version: 66.11
glider: 187
mission: 2
dive: 837
start: 4 20 113 8 35 6
data:
$ID,187
$MISSION,2
$DIVE,837
$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,-1590039
$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,34
$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
$GPS1,200413,082405,4749.187,-12514.986,243,1.1,244,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-77.9
$GPS2,200413,083418,4749.120,-12514.862,12,1.1,17,18.7
$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,277.1,1011,-17.2,-7.021,-21.51
$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,-0.57,-87.7,0.0,0.0,0,63,0.00,0.00,-44.33,0.000,2,0.000,0.000,116,2193,2545,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.59,-136.3,3.2,-2.8,8,105,11.60,2.28,-17.45,0.000,4,0.219,0.063,2997,784,3354,0,0,0,0,0,0,24.53,25.33,26.20
$GC,138,-0.59,-136.3,20.8,-23.4,20,144,0.00,2.25,0.00,0.000,6,0.000,0.050,2988,2208,3355,0,0,0,0,0,0,28.83,25.26,28.83
$GC,452,-0.59,-136.3,82.1,-16.2,81,458,0.00,2.25,0.00,0.000,4,0.000,0.050,2988,783,3357,0,0,0,0,0,0,28.83,25.10,28.83
$GC,531,-0.59,-136.3,93.8,-13.9,96,537,0.00,2.25,0.00,0.000,6,0.000,0.050,2978,2207,3357,0,0,0,0,0,0,28.83,25.10,28.83
$GC,855,-0.59,-136.3,139.2,-13.4,141,856,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2207,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1155,-0.59,-136.3,177.8,-12.5,161,1163,0.00,2.30,0.00,0.000,4,0.000,0.048,2978,785,3357,0,0,0,0,0,0,28.83,25.06,28.83
$GC,1206,-0.59,-136.3,184.4,-13.1,166,1215,0.10,2.30,0.00,0.000,6,0.122,0.049,3000,2203,3357,0,0,0,0,0,0,24.79,25.04,28.83
$GC,1530,-0.59,-136.3,218.8,-9.5,185,1531,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2203,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1831,-0.59,-136.3,247.2,-9.3,200,1836,0.00,2.28,0.00,0.000,4,0.000,0.049,2999,791,3357,0,0,0,0,0,0,28.83,25.01,28.83
$GC,1858,-0.59,-136.3,249.2,-9.5,201,1862,0.00,2.33,0.00,0.000,6,0.000,0.050,2992,2213,3357,0,0,0,0,0,0,28.83,24.99,28.83
$GC,2160,-0.59,-136.3,282.3,-11.0,216,2165,0.00,2.33,0.00,0.000,4,0.000,0.049,2992,772,3357,0,0,0,0,0,0,28.83,24.99,28.83
$GC,2199,-0.59,-136.3,286.7,-11.0,218,2205,0.00,2.35,0.00,0.000,6,0.000,0.050,2982,2208,3357,0,0,0,0,0,0,28.83,24.97,28.83
$GC,2521,-0.59,-136.3,324.4,-12.6,234,2522,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2207,3357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2820,-0.59,-136.3,359.6,-11.8,249,2825,0.00,2.33,0.00,0.000,4,0.000,0.062,2972,3602,3357,0,0,0,0,0,0,28.83,24.72,28.83
$GC,2862,-0.59,-136.3,364.4,-11.8,251,2867,0.12,2.22,0.00,0.000,6,0.138,0.043,3004,2188,3357,0,0,0,0,0,0,24.98,25.22,28.83
$GC,3172,-0.59,-136.3,396.5,-10.2,266,3176,0.00,2.20,0.00,0.000,4,0.000,0.050,3004,798,3356,0,0,0,0,0,0,28.83,24.94,28.83
