version: 66.11
glider: 187
mission: 2
dive: 857
start: 4 22 113 17 53 38
data:
$ID,187
$MISSION,2
$DIVE,857
$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,-1590064
$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
$GPS1,220413,174533,4749.755,-12514.108,42,3.8,62,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-78.2
$GPS2,220413,175306,4749.709,-12514.113,42,1.1,42,18.7
$SPEED_LIMITS,0.122,0.210
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$TGT_RADIUS,2500.000
$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,18.4,6303,-13.3,-7.021,-18.50
$D_GRID,380
$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,-0.47,-136.3,0.0,0.0,0,63,0.00,0.00,-44.40,0.000,2,0.000,0.000,105,2195,2562,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.47,-136.3,3.2,-2.9,8,104,11.93,2.33,-17.75,0.000,4,0.225,0.073,3023,3610,3350,0,0,0,0,0,0,24.54,25.23,26.18
$GC,133,-0.47,-136.3,16.1,-14.9,19,140,0.00,2.22,0.00,0.000,6,0.000,0.043,3023,2195,3352,0,0,0,0,0,0,28.83,25.41,28.83
$GC,446,-0.47,-136.3,62.1,-12.3,80,453,0.00,2.22,0.00,0.000,4,0.000,0.050,3023,787,3354,0,0,0,0,0,0,28.83,25.10,28.83
$GC,577,-0.47,-136.3,76.9,-11.6,105,584,0.00,2.22,0.00,0.000,6,0.000,0.050,3014,2201,3354,0,0,0,0,0,0,28.83,25.08,28.83
$GC,889,-0.47,-136.3,113.9,-11.6,166,897,0.00,2.30,0.00,0.000,4,0.000,0.061,3003,3607,3354,0,0,0,0,0,0,28.83,24.84,28.83
$GC,914,-0.47,-136.3,117.2,-11.9,170,922,0.15,2.22,0.00,0.000,6,0.122,0.041,3047,2184,3354,0,0,0,0,0,0,25.05,25.29,28.83
$GC,1233,-0.47,-136.3,145.8,-9.3,194,1240,0.00,2.20,0.00,0.000,4,0.000,0.050,3047,794,3355,0,0,0,0,0,0,28.83,25.01,28.83
$GC,1292,-0.47,-136.3,151.6,-9.7,200,1299,0.00,2.28,0.00,0.000,6,0.000,0.050,3041,2198,3355,0,0,0,0,0,0,28.83,25.01,28.83
$GC,1602,-0.47,-136.3,181.6,-9.4,221,1609,0.00,2.33,0.00,0.000,4,0.000,0.062,3029,3617,3355,0,0,0,0,0,0,28.83,24.75,28.83
$GC,1661,-0.47,-136.3,187.1,-9.0,227,1669,0.00,2.28,0.00,0.000,6,0.000,0.042,3029,2194,3354,0,0,0,0,0,0,28.83,25.24,28.83
$GC,1987,-0.47,-136.3,216.2,-8.5,246,1988,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2193,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2286,-0.47,-136.3,241.5,-8.4,261,2291,0.00,2.28,0.00,0.000,4,0.000,0.050,3030,800,3355,0,0,0,0,0,0,28.83,24.94,28.83
$GC,2345,-0.47,-136.3,246.6,-8.4,264,2351,0.00,2.30,0.00,0.000,6,0.000,0.050,3022,2203,3354,0,0,0,0,0,0,28.83,24.93,28.83
$GC,2668,-0.47,-136.3,275.8,-9.5,280,2672,0.00,2.33,0.00,0.000,4,0.000,0.062,3011,3616,3354,0,0,0,0,0,0,28.83,24.68,28.83
$GC,2763,-0.47,-136.3,284.4,-9.6,284,2769,0.12,2.30,0.00,0.000,6,0.122,0.042,3048,2199,3354,0,0,0,0,0,0,25.01,25.19,28.83
