version: 66.11
glider: 187
mission: 2
dive: 828
start: 4 19 113 5 53 53
data:
$ID,187
$MISSION,2
$DIVE,828
$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,-1590027.8
$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,31
$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
$GPS1,190413,054636,4749.284,-12515.119,63,1.2,64,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-75.2
$GPS2,190413,055307,4749.282,-12514.984,16,2.0,16,18.7
$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,271.1,675,-21.7,-7.021,-25.41
$D_GRID,482
$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,-0.70,-56.1,0.0,0.0,0,64,0.00,0.00,-44.72,0.000,2,0.000,0.000,126,2203,2558,0,0,0,0,0,0,28.83,28.83,28.83
$GC,67,-0.72,-96.2,3.3,-3.5,8,100,11.35,2.33,-15.07,0.000,4,0.217,0.062,2958,779,3188,0,0,0,0,0,0,24.56,25.38,26.19
$GC,179,-0.72,-96.2,26.7,-21.3,28,186,0.00,2.28,0.00,0.000,6,0.000,0.050,2950,2209,3190,0,0,0,0,0,0,28.83,25.26,28.83
$GC,492,-0.72,-96.2,89.7,-18.6,89,499,0.00,2.25,0.00,0.000,4,0.000,0.050,2949,782,3191,0,0,0,0,0,0,28.83,25.17,28.83
$GC,543,-0.72,-96.2,98.5,-16.6,98,551,0.00,2.22,0.00,0.000,6,0.000,0.050,2938,2201,3191,0,0,0,0,0,0,28.83,25.18,28.83
$GC,860,-0.72,-96.2,147.5,-15.0,136,869,0.00,2.28,0.00,0.000,4,0.000,0.048,2938,787,3192,0,0,0,0,0,0,28.83,25.15,28.83
$GC,901,-0.72,-96.2,153.5,-15.1,140,909,0.10,2.28,0.00,0.000,6,0.132,0.049,2958,2199,3191,0,0,0,0,0,0,24.85,25.15,28.83
$GC,1212,-0.72,-96.2,193.4,-13.1,161,1219,0.00,2.22,0.00,0.000,4,0.000,0.049,2958,780,3191,0,0,0,0,0,0,28.83,25.11,28.83
$GC,1250,-0.72,-96.2,198.5,-13.1,165,1259,0.00,2.33,0.00,0.000,6,0.000,0.049,2950,2207,3191,0,0,0,0,0,0,28.83,25.10,28.83
$GC,1576,-0.72,-96.2,244.9,-14.9,182,1577,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2206,3191,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1875,-0.72,-96.2,287.5,-13.8,197,1876,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2207,3191,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2175,-0.72,-96.2,328.8,-14.4,212,2181,0.00,2.30,0.00,0.000,4,0.000,0.049,2950,790,3191,0,0,0,0,0,0,28.83,25.05,28.83
$GC,2236,-0.72,-96.2,337.6,-14.6,215,2241,0.00,2.28,0.00,0.000,6,0.000,0.050,2940,2193,3191,0,0,0,0,0,0,28.83,25.05,28.83
$GC,2557,-0.72,-96.2,382.6,-13.7,231,2561,0.00,2.22,0.00,0.000,4,0.000,0.050,2940,783,3192,0,0,0,0,0,0,28.83,25.03,28.83
$GC,2653,-0.72,-96.2,394.9,-13.6,235,2658,0.12,2.33,0.00,0.000,6,0.157,0.049,2958,2205,3191,0,0,0,0,0,0,24.80,25.04,28.83
