version: 66.11
glider: 187
mission: 2
dive: 845
start: 4 21 113 7 48 9
data:
$ID,187
$MISSION,2
$DIVE,845
$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,-1590049
$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,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
$GPS1,210413,074036,4749.303,-12514.847,98,1.3,99,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.17
$_SM_ANGLEo,-78.2
$GPS2,210413,074725,4749.293,-12514.781,14,1.5,14,18.7
$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,262.9,814,-21.0,-7.021,-24.80
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.68,-59.7,0.0,0.0,0,63,0.00,0.00,-44.35,0.000,2,0.000,0.000,109,2194,2550,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.70,-120.3,3.1,-2.0,8,104,11.43,2.38,-16.70,0.000,4,0.218,0.074,2951,3608,3289,0,0,0,0,0,0,24.56,25.27,26.18
$GC,219,-0.70,-120.3,38.1,-21.6,36,225,0.00,2.20,0.00,0.000,6,0.000,0.043,2951,2198,3291,0,0,0,0,0,0,28.83,25.38,28.83
$GC,532,-0.70,-120.3,100.9,-18.4,97,537,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2191,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,851,-0.70,-120.3,149.7,-14.7,134,860,0.00,2.25,0.00,0.000,4,0.000,0.048,2951,798,3292,0,0,0,0,0,0,28.83,25.08,28.83
$GC,961,-0.70,-120.3,165.8,-14.3,145,970,0.00,2.30,0.00,0.000,6,0.000,0.049,2940,2209,3292,0,0,0,0,0,0,28.83,25.06,28.83
$GC,1272,-0.70,-120.3,210.4,-14.2,165,1277,0.00,2.33,0.00,0.000,4,0.000,0.060,2930,3604,3293,0,0,0,0,0,0,28.83,24.84,28.83
$GC,1291,-0.70,-120.3,213.3,-14.4,166,1298,0.15,2.28,0.00,0.000,6,0.148,0.041,2968,2194,3292,0,0,0,0,0,0,24.91,25.28,28.83
$GC,1611,-0.70,-120.3,256.7,-13.5,182,1617,0.00,2.25,0.00,0.000,4,0.000,0.048,2967,801,3292,0,0,0,0,0,0,28.83,25.02,28.83
$GC,1660,-0.70,-120.3,262.1,-13.4,184,1669,0.00,2.30,0.00,0.000,6,0.000,0.049,2960,2208,3292,0,0,0,0,0,0,28.83,25.01,28.83
$GC,1971,-0.70,-120.3,304.2,-13.3,200,1977,0.00,2.30,0.00,0.000,4,0.000,0.049,2960,801,3292,0,0,0,0,0,0,28.83,24.99,28.83
$GC,2039,-0.70,-120.3,312.2,-13.5,203,2043,0.00,2.30,0.00,0.000,6,0.000,0.049,2949,2208,3293,0,0,0,0,0,0,28.83,24.99,28.83
$GC,2342,-0.70,-120.3,355.6,-14.2,218,2347,0.00,2.28,0.00,0.000,4,0.000,0.049,2949,802,3292,0,0,0,0,0,0,28.83,24.98,28.83
$GC,2401,-0.70,-120.3,364.3,-14.5,221,2407,0.00,2.30,0.00,0.000,6,0.000,0.050,2939,2206,3292,0,0,0,0,0,0,28.83,24.97,28.83
$GC,2721,-0.70,-120.3,408.2,-13.1,236,2727,0.00,2.30,0.00,0.000,4,0.000,0.047,2939,790,3292,0,0,0,0,0,0,28.83,24.98,28.83
