version: 66.11
glider: 187
mission: 2
dive: 848
start: 4 21 113 16 18 45
data:
$ID,187
$MISSION,2
$DIVE,848
$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,-1590052.8
$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,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
$GPS1,210413,161124,4749.813,-12514.199,91,1.8,92,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-80.2
$GPS2,210413,161801,4749.793,-12514.167,14,1.7,14,18.7
$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,236.2,1393,-16.3,-7.021,-20.78
$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,-0.55,-96.7,0.0,0.0,0,69,0.00,0.00,-49.65,0.000,2,0.000,0.000,105,2198,2676,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.56,-136.3,3.4,-4.1,9,105,11.62,2.40,-13.77,0.000,4,0.217,0.072,2999,3618,3354,0,0,0,0,0,0,24.54,25.27,26.17
$GC,138,-0.56,-136.3,22.1,-21.4,20,146,0.00,2.20,0.00,0.000,6,0.000,0.043,2999,2209,3356,0,0,0,0,0,0,28.83,25.42,28.83
$GC,452,-0.56,-136.3,73.0,-15.3,81,459,0.00,2.22,0.00,0.000,4,0.000,0.050,2999,794,3357,0,0,0,0,0,0,28.83,25.12,28.83
$GC,513,-0.56,-136.3,81.6,-13.7,92,521,0.00,2.25,0.00,0.000,6,0.000,0.050,2989,2204,3357,0,0,0,0,0,0,28.83,25.11,28.83
$GC,836,-0.56,-136.3,122.1,-12.1,153,844,0.00,2.28,0.00,0.000,4,0.000,0.049,2989,792,3358,0,0,0,0,0,0,28.83,25.08,28.83
$GC,886,-0.56,-136.3,128.3,-12.5,158,895,0.10,2.28,0.00,0.000,6,0.121,0.050,3013,2199,3358,0,0,0,0,0,0,24.82,25.06,28.83
$GC,1195,-0.56,-136.3,159.0,-9.6,179,1204,0.00,2.35,0.00,0.000,4,0.000,0.061,3004,3611,3358,0,0,0,0,0,0,28.83,24.83,28.83
$GC,1235,-0.56,-136.3,163.0,-10.0,183,1244,0.00,2.28,0.00,0.000,6,0.000,0.042,3004,2190,3358,0,0,0,0,0,0,28.83,25.27,28.83
$GC,1547,-0.56,-136.3,197.3,-11.5,204,1555,0.00,2.25,0.00,0.000,4,0.000,0.050,3004,800,3358,0,0,0,0,0,0,28.83,25.02,28.83
$GC,1625,-0.56,-136.3,206.1,-10.9,210,1632,0.00,2.30,0.00,0.000,6,0.000,0.049,2995,2210,3358,0,0,0,0,0,0,28.83,25.00,28.83
$GC,1948,-0.56,-136.3,239.4,-10.3,226,1949,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2209,3358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2246,-0.56,-136.3,269.6,-10.4,241,2247,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2209,3358,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2545,-0.56,-136.3,303.9,-11.9,256,2551,0.00,2.30,0.00,0.000,4,0.000,0.050,2994,799,3358,0,0,0,0,0,0,28.83,24.94,28.83
$GC,2595,-0.56,-136.3,308.6,-11.9,258,2604,0.00,2.30,0.00,0.000,6,0.000,0.050,2985,2202,3358,0,0,0,0,0,0,28.83,24.94,28.83
$GC,2905,-0.56,-136.3,347.0,-11.7,274,2911,0.00,2.35,0.00,0.000,4,0.000,0.061,2974,3610,3358,0,0,0,0,0,0,28.83,24.70,28.83
$GC,2966,-0.56,-136.3,353.8,-11.4,277,2972,0.10,2.25,0.00,0.000,6,0.112,0.043,3008,2208,3358,0,0,0,0,0,0,24.91,25.19,28.83