$GC,3067,-0.47,-136.3,307.2,-7.0,299,3068,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2192,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3366,-0.47,-136.3,327.8,-6.8,314,3371,0.00,2.28,0.00,0.000,4,0.000,0.050,3048,794,3354,0,0,0,0,0,0,28.83,24.89,28.83
$GC,3426,-0.47,-136.3,332.1,-7.0,317,3431,0.00,2.30,0.00,0.000,6,0.000,0.051,3042,2200,3354,0,0,0,0,0,0,28.83,24.87,28.83
$GC,3747,-0.47,-136.3,357.5,-8.7,333,3751,0.00,2.38,0.00,0.000,4,0.000,0.063,3032,3608,3354,0,0,0,0,0,0,28.83,24.60,28.83
$GC,3793,-0.47,-136.3,361.0,-8.7,335,3798,0.00,2.30,0.00,0.000,6,0.000,0.043,3032,2194,3354,0,0,0,0,0,0,28.83,25.14,28.83
$STATE,4013,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4013,begin apogee
$GC,4020,-0.22,0.0,382.0,-9.6,346,4141,0.28,0.00,116.20,0.776,6,0.110,0.000,3125,2336,2794,0,0,0,0,0,0,25.31,28.83,23.55
$STATE,4142,end apogee,CONTROL_FINISHED_OK
$STATE,4142,begin climb
$GC,4146,0.47,136.3,388.2,0.0,352,4276,0.65,2.38,120.03,0.747,4,0.075,0.065,3349,3730,2237,0,0,0,0,0,0,24.73,24.65,23.45
$GC,4304,0.50,206.1,384.6,4.2,360,4374,0.00,2.33,60.25,0.737,6,0.000,0.044,3359,2325,1951,0,0,0,0,0,0,28.83,25.06,23.45
$GC,4679,0.51,234.4,361.1,5.9,379,4709,0.00,2.33,24.30,0.734,4,0.000,0.054,3368,927,1838,0,0,0,0,0,0,28.83,25.27,23.91
$GC,4747,0.51,234.4,355.4,7.7,382,4752,0.00,2.28,0.00,0.000,6,0.000,0.052,3368,2317,1835,0,0,0,0,0,0,28.83,25.32,28.83
$GC,5068,0.51,234.4,331.3,7.6,398,5072,0.00,2.25,0.00,0.000,4,0.000,0.054,3377,934,1833,0,0,0,0,0,0,28.83,25.25,28.83
$GC,5107,0.51,234.4,328.4,7.5,400,5112,0.00,2.30,0.00,0.000,6,0.000,0.053,3376,2335,1832,0,0,0,0,0,0,28.83,25.25,28.83
$GC,5427,0.51,234.4,303.2,7.4,416,5432,0.00,2.33,0.00,0.000,4,0.000,0.054,3386,920,1832,0,0,0,0,0,0,28.83,25.13,28.83
$GC,5468,0.51,234.4,300.3,7.1,418,5473,0.00,2.30,0.00,0.000,6,0.000,0.053,3386,2327,1832,0,0,0,0,0,0,28.83,25.15,28.83
$GC,5787,0.51,234.4,275.4,7.8,434,5792,0.00,2.38,0.00,0.000,4,0.000,0.065,3386,3737,1831,0,0,0,0,0,0,28.83,24.91,28.83
$GC,5847,0.51,234.4,269.8,9.0,437,5853,0.12,2.30,0.00,0.000,6,0.142,0.046,3361,2334,1831,0,0,0,0,0,0,25.05,25.25,28.83
$GC,6168,0.52,260.4,249.9,6.0,453,6196,0.00,2.35,22.80,0.693,4,0.000,0.054,3369,914,1732,0,0,0,0,0,0,28.83,25.25,24.03
$GC,6225,0.53,287.7,247.0,5.9,455,6257,0.00,2.33,24.60,0.682,6,0.000,0.053,3369,2329,1620,0,0,0,0,0,0,28.83,25.30,23.85
$GC,6558,0.54,307.5,225.3,6.2,472,6582,0.00,2.35,17.58,0.664,4,0.000,0.054,3372,914,1539,0,0,0,0,0,0,28.83,25.34,24.03
$GC,6617,0.55,327.8,221.6,6.2,475,6643,0.00,2.30,18.58,0.653,6,0.000,0.052,3373,2324,1457,0,0,0,0,0,0,28.83,25.37,23.94
$GC,6957,0.55,327.8,198.6,7.1,492,6966,0.00,2.33,0.00,0.000,4,0.000,0.054,3377,910,1451,0,0,0,0,0,0,28.83,25.21,28.83
