version: 66.11
glider: 187
mission: 2
dive: 836
start: 4 20 113 5 19 53
data:
$ID,187
$MISSION,2
$DIVE,836
$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,-1590037.8
$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,39
$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
$GPS1,200413,051214,4749.763,-12514.604,41,1.8,42,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-77.3
$GPS2,200413,051907,4749.710,-12514.580,14,1.8,14,18.7
$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,235.9,857,-16.8,-7.021,-21.21
$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,-0.56,-91.2,0.0,0.0,0,60,0.00,0.00,-40.83,0.000,2,0.000,0.000,110,2192,2479,0,0,0,0,0,0,28.83,28.83,28.83
$GC,63,-0.58,-136.3,3.3,-4.1,7,101,11.43,2.40,-20.77,0.000,4,0.213,0.075,2990,3608,3351,0,0,0,0,0,0,24.59,25.24,26.20
$GC,172,-0.58,-136.3,25.1,-20.0,26,178,0.00,2.20,0.00,0.000,6,0.000,0.043,2990,2201,3355,0,0,0,0,0,0,28.83,25.41,28.83
$GC,485,-0.58,-136.3,81.9,-16.3,87,492,0.00,2.22,0.00,0.000,4,0.000,0.050,2990,788,3356,0,0,0,0,0,0,28.83,25.15,28.83
$GC,566,-0.58,-136.3,93.2,-12.6,102,573,0.00,2.22,0.00,0.000,6,0.000,0.050,2980,2198,3355,0,0,0,0,0,0,28.83,25.14,28.83
$GC,884,-0.58,-136.3,137.0,-13.6,148,885,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2198,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1184,-0.58,-136.3,177.7,-13.6,168,1191,0.00,2.25,0.00,0.000,4,0.000,0.048,2980,803,3356,0,0,0,0,0,0,28.83,25.08,28.83
$GC,1232,-0.58,-136.3,184.7,-13.9,173,1243,0.15,2.28,0.00,0.000,6,0.139,0.050,3010,2200,3356,0,0,0,0,0,0,24.84,25.08,28.83
$GC,1560,-0.58,-136.3,221.3,-11.2,192,1564,0.00,2.30,0.00,0.000,4,0.000,0.061,3002,3614,3356,0,0,0,0,0,0,28.83,24.84,28.83
$GC,1595,-0.58,-136.3,224.7,-11.3,193,1600,0.00,2.30,0.00,0.000,6,0.000,0.041,3002,2190,3356,0,0,0,0,0,0,28.83,25.29,28.83
$GC,1897,-0.58,-136.3,260.6,-11.5,208,1903,0.00,2.25,0.00,0.000,4,0.000,0.049,3002,799,3356,0,0,0,0,0,0,28.83,25.03,28.83
$GC,1938,-0.58,-136.3,265.6,-12.0,210,1943,0.00,2.28,0.00,0.000,6,0.000,0.050,2991,2200,3356,0,0,0,0,0,0,28.83,25.03,28.83
$GC,2259,-0.58,-136.3,304.3,-12.1,226,2260,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2200,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2557,-0.58,-136.3,339.4,-11.5,241,2559,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2200,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2859,-0.58,-136.3,372.5,-11.0,256,2863,0.00,2.35,0.00,0.000,4,0.000,0.062,2981,3608,3356,0,0,0,0,0,0,28.83,24.76,28.83
$GC,2898,-0.58,-136.3,377.2,-11.4,258,2903,0.00,2.25,0.00,0.000,6,0.000,0.042,2981,2205,3356,0,0,0,0,0,0,28.83,25.24,28.83
$GC,3217,-0.58,-136.3,415.0,-11.8,272,3223,0.00,2.30,0.00,0.000,4,0.000,0.050,2981,789,3356,0,0,0,0,0,0,28.83,24.94,28.83