$GC,3287,-0.56,-136.3,382.7,-8.6,293,3291,0.00,2.22,0.00,0.000,4,0.000,0.050,3008,800,3358,0,0,0,0,0,0,28.83,24.89,28.83
$GC,3375,-0.56,-136.3,389.8,-8.9,297,3384,0.00,2.30,0.00,0.000,6,0.000,0.050,3002,2199,3357,0,0,0,0,0,0,28.83,24.89,28.83
$GC,3695,-0.56,-136.3,420.5,-9.4,310,3697,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2199,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3997,-0.56,-136.3,448.8,-9.4,320,3998,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2199,3357,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4023,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4023,begin apogee
$GC,4030,-0.22,0.0,451.7,-9.4,321,4152,0.35,0.00,117.55,0.821,6,0.111,0.000,3119,2338,2794,0,0,0,0,0,0,25.10,28.83,23.46
$STATE,4153,end apogee,CONTROL_FINISHED_OK
$STATE,4153,begin climb
$GC,4156,0.56,136.3,457.6,0.0,325,4284,0.75,2.35,121.15,0.792,4,0.077,0.063,3373,3721,2237,0,0,0,0,0,0,24.66,24.59,23.36
$GC,4327,0.57,165.4,451.5,5.5,330,4358,0.00,2.28,26.40,0.773,6,0.000,0.046,3383,2329,2119,0,0,0,0,0,0,28.83,25.10,23.46
$GC,4666,0.57,165.4,419.4,9.5,342,4667,0.00,0.00,0.00,0.000,6,0.000,0.000,3383,2329,2112,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4977,0.57,165.4,388.7,9.9,354,4978,0.00,0.00,0.00,0.000,6,0.000,0.000,3383,2329,2110,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5277,0.57,165.4,359.4,9.7,369,5278,0.00,0.00,0.00,0.000,6,0.000,0.000,3383,2329,2110,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5576,0.57,165.4,332.7,8.5,384,5582,0.00,2.33,0.00,0.000,4,0.000,0.054,3394,920,2109,0,0,0,0,0,0,28.83,25.08,28.83
$GC,5605,0.57,165.4,330.8,8.7,385,5614,0.00,2.30,0.00,0.000,6,0.000,0.053,3394,2317,2109,0,0,0,0,0,0,28.83,25.09,28.83
$GC,5917,0.57,165.4,302.3,9.0,401,5922,0.00,2.40,0.00,0.000,4,0.000,0.065,3394,3737,2108,0,0,0,0,0,0,28.83,24.86,28.83
$GC,5997,0.57,165.4,294.3,10.0,405,6002,0.00,2.28,0.00,0.000,6,0.000,0.047,3404,2333,2108,0,0,0,0,0,0,28.83,25.25,28.83
$GC,6318,0.57,165.4,264.6,9.5,421,6319,0.00,0.00,0.00,0.000,6,0.000,0.000,3404,2331,2108,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6616,0.57,165.4,240.4,7.2,436,6622,0.00,2.38,0.00,0.000,4,0.000,0.064,3404,3730,2107,0,0,0,0,0,0,28.83,24.78,28.83
$GC,6664,0.57,165.4,236.9,7.8,438,6669,0.12,2.30,0.00,0.000,6,0.155,0.047,3383,2327,2107,0,0,0,0,0,0,24.92,25.18,28.83
$GC,6968,0.58,172.5,216.1,6.6,453,6978,0.00,2.33,5.45,0.540,4,0.000,0.054,3392,920,2090,0,0,0,0,0,0,28.83,25.26,24.10
$GC,7006,0.58,180.9,214.0,6.6,454,7020,0.00,2.30,9.38,0.617,6,0.000,0.054,3392,2324,2056,0,0,0,0,0,0,28.83,25.27,24.04
$GC,7332,0.58,180.9,190.3,7.5,473,7338,0.00,2.33,0.00,0.000,4,0.000,0.065,3392,3740,2052,0,0,0,0,0,0,28.83,24.98,28.83
