version: 66.11
glider: 187
mission: 2
dive: 829
start: 4 19 113 8 53 19
data:
$ID,187
$MISSION,2
$DIVE,829
$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,-1590029
$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
$GPS1,190413,084400,4749.151,-12515.541,69,1.0,70,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-78.3
$GPS2,190413,085243,4749.075,-12515.376,15,1.0,15,18.7
$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,305.4,984,-18.9,-7.021,-22.96
$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,17,-0.62,-73.3,0.0,0.0,0,69,0.00,0.00,-49.75,0.000,2,0.000,0.000,104,2196,2671,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.64,-116.6,3.5,-4.1,9,105,11.52,2.17,-12.57,0.000,4,0.216,0.060,2984,801,3271,0,0,0,0,0,0,24.52,25.38,26.19
$GC,191,-0.64,-116.6,30.2,-19.5,30,198,0.00,2.20,0.00,0.000,6,0.000,0.050,2977,2199,3273,0,0,0,0,0,0,28.83,25.25,28.83
$GC,504,-0.64,-116.6,86.2,-15.5,91,510,0.00,2.20,0.00,0.000,4,0.000,0.049,2977,801,3275,0,0,0,0,0,0,28.83,25.16,28.83
$GC,579,-0.64,-116.6,98.0,-15.4,105,585,0.00,2.22,0.00,0.000,6,0.000,0.049,2967,2208,3275,0,0,0,0,0,0,28.83,25.15,28.83
$GC,890,-0.64,-116.6,144.3,-14.3,144,899,0.00,2.30,0.00,0.000,4,0.000,0.060,2956,3604,3275,0,0,0,0,0,0,28.83,24.93,28.83
$GC,949,-0.64,-116.6,153.4,-14.9,150,959,0.12,2.25,0.00,0.000,6,0.147,0.041,2986,2197,3275,0,0,0,0,0,0,25.08,25.34,28.83
$GC,1259,-0.64,-116.6,190.7,-11.7,171,1268,0.00,2.25,0.00,0.000,4,0.000,0.049,2987,804,3275,0,0,0,0,0,0,28.83,25.08,28.83
$GC,1300,-0.64,-116.6,195.6,-12.0,175,1308,0.00,2.25,0.00,0.000,6,0.000,0.050,2979,2197,3275,0,0,0,0,0,0,28.83,25.08,28.83
$GC,1619,-0.64,-116.6,233.1,-11.9,192,1620,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2197,3275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1919,-0.64,-116.6,270.1,-12.6,207,1920,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2197,3275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2220,-0.64,-116.6,308.5,-12.7,222,2222,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2197,3275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2520,-0.64,-116.6,345.6,-11.7,237,2525,0.00,2.25,0.00,0.000,4,0.000,0.050,2979,804,3275,0,0,0,0,0,0,28.83,25.01,28.83
$GC,2600,-0.64,-116.6,355.1,-12.0,241,2605,0.00,2.28,0.00,0.000,6,0.000,0.050,2969,2200,3275,0,0,0,0,0,0,28.83,25.00,28.83
$GC,2921,-0.64,-116.6,395.4,-12.9,257,2925,0.00,2.20,0.00,0.000,4,0.000,0.050,2969,805,3275,0,0,0,0,0,0,28.83,24.99,28.83
$GC,2987,-0.64,-116.6,402.9,-12.9,260,2992,0.12,2.30,0.00,0.000,6,0.153,0.050,2989,2208,3275,0,0,0,0,0,0,24.78,24.99,28.83
$GC,3300,-0.64,-116.6,434.5,-9.3,271,3306,0.00,2.35,0.00,0.000,4,0.000,0.063,2980,3608,3275,0,0,0,0,0,0,28.83,24.74,28.83
$GC,3331,-0.64,-116.6,437.8,-9.8,272,3337,0.00,2.25,0.00,0.000,6,0.000,0.044,2980,2210,3274,0,0,0,0,0,0,28.83,25.22,28.83
$STATE,3568,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3568,begin apogee
$GC,3575,-0.22,0.0,464.6,-10.8,280,3679,0.43,0.00,101.07,0.824,6,0.115,0.000,3118,2339,2794,0,0,0,0,0,0,24.94,28.83,23.49
$STATE,3680,end apogee,CONTROL_FINISHED_OK
$STATE,3680,begin climb
$GC,3685,0.64,116.6,468.5,0.0,283,3801,0.80,2.40,105.22,0.796,4,0.077,0.063,3398,3722,2316,0,0,0,0,0,0,24.74,24.66,23.37
$GC,3830,0.64,116.6,460.4,7.4,288,3836,0.00,2.30,0.00,0.000,6,0.000,0.044,3408,2325,2314,0,0,0,0,0,0,28.83,25.11,28.83
$GC,4160,0.64,116.6,428.9,9.4,299,4167,0.00,2.38,0.00,0.000,4,0.000,0.063,3408,3732,2308,0,0,0,0,0,0,28.83,25.25,28.83
$GC,4330,0.64,116.6,412.1,11.2,304,4340,0.00,2.28,0.00,0.000,6,0.000,0.045,3419,2324,2307,0,0,0,0,0,0,28.83,25.45,28.83
$GC,4650,0.64,116.6,377.4,10.2,319,4656,0.00,2.35,0.00,0.000,4,0.000,0.064,3420,3718,2307,0,0,0,0,0,0,28.83,25.08,28.83