$GC,3325,-0.58,-136.3,425.7,-11.7,275,3330,0.15,2.33,0.00,0.000,6,0.135,0.051,3011,2203,3356,0,0,0,0,0,0,24.73,24.94,28.83
$GC,3629,-0.58,-136.3,456.2,-9.5,285,3634,0.00,2.35,0.00,0.000,4,0.000,0.063,3003,3603,3356,0,0,0,0,0,0,28.83,24.70,28.83
$GC,3687,-0.58,-136.3,461.9,-9.4,287,3694,0.00,2.28,0.00,0.000,6,0.000,0.043,3003,2198,3356,0,0,0,0,0,0,28.83,25.20,28.83
$STATE,3895,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3895,begin apogee
$GC,3904,-0.22,0.0,482.5,-10.1,294,4025,0.35,0.00,117.65,0.837,6,0.112,0.000,3119,2337,2794,0,0,0,0,0,0,25.15,28.83,23.44
$STATE,4026,end apogee,CONTROL_FINISHED_OK
$STATE,4026,begin climb
$GC,4029,0.58,136.3,488.5,0.0,298,4158,0.77,2.42,121.20,0.808,4,0.076,0.063,3383,3725,2238,0,0,0,0,0,0,24.68,24.58,23.32
$GC,4240,0.58,136.3,479.5,7.3,305,4248,0.00,2.22,0.00,0.000,6,0.000,0.046,3393,2323,2232,0,0,0,0,0,0,28.83,25.29,28.83
$GC,4547,0.58,136.3,449.3,8.8,316,4549,0.00,0.00,0.00,0.000,6,0.000,0.000,3393,2323,2228,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4848,0.58,136.3,423.7,8.7,326,4853,0.00,2.35,0.00,0.000,4,0.000,0.064,3394,3723,2227,0,0,0,0,0,0,28.83,25.13,28.83
$GC,4925,0.58,136.3,417.8,9.1,328,4930,0.00,2.28,0.00,0.000,6,0.000,0.046,3404,2324,2227,0,0,0,0,0,0,28.83,25.41,28.83
$GC,5229,0.58,136.3,387.8,9.4,340,5233,0.00,2.30,0.00,0.000,4,0.000,0.054,3415,918,2226,0,0,0,0,0,0,28.83,25.15,28.83
$GC,5276,0.58,136.3,384.4,8.7,342,5281,0.12,2.30,0.00,0.000,6,0.151,0.054,3384,2317,2226,0,0,0,0,0,0,24.98,25.16,28.83
$GC,5580,0.58,136.3,361.4,7.1,357,5584,0.00,2.33,0.00,0.000,4,0.000,0.065,3384,3734,2225,0,0,0,0,0,0,28.83,24.96,28.83
$GC,5747,0.58,136.3,345.7,8.5,365,5753,0.00,2.30,0.00,0.000,6,0.000,0.046,3392,2320,2225,0,0,0,0,0,0,28.83,25.30,28.83
$GC,6067,0.58,136.3,316.9,8.5,381,6073,0.00,2.30,0.00,0.000,4,0.000,0.054,3403,923,2225,0,0,0,0,0,0,28.83,25.05,28.83
$GC,6097,0.58,136.3,315.4,8.3,382,6105,0.00,2.33,0.00,0.000,6,0.000,0.053,3403,2335,2225,0,0,0,0,0,0,28.83,25.06,28.83
$GC,6408,0.58,136.3,288.0,8.2,398,6413,0.00,2.35,0.00,0.000,4,0.000,0.065,3403,3731,2225,0,0,0,0,0,0,28.83,24.85,28.83
$GC,6495,0.58,136.3,280.3,9.7,402,6500,0.12,2.30,0.00,0.000,6,0.158,0.047,3382,2325,2224,0,0,0,0,0,0,24.96,25.23,28.83
$GC,6799,0.58,143.9,258.2,6.6,417,6809,0.00,2.42,5.38,0.549,4,0.000,0.065,3382,3742,2207,0,0,0,0,0,0,28.83,25.19,24.06
$GC,7039,0.58,143.9,239.7,8.2,428,7048,0.00,2.33,0.00,0.000,6,0.000,0.045,3391,2309,2207,0,0,0,0,0,0,28.83,25.32,28.83
$GC,7351,0.58,143.9,216.3,7.2,444,7356,0.00,2.35,0.00,0.000,4,0.000,0.064,3391,3733,2207,0,0,0,0,0,0,28.83,24.87,28.83
$GC,7400,0.58,143.9,212.3,7.7,446,7404,0.00,2.28,0.00,0.000,6,0.000,0.047,3402,2328,2207,0,0,0,0,0,0,28.83,25.25,28.83
$GC,7719,0.58,143.9,189.9,7.3,464,7727,0.00,2.38,0.00,0.000,4,0.000,0.064,3402,3737,2206,0,0,0,0,0,0,28.83,24.80,28.83
