version: 66.11
glider: 187
mission: 2
dive: 839
start: 4 20 113 14 29 25
data:
$ID,187
$MISSION,2
$DIVE,839
$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,-1590041.5
$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,40
$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
$GPS1,200413,142154,4750.108,-12514.854,106,0.9,107,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-77.9
$GPS2,200413,142843,4750.099,-12514.842,12,2.0,12,18.7
$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,208.0,1054,-19.7,-7.021,-23.66
$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,-0.64,-67.6,0.0,0.0,0,58,0.00,0.00,-39.17,0.000,2,0.000,0.000,104,2201,2433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,61,-0.66,-115.7,3.1,-3.5,7,99,11.52,2.40,-20.55,0.000,4,0.219,0.073,2967,3614,3268,0,0,0,0,0,0,24.55,25.25,26.19
$GC,239,-0.66,-115.7,40.3,-17.8,40,246,0.00,2.22,0.00,0.000,6,0.000,0.043,2967,2193,3270,0,0,0,0,0,0,28.83,25.37,28.83
$GC,551,-0.66,-115.7,93.9,-16.1,101,559,0.00,2.20,0.00,0.000,4,0.000,0.050,2967,793,3271,0,0,0,0,0,0,28.83,25.13,28.83
$GC,597,-0.66,-115.7,100.9,-15.0,109,605,0.00,2.22,0.00,0.000,6,0.000,0.050,2957,2200,3271,0,0,0,0,0,0,28.83,25.13,28.83
$GC,920,-0.66,-115.7,149.0,-14.2,146,928,0.00,2.33,0.00,0.000,4,0.000,0.060,2946,3606,3271,0,0,0,0,0,0,28.83,24.91,28.83
$GC,952,-0.66,-115.7,153.4,-14.6,149,961,0.12,2.20,0.00,0.000,6,0.148,0.042,2976,2191,3271,0,0,0,0,0,0,25.04,25.32,28.83
$GC,1264,-0.66,-115.7,193.7,-13.4,170,1270,0.00,2.20,0.00,0.000,4,0.000,0.050,2976,793,3271,0,0,0,0,0,0,28.83,25.06,28.83
$GC,1363,-0.66,-115.7,206.4,-12.3,178,1367,0.00,2.25,0.00,0.000,6,0.000,0.050,2968,2202,3272,0,0,0,0,0,0,28.83,25.05,28.83
$GC,1672,-0.66,-115.7,245.8,-12.5,193,1674,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2202,3271,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1970,-0.66,-115.7,283.9,-13.0,208,1971,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2202,3271,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2271,-0.66,-115.7,321.6,-12.2,223,2275,0.00,2.25,0.00,0.000,4,0.000,0.049,2968,808,3271,0,0,0,0,0,0,28.83,25.01,28.83
$GC,2369,-0.66,-115.7,334.0,-12.3,228,2375,0.00,2.28,0.00,0.000,6,0.000,0.050,2958,2201,3271,0,0,0,0,0,0,28.83,25.00,28.83
$GC,2690,-0.66,-115.7,374.4,-12.5,244,2695,0.00,2.28,0.00,0.000,4,0.000,0.049,2958,801,3271,0,0,0,0,0,0,28.83,24.98,28.83
$GC,2730,-0.66,-115.7,379.5,-12.7,246,2736,0.10,2.25,0.00,0.000,6,0.135,0.049,2979,2193,3271,0,0,0,0,0,0,24.67,24.99,28.83
