1439,-9.46,0.93,332.38,0,0,0,0,0,0,25.77,25.38,28.83
$IRIDIUM_FIX,4729.30,-12521.83,170413,212121
$TT8_MAMPS,0.027713,0.027713
$HUMID,49.44
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,19.00
$XPDR_PINGS,0
$24V_AH,23.3,114.602
$10V_AH,9.8,85.321
$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,21.575,96.775,406.425,0.000,0.000,25.288,37.563,189.700,0.000,0.000,11.894,2240.538,6145.004,544.518,1629.006,280.888,0.000,1311.895,0.000,1374.148,0.000,0.535,0.000
$DEVICE_MAMPS,217.260,81.090,818.550,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,616.822,578.953,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296752
$DATA_FILE_SIZE,50209,901
$CAP_FILE_SIZE,102334,0
$CFSIZE,260165632,189095936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.063, 32.1,1
$GPS,180413,033305,4749.383,-12515.055,36,1.3,43,18.7