version: 66.11
glider: 187
mission: 2
dive: 844
start: 4 21 113 4 49 48
data:
$ID,187
$MISSION,2
$DIVE,844
$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,-1590047.8
$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
$GPS1,210413,044206,4749.672,-12514.815,74,1.1,75,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-78.9
$GPS2,210413,044901,4749.639,-12514.808,17,1.4,17,18.7
$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,230.6,554,-26.2,-7.021,-29.45
$D_GRID,482
$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,-0.84,-38.6,0.0,0.0,0,63,0.00,0.00,-44.05,0.000,2,0.000,0.000,109,2188,2559,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.85,-65.6,3.3,-3.6,8,99,11.20,2.38,-11.27,0.000,4,0.216,0.071,2905,3615,3064,0,0,0,0,0,0,24.54,25.30,26.17
$GC,116,-0.85,-65.6,18.0,-29.3,16,123,0.00,2.22,0.00,0.000,6,0.000,0.042,2905,2197,3066,0,0,0,0,0,0,28.83,25.46,28.83
$GC,429,-0.85,-65.6,90.1,-20.0,77,435,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2191,3067,0,0,0,0,0,0,28.83,28.83,28.83
$GC,744,-0.85,-65.6,146.8,-17.9,119,745,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2191,3068,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1044,-0.85,-65.6,196.4,-16.0,139,1052,0.00,2.25,0.00,0.000,4,0.000,0.048,2905,791,3068,0,0,0,0,0,0,28.83,25.08,28.83
$GC,1165,-0.85,-65.6,215.5,-15.9,147,1169,0.00,2.25,0.00,0.000,6,0.000,0.050,2895,2214,3068,0,0,0,0,0,0,28.83,25.06,28.83
$GC,1484,-0.85,-65.6,264.3,-15.7,163,1489,0.00,2.28,0.00,0.000,4,0.000,0.048,2894,802,3068,0,0,0,0,0,0,28.83,25.06,28.83
$GC,1551,-0.85,-65.6,273.9,-15.8,166,1556,0.15,2.28,0.00,0.000,6,0.168,0.049,2920,2199,3068,0,0,0,0,0,0,24.67,25.04,28.83
$GC,1854,-0.85,-65.6,316.5,-13.1,181,1859,0.00,2.33,0.00,0.000,4,0.000,0.060,2911,3603,3068,0,0,0,0,0,0,28.83,24.81,28.83
$GC,1881,-0.85,-65.6,319.4,-13.2,182,1885,0.00,2.28,0.00,0.000,6,0.000,0.042,2911,2194,3068,0,0,0,0,0,0,28.83,25.25,28.83
$GC,2183,-0.85,-65.6,363.8,-14.1,197,2189,0.00,2.25,0.00,0.000,4,0.000,0.049,2911,800,3068,0,0,0,0,0,0,28.83,25.01,28.83
$GC,2332,-0.85,-65.6,384.0,-14.4,204,2341,0.00,2.30,0.00,0.000,6,0.000,0.049,2900,2207,3068,0,0,0,0,0,0,28.83,24.99,28.83
$GC,2653,-0.85,-65.6,431.8,-14.3,217,2659,0.00,2.30,0.00,0.000,4,0.000,0.048,2901,797,3067,0,0,0,0,0,0,28.83,24.97,28.83
$GC,2691,-0.85,-65.6,436.3,-14.3,218,2696,0.12,2.30,0.00,0.000,6,0.181,0.050,2918,2200,3067,0,0,0,0,0,0,24.65,24.97,28.83
$GC,3005,-0.85,-65.6,481.6,-13.9,229,3010,0.00,2.35,0.00,0.000,4,0.000,0.061,2909,3606,3067,0,0,0,0,0,0,28.83,24.72,28.83
$STATE,3031,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3032,begin apogee
$GC,3040,-0.22,0.0,485.7,-13.8,230,3102,0.70,0.00,58.58,0.847,6,0.139,0.000,3118,2318,2794,0,0,0,0,0,0,24.12,28.83,23.65
$STATE,3103,end apogee,CONTROL_FINISHED_OK
$STATE,3103,begin climb
$GC,3107,0.85,65.6,489.9,0.0,232,3176,0.98,2.38,60.55,0.812,4,0.073,0.051,3473,918,2525,0,0,0,0,0,0,24.84,24.79,23.38
$GC,3204,0.85,75.9,485.6,5.7,236,3221,0.00,2.33,10.90,0.736,6,0.000,0.053,3473,2323,2483,0,0,0,0,0,0,28.83,25.04,23.46
$GC,3535,0.85,75.9,456.2,9.2,247,3540,0.00,2.35,0.00,0.000,4,0.000,0.064,3473,3733,2478,0,0,0,0,0,0,28.83,25.26,28.83
$GC,3776,0.85,75.9,430.5,11.1,255,3780,0.00,2.22,0.00,0.000,6,0.000,0.046,3484,2328,2476,0,0,0,0,0,0,28.83,25.41,28.83
$GC,4094,0.85,75.9,397.7,9.7,266,4100,0.00,2.38,0.00,0.000,4,0.000,0.063,3484,3736,2475,0,0,0,0,0,0,28.83,25.04,28.83
$GC,4335,0.85,75.9,373.4,10.0,278,4340,0.00,2.30,0.00,0.000,6,0.000,0.046,3496,2321,2474,0,0,0,0,0,0,28.83,25.32,28.83
$GC,4654,0.85,75.9,345.2,8.5,294,4660,0.00,2.33,0.00,0.000,4,0.000,0.052,3507,914,2473,0,0,0,0,0,0,28.83,25.07,28.83
