version: 66.11
glider: 187
mission: 2
dive: 833
start: 4 19 113 20 44 15
data:
$ID,187
$MISSION,2
$DIVE,833
$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,-1590034
$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,33
$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
$GPS1,190413,203654,4749.154,-12514.802,124,1.1,125,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-77.4
$GPS2,190413,204331,4749.124,-12514.708,15,1.8,15,18.7
$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,279.4,1110,-16.3,-7.021,-20.78
$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,-0.55,-96.7,0.0,0.0,0,63,0.00,0.00,-44.12,0.000,2,0.000,0.000,106,2189,2554,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.56,-136.3,3.3,-3.6,8,104,11.57,0.00,-17.50,0.000,6,0.216,0.000,3004,2188,3354,0,0,0,0,0,0,24.56,28.83,26.20
$GC,409,-0.56,-136.3,69.1,-16.2,74,416,0.00,2.22,0.00,0.000,4,0.000,0.049,3004,782,3356,0,0,0,0,0,0,28.83,25.17,28.83
$GC,449,-0.56,-136.3,75.3,-14.6,81,456,0.00,2.25,0.00,0.000,6,0.000,0.050,2996,2200,3357,0,0,0,0,0,0,28.83,25.15,28.83
$GC,763,-0.56,-136.3,118.8,-11.4,142,768,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2200,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1078,-0.56,-136.3,156.1,-11.3,164,1079,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2200,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1377,-0.56,-136.3,192.8,-12.8,184,1385,0.00,2.35,0.00,0.000,4,0.000,0.060,2985,3606,3357,0,0,0,0,0,0,28.83,24.87,28.83
$GC,1417,-0.56,-136.3,197.8,-12.8,188,1425,0.00,2.28,0.00,0.000,6,0.000,0.042,2985,2186,3357,0,0,0,0,0,0,28.83,25.31,28.83
$GC,1743,-0.56,-136.3,237.9,-12.0,205,1747,0.00,2.22,0.00,0.000,4,0.000,0.049,2986,804,3357,0,0,0,0,0,0,28.83,25.06,28.83
$GC,1769,-0.56,-136.3,240.5,-12.1,206,1774,0.15,2.28,0.00,0.000,6,0.137,0.050,3015,2201,3357,0,0,0,0,0,0,24.82,25.04,28.83
$GC,2071,-0.56,-136.3,268.7,-8.8,221,2077,0.00,2.28,0.00,0.000,4,0.000,0.048,3015,802,3357,0,0,0,0,0,0,28.83,25.03,28.83
$GC,2099,-0.56,-136.3,270.6,-8.8,222,2103,0.00,2.30,0.00,0.000,6,0.000,0.050,3009,2210,3357,0,0,0,0,0,0,28.83,25.02,28.83
$GC,2403,-0.56,-136.3,299.9,-9.2,237,2407,0.00,2.35,0.00,0.000,4,0.000,0.062,2998,3610,3357,0,0,0,0,0,0,28.83,24.78,28.83
$GC,2449,-0.56,-136.3,303.7,-9.4,239,2454,0.00,2.28,0.00,0.000,6,0.000,0.043,2998,2203,3357,0,0,0,0,0,0,28.83,25.25,28.83
$GC,2753,-0.56,-136.3,335.1,-10.1,254,2754,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2198,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3051,-0.56,-136.3,365.2,-10.5,269,3057,0.00,2.38,0.00,0.000,4,0.000,0.062,2988,3603,3357,0,0,0,0,0,0,28.83,24.73,28.83