$GC,2966,-0.72,-96.2,431.8,-12.6,246,2967,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2206,3191,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3265,-0.72,-96.2,465.7,-10.8,256,3270,0.00,2.30,0.00,0.000,4,0.000,0.050,2958,790,3191,0,0,0,0,0,0,28.83,24.99,28.83
$GC,3313,-0.72,-96.2,469.1,-10.3,257,3317,0.00,2.33,0.00,0.000,6,0.000,0.050,2950,2205,3191,0,0,0,0,0,0,28.83,24.98,28.83
$STATE,3402,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3402,begin apogee
$GC,3410,-0.22,0.0,483.7,-12.8,260,3498,0.52,0.00,84.15,0.840,6,0.122,0.000,3116,2344,2794,0,0,0,0,0,0,24.67,28.83,23.51
$STATE,3499,end apogee,CONTROL_FINISHED_OK
$STATE,3499,begin climb
$GC,3502,0.72,96.2,490.4,0.0,263,3594,0.88,0.00,88.30,0.809,6,0.078,0.000,3417,2344,2401,0,0,0,0,0,0,24.75,28.83,23.34
$GC,3876,0.72,96.2,467.6,8.9,276,3881,0.00,2.28,0.00,0.000,4,0.000,0.064,3418,3719,2394,0,0,0,0,0,0,28.83,25.30,28.83
$GC,3943,0.72,96.2,461.7,9.4,278,3947,0.00,2.28,0.00,0.000,6,0.000,0.046,3428,2314,2392,0,0,0,0,0,0,28.83,25.50,28.83
$GC,4255,0.72,96.2,430.6,8.4,289,4261,0.00,2.38,0.00,0.000,4,0.000,0.065,3428,3726,2391,0,0,0,0,0,0,28.83,25.15,28.83
$GC,4363,0.72,96.2,421.9,9.0,292,4367,0.00,2.28,0.00,0.000,6,0.000,0.046,3440,2326,2391,0,0,0,0,0,0,28.83,25.41,28.83
$GC,4677,0.72,96.2,395.6,7.6,303,4678,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,2325,2390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4975,0.72,96.2,371.8,8.0,318,4981,0.00,2.30,0.00,0.000,4,0.000,0.053,3451,923,2389,0,0,0,0,0,0,28.83,25.13,28.83
$GC,5075,0.72,96.2,363.4,8.5,323,5081,0.00,2.25,0.00,0.000,6,0.000,0.053,3451,2307,2389,0,0,0,0,0,0,28.83,25.14,28.83
$GC,5397,0.72,96.2,333.7,9.7,339,5401,0.00,2.38,0.00,0.000,4,0.000,0.065,3451,3746,2388,0,0,0,0,0,0,28.83,24.92,28.83
$GC,5623,0.72,96.2,310.1,10.9,350,5628,0.15,2.33,0.00,0.000,6,0.173,0.045,3426,2320,2387,0,0,0,0,0,0,24.87,25.29,28.83
$GC,5926,0.72,96.2,284.5,8.0,365,5927,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2318,2387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6225,0.72,96.2,260.7,7.6,380,6231,0.00,2.40,0.00,0.000,4,0.000,0.063,3426,3737,2387,0,0,0,0,0,0,28.83,24.87,28.83
$GC,6325,0.72,96.2,251.6,9.3,385,6331,0.00,2.33,0.00,0.000,6,0.000,0.045,3435,2312,2387,0,0,0,0,0,0,28.83,25.25,28.83
$GC,6646,0.72,96.2,226.6,7.3,401,6651,0.00,2.40,0.00,0.000,4,0.000,0.064,3435,3732,2386,0,0,0,0,0,0,28.83,24.83,28.83
$GC,6735,0.72,96.2,220.1,8.1,405,6743,0.00,2.30,0.00,0.000,6,0.000,0.046,3446,2322,2386,0,0,0,0,0,0,28.83,25.22,28.83
$GC,7051,0.72,97.7,196.4,6.9,422,7060,0.00,2.35,0.00,0.000,4,0.000,0.064,3446,3739,2386,0,0,0,0,0,0,28.83,24.81,28.83
$GC,7080,0.72,97.7,193.9,8.0,425,7089,0.12,2.33,0.00,0.000,6,0.176,0.046,3429,2317,2386,0,0,0,0,0,0,24.87,25.21,28.83
