version: 66.11
glider: 187
mission: 2
dive: 826
start: 4 18 113 23 56 49
data:
$ID,187
$MISSION,2
$DIVE,826
$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,-1590025.2
$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,44
$R_STBD_OVSHOOT,25
$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
$GPS1,180413,234932,4749.931,-12515.001,16,1.9,17,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-77.6
$GPS2,180413,235603,4749.908,-12514.944,13,3.1,32,18.7
$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,237.5,685,-23.7,-7.021,-27.17
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-0.76,-47.2,0.0,0.0,0,70,0.00,0.00,-50.20,0.000,2,0.000,0.000,106,2191,2683,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.77,-81.9,3.4,-3.4,9,101,11.32,2.28,-9.65,0.000,4,0.217,0.060,2935,791,3131,0,0,0,0,0,0,24.53,25.41,26.18
$GC,148,-0.77,-81.9,24.9,-25.4,22,155,0.00,2.22,0.00,0.000,6,0.000,0.050,2928,2203,3133,0,0,0,0,0,0,28.83,25.30,28.83
$GC,461,-0.77,-81.9,92.8,-16.2,83,467,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2203,3134,0,0,0,0,0,0,28.83,28.83,28.83
$GC,780,-0.77,-81.9,144.0,-15.7,126,789,0.00,2.28,0.00,0.000,4,0.000,0.048,2928,801,3134,0,0,0,0,0,0,28.83,25.17,28.83
$GC,890,-0.77,-81.9,161.7,-15.5,137,899,0.00,2.25,0.00,0.000,6,0.000,0.049,2917,2195,3134,0,0,0,0,0,0,28.83,25.17,28.83
$GC,1216,-0.77,-81.9,210.9,-14.6,158,1217,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2195,3134,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1517,-0.77,-81.9,255.3,-14.6,173,1521,0.00,2.20,0.00,0.000,4,0.000,0.049,2917,795,3134,0,0,0,0,0,0,28.83,25.11,28.83
$GC,1593,-0.77,-81.9,266.2,-15.4,176,1598,0.15,2.30,0.00,0.000,6,0.155,0.050,2944,2207,3134,0,0,0,0,0,0,24.79,25.09,28.83
$GC,1896,-0.77,-81.9,308.5,-13.5,191,1901,0.00,2.28,0.00,0.000,4,0.000,0.049,2944,797,3134,0,0,0,0,0,0,28.83,25.08,28.83
$GC,1925,-0.77,-81.9,311.2,-13.7,192,1934,0.00,2.30,0.00,0.000,6,0.000,0.050,2936,2207,3134,0,0,0,0,0,0,28.83,25.08,28.83
$GC,2235,-0.77,-81.9,355.0,-13.9,208,2241,0.00,2.33,0.00,0.000,4,0.000,0.060,2925,3609,3134,0,0,0,0,0,0,28.83,24.86,28.83
$GC,2337,-0.77,-81.9,370.5,-15.7,213,2341,0.00,2.25,0.00,0.000,6,0.000,0.042,2925,2209,3134,0,0,0,0,0,0,28.83,25.29,28.83
$GC,2655,-0.77,-81.9,417.2,-14.0,227,2661,0.00,2.30,0.00,0.000,4,0.000,0.049,2925,789,3134,0,0,0,0,0,0,28.83,25.03,28.83
$GC,2783,-0.77,-81.9,433.9,-13.9,231,2788,0.12,2.30,0.00,0.000,6,0.158,0.050,2944,2200,3134,0,0,0,0,0,0,24.79,25.03,28.83
$GC,3097,-0.77,-81.9,472.2,-11.7,242,3102,0.00,2.25,0.00,0.000,4,0.000,0.050,2944,802,3133,0,0,0,0,0,0,28.83,25.03,28.83
$GC,3174,-0.77,-81.9,479.7,-12.2,244,3178,0.00,2.30,0.00,0.000,6,0.000,0.050,2936,2205,3134,0,0,0,0,0,0,28.83,25.01,28.83
$STATE,3204,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3204,begin apogee
$GC,3211,-0.22,0.0,486.0,-12.5,245,3287,0.57,0.00,72.53,0.840,6,0.125,0.000,3116,2344,2794,0,0,0,0,0,0,24.58,28.83,23.58
$STATE,3288,end apogee,CONTROL_FINISHED_OK
$STATE,3288,begin climb
$GC,3292,0.77,81.9,489.6,0.0,247,3377,0.95,2.33,75.45,0.807,4,0.076,0.062,3440,3730,2458,0,0,0,0,0,0,24.80,24.73,23.36
$GC,3436,0.77,81.9,482.6,7.2,252,3442,0.00,2.30,0.00,0.000,6,0.000,0.045,3451,2324,2455,0,0,0,0,0,0,28.83,25.28,28.83
$GC,3767,0.77,81.9,452.6,8.5,263,3772,0.00,2.28,0.00,0.000,4,0.000,0.053,3462,927,2451,0,0,0,0,0,0,28.83,25.34,28.83
$GC,3856,0.77,81.9,444.5,8.9,266,3862,0.00,2.28,0.00,0.000,6,0.000,0.054,3462,2316,2450,0,0,0,0,0,0,28.83,25.32,28.83
$GC,4187,0.77,81.9,413.8,9.2,277,4192,0.00,2.38,0.00,0.000,4,0.000,0.064,3462,3737,2450,0,0,0,0,0,0,28.83,25.10,28.83
$GC,4388,0.77,81.9,392.8,10.8,285,4393,0.08,2.28,0.00,0.000,6,0.167,0.047,3451,2326,2448,0,0,0,0,0,0,25.02,25.38,28.83
$GC,4708,0.77,81.9,366.1,8.1,301,4712,0.00,2.25,0.00,0.000,4,0.000,0.054,3460,914,2447,0,0,0,0,0,0,28.83,25.15,28.83