$GC,2752,-0.70,-120.3,412.2,-13.1,237,2758,0.10,2.30,0.00,0.000,6,0.132,0.050,2960,2198,3292,0,0,0,0,0,0,24.65,24.95,28.83
$GC,3081,-0.70,-120.3,451.8,-12.2,248,3087,0.00,2.38,0.00,0.000,4,0.000,0.062,2951,3618,3292,0,0,0,0,0,0,28.83,24.68,28.83
$GC,3159,-0.70,-120.3,459.0,-12.2,250,3163,0.00,2.30,0.00,0.000,6,0.000,0.043,2951,2197,3292,0,0,0,0,0,0,28.83,25.20,28.83
$STATE,3338,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3338,begin apogee
$GC,3347,-0.22,0.0,483.6,-12.3,256,3454,0.52,0.00,104.28,0.839,6,0.119,0.000,3119,2340,2794,0,0,0,0,0,0,24.68,28.83,23.49
$STATE,3455,end apogee,CONTROL_FINISHED_OK
$STATE,3455,begin climb
$GC,3458,0.70,120.3,488.1,0.0,259,3572,0.90,0.00,109.05,0.808,6,0.077,0.000,3423,2340,2302,0,0,0,0,0,0,24.68,28.83,23.33
$GC,3872,0.70,120.3,454.1,10.5,273,3877,0.00,2.30,0.00,0.000,4,0.000,0.064,3423,3720,2295,0,0,0,0,0,0,28.83,25.25,28.83
$GC,3969,0.70,120.3,443.7,11.3,276,3973,0.00,2.28,0.00,0.000,6,0.000,0.045,3434,2320,2294,0,0,0,0,0,0,28.83,25.46,28.83
$GC,4282,0.70,120.3,414.9,8.2,287,4287,0.00,2.35,0.00,0.000,4,0.000,0.064,3434,3719,2294,0,0,0,0,0,0,28.83,25.10,28.83
$GC,4509,0.70,120.3,389.0,12.7,296,4514,0.00,2.28,0.00,0.000,6,0.000,0.045,3445,2324,2292,0,0,0,0,0,0,28.83,25.35,28.83
$GC,4812,0.70,120.3,352.5,11.3,311,4817,0.00,2.30,0.00,0.000,4,0.000,0.054,3456,919,2292,0,0,0,0,0,0,28.83,25.11,28.83
$GC,4871,0.70,120.3,345.8,11.2,314,4878,0.12,2.30,0.00,0.000,6,0.167,0.054,3426,2316,2292,0,0,0,0,0,0,24.87,25.10,28.83
$GC,5192,0.70,120.3,316.6,8.8,330,5197,0.00,2.38,0.00,0.000,4,0.000,0.065,3426,3728,2291,0,0,0,0,0,0,28.83,24.90,28.83
$GC,5231,0.70,120.3,312.8,9.0,332,5237,0.00,2.30,0.00,0.000,6,0.000,0.046,3435,2323,2290,0,0,0,0,0,0,28.83,25.27,28.83
$GC,5552,0.70,120.3,282.4,9.3,348,5554,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,2321,2290,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5852,0.70,120.3,255.1,8.9,363,5857,0.00,2.30,0.00,0.000,4,0.000,0.054,3447,922,2290,0,0,0,0,0,0,28.83,24.99,28.83
$GC,5879,0.70,120.3,253.3,9.0,364,5883,0.00,2.33,0.00,0.000,6,0.000,0.054,3447,2327,2289,0,0,0,0,0,0,28.83,24.98,28.83
$GC,6183,0.70,120.3,224.7,9.7,379,6187,0.00,2.35,0.00,0.000,4,0.000,0.066,3446,3745,2289,0,0,0,0,0,0,28.83,24.77,28.83
$GC,6391,0.70,120.3,200.7,11.6,389,6397,0.15,2.33,0.00,0.000,6,0.167,0.045,3416,2322,2289,0,0,0,0,0,0,24.73,25.19,28.83
$GC,6713,0.70,120.3,174.4,7.8,410,6721,0.00,2.38,0.00,0.000,4,0.000,0.065,3416,3745,2288,0,0,0,0,0,0,28.83,24.74,28.83
