version: 66.11
glider: 187
mission: 2
dive: 854
start: 4 22 113 9 5 57
data:
$ID,187
$MISSION,2
$DIVE,854
$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,-1590060.2
$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,27
$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
$GPS1,220413,085909,4749.285,-12515.264,36,4.8,56,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-76.4
$GPS2,220413,090513,4749.261,-12515.243,14,1.9,14,18.7
$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,297.7,627,-25.3,-7.021,-28.65
$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,14,begin dive
$GC,17,-0.81,-41.3,0.0,0.0,0,69,0.00,0.00,-49.53,0.000,2,0.000,0.000,112,2203,2675,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.82,-72.8,3.2,-3.3,9,99,11.25,2.35,-9.02,0.000,4,0.217,0.067,2916,3620,3094,0,0,0,0,0,0,24.56,25.33,26.15
$GC,147,-0.82,-72.8,25.6,-25.6,22,153,0.00,2.22,0.00,0.000,6,0.000,0.041,2915,2200,3096,0,0,0,0,0,0,28.83,25.42,28.83
$GC,460,-0.82,-72.8,95.4,-19.3,83,465,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2194,3097,0,0,0,0,0,0,28.83,28.83,28.83
$GC,778,-0.82,-72.8,149.5,-15.7,122,787,0.00,2.25,0.00,0.000,4,0.000,0.049,2915,800,3097,0,0,0,0,0,0,28.83,25.08,28.83
$GC,978,-0.82,-72.8,182.1,-15.8,142,987,0.00,2.28,0.00,0.000,6,0.000,0.049,2905,2200,3098,0,0,0,0,0,0,28.83,25.08,28.83
$GC,1295,-0.82,-72.8,234.2,-15.9,160,1299,0.00,2.25,0.00,0.000,4,0.000,0.048,2905,798,3098,0,0,0,0,0,0,28.83,25.06,28.83
$GC,1394,-0.82,-72.8,249.8,-15.4,165,1400,0.10,2.25,0.00,0.000,6,0.156,0.048,2923,2193,3098,0,0,0,0,0,0,24.65,25.04,28.83
$GC,1714,-0.82,-72.8,294.7,-14.0,181,1719,0.00,2.25,0.00,0.000,4,0.000,0.048,2923,797,3098,0,0,0,0,0,0,28.83,25.02,28.83
$GC,1783,-0.82,-72.8,303.0,-13.8,184,1792,0.00,2.30,0.00,0.000,6,0.000,0.049,2915,2205,3098,0,0,0,0,0,0,28.83,25.00,28.83
$GC,2093,-0.82,-72.8,348.8,-15.2,200,2099,0.00,2.30,0.00,0.000,4,0.000,0.048,2915,787,3098,0,0,0,0,0,0,28.83,24.99,28.83
$GC,2133,-0.82,-72.8,354.9,-15.1,202,2139,0.00,2.33,0.00,0.000,6,0.000,0.048,2903,2213,3098,0,0,0,0,0,0,28.83,25.00,28.83
$GC,2465,-0.82,-72.8,406.0,-15.3,218,2469,0.00,2.33,0.00,0.000,4,0.000,0.061,2893,3604,3098,0,0,0,0,0,0,28.83,24.73,28.83
$GC,2562,-0.82,-72.8,419.8,-15.3,221,2567,0.15,2.28,0.00,0.000,6,0.162,0.042,2929,2197,3097,0,0,0,0,0,0,24.77,25.19,28.83
$GC,2875,-0.82,-72.8,459.8,-12.9,232,2876,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2190,3098,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3054,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3054,begin apogee
$GC,3061,-0.22,0.0,483.7,-13.5,238,3131,0.60,0.00,64.97,0.845,6,0.125,0.000,3118,2339,2793,0,0,0,0,0,0,24.47,28.83,23.60
$STATE,3132,end apogee,CONTROL_FINISHED_OK
$STATE,3132,begin climb
$GC,3135,0.82,72.8,488.0,0.0,240,3206,1.00,0.00,67.45,0.807,6,0.077,0.000,3459,2339,2497,0,0,0,0,0,0,24.75,28.83,23.39
$GC,3506,0.82,72.8,467.4,7.6,253,3511,0.00,2.30,0.00,0.000,4,0.000,0.063,3459,3719,2489,0,0,0,0,0,0,28.83,25.27,28.83
$GC,3746,0.82,72.8,446.0,8.7,261,3750,0.00,2.25,0.00,0.000,6,0.000,0.045,3470,2325,2487,0,0,0,0,0,0,28.83,25.44,28.83
$GC,4075,0.82,72.8,418.6,8.3,272,4080,0.00,2.38,0.00,0.000,4,0.000,0.063,3471,3736,2486,0,0,0,0,0,0,28.83,25.05,28.83
$GC,4226,0.82,72.8,405.6,8.7,277,4230,0.00,2.28,0.00,0.000,6,0.000,0.046,3482,2326,2485,0,0,0,0,0,0,28.83,25.34,28.83
$GC,4535,0.82,72.8,380.1,8.0,291,4536,0.00,0.00,0.00,0.000,6,0.000,0.000,3482,2325,2485,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4837,0.82,72.8,357.4,7.0,306,4841,0.00,2.33,0.00,0.000,4,0.000,0.064,3482,3730,2484,0,0,0,0,0,0,28.83,24.89,28.83
$GC,5075,0.82,72.8,340.1,7.4,318,5081,0.10,2.28,0.00,0.000,6,0.162,0.046,3465,2329,2483,0,0,0,0,0,0,24.79,25.23,28.83