$GC,3079,-0.56,-136.3,367.4,-10.6,270,3084,0.00,2.28,0.00,0.000,6,0.000,0.043,2988,2202,3357,0,0,0,0,0,0,28.83,25.22,28.83
$GC,3393,-0.56,-136.3,405.0,-11.5,285,3397,0.00,2.28,0.00,0.000,4,0.000,0.051,2987,794,3356,0,0,0,0,0,0,28.83,24.95,28.83
$GC,3451,-0.56,-136.3,412.6,-12.2,287,3458,0.12,2.33,0.00,0.000,6,0.145,0.052,3010,2206,3357,0,0,0,0,0,0,24.74,24.91,28.83
$GC,3781,-0.56,-136.3,446.7,-9.4,298,3787,0.00,2.35,0.00,0.000,4,0.000,0.063,3002,3602,3356,0,0,0,0,0,0,28.83,24.70,28.83
$GC,3819,-0.56,-136.3,449.4,-9.2,299,3823,0.00,2.28,0.00,0.000,6,0.000,0.043,3001,2199,3356,0,0,0,0,0,0,28.83,25.20,28.83
$STATE,3949,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3949,begin apogee
$GC,3957,-0.22,0.0,462.2,-9.1,304,4078,0.35,0.00,117.47,0.824,6,0.110,0.000,3118,2339,2795,0,0,0,0,0,0,25.15,28.83,23.48
$STATE,4079,end apogee,CONTROL_FINISHED_OK
$STATE,4079,begin climb
$GC,4082,0.56,136.3,467.1,0.0,308,4210,0.75,2.38,121.05,0.794,4,0.078,0.063,3373,3732,2238,0,0,0,0,0,0,24.68,24.62,23.36
$GC,4245,0.58,169.6,460.6,5.3,313,4280,0.00,2.28,30.12,0.779,6,0.000,0.045,3383,2323,2102,0,0,0,0,0,0,28.83,25.10,23.42
$GC,4591,0.58,169.6,428.5,11.2,325,4597,0.00,2.35,0.00,0.000,4,0.000,0.063,3383,3719,2094,0,0,0,0,0,0,28.83,25.28,28.83
$GC,4629,0.58,169.6,425.0,11.6,326,4634,0.00,2.28,0.00,0.000,6,0.000,0.047,3393,2326,2093,0,0,0,0,0,0,28.83,25.46,28.83
$GC,4943,0.58,169.6,391.8,10.0,338,4947,0.00,2.30,0.00,0.000,4,0.000,0.054,3403,914,2092,0,0,0,0,0,0,28.83,25.25,28.83
$GC,5010,0.58,169.6,385.7,10.0,341,5014,0.00,2.30,0.00,0.000,6,0.000,0.053,3403,2318,2091,0,0,0,0,0,0,28.83,25.24,28.83
$GC,5313,0.58,169.6,354.9,9.4,356,5314,0.00,0.00,0.00,0.000,6,0.000,0.000,3403,2318,2091,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5613,0.58,169.6,325.4,10.1,371,5617,0.00,2.35,0.00,0.000,4,0.000,0.065,3403,3737,2091,0,0,0,0,0,0,28.83,24.96,28.83
$GC,5661,0.58,169.6,320.8,10.9,373,5671,0.12,2.33,0.00,0.000,6,0.157,0.046,3382,2320,2090,0,0,0,0,0,0,25.06,25.32,28.83
$GC,5973,0.58,169.6,291.0,9.1,389,5977,0.00,2.40,0.00,0.000,4,0.000,0.065,3382,3734,2090,0,0,0,0,0,0,28.83,24.91,28.83
$GC,6020,0.58,169.6,287.1,9.5,391,6024,0.00,2.33,0.00,0.000,6,0.000,0.046,3390,2316,2090,0,0,0,0,0,0,28.83,25.28,28.83
$GC,6323,0.58,169.6,258.4,8.9,406,6327,0.00,2.25,0.00,0.000,4,0.000,0.054,3401,913,2090,0,0,0,0,0,0,28.83,25.03,28.83
$GC,6371,0.58,169.6,254.8,8.8,408,6380,0.00,2.33,0.00,0.000,6,0.000,0.054,3401,2326,2089,0,0,0,0,0,0,28.83,25.05,28.83
$GC,6683,0.58,169.6,224.7,9.1,424,6687,0.00,2.33,0.00,0.000,4,0.000,0.065,3400,3734,2089,0,0,0,0,0,0,28.83,24.84,28.83
$GC,6762,0.58,169.6,216.2,10.7,428,6768,0.08,2.30,0.00,0.000,6,0.133,0.046,3386,2326,2089,0,0,0,0,0,0,24.96,25.24,28.83