$GC,3061,-0.66,-115.7,418.1,-12.0,260,3062,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2193,3271,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3360,-0.66,-115.7,452.1,-10.9,270,3365,0.00,2.38,0.00,0.000,4,0.000,0.063,2971,3612,3271,0,0,0,0,0,0,28.83,24.69,28.83
$GC,3398,-0.66,-115.7,455.3,-11.0,271,3402,0.00,2.30,0.00,0.000,6,0.000,0.044,2971,2194,3271,0,0,0,0,0,0,28.83,25.18,28.83
$STATE,3468,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3468,begin apogee
$GC,3476,-0.22,0.0,464.9,-11.6,274,3580,0.45,0.00,99.93,0.830,6,0.113,0.000,3117,2337,2794,0,0,0,0,0,0,24.87,28.83,23.51
$STATE,3581,end apogee,CONTROL_FINISHED_OK
$STATE,3581,begin climb
$GC,3583,0.66,115.7,469.4,0.0,277,3699,0.85,2.42,104.30,0.797,4,0.077,0.063,3405,3726,2320,0,0,0,0,0,0,24.71,24.64,23.36
$GC,3779,0.66,116.7,460.5,6.9,283,3788,0.00,2.30,0.00,0.000,6,0.000,0.046,3416,2322,2317,0,0,0,0,0,0,28.83,25.30,28.83
$GC,4090,0.66,116.7,429.5,9.2,294,4095,0.00,2.38,0.00,0.000,4,0.000,0.064,3416,3734,2312,0,0,0,0,0,0,28.83,25.21,28.83
$GC,4198,0.66,116.7,419.9,10.3,297,4202,0.00,2.30,0.00,0.000,6,0.000,0.046,3427,2323,2311,0,0,0,0,0,0,28.83,25.44,28.83
$GC,4511,0.66,116.7,385.9,11.8,309,4515,0.00,2.38,0.00,0.000,4,0.000,0.067,3427,3723,2310,0,0,0,0,0,0,28.83,25.05,28.83
$GC,4750,0.66,116.7,355.9,13.1,321,4755,0.00,2.28,0.00,0.000,6,0.000,0.045,3438,2324,2309,0,0,0,0,0,0,28.83,25.34,28.83
$GC,5071,0.66,116.7,324.6,9.5,337,5075,0.00,2.30,0.00,0.000,4,0.000,0.053,3449,921,2309,0,0,0,0,0,0,28.83,25.10,28.83
$GC,5138,0.66,116.7,318.7,9.8,340,5143,0.15,2.30,0.00,0.000,6,0.156,0.053,3412,2319,2308,0,0,0,0,0,0,24.82,25.10,28.83
$GC,5440,0.66,116.7,293.2,7.9,355,5445,0.00,2.38,0.00,0.000,4,0.000,0.065,3412,3733,2308,0,0,0,0,0,0,28.83,24.89,28.83
$GC,5522,0.66,116.7,285.7,9.3,359,5526,0.00,2.28,0.00,0.000,6,0.000,0.046,3420,2330,2307,0,0,0,0,0,0,28.83,25.27,28.83
$GC,5842,0.66,116.7,258.3,8.8,375,5843,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,2328,2307,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6140,0.66,116.7,230.7,8.9,390,6146,0.00,2.38,0.00,0.000,4,0.000,0.064,3421,3733,2307,0,0,0,0,0,0,28.83,24.82,28.83
$GC,6209,0.66,116.7,224.9,9.6,393,6218,0.00,2.30,0.00,0.000,6,0.000,0.046,3431,2324,2307,0,0,0,0,0,0,28.83,25.22,28.83
$GC,6530,0.66,116.7,197.0,8.0,410,6540,0.00,2.40,0.00,0.000,4,0.000,0.064,3432,3737,2307,0,0,0,0,0,0,28.83,24.79,28.83
$GC,6580,0.66,116.7,192.6,9.1,415,6589,0.10,2.30,0.00,0.000,6,0.148,0.046,3413,2322,2307,0,0,0,0,0,0,24.82,25.21,28.83
$GC,6891,0.66,116.7,169.8,7.4,436,6899,0.00,2.40,0.00,0.000,4,0.000,0.065,3413,3732,2306,0,0,0,0,0,0,28.83,24.76,28.83
$GC,7010,0.66,116.7,159.8,8.5,448,7019,0.00,2.30,0.00,0.000,6,0.000,0.045,3421,2325,2306,0,0,0,0,0,0,28.83,25.19,28.83