$GC,6988,0.55,329.5,196.6,7.0,495,6996,0.00,2.28,0.00,0.000,6,0.000,0.052,3377,2333,1451,0,0,0,0,0,0,28.83,25.23,28.83
$GC,7297,0.55,343.7,175.1,6.5,516,7317,0.00,2.35,14.12,0.627,4,0.000,0.054,3384,917,1391,0,0,0,0,0,0,28.83,25.37,24.10
$GC,7347,0.56,362.2,172.1,6.3,521,7369,0.00,2.30,16.92,0.631,6,0.000,0.052,3384,2330,1316,0,0,0,0,0,0,28.83,25.41,24.00
$GC,7670,0.56,362.2,148.8,7.6,543,7677,0.00,2.28,0.00,0.000,4,0.000,0.054,3392,910,1310,0,0,0,0,0,0,28.83,25.20,28.83
$GC,7707,0.56,366.4,146.1,6.9,547,7717,0.00,2.30,4.22,0.444,6,0.000,0.053,3392,2319,1300,0,0,0,0,0,0,28.83,25.22,24.15
$GC,8020,0.56,366.4,121.6,9.1,568,8027,0.00,2.25,0.00,0.000,4,0.000,0.054,3397,914,1298,0,0,0,0,0,0,28.83,25.13,28.83
$GC,8066,0.56,366.4,117.1,9.3,576,8073,0.00,2.28,0.00,0.000,6,0.000,0.052,3397,2337,1297,0,0,0,0,0,0,28.83,25.16,28.83
$GC,8379,0.56,366.4,88.1,9.6,637,8386,0.00,2.28,0.00,0.000,4,0.000,0.053,3403,918,1297,0,0,0,0,0,0,28.83,25.05,28.83
$GC,8404,0.56,366.4,85.9,8.6,641,8411,0.00,2.25,0.00,0.000,6,0.000,0.052,3403,2329,1297,0,0,0,0,0,0,28.83,25.08,28.83
$GC,8717,0.56,366.4,59.6,7.2,702,8725,0.00,2.28,0.00,0.000,4,0.000,0.054,3405,915,1297,0,0,0,0,0,0,28.83,24.98,28.83
$GC,8738,0.56,366.4,58.3,7.0,705,8744,0.00,2.25,0.00,0.000,6,0.000,0.052,3406,2326,1296,0,0,0,0,0,0,28.83,25.03,28.83
$GC,9049,0.57,392.2,37.6,6.0,766,9080,0.00,2.28,22.45,0.565,4,0.000,0.052,3405,909,1193,0,0,0,0,0,0,28.83,25.28,24.15
$GC,9125,0.59,423.5,33.5,5.8,779,9160,0.00,2.25,26.80,0.563,6,0.000,0.050,3405,2333,1065,0,0,0,0,0,0,28.83,25.33,24.03
$STATE,9458,end climb,SURFACE_DEPTH_REACHED
$STATE,9461,begin surface coast
$FINISH,1.2,1.001599
$STATE,9503,end surface coast,CONTROL_FINISHED_OK
$STATE,9503,begin surface
$SM_CCo,9583,0.00,0.000,0,0,1056,426.09
$SM_GC,2.22,8.55,0.22,0.00,0.031,0.070,0.000,109,2179,1056,-9.47,0.82,426.09,0,0,0,0,0,0,25.72,25.79,28.83
$IRIDIUM_FIX,4732.49,-12521.83,220413,141436
$TT8_MAMPS,0.028462,0.028462
$HUMID,50.55
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,19.00
$XPDR_PINGS,6
$24V_AH,23.5,117.784
$10V_AH,9.8,87.638
$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,21.800,105.900,488.850,0.000,0.000,27.978,34.336,231.717,1.500,0.000,42.825,2076.941,5419.529,637.091,1612.928,292.849,0.000,1381.596,0.000,1308.321,0.000,0.536,0.000
$DEVICE_MAMPS,224.910,76.500,776.475,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,582.225,556.599,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46915,852
$CAP_FILE_SIZE,100926,0
$CFSIZE,260165632,186912768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.126,162.4,1
$GPS,220413,203436,4750.571,-12512.531,37,0.9,38,18.7