$GC,7084,0.58,169.6,188.9,8.2,446,7091,0.00,2.25,0.00,0.000,4,0.000,0.054,3394,917,2089,0,0,0,0,0,0,28.83,24.99,28.83
$GC,7152,0.58,169.6,183.0,8.3,453,7161,0.00,2.33,0.00,0.000,6,0.000,0.053,3394,2330,2089,0,0,0,0,0,0,28.83,25.00,28.83
$GC,7462,0.58,169.6,155.5,9.1,474,7471,0.00,2.38,0.00,0.000,4,0.000,0.065,3394,3739,2088,0,0,0,0,0,0,28.83,24.79,28.83
$GC,7563,0.58,169.6,145.5,9.9,484,7571,0.00,2.25,0.00,0.000,6,0.000,0.045,3405,2318,2088,0,0,0,0,0,0,28.83,25.21,28.83
$GC,7872,0.58,169.6,120.0,7.3,505,7881,0.00,2.40,0.00,0.000,4,0.000,0.064,3404,3728,2088,0,0,0,0,0,0,28.83,24.77,28.83
$GC,7990,0.58,169.6,109.8,8.6,527,7998,0.12,2.22,0.00,0.000,6,0.155,0.044,3383,2317,2087,0,0,0,0,0,0,24.95,25.23,28.83
$GC,8306,0.58,172.6,89.1,6.9,588,8311,0.00,0.00,0.00,0.000,6,0.000,0.000,3383,2316,2088,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8618,0.59,206.6,70.2,5.2,649,8655,0.00,2.33,30.42,0.588,4,0.000,0.053,3387,920,1950,0,0,0,0,0,0,28.83,25.14,24.00
$GC,8685,0.61,252.7,66.8,4.6,660,8733,0.00,2.25,39.88,0.580,6,0.000,0.052,3388,2334,1762,0,0,0,0,0,0,28.83,25.19,23.86
$GC,9046,0.63,298.3,46.9,4.6,728,9090,0.00,2.38,37.85,0.568,4,0.000,0.053,3391,914,1576,0,0,0,0,0,0,28.83,25.25,24.01
$GC,9133,0.65,343.7,43.0,4.6,743,9180,0.00,2.25,37.83,0.552,6,0.000,0.052,3391,2333,1391,0,0,0,0,0,0,28.83,25.32,23.91
$GC,9489,0.65,343.7,19.4,7.7,811,9496,0.00,2.28,0.00,0.000,4,0.000,0.051,3391,920,1383,0,0,0,0,0,0,28.83,25.25,28.83
$GC,9625,0.65,343.7,8.8,7.5,837,9632,0.00,2.25,0.00,0.000,6,0.000,0.053,3391,2328,1382,0,0,0,0,0,0,28.83,25.21,28.83
$STATE,9703,end climb,SURFACE_DEPTH_REACHED
$STATE,9703,begin surface coast
$FINISH,1.2,1.012345
$STATE,9771,end surface coast,CONTROL_FINISHED_OK
$STATE,9771,begin surface
$SM_CCo,9851,0.00,0.000,0,0,1378,347.59
$SM_GC,2.26,8.38,0.20,0.00,0.024,0.070,0.000,107,2196,1378,-9.46,0.93,347.59,0,0,0,0,0,0,25.76,25.89,28.83
$IRIDIUM_FIX,4729.30,-12542.32,190413,171709
$TT8_MAMPS,0.027713,0.027713
$HUMID,49.33
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,19.00
$XPDR_PINGS,0
$24V_AH,23.4,115.821
$10V_AH,9.8,86.212
$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,21.650,97.125,414.625,0.000,0.000,25.777,35.229,198.308,0.000,0.000,16.706,2169.920,5667.586,553.308,1597.371,273.692,0.000,1298.878,0.000,1329.290,0.000,0.535,0.000
$DEVICE_MAMPS,216.495,77.265,823.905,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,591.055,560.024,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296788
$DATA_FILE_SIZE,47059,865
$CAP_FILE_SIZE,100024,0
$CFSIZE,260165632,188264448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.160,112.2,1
$GPS,190413,232953,4749.521,-12515.685,32,1.0,50,18.7