$GC,4852,0.64,116.6,355.4,10.6,329,4857,0.00,2.25,0.00,0.000,6,0.000,0.046,3430,2323,2306,0,0,0,0,0,0,28.83,25.37,28.83
$GC,5172,0.64,116.6,327.2,8.5,345,5177,0.00,2.33,0.00,0.000,4,0.000,0.065,3430,3727,2305,0,0,0,0,0,0,28.83,24.98,28.83
$GC,5240,0.64,116.6,320.3,9.6,348,5247,0.15,2.30,0.00,0.000,6,0.161,0.047,3405,2320,2305,0,0,0,0,0,0,24.95,25.32,28.83
$GC,5562,0.64,116.6,295.7,7.7,364,5566,0.00,2.28,0.00,0.000,4,0.000,0.054,3413,925,2304,0,0,0,0,0,0,28.83,25.09,28.83
$GC,5608,0.64,116.6,292.7,7.7,366,5613,0.00,2.28,0.00,0.000,6,0.000,0.053,3413,2312,2304,0,0,0,0,0,0,28.83,25.10,28.83
$GC,5911,0.64,116.6,267.4,8.2,381,5916,0.00,2.40,0.00,0.000,4,0.000,0.065,3413,3737,2304,0,0,0,0,0,0,28.83,24.89,28.83
$GC,5960,0.64,116.6,263.8,8.4,383,5969,0.00,2.33,0.00,0.000,6,0.000,0.046,3424,2316,2303,0,0,0,0,0,0,28.83,25.27,28.83
$GC,6270,0.64,116.6,236.5,8.3,399,6276,0.00,2.40,0.00,0.000,4,0.000,0.064,3424,3736,2303,0,0,0,0,0,0,28.83,24.85,28.83
$GC,6378,0.64,116.6,227.0,9.7,404,6383,0.12,2.30,0.00,0.000,6,0.164,0.046,3405,2324,2303,0,0,0,0,0,0,24.94,25.25,28.83
$GC,6682,0.64,122.5,204.4,6.6,419,6691,0.00,2.42,4.05,0.457,4,0.000,0.064,3405,3747,2294,0,0,0,0,0,0,28.83,25.17,24.08
$GC,6750,0.64,122.5,198.8,7.7,422,6759,0.00,2.33,0.00,0.000,6,0.000,0.046,3414,2319,2293,0,0,0,0,0,0,28.83,25.39,28.83
$GC,7062,0.64,122.5,175.1,8.0,443,7063,0.00,0.00,0.00,0.000,6,0.000,0.000,3414,2319,2293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7360,0.64,122.5,151.8,7.7,463,7369,0.00,2.38,0.00,0.000,4,0.000,0.063,3414,3732,2293,0,0,0,0,0,0,28.83,24.83,28.83
$GC,7520,0.64,122.5,137.3,9.1,479,7529,0.00,2.30,0.00,0.000,6,0.000,0.045,3425,2321,2293,0,0,0,0,0,0,28.83,25.24,28.83
$GC,7833,0.64,134.6,113.9,6.2,510,7853,0.00,2.42,12.43,0.581,4,0.000,0.063,3424,3744,2244,0,0,0,0,0,0,28.83,25.13,24.09
$GC,8035,0.64,134.6,98.0,7.5,548,8043,0.12,2.28,0.00,0.000,6,0.162,0.045,3405,2319,2241,0,0,0,0,0,0,25.10,25.39,28.83
$GC,8350,0.65,156.6,80.5,5.5,609,8375,0.00,2.33,20.12,0.586,4,0.000,0.052,3414,912,2154,0,0,0,0,0,0,28.83,25.28,24.09
$GC,8514,0.67,189.7,71.3,4.8,640,8551,0.00,2.25,28.92,0.587,6,0.000,0.053,3414,2334,2018,0,0,0,0,0,0,28.83,25.29,23.95
$GC,8860,0.68,220.3,51.5,4.9,706,8892,0.00,2.38,26.17,0.570,4,0.000,0.063,3414,3740,1893,0,0,0,0,0,0,28.83,25.27,24.04
$GC,8936,0.68,220.3,46.5,7.6,719,8943,0.00,2.22,0.00,0.000,6,0.000,0.045,3424,2324,1891,0,0,0,0,0,0,28.83,25.47,28.83
$GC,9251,0.69,243.2,25.6,5.5,780,9276,0.00,0.00,19.23,0.547,6,0.000,0.000,3424,2321,1803,0,0,0,0,0,0,28.83,28.83,24.14
$GC,9582,0.70,281.8,9.5,4.4,844,9622,0.00,2.33,33.00,0.545,4,0.000,0.063,3424,3734,1643,0,0,0,0,0,0,28.83,25.27,24.09
$STATE,9690,end climb,SURFACE_DEPTH_REACHED
$STATE,9690,begin surface coast
$FINISH,3.3,1.024054
$STATE,9702,end surface coast,CONTROL_FINISHED_OK
$STATE,9702,begin surface
$SM_CCo,9724,15.12,0.282,1,0,1571,300.00
$SM_GC,1.83,8.80,2.50,15.12,0.042,0.045,0.282,114,2194,1571,-9.47,0.96,300.00,0,0,0,0,1,0,25.71,25.43,24.08
$IRIDIUM_FIX,4732.49,-12519.22,190413,080800
$TT8_MAMPS,0.026964,0.026964
$HUMID,48.70
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.00
$XPDR_PINGS,0
$24V_AH,23.4,115.473
$10V_AH,9.8,85.973
$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,22.200,92.350,350.225,15.125,0.000,55.767,87.641,182.741,0.000,0.000,16.637,2155.912,5640.896,518.469,1688.555,275.173,0.000,1260.207,0.000,1349.908,0.000,0.536,0.000
$DEVICE_MAMPS,216.495,81.090,823.905,282.285,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,591.552,559.927,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296776
$DATA_FILE_SIZE,46846,865
$CAP_FILE_SIZE,99208,0
$CFSIZE,260165632,188485632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.097, 98.3,1
$GPS,190413,113759,4749.750,-12515.721,87,1.7,93,18.7