version: 66.11
glider: 187
mission: 2
dive: 855
start: 4 22 113 12 4 33
data:
$ID,187
$MISSION,2
$DIVE,855
$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,-1590061.5
$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
$GPS1,220413,115659,4749.111,-12515.791,66,1.6,72,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-77.4
$GPS2,220413,120348,4749.056,-12515.764,14,1.6,25,18.7
$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,341.8,1194,-17.2,-7.021,-21.51
$D_GRID,462
$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,-0.57,-87.7,0.0,0.0,0,63,0.00,0.00,-44.78,0.000,2,0.000,0.000,103,2197,2562,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.59,-136.3,3.0,-1.7,8,104,11.82,2.22,-17.65,0.000,4,0.226,0.061,2994,804,3352,0,0,0,0,0,0,24.53,25.33,26.17
$GC,168,-0.59,-136.3,25.4,-18.3,26,174,0.00,2.20,0.00,0.000,6,0.000,0.050,2986,2199,3354,0,0,0,0,0,0,28.83,25.23,28.83
$GC,480,-0.59,-136.3,79.1,-15.0,87,488,0.00,2.22,0.00,0.000,4,0.000,0.049,2987,795,3356,0,0,0,0,0,0,28.83,25.12,28.83
$GC,507,-0.59,-136.3,82.8,-14.0,91,515,0.00,2.22,0.00,0.000,6,0.000,0.050,2976,2203,3356,0,0,0,0,0,0,28.83,25.11,28.83
$GC,824,-0.59,-136.3,126.1,-13.2,147,834,0.00,2.28,0.00,0.000,4,0.000,0.048,2976,804,3356,0,0,0,0,0,0,28.83,25.08,28.83
$GC,885,-0.59,-136.3,134.0,-12.8,153,894,0.10,2.25,0.00,0.000,6,0.125,0.049,2998,2195,3356,0,0,0,0,0,0,24.80,25.08,28.83
$GC,1194,-0.59,-136.3,170.7,-11.1,174,1203,0.00,2.28,0.00,0.000,4,0.000,0.048,2998,802,3356,0,0,0,0,0,0,28.83,25.04,28.83
$GC,1234,-0.59,-136.3,175.3,-11.6,178,1243,0.00,2.30,0.00,0.000,6,0.000,0.049,2990,2210,3357,0,0,0,0,0,0,28.83,25.03,28.83
$GC,1560,-0.59,-136.3,214.9,-12.2,198,1562,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2209,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1859,-0.59,-136.3,251.0,-11.9,213,1865,0.00,2.30,0.00,0.000,4,0.000,0.049,2990,805,3356,0,0,0,0,0,0,28.83,24.98,28.83
$GC,1928,-0.59,-136.3,257.9,-11.5,216,1937,0.00,2.30,0.00,0.000,6,0.000,0.050,2980,2210,3356,0,0,0,0,0,0,28.83,24.98,28.83
$GC,2240,-0.59,-136.3,294.1,-11.2,232,2241,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2210,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2539,-0.59,-136.3,328.2,-11.5,247,2545,0.00,2.33,0.00,0.000,4,0.000,0.049,2980,794,3356,0,0,0,0,0,0,28.83,24.94,28.83
$GC,2569,-0.59,-136.3,330.5,-11.6,248,2578,0.12,2.33,0.00,0.000,6,0.143,0.050,3002,2209,3356,0,0,0,0,0,0,24.75,24.93,28.83
$GC,2881,-0.59,-136.3,362.9,-10.1,264,2882,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2208,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3179,-0.59,-136.3,392.8,-10.2,279,3185,0.00,2.38,0.00,0.000,4,0.000,0.063,2993,3606,3356,0,0,0,0,0,0,28.83,24.67,28.83