$GC,6781,0.70,120.3,168.1,9.4,417,6790,0.00,2.33,0.00,0.000,6,0.000,0.046,3426,2323,2288,0,0,0,0,0,0,28.83,25.18,28.83
$GC,7091,0.70,120.3,140.2,9.0,438,7101,0.00,2.33,0.00,0.000,4,0.000,0.053,3436,916,2288,0,0,0,0,0,0,28.83,24.93,28.83
$GC,7152,0.70,120.3,134.7,9.2,444,7160,0.00,2.30,0.00,0.000,6,0.000,0.054,3436,2321,2288,0,0,0,0,0,0,28.83,24.93,28.83
$GC,7464,0.71,130.4,109.1,6.2,483,7477,0.00,2.40,7.70,0.539,4,0.000,0.064,3436,3734,2262,0,0,0,0,0,0,28.83,25.13,24.10
$GC,7682,0.71,130.4,93.9,7.2,525,7689,0.00,2.22,0.00,0.000,6,0.000,0.046,3447,2323,2260,0,0,0,0,0,0,28.83,25.33,28.83
$GC,7995,0.72,149.9,74.6,5.4,586,8022,0.00,2.40,18.33,0.581,4,0.000,0.064,3447,3736,2181,0,0,0,0,0,0,28.83,25.15,24.10
$GC,8065,0.72,149.9,69.0,8.9,598,8073,0.12,2.22,0.00,0.000,6,0.167,0.046,3428,2323,2179,0,0,0,0,0,0,25.15,25.44,28.83
$GC,8380,0.73,182.6,51.3,4.3,659,8416,0.00,2.33,28.62,0.578,4,0.000,0.063,3428,3734,2049,0,0,0,0,0,0,28.83,25.19,24.03
$GC,8596,0.73,182.6,36.3,7.1,700,8602,0.00,2.22,0.00,0.000,6,0.000,0.045,3437,2318,2044,0,0,0,0,0,0,28.83,25.41,28.83
$GC,8908,0.74,203.2,16.7,5.3,761,8933,0.00,2.22,18.05,0.543,4,0.000,0.051,3447,921,1963,0,0,0,0,0,0,28.83,25.36,24.15
$GC,8971,0.75,226.8,13.6,5.1,772,9001,0.00,2.22,21.15,0.539,6,0.000,0.053,3447,2328,1867,0,0,0,0,0,0,28.83,25.37,24.03
$STATE,9230,end climb,SURFACE_DEPTH_REACHED
$STATE,9230,begin surface coast
$FINISH,1.2,1.015102
$STATE,9349,end surface coast,CONTROL_FINISHED_OK
$STATE,9349,begin surface
$SM_CCo,9370,47.67,0.439,3,0,1570,300.00
$SM_GC,2.84,8.57,0.20,47.67,0.026,0.071,0.439,105,2189,1570,-9.48,1.05,300.00,0,0,0,0,3,0,25.77,25.85,24.04
$IRIDIUM_FIX,4732.49,-12519.22,210413,040411
$TT8_MAMPS,0.027713,0.027713
$HUMID,49.05
$INTERNAL_PRESSURE,9.11829
$TCM_TEMP,19.10
$XPDR_PINGS,0
$24V_AH,23.3,116.785
$10V_AH,9.9,86.935
$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,22.075,92.500,307.175,47.675,0.000,27.829,39.811,202.586,0.000,0.000,15.067,2125.971,5334.205,534.914,1590.479,272.858,0.000,1248.164,0.000,1316.342,0.000,0.536,0.000
$DEVICE_MAMPS,218.025,78.030,839.205,439.110,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,580.250,550.391,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296728
$DATA_FILE_SIZE,46970,845
$CAP_FILE_SIZE,96600,0
$CFSIZE,260165632,187584512
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.107,126.0,1
$GPS,210413,102654,4749.058,-12515.666,50,1.9,51,18.7