$GC,7780,0.58,143.9,184.7,9.0,470,7787,0.00,2.30,0.00,0.000,6,0.000,0.046,3413,2320,2206,0,0,0,0,0,0,28.83,25.20,28.83
$GC,8089,0.58,143.9,160.3,7.7,491,8097,0.00,2.30,0.00,0.000,4,0.000,0.053,3424,920,2206,0,0,0,0,0,0,28.83,24.94,28.83
$GC,8159,0.58,143.9,154.9,7.7,498,8168,0.12,2.30,0.00,0.000,6,0.122,0.053,3384,2323,2206,0,0,0,0,0,0,24.67,24.97,28.83
$GC,8472,0.59,153.7,135.0,6.5,519,8489,0.00,2.33,10.48,0.579,4,0.000,0.053,3392,921,2167,0,0,0,0,0,0,28.83,25.20,24.09
$GC,8589,0.59,153.7,127.0,7.1,531,8598,0.00,2.30,0.00,0.000,6,0.000,0.052,3392,2328,2164,0,0,0,0,0,0,28.83,25.25,28.83
$GC,8902,0.59,168.8,105.0,6.2,580,8924,0.00,2.33,14.57,0.587,4,0.000,0.063,3392,3744,2105,0,0,0,0,0,0,28.83,25.20,24.09
$GC,9004,0.59,168.8,98.0,7.8,598,9011,0.00,2.25,0.00,0.000,6,0.000,0.045,3401,2323,2102,0,0,0,0,0,0,28.83,25.47,28.83
$GC,9316,0.61,203.4,80.4,5.1,659,9352,0.00,2.25,29.98,0.595,4,0.000,0.050,3411,913,1963,0,0,0,0,0,0,28.83,25.27,24.01
$GC,9411,0.61,223.1,75.0,5.9,676,9436,0.00,2.25,17.98,0.571,6,0.000,0.054,3411,2324,1884,0,0,0,0,0,0,28.83,25.30,23.94
$GC,9744,0.62,231.1,56.4,6.6,740,9758,0.00,2.30,7.62,0.504,4,0.000,0.050,3420,919,1850,0,0,0,0,0,0,28.83,25.42,24.12
$GC,9827,0.62,244.6,51.0,6.3,755,9847,0.00,2.22,13.00,0.542,6,0.000,0.052,3420,2328,1795,0,0,0,0,0,0,28.83,25.36,24.10
$GC,10156,0.63,273.5,31.3,5.4,818,10188,0.00,2.25,24.98,0.556,4,0.000,0.051,3428,920,1676,0,0,0,0,0,0,28.83,25.36,24.11
$GC,10251,0.63,274.9,24.7,6.9,835,10258,0.00,2.22,0.00,0.000,6,0.000,0.051,3428,2330,1673,0,0,0,0,0,0,28.83,25.37,28.83
$GC,10566,0.65,302.1,7.3,5.5,896,10596,0.00,2.38,23.95,0.539,4,0.000,0.066,3428,3734,1560,0,0,0,0,0,0,28.83,25.29,24.14
$STATE,10622,end climb,SURFACE_DEPTH_REACHED
$STATE,10622,begin surface coast
$FINISH,1.2,1.013749
$STATE,10689,end surface coast,CONTROL_FINISHED_OK
$STATE,10689,begin surface
$SM_CCo,10771,0.00,0.000,0,0,1552,304.66
$SM_GC,2.40,8.48,2.47,0.00,0.024,0.044,0.000,122,2202,1552,-9.46,1.16,304.66,0,0,0,0,0,0,25.74,25.46,28.83
$IRIDIUM_FIX,4732.49,-12510.28,200413,020203
$TT8_MAMPS,0.026964,0.026964
$HUMID,49.60
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.10
$XPDR_PINGS,0
$24V_AH,23.3,116.062
$10V_AH,9.7,86.393
$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,21.700,110.750,386.775,0.000,0.000,24.986,48.814,201.867,0.000,0.000,15.649,2310.391,6332.672,540.794,1725.330,290.189,0.000,1343.107,0.000,1445.666,0.000,0.535,0.000
$DEVICE_MAMPS,213.435,77.265,836.910,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,629.239,589.155,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296768
$DATA_FILE_SIZE,50172,919
$CAP_FILE_SIZE,108453,0
$CFSIZE,260165632,188080128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.124, 94.7,1
$GPS,200413,082405,4749.187,-12514.986,243,1.1,244,18.7