$GC,3268,-0.59,-136.3,404.9,-10.5,269,3272,0.00,2.30,0.00,0.000,6,0.000,0.050,2997,2199,3357,0,0,0,0,0,0,28.83,24.94,28.83
$GC,3571,-0.59,-136.3,442.5,-11.7,279,3575,0.00,2.33,0.00,0.000,4,0.000,0.063,2986,3612,3356,0,0,0,0,0,0,28.83,24.68,28.83
$GC,3608,-0.59,-136.3,445.8,-11.3,280,3612,0.00,2.30,0.00,0.000,6,0.000,0.044,2986,2197,3356,0,0,0,0,0,0,28.83,25.18,28.83
$STATE,3767,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3767,begin apogee
$GC,3774,-0.22,0.0,464.6,-11.0,286,3896,0.40,0.00,117.80,0.823,6,0.113,0.000,3118,2337,2794,0,0,0,0,0,0,24.98,28.83,23.48
$STATE,3897,end apogee,CONTROL_FINISHED_OK
$STATE,3897,begin climb
$GC,3901,0.59,136.3,468.8,0.0,290,4029,0.80,2.35,121.10,0.795,4,0.077,0.061,3389,3725,2238,0,0,0,0,0,0,24.69,24.62,23.37
$GC,4080,0.59,136.3,458.8,7.6,295,4090,0.00,2.30,0.00,0.000,6,0.000,0.045,3400,2323,2233,0,0,0,0,0,0,28.83,25.18,28.83
$GC,4391,0.59,136.3,428.7,8.1,306,4396,0.00,2.35,0.00,0.000,4,0.000,0.064,3400,3726,2228,0,0,0,0,0,0,28.83,25.24,28.83
$GC,4428,0.59,136.3,426.1,8.2,307,4432,0.00,2.28,0.00,0.000,6,0.000,0.046,3411,2325,2228,0,0,0,0,0,0,28.83,25.47,28.83
$GC,4740,0.59,136.3,399.0,8.4,318,4741,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,2324,2227,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5040,0.59,136.3,371.3,9.7,333,5046,0.00,2.35,0.00,0.000,4,0.000,0.064,3411,3719,2226,0,0,0,0,0,0,28.83,25.03,28.83
$GC,5069,0.59,136.3,369.2,9.9,334,5079,0.15,2.28,0.00,0.000,6,0.153,0.046,3382,2320,2227,0,0,0,0,0,0,25.03,25.36,28.83
$GC,5380,0.59,136.3,344.9,7.1,350,5385,0.00,2.38,0.00,0.000,4,0.000,0.064,3382,3726,2225,0,0,0,0,0,0,28.83,24.96,28.83
$GC,5468,0.59,136.3,338.7,7.8,354,5472,0.00,2.30,0.00,0.000,6,0.000,0.047,3391,2316,2225,0,0,0,0,0,0,28.83,25.31,28.83
$GC,5772,0.59,136.3,315.5,7.6,369,5777,0.00,2.35,0.00,0.000,4,0.000,0.066,3391,3728,2225,0,0,0,0,0,0,28.83,24.89,28.83
$GC,5888,0.59,136.3,305.4,9.5,374,5892,0.00,2.28,0.00,0.000,6,0.000,0.044,3402,2327,2224,0,0,0,0,0,0,28.83,25.30,28.83
$GC,6191,0.59,136.3,279.8,7.9,389,6195,0.00,2.28,0.00,0.000,4,0.000,0.053,3412,926,2224,0,0,0,0,0,0,28.83,25.03,28.83
$GC,6218,0.59,136.3,278.3,7.9,390,6222,0.00,2.30,0.00,0.000,6,0.000,0.054,3412,2320,2224,0,0,0,0,0,0,28.83,25.03,28.83
$GC,6520,0.59,136.3,254.2,7.9,405,6525,0.00,2.38,0.00,0.000,4,0.000,0.064,3412,3728,2224,0,0,0,0,0,0,28.83,24.84,28.83
$GC,6609,0.59,136.3,247.0,9.0,409,6620,0.15,2.30,0.00,0.000,6,0.150,0.046,3383,2319,2224,0,0,0,0,0,0,24.88,25.22,28.83
$GC,6922,0.60,150.8,226.7,6.2,425,6940,0.00,2.25,11.77,0.643,4,0.000,0.052,3392,921,2178,0,0,0,0,0,0,28.83,25.25,24.06
$GC,6960,0.60,163.3,224.1,6.3,427,6980,0.00,2.28,12.52,0.645,6,0.000,0.053,3392,2320,2127,0,0,0,0,0,0,28.83,25.32,23.94
$GC,7281,0.60,163.3,198.7,7.9,443,7289,0.00,2.35,0.00,0.000,4,0.000,0.065,3392,3731,2124,0,0,0,0,0,0,28.83,25.08,28.83