$GC,3250,-0.59,-136.3,399.0,-10.3,282,3258,0.00,2.25,0.00,0.000,6,0.000,0.043,2993,2209,3356,0,0,0,0,0,0,28.83,25.18,28.83
$GC,3559,-0.59,-136.3,430.5,-9.6,293,3565,0.00,2.33,0.00,0.000,4,0.000,0.050,2993,793,3356,0,0,0,0,0,0,28.83,24.88,28.83
$GC,3657,-0.59,-136.3,439.0,-9.4,296,3662,0.00,2.33,0.00,0.000,6,0.000,0.051,2983,2204,3356,0,0,0,0,0,0,28.83,24.88,28.83
$STATE,3877,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3877,begin apogee
$GC,3885,-0.22,0.0,462.0,-9.9,304,4006,0.43,0.00,117.57,0.828,6,0.112,0.000,3123,2341,2793,0,0,0,0,0,0,24.94,28.83,23.47
$STATE,4007,end apogee,CONTROL_FINISHED_OK
$STATE,4007,begin climb
$GC,4010,0.59,136.3,466.1,0.0,308,4138,0.77,2.38,120.95,0.796,4,0.077,0.063,3385,3730,2238,0,0,0,0,0,0,24.63,24.57,23.35
$GC,4181,0.59,136.3,456.7,7.6,313,4185,0.00,2.30,0.00,0.000,6,0.000,0.045,3396,2333,2234,0,0,0,0,0,0,28.83,25.09,28.83
$GC,4500,0.59,136.3,423.1,10.1,324,4505,0.00,2.30,0.00,0.000,4,0.000,0.053,3407,920,2228,0,0,0,0,0,0,28.83,25.31,28.83
$GC,4578,0.59,136.3,416.9,10.2,326,4582,0.00,2.30,0.00,0.000,6,0.000,0.053,3407,2323,2227,0,0,0,0,0,0,28.83,25.29,28.83
$GC,4891,0.59,136.3,382.0,10.3,339,4895,0.00,2.38,0.00,0.000,4,0.000,0.065,3407,3732,2227,0,0,0,0,0,0,28.83,25.07,28.83
$GC,4978,0.59,136.3,372.7,11.6,343,4983,0.12,2.30,0.00,0.000,6,0.158,0.046,3387,2321,2225,0,0,0,0,0,0,25.09,25.36,28.83
$GC,5280,0.59,136.3,345.3,8.7,358,5285,0.00,2.40,0.00,0.000,4,0.000,0.064,3387,3736,2225,0,0,0,0,0,0,28.83,24.96,28.83
$GC,5361,0.59,136.3,337.6,9.7,362,5366,0.00,2.30,0.00,0.000,6,0.000,0.046,3396,2324,2225,0,0,0,0,0,0,28.83,25.29,28.83
$GC,5681,0.59,136.3,310.3,8.6,378,5685,0.00,2.35,0.00,0.000,4,0.000,0.064,3395,3733,2225,0,0,0,0,0,0,28.83,24.88,28.83
$GC,5708,0.59,136.3,308.4,8.7,379,5712,0.00,2.33,0.00,0.000,6,0.000,0.046,3406,2316,2224,0,0,0,0,0,0,28.83,25.26,28.83
$GC,6011,0.59,136.3,280.0,8.9,394,6012,0.00,0.00,0.00,0.000,6,0.000,0.000,3406,2315,2224,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6310,0.59,136.3,253.6,8.8,409,6315,0.00,2.42,0.00,0.000,4,0.000,0.064,3406,3737,2224,0,0,0,0,0,0,28.83,24.79,28.83
$GC,6411,0.59,136.3,243.4,10.5,414,6416,0.10,2.30,0.00,0.000,6,0.135,0.046,3385,2330,2224,0,0,0,0,0,0,24.86,25.20,28.83
$GC,6731,0.59,136.3,219.3,7.4,430,6732,0.00,0.00,0.00,0.000,6,0.000,0.000,3385,2324,2223,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7040,0.59,145.1,197.8,6.5,446,7052,0.00,2.42,6.65,0.564,4,0.000,0.064,3385,3742,2201,0,0,0,0,0,0,28.83,25.15,24.08
$GC,7131,0.59,145.1,190.7,8.2,455,7140,0.00,2.30,0.00,0.000,6,0.000,0.047,3393,2318,2200,0,0,0,0,0,0,28.83,25.41,28.83