$GC,4776,0.77,81.9,360.6,7.9,304,4782,0.00,2.33,0.00,0.000,6,0.000,0.054,3460,2327,2448,0,0,0,0,0,0,28.83,25.14,28.83
$GC,5097,0.77,81.9,336.2,7.4,320,5102,0.00,2.35,0.00,0.000,4,0.000,0.065,3460,3729,2447,0,0,0,0,0,0,28.83,24.95,28.83
$GC,5336,0.77,81.9,315.8,8.9,332,5342,0.00,2.30,0.00,0.000,6,0.000,0.046,3472,2319,2446,0,0,0,0,0,0,28.83,25.29,28.83
$GC,5657,0.77,81.9,291.2,7.7,348,5662,0.00,2.40,0.00,0.000,4,0.000,0.064,3472,3738,2446,0,0,0,0,0,0,28.83,24.89,28.83
$GC,5764,0.77,81.9,282.3,9.1,353,5769,0.15,2.33,0.00,0.000,6,0.179,0.046,3448,2317,2445,0,0,0,0,0,0,24.80,25.26,28.83
$GC,6066,0.77,81.9,260.1,7.2,368,6072,0.00,2.40,0.00,0.000,4,0.000,0.064,3448,3732,2444,0,0,0,0,0,0,28.83,24.85,28.83
$GC,6307,0.77,81.9,240.6,8.6,380,6312,0.00,2.28,0.00,0.000,6,0.000,0.047,3457,2326,2444,0,0,0,0,0,0,28.83,25.24,28.83
$GC,6626,0.77,81.9,216.3,7.0,396,6632,0.00,2.40,0.00,0.000,4,0.000,0.063,3457,3737,2444,0,0,0,0,0,0,28.83,24.83,28.83
$GC,6827,0.77,81.9,200.2,7.9,406,6832,0.00,2.30,0.00,0.000,6,0.000,0.046,3469,2320,2444,0,0,0,0,0,0,28.83,25.22,28.83
$GC,7146,0.77,81.9,177.9,7.1,427,7147,0.00,0.00,0.00,0.000,6,0.000,0.000,3468,2320,2444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7449,0.77,83.8,157.0,6.8,447,7450,0.00,0.00,0.00,0.000,6,0.000,0.000,3469,2320,2444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7747,0.78,97.3,138.9,5.6,467,7767,0.00,2.35,12.32,0.597,4,0.000,0.062,3468,3743,2396,0,0,0,0,0,0,28.83,25.13,24.06
$GC,7777,0.78,105.9,137.0,6.1,470,7796,0.10,2.30,9.50,0.574,6,0.158,0.046,3450,2320,2362,0,0,0,0,0,0,25.02,25.41,23.96
$GC,8099,0.78,105.9,113.7,7.2,502,8105,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2320,2360,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8411,0.78,110.3,92.0,6.6,563,8424,0.00,2.35,5.25,0.477,4,0.000,0.064,3450,3740,2344,0,0,0,0,0,0,28.83,25.28,24.13
$GC,8542,0.79,111.6,82.8,6.9,587,8549,0.00,2.22,0.00,0.000,6,0.000,0.046,3459,2322,2342,0,0,0,0,0,0,28.83,25.41,28.83
$GC,8853,0.79,132.2,68.3,4.9,648,8880,0.00,2.40,20.52,0.581,4,0.000,0.063,3459,3736,2254,0,0,0,0,0,0,28.83,25.27,24.12
$GC,8954,0.79,132.2,62.3,7.5,666,8961,0.00,2.25,0.00,0.000,6,0.000,0.046,3470,2319,2252,0,0,0,0,0,0,28.83,25.48,28.83
$GC,9266,0.80,157.5,48.0,4.4,727,9297,0.00,2.35,22.65,0.568,4,0.000,0.063,3471,3746,2149,0,0,0,0,0,0,28.83,25.30,24.10
$GC,9529,0.81,161.9,29.8,6.6,777,9542,0.00,2.25,4.55,0.417,6,0.000,0.044,3482,2321,2133,0,0,0,0,0,0,28.83,25.41,24.14
$GC,9850,0.81,174.3,13.4,5.7,839,9869,0.00,2.33,12.25,0.522,4,0.000,0.062,3482,3744,2081,0,0,0,0,0,0,28.83,25.37,24.17
$STATE,10016,end climb,SURFACE_DEPTH_REACHED
$STATE,10016,begin surface coast
$FINISH,1.2,1.015320
$STATE,10103,end surface coast,CONTROL_FINISHED_OK
$STATE,10103,begin surface
$SM_CCo,10127,82.88,0.464,5,0,1570,300.00
$SM_GC,2.21,8.62,2.50,82.88,0.025,0.044,0.464,115,2190,1570,-9.47,1.02,300.00,0,0,0,0,5,0,25.77,25.41,23.93
$IRIDIUM_FIX,4732.49,-12512.90,180413,212154
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.03
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.20
$XPDR_PINGS,1
$24V_AH,23.4,115.231
$10V_AH,9.9,85.796
$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,22.075,92.475,235.025,82.875,0.000,26.734,39.911,171.827,0.250,0.000,33.948,2272.289,5904.883,501.786,1702.580,264.160,0.000,1261.452,0.000,1434.441,0.000,0.536,0.000
$DEVICE_MAMPS,217.260,82.620,839.970,463.590,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,609.854,574.374,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296764
$DATA_FILE_SIZE,46981,888
$CAP_FILE_SIZE,101287,0
$CFSIZE,260165632,188657664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,1,0
$CURRENT,0.107, 82.4,1
$GPS,190413,024900,4749.596,-12515.226,54,1.9,55,18.7