$GC,7340,0.60,163.3,193.3,9.2,449,7348,0.00,2.30,0.00,0.000,6,0.000,0.047,3403,2318,2123,0,0,0,0,0,0,28.83,25.35,28.83
$GC,7651,0.60,163.3,166.5,8.4,470,7652,0.00,0.00,0.00,0.000,6,0.000,0.000,3402,2317,2123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7950,0.60,163.3,141.6,8.1,490,7959,0.00,2.38,0.00,0.000,4,0.000,0.064,3402,3730,2123,0,0,0,0,0,0,28.83,24.84,28.83
$GC,8060,0.60,163.3,131.1,9.8,501,8069,0.00,2.30,0.00,0.000,6,0.000,0.045,3413,2321,2123,0,0,0,0,0,0,28.83,25.23,28.83
$GC,8374,0.60,163.3,105.7,7.9,544,8380,0.00,0.00,0.00,0.000,6,0.000,0.000,3413,2320,2123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8685,0.60,163.3,80.4,8.1,605,8692,0.00,2.35,0.00,0.000,4,0.000,0.064,3413,3738,2122,0,0,0,0,0,0,28.83,24.75,28.83
$GC,8769,0.60,163.3,73.8,7.4,621,8777,0.12,2.25,0.00,0.000,6,0.154,0.045,3392,2313,2122,0,0,0,0,0,0,24.94,25.20,28.83
$GC,9083,0.62,205.6,58.1,4.6,682,9125,0.00,2.33,36.25,0.587,4,0.000,0.054,3400,914,1954,0,0,0,0,0,0,28.83,25.20,24.02
$GC,9149,0.63,236.9,55.0,5.2,693,9185,0.00,2.28,27.67,0.569,6,0.000,0.053,3400,2328,1827,0,0,0,0,0,0,28.83,25.20,23.85
$GC,9495,0.64,250.9,33.8,6.2,759,9514,0.00,2.25,11.88,0.529,4,0.000,0.051,3406,919,1771,0,0,0,0,0,0,28.83,25.41,24.13
$GC,9542,0.64,266.8,30.7,6.1,767,9563,0.00,2.22,14.98,0.535,6,0.000,0.052,3405,2328,1705,0,0,0,0,0,0,28.83,25.41,24.07
$GC,9873,0.66,299.5,13.0,5.1,830,9909,0.00,2.28,27.65,0.544,4,0.000,0.054,3406,924,1571,0,0,0,0,0,0,28.83,25.34,24.10
$GC,9937,0.67,343.4,10.1,4.5,841,9979,0.00,2.22,36.60,0.526,6,0.000,0.051,3406,2332,1393,0,0,0,0,0,0,28.83,25.38,23.98
$STATE,10063,end climb,SURFACE_DEPTH_REACHED
$STATE,10063,begin surface coast
$FINISH,1.2,1.023987
$STATE,10145,end surface coast,CONTROL_FINISHED_OK
$STATE,10145,begin surface
$SM_CCo,10224,0.00,0.000,0,0,1383,346.12
$SM_GC,2.20,8.43,0.20,0.00,0.024,0.071,0.000,114,2197,1383,-9.46,1.13,346.12,0,0,0,0,0,0,25.75,25.75,28.83
$IRIDIUM_FIX,4732.49,-12507.66,200413,080812
$TT8_MAMPS,0.027713,0.027713
$HUMID,49.48
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,19.10
$XPDR_PINGS,0
$24V_AH,23.4,116.167
$10V_AH,9.7,86.458
$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,21.875,101.475,418.225,0.000,0.000,53.538,73.364,265.068,0.000,0.000,18.477,2187.135,6041.625,564.456,1773.347,288.137,0.000,1329.736,0.000,1358.469,0.000,0.535,0.000
$DEVICE_MAMPS,218.790,77.265,823.140,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,601.810,561.232,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296776
$DATA_FILE_SIZE,46827,880
$CAP_FILE_SIZE,106790,0
$CFSIZE,260165632,188026880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.082, 93.7,1
$GPS,200413,112705,4749.466,-12516.102,56,2.0,57,18.7