$GC,7369,0.58,180.9,187.0,8.3,477,7377,0.00,2.30,0.00,0.000,6,0.000,0.046,3402,2323,2052,0,0,0,0,0,0,28.83,25.31,28.83
$GC,7680,0.58,180.9,161.6,8.5,498,7687,0.00,2.25,0.00,0.000,4,0.000,0.054,3412,910,2052,0,0,0,0,0,0,28.83,24.98,28.83
$GC,7720,0.58,180.9,158.3,8.3,502,7728,0.08,2.30,0.00,0.000,6,0.123,0.054,3387,2316,2051,0,0,0,0,0,0,24.82,25.00,28.83
$GC,8032,0.58,180.9,133.5,8.1,523,8039,0.00,2.35,0.00,0.000,4,0.000,0.065,3386,3740,2051,0,0,0,0,0,0,28.83,24.75,28.83
$GC,8078,0.58,180.9,129.0,8.9,528,8088,0.00,2.33,0.00,0.000,6,0.000,0.046,3394,2316,2051,0,0,0,0,0,0,28.83,25.17,28.83
$GC,8392,0.58,186.9,106.8,6.7,573,8405,0.00,2.25,6.15,0.510,4,0.000,0.053,3404,914,2030,0,0,0,0,0,0,28.83,25.23,24.12
$GC,8450,0.58,189.7,102.9,6.9,583,8463,0.00,2.25,4.05,0.425,6,0.000,0.054,3403,2329,2020,0,0,0,0,0,0,28.83,25.25,24.11
$GC,8773,0.59,209.9,82.1,6.0,645,8797,0.00,0.00,18.90,0.588,6,0.000,0.000,3404,2329,1936,0,0,0,0,0,0,28.83,28.83,24.13
$GC,9102,0.59,209.9,61.9,7.8,709,9109,0.00,2.30,0.00,0.000,4,0.000,0.065,3403,3733,1933,0,0,0,0,0,0,28.83,24.99,28.83
$GC,9150,0.59,209.9,58.5,7.5,717,9157,0.00,2.22,0.00,0.000,6,0.000,0.046,3414,2323,1933,0,0,0,0,0,0,28.83,25.32,28.83
$GC,9462,0.60,233.0,38.3,5.8,778,9492,0.00,2.30,20.45,0.562,4,0.000,0.053,3423,923,1843,0,0,0,0,0,0,28.83,25.29,24.13
$GC,9560,0.61,248.7,32.0,6.2,796,9580,0.12,2.22,14.62,0.542,6,0.134,0.053,3389,2328,1780,0,0,0,0,0,0,25.22,25.33,24.04
$GC,9891,0.63,306.7,16.2,3.9,859,9950,0.00,2.35,48.15,0.552,4,0.000,0.063,3389,3727,1542,0,0,0,0,0,0,28.83,25.18,24.02
$GC,10041,0.63,310.4,8.2,6.8,886,10054,0.00,2.20,3.70,0.357,6,0.000,0.042,3388,2312,1527,0,0,0,0,0,0,28.83,25.46,24.04
$STATE,10115,end climb,SURFACE_DEPTH_REACHED
$STATE,10115,begin surface coast
$FINISH,1.1,1.012830
$STATE,10182,end surface coast,CONTROL_FINISHED_OK
$STATE,10182,begin surface
$SM_CCo,10263,0.00,0.000,0,0,1522,311.78
$SM_GC,2.48,8.45,0.15,0.00,0.028,0.081,0.000,113,2204,1522,-9.46,1.41,311.78,0,0,0,0,0,0,25.75,25.84,28.83
$IRIDIUM_FIX,4732.49,-12519.22,210413,131324
$TT8_MAMPS,0.027713,0.027713
$HUMID,49.29
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.10
$XPDR_PINGS,2
$24V_AH,23.4,117.040
$10V_AH,9.7,87.112
$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,21.700,92.050,395.950,0.000,0.000,27.499,36.853,196.820,0.500,0.000,15.403,2264.323,5920.920,559.296,1649.623,278.646,0.000,1327.492,0.000,1382.128,0.000,0.536,0.000
$DEVICE_MAMPS,217.260,82.620,820.845,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,624.370,593.661,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50232,913
$CAP_FILE_SIZE,103832,0
$CFSIZE,260165632,187400192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.065,100.2,1
$GPS,210413,191057,4749.442,-12515.277,11,2.9,31,18.7