$GC,7321,0.66,116.7,138.1,7.1,469,7329,0.00,2.40,0.00,0.000,4,0.000,0.064,3422,3737,2306,0,0,0,0,0,0,28.83,24.75,28.83
$GC,7360,0.66,116.7,134.7,8.3,473,7369,0.00,2.33,0.00,0.000,6,0.000,0.045,3432,2316,2306,0,0,0,0,0,0,28.83,25.18,28.83
$GC,7672,0.66,116.7,112.1,7.1,508,7679,0.00,2.22,0.00,0.000,4,0.000,0.053,3443,922,2306,0,0,0,0,0,0,28.83,24.93,28.83
$GC,7707,0.67,125.7,109.6,6.4,514,7722,0.12,2.25,7.55,0.536,6,0.160,0.054,3414,2332,2281,0,0,0,0,0,0,24.70,24.93,24.10
$GC,8029,0.68,151.2,91.5,5.2,576,8060,0.00,2.30,23.58,0.599,4,0.000,0.064,3413,3734,2175,0,0,0,0,0,0,28.83,25.18,24.06
$GC,8083,0.68,151.2,87.5,7.8,585,8091,0.00,2.22,0.00,0.000,6,0.000,0.047,3422,2323,2174,0,0,0,0,0,0,28.83,25.41,28.83
$GC,8399,0.68,157.9,66.4,6.5,646,8413,0.00,2.35,6.45,0.495,4,0.000,0.065,3422,3744,2149,0,0,0,0,0,0,28.83,25.30,24.13
$GC,8645,0.68,159.5,49.4,6.9,693,8652,0.00,2.22,0.00,0.000,6,0.000,0.045,3432,2323,2147,0,0,0,0,0,0,28.83,25.37,28.83
$GC,8957,0.69,193.9,34.8,4.5,754,8995,0.00,2.40,31.58,0.568,4,0.000,0.063,3433,3734,2002,0,0,0,0,0,0,28.83,25.23,24.06
$GC,9035,0.70,204.6,30.6,6.2,767,9054,0.00,2.25,10.23,0.513,6,0.000,0.046,3443,2319,1959,0,0,0,0,0,0,28.83,25.44,23.98
$GC,9362,0.72,249.7,10.7,3.7,830,9410,0.00,2.28,37.97,0.549,4,0.000,0.052,3453,930,1775,0,0,0,0,0,0,28.83,25.28,24.06
$GC,9482,0.73,274.6,5.8,5.2,851,9512,0.00,2.22,21.45,0.529,6,0.000,0.052,3453,2335,1673,0,0,0,0,0,0,28.83,25.32,24.02
$STATE,9516,end climb,SURFACE_DEPTH_REACHED
$STATE,9516,begin surface coast
$FINISH,1.1,1.023925
$STATE,9594,end surface coast,CONTROL_FINISHED_OK
$STATE,9594,begin surface
$SM_CCo,9616,20.10,0.353,1,0,1570,300.00
$SM_GC,2.68,8.65,0.20,20.10,0.030,0.069,0.353,107,2204,1570,-9.47,1.19,300.00,0,0,0,0,1,0,25.73,25.71,24.07
$IRIDIUM_FIX,4732.49,-12519.22,200413,111109
$TT8_MAMPS,0.027713,0.027713
$HUMID,49.33
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.10
$XPDR_PINGS,0
$24V_AH,23.4,116.326
$10V_AH,9.7,86.577
$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,22.075,97.000,343.025,20.100,0.000,27.376,36.861,208.930,0.000,0.000,13.097,2174.522,5452.761,534.659,1623.817,279.500,0.000,1275.681,0.000,1346.254,0.000,0.535,0.000
$DEVICE_MAMPS,218.790,77.265,830.025,352.665,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,596.677,570.829,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296772
$DATA_FILE_SIZE,46878,872
$CAP_FILE_SIZE,99978,0
$CFSIZE,260165632,187920384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.106, 70.7,1
$GPS,200413,171152,4749.482,-12515.028,44,4.3,64,18.7