$GC,4895,0.85,75.9,325.4,8.5,306,4901,0.12,2.30,0.00,0.000,6,0.156,0.053,3471,2323,2473,0,0,0,0,0,0,24.62,25.05,28.83
$GC,5216,0.85,75.9,301.5,7.1,322,5220,0.00,2.35,0.00,0.000,4,0.000,0.064,3471,3744,2473,0,0,0,0,0,0,28.83,24.82,28.83
$GC,5455,0.85,75.9,283.4,7.3,334,5460,0.00,2.30,0.00,0.000,6,0.000,0.045,3479,2323,2471,0,0,0,0,0,0,28.83,25.22,28.83
$GC,5774,0.85,77.1,262.0,6.9,350,5780,0.00,2.30,0.00,0.000,4,0.000,0.053,3491,916,2472,0,0,0,0,0,0,28.83,24.96,28.83
$GC,5914,0.85,77.1,251.9,7.4,357,5920,0.00,2.35,0.00,0.000,6,0.000,0.054,3491,2333,2472,0,0,0,0,0,0,28.83,24.92,28.83
$GC,6235,0.85,77.1,226.4,8.1,373,6240,0.00,2.35,0.00,0.000,4,0.000,0.063,3491,3730,2471,0,0,0,0,0,0,28.83,24.75,28.83
$GC,6414,0.85,77.1,211.9,7.9,382,6420,0.12,2.30,0.00,0.000,6,0.187,0.046,3474,2324,2471,0,0,0,0,0,0,24.75,25.15,28.83
$GC,6736,0.85,80.4,192.2,6.6,400,6737,0.00,0.00,0.00,0.000,6,0.000,0.000,3474,2322,2471,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7034,0.85,87.0,173.1,6.2,420,7053,0.00,2.42,9.02,0.593,4,0.000,0.064,3475,3744,2438,0,0,0,0,0,0,28.83,25.13,24.06
$GC,7105,0.85,87.0,168.3,7.5,427,7113,0.00,2.30,0.00,0.000,6,0.000,0.046,3484,2320,2437,0,0,0,0,0,0,28.83,25.42,28.83
$GC,7416,0.86,103.2,150.1,5.0,448,7434,0.00,0.00,16.15,0.627,6,0.000,0.000,3484,2320,2373,0,0,0,0,0,0,28.83,28.83,24.06
$GC,7729,0.86,103.2,128.0,7.7,469,7738,0.00,2.38,0.00,0.000,4,0.000,0.063,3484,3737,2370,0,0,0,0,0,0,28.83,25.03,28.83
$GC,7800,0.86,103.2,121.8,9.4,476,7808,0.00,2.28,0.00,0.000,6,0.000,0.046,3495,2325,2369,0,0,0,0,0,0,28.83,25.30,28.83
$GC,8113,0.86,109.3,97.2,6.3,535,8126,0.00,2.25,6.82,0.523,4,0.000,0.051,3507,916,2347,0,0,0,0,0,0,28.83,25.34,24.11
$GC,8232,0.86,112.9,89.1,6.6,557,8246,0.12,2.25,4.75,0.458,6,0.170,0.053,3477,2334,2333,0,0,0,0,0,0,25.02,25.26,24.11
$GC,8557,0.88,149.4,76.5,2.4,619,8599,0.00,2.35,32.55,0.600,4,0.000,0.064,3477,3732,2183,0,0,0,0,0,0,28.83,25.20,24.01
$GC,8662,0.88,149.4,70.8,7.8,638,8670,0.00,2.25,0.00,0.000,6,0.000,0.046,3486,2317,2181,0,0,0,0,0,0,28.83,25.43,28.83
$GC,8976,0.88,151.3,50.5,6.8,699,8983,0.00,2.35,0.00,0.000,4,0.000,0.064,3487,3741,2179,0,0,0,0,0,0,28.83,25.01,28.83
$GC,9213,0.88,154.1,33.4,6.7,745,9227,0.00,2.22,4.93,0.437,6,0.000,0.045,3498,2323,2164,0,0,0,0,0,0,28.83,25.29,24.18
$GC,9536,0.90,204.4,19.1,0.7,807,9585,0.00,0.00,43.20,0.561,6,0.000,0.000,3498,2323,1959,0,0,0,0,0,0,28.83,28.83,24.06
$GC,9894,0.91,219.5,6.5,5.1,875,9911,0.00,0.00,13.10,0.517,6,0.000,0.000,3498,2323,1898,0,0,0,0,0,0,28.83,28.83,24.13
$STATE,9937,end climb,SURFACE_DEPTH_REACHED
$STATE,9937,begin surface coast
$FINISH,1.1,1.023580
$STATE,10018,end surface coast,CONTROL_FINISHED_OK
$STATE,10018,begin surface
$SM_CCo,10038,54.83,0.454,3,0,1571,300.00
$SM_GC,3.05,8.80,0.17,54.83,0.033,0.076,0.454,110,2195,1571,-9.46,1.30,300.00,0,0,0,0,3,0,25.80,25.84,24.00
$IRIDIUM_FIX,4732.49,-12519.22,210413,010134
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.66
$INTERNAL_PRESSURE,9.11829
$TCM_TEMP,19.30
$XPDR_PINGS,0
$24V_AH,23.4,116.699
$10V_AH,9.9,86.877
$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,22.325,87.575,260.550,54.825,0.000,27.315,39.291,205.314,0.000,0.000,18.326,2273.163,5786.638,475.099,1730.191,276.882,0.000,1247.558,0.000,1447.502,0.000,0.536,0.000
$DEVICE_MAMPS,216.495,76.500,846.855,454.410,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,616.996,580.367,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296760
$DATA_FILE_SIZE,50224,898
$CAP_FILE_SIZE,102008,0
$CFSIZE,260165632,187633664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.107, 83.9,1
$GPS,210413,074036,4749.303,-12514.847,98,1.3,99,18.7