$GC,7392,0.72,102.1,172.8,6.6,446,7400,0.00,2.35,0.00,0.000,4,0.000,0.063,3429,3739,2386,0,0,0,0,0,0,28.83,24.79,28.83
$GC,7461,0.72,102.1,167.2,8.1,453,7469,0.00,2.28,0.00,0.000,6,0.000,0.046,3438,2330,2386,0,0,0,0,0,0,28.83,25.22,28.83
$GC,7770,0.72,111.4,146.2,6.2,474,7790,0.00,2.33,12.45,0.600,4,0.000,0.062,3438,3737,2338,0,0,0,0,0,0,28.83,25.13,24.06
$GC,7840,0.72,111.4,140.8,7.9,481,7849,0.00,2.30,0.00,0.000,6,0.000,0.046,3449,2320,2336,0,0,0,0,0,0,28.83,25.45,28.83
$GC,8151,0.72,111.4,116.5,8.0,506,8159,0.00,2.35,0.00,0.000,4,0.000,0.063,3450,3746,2336,0,0,0,0,0,0,28.83,24.97,28.83
$GC,8366,0.72,111.4,97.7,8.2,547,8373,0.12,2.25,0.00,0.000,6,0.177,0.045,3432,2319,2335,0,0,0,0,0,0,24.92,25.27,28.83
$GC,8679,0.75,170.5,81.0,1.8,608,8738,0.00,2.28,51.12,0.604,4,0.000,0.053,3441,914,2097,0,0,0,0,0,0,28.83,25.17,23.94
$GC,8885,0.75,172.9,70.1,6.8,646,8892,0.00,2.25,0.00,0.000,6,0.000,0.052,3441,2335,2093,0,0,0,0,0,0,28.83,25.28,28.83
$GC,9199,0.75,179.2,49.0,6.5,707,9212,0.00,2.35,7.95,0.505,4,0.000,0.063,3441,3733,2062,0,0,0,0,0,0,28.83,25.33,24.11
$GC,9444,0.75,179.2,30.9,7.6,754,9451,0.00,2.22,0.00,0.000,6,0.000,0.045,3452,2313,2059,0,0,0,0,0,0,28.83,25.41,28.83
$GC,9759,0.76,204.3,14.7,4.8,815,9789,0.00,2.28,21.95,0.544,4,0.000,0.053,3462,923,1960,0,0,0,0,0,0,28.83,25.36,24.13
$GC,9850,0.77,226.8,10.2,5.0,831,9876,0.00,2.22,20.25,0.533,6,0.000,0.052,3463,2333,1869,0,0,0,0,0,0,28.83,25.38,24.04
$STATE,9956,end climb,SURFACE_DEPTH_REACHED
$STATE,9957,begin surface coast
$FINISH,1.4,1.024244
$STATE,10019,end surface coast,CONTROL_FINISHED_OK
$STATE,10019,begin surface
$SM_CCo,10039,46.25,0.445,2,0,1570,300.00
$SM_GC,2.54,8.68,0.20,46.25,0.031,0.072,0.445,104,2195,1570,-9.47,1.27,300.00,0,0,0,0,2,0,25.76,25.78,24.01
$IRIDIUM_FIX,4729.30,-12517.37,190413,020203
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.50
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.20
$XPDR_PINGS,0
$24V_AH,23.3,115.384
$10V_AH,9.9,85.914
$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,22.050,92.325,286.175,46.250,0.000,26.033,37.661,188.536,0.000,0.000,17.333,2172.349,5962.327,512.898,1588.145,271.780,0.000,1230.785,0.000,1327.932,0.000,0.536,0.000
$DEVICE_MAMPS,217.260,82.620,839.970,445.230,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,590.676,552.666,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296744
$DATA_FILE_SIZE,46935,863
$CAP_FILE_SIZE,99157,0
$CFSIZE,260165632,188542976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.129,118.2,1
$GPS,190413,084400,4749.151,-12515.541,69,1.0,70,18.7