$GC,5396,0.83,83.9,321.7,5.7,334,5414,0.00,2.35,9.25,0.670,4,0.000,0.064,3464,3719,2450,0,0,0,0,0,0,28.83,25.23,24.04
$GC,5648,0.83,83.9,300.8,9.1,346,5654,0.00,2.22,0.00,0.000,6,0.000,0.047,3474,2313,2449,0,0,0,0,0,0,28.83,25.37,28.83
$GC,5955,0.83,83.9,275.8,7.5,362,5961,0.00,2.38,0.00,0.000,4,0.000,0.064,3474,3723,2449,0,0,0,0,0,0,28.83,24.89,28.83
$GC,6117,0.83,83.9,261.4,9.5,370,6121,0.00,2.22,0.00,0.000,6,0.000,0.046,3485,2326,2448,0,0,0,0,0,0,28.83,25.22,28.83
$GC,6435,0.83,83.9,233.5,8.6,386,6437,0.00,0.00,0.00,0.000,6,0.000,0.000,3485,2324,2448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6736,0.83,83.9,207.3,8.4,401,6741,0.00,2.30,0.00,0.000,4,0.000,0.053,3496,920,2448,0,0,0,0,0,0,28.83,24.93,28.83
$GC,6763,0.83,83.9,205.7,8.3,402,6768,0.15,2.30,0.00,0.000,6,0.166,0.053,3461,2313,2448,0,0,0,0,0,0,24.60,24.94,28.83
$GC,7070,0.83,83.9,182.2,7.3,421,7080,0.00,2.38,0.00,0.000,4,0.000,0.063,3460,3730,2447,0,0,0,0,0,0,28.83,24.72,28.83
$GC,7311,0.83,84.1,163.5,7.0,445,7319,0.00,2.28,0.00,0.000,6,0.000,0.046,3469,2325,2447,0,0,0,0,0,0,28.83,25.13,28.83
$GC,7621,0.83,96.3,146.3,5.6,466,7641,0.00,2.33,12.40,0.605,4,0.000,0.063,3470,3735,2400,0,0,0,0,0,0,28.83,25.10,24.08
$GC,7691,0.83,104.8,142.3,6.0,473,7709,0.00,2.28,9.40,0.578,6,0.000,0.046,3481,2326,2365,0,0,0,0,0,0,28.83,25.41,24.01
$GC,8012,0.83,104.8,120.6,7.2,495,8019,0.00,2.33,0.00,0.000,4,0.000,0.063,3481,3743,2363,0,0,0,0,0,0,28.83,25.01,28.83
$GC,8099,0.83,104.8,113.1,9.6,511,8105,0.00,2.25,0.00,0.000,6,0.000,0.047,3493,2320,2363,0,0,0,0,0,0,28.83,25.29,28.83
$GC,8410,0.84,108.9,91.7,6.5,572,8424,0.00,2.30,4.43,0.444,4,0.000,0.052,3504,920,2350,0,0,0,0,0,0,28.83,25.32,24.14
$GC,8571,0.84,114.0,80.8,6.4,602,8585,0.15,2.25,6.47,0.506,6,0.167,0.053,3467,2336,2329,0,0,0,0,0,0,24.82,25.13,24.15
$GC,8893,0.85,153.6,70.4,2.4,664,8936,0.00,2.28,35.70,0.595,4,0.000,0.050,3476,921,2165,0,0,0,0,0,0,28.83,25.25,24.03
$GC,9007,0.86,166.7,65.2,5.5,684,9027,0.00,2.22,12.02,0.545,6,0.000,0.053,3476,2324,2114,0,0,0,0,0,0,28.83,25.30,23.98
$GC,9333,0.86,166.7,42.0,7.7,747,9340,0.00,2.30,0.00,0.000,4,0.000,0.064,3476,3734,2109,0,0,0,0,0,0,28.83,25.04,28.83
$GC,9410,0.86,166.7,35.7,9.0,761,9417,0.00,2.22,0.00,0.000,6,0.000,0.045,3487,2324,2108,0,0,0,0,0,0,28.83,25.33,28.83
$GC,9724,0.86,181.9,14.0,5.2,822,9743,0.00,2.40,13.55,0.529,4,0.000,0.063,3487,3737,2051,0,0,0,0,0,0,28.83,25.29,24.17
$GC,9752,0.87,190.8,12.3,6.0,826,9770,0.00,2.25,8.85,0.493,6,0.000,0.045,3498,2320,2015,0,0,0,0,0,0,28.83,25.51,24.07
$STATE,9928,end climb,SURFACE_DEPTH_REACHED
$STATE,9928,begin surface coast
$FINISH,1.2,1.024029
$STATE,10030,end surface coast,CONTROL_FINISHED_OK
$STATE,10030,begin surface
$SM_CCo,10050,78.05,0.470,4,0,1570,300.00
$SM_GC,1.89,8.77,0.17,78.05,0.030,0.076,0.470,104,2194,1570,-9.47,1.24,300.00,0,0,0,0,4,0,25.77,25.87,23.92
$IRIDIUM_FIX,4735.69,-12521.07,220413,060630
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.38
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.20
$XPDR_PINGS,0
$24V_AH,23.4,117.502
$10V_AH,9.8,87.460
$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,22.275,87.400,244.500,78.050,0.000,24.961,35.592,168.425,0.000,0.000,15.473,2222.781,5899.449,505.105,1628.464,274.533,0.000,1248.844,0.000,1394.144,0.000,0.536,0.000
$DEVICE_MAMPS,217.260,76.500,845.325,470.475,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,603.043,571.728,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46976,880
$CAP_FILE_SIZE,99293,0
$CFSIZE,260165632,187076608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.112,155.1,1
$GPS,220413,115659,4749.111,-12515.791,66,1.6,72,18.7