$GC,7440,0.59,145.1,167.6,7.8,476,7449,0.00,2.38,0.00,0.000,4,0.000,0.064,3393,3731,2199,0,0,0,0,0,0,28.83,24.88,28.83
$GC,7560,0.59,145.1,156.7,9.4,488,7569,0.00,2.28,0.00,0.000,6,0.000,0.046,3403,2324,2199,0,0,0,0,0,0,28.83,25.22,28.83
$GC,7871,0.59,145.1,131.2,8.0,509,7879,0.00,2.38,0.00,0.000,4,0.000,0.064,3404,3732,2199,0,0,0,0,0,0,28.83,24.75,28.83
$GC,8000,0.59,145.1,120.1,7.7,522,8009,0.00,2.30,0.00,0.000,6,0.000,0.045,3414,2321,2199,0,0,0,0,0,0,28.83,25.17,28.83
$GC,8314,0.59,145.1,99.5,7.1,583,8322,0.00,2.35,0.00,0.000,4,0.000,0.064,3414,3736,2199,0,0,0,0,0,0,28.83,24.70,28.83
$GC,8552,0.59,145.1,79.7,7.8,629,8559,0.15,2.22,0.00,0.000,6,0.148,0.045,3386,2325,2198,0,0,0,0,0,0,24.82,25.16,28.83
$GC,8864,0.61,193.9,66.5,4.2,690,8912,0.00,2.42,42.40,0.595,4,0.000,0.063,3386,3744,2003,0,0,0,0,0,0,28.83,25.08,23.99
$GC,9007,0.61,196.1,57.9,6.9,716,9013,0.00,2.25,0.00,0.000,6,0.000,0.045,3394,2317,1997,0,0,0,0,0,0,28.83,25.35,28.83
$GC,9320,0.63,225.5,42.4,5.3,777,9350,0.00,0.00,27.08,0.568,6,0.000,0.000,3394,2317,1874,0,0,0,0,0,0,28.83,28.83,24.06
$GC,9656,0.64,250.6,22.3,5.6,842,9686,0.00,2.40,21.67,0.549,4,0.000,0.064,3394,3766,1770,0,0,0,0,0,0,28.83,25.26,24.10
$GC,9731,0.64,265.8,18.1,6.1,855,9750,0.00,2.28,14.00,0.525,6,0.000,0.044,3403,2316,1709,0,0,0,0,0,0,28.83,25.47,24.03
$GC,10056,0.66,321.6,5.2,3.8,918,10092,0.00,0.00,33.80,0.543,2,0.000,0.000,3403,2316,1543,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10093,end climb,SURFACE_DEPTH_REACHED
$STATE,10093,begin surface coast
$FINISH,1.2,1.023508
$STATE,10205,end surface coast,CONTROL_FINISHED_OK
$STATE,10205,begin surface
$SM_CCo,10286,0.00,0.000,0,0,1534,309.08
$SM_GC,2.63,8.52,0.17,0.00,0.029,0.075,0.000,111,2192,1534,-9.47,1.10,309.08,0,0,0,0,0,0,25.75,25.76,28.83
$IRIDIUM_FIX,4735.69,-12516.60,220413,090906
$TT8_MAMPS,0.027713,0.027713
$HUMID,50.00
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.20
$XPDR_PINGS,0
$24V_AH,23.4,117.595
$10V_AH,9.8,87.522
$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,22.150,92.900,384.125,0.000,0.000,25.790,37.400,195.129,0.000,0.000,26.658,2324.132,5845.780,529.887,1718.922,289.802,0.000,1319.758,0.000,1445.159,0.000,0.535,0.000
$DEVICE_MAMPS,225.675,81.090,827.730,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,647.568,624.403,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296780
$DATA_FILE_SIZE,50170,946
$CAP_FILE_SIZE,103192,0
$CFSIZE,260165632,187011072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.063,155.1,1
$GPS,220413,145729,4749.877,-12515.705,52,1.4,52,18.7