version: 66.11
glider: 187
mission: 2
dive: 825
start: 4 18 113 21 7 20
data:
$ID,187
$MISSION,2
$DIVE,825
$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,-1590024
$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,41
$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
$GPS1,180413,205954,4749.506,-12515.530,53,1.8,54,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-77.7
$GPS2,180413,210648,4749.487,-12515.437,15,1.4,32,18.7
$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,344.2,313,-26.8,-7.021,-30.00
$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,16,-0.85,-36.8,0.0,0.0,0,69,0.00,0.00,-50.15,0.000,2,0.000,0.000,104,2192,2670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.87,-74.2,3.2,-2.1,9,99,11.23,2.28,-9.85,0.000,4,0.216,0.060,2911,795,3099,0,0,0,0,0,0,24.53,25.41,26.18
$GC,329,-0.87,-74.2,67.2,-22.5,58,336,0.00,2.22,0.00,0.000,6,0.000,0.050,2903,2205,3102,0,0,0,0,0,0,28.83,25.19,28.83
$GC,648,-0.87,-74.2,125.5,-16.7,116,656,0.00,2.25,0.00,0.000,4,0.000,0.048,2903,804,3103,0,0,0,0,0,0,28.83,25.17,28.83
$GC,817,-0.87,-74.2,155.5,-17.1,133,826,0.00,2.25,0.00,0.000,6,0.000,0.049,2892,2195,3103,0,0,0,0,0,0,28.83,25.15,28.83
$GC,1142,-0.87,-74.2,211.9,-17.5,154,1143,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2195,3103,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1443,-0.87,-74.2,262.1,-16.6,169,1444,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2195,3103,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1742,-0.87,-74.2,311.6,-16.4,184,1747,0.00,2.28,0.00,0.000,4,0.000,0.048,2892,798,3103,0,0,0,0,0,0,28.83,25.09,28.83
$GC,1850,-0.87,-74.2,327.8,-16.4,189,1855,0.12,2.30,0.00,0.000,6,0.177,0.049,2909,2209,3103,0,0,0,0,0,0,24.76,25.07,28.83
$GC,2153,-0.87,-74.2,375.5,-15.1,204,2157,0.00,2.30,0.00,0.000,4,0.000,0.050,2909,795,3103,0,0,0,0,0,0,28.83,25.05,28.83
$GC,2240,-0.87,-74.2,387.5,-15.1,208,2244,0.00,2.30,0.00,0.000,6,0.000,0.050,2901,2202,3103,0,0,0,0,0,0,28.83,25.04,28.83
$GC,2563,-0.87,-74.2,435.8,-14.5,220,2564,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2201,3103,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2862,-0.87,-74.2,477.9,-13.7,230,2867,0.00,2.35,0.00,0.000,4,0.000,0.060,2890,3615,3102,0,0,0,0,0,0,28.83,24.82,28.83
$STATE,2891,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2891,begin apogee
$GC,2899,-0.22,0.0,482.0,-13.7,231,2969,0.75,0.00,65.65,0.840,6,0.135,0.000,3117,2319,2794,0,0,0,0,0,0,24.19,28.83,23.62
$STATE,2970,end apogee,CONTROL_FINISHED_OK
$STATE,2970,begin climb
$GC,2974,0.87,74.2,486.0,0.0,233,3049,1.02,2.30,68.50,0.801,4,0.080,0.051,3480,929,2490,0,0,0,0,0,0,24.81,24.80,23.38
$GC,3082,0.87,74.2,480.9,7.4,236,3087,0.00,2.33,0.00,0.000,6,0.000,0.052,3480,2331,2488,0,0,0,0,0,0,28.83,25.09,28.83
$GC,3412,0.87,74.2,447.6,8.5,247,3418,0.00,2.35,0.00,0.000,4,0.000,0.063,3480,3734,2483,0,0,0,0,0,0,28.83,25.25,28.83
$GC,3571,0.87,74.2,432.7,10.1,252,3577,0.00,2.30,0.00,0.000,6,0.000,0.046,3492,2322,2481,0,0,0,0,0,0,28.83,25.46,28.83
$GC,3892,0.87,74.2,402.6,8.8,263,3897,0.00,2.38,0.00,0.000,4,0.000,0.063,3492,3735,2481,0,0,0,0,0,0,28.83,25.10,28.83
$GC,4133,0.87,74.2,379.7,9.4,275,4138,0.00,2.28,0.00,0.000,6,0.000,0.046,3504,2328,2480,0,0,0,0,0,0,28.83,25.38,28.83
$GC,4453,0.87,74.2,352.1,8.9,291,4457,0.00,2.33,0.00,0.000,4,0.000,0.063,3504,3733,2479,0,0,0,0,0,0,28.83,25.00,28.83
$GC,4693,0.87,74.2,326.7,10.5,303,4698,0.12,2.28,0.00,0.000,6,0.164,0.046,3478,2328,2479,0,0,0,0,0,0,24.79,25.32,28.83
$GC,5012,0.87,74.2,299.9,8.1,319,5017,0.00,2.38,0.00,0.000,4,0.000,0.063,3478,3733,2478,0,0,0,0,0,0,28.83,24.94,28.83
$GC,5252,0.87,74.2,276.3,10.5,331,5258,0.00,2.30,0.00,0.000,6,0.000,0.046,3488,2322,2477,0,0,0,0,0,0,28.83,25.28,28.83
$GC,5574,0.87,74.2,248.9,8.0,347,5578,0.00,2.33,0.00,0.000,4,0.000,0.063,3487,3733,2477,0,0,0,0,0,0,28.83,24.88,28.83
$GC,5810,0.87,74.2,231.1,7.6,358,5814,0.00,2.30,0.00,0.000,6,0.000,0.045,3499,2323,2477,0,0,0,0,0,0,28.83,25.26,28.83
$GC,6114,0.87,81.1,212.4,6.1,373,6124,0.00,2.40,5.00,0.514,4,0.000,0.063,3499,3734,2462,0,0,0,0,0,0,28.83,25.21,24.08
$GC,6345,0.87,81.1,194.7,8.2,387,6353,0.15,2.25,0.00,0.000,6,0.184,0.046,3475,2317,2462,0,0,0,0,0,0,24.87,25.33,28.83
$GC,6656,0.87,84.8,173.9,6.5,408,6670,0.00,2.40,5.20,0.509,4,0.000,0.063,3475,3734,2447,0,0,0,0,0,0,28.83,25.26,24.10
$GC,6904,0.87,84.8,154.5,7.7,433,6911,0.00,2.22,0.00,0.000,6,0.000,0.046,3484,2324,2446,0,0,0,0,0,0,28.83,25.32,28.83
$GC,7213,0.87,85.9,133.4,6.9,454,7220,0.00,2.38,0.00,0.000,4,0.000,0.063,3485,3738,2447,0,0,0,0,0,0,28.83,24.87,28.83
$GC,7262,0.87,85.9,129.5,7.7,459,7270,0.00,2.30,0.00,0.000,6,0.000,0.045,3496,2324,2446,0,0,0,0,0,0,28.83,25.25,28.83
$GC,7575,0.88,95.6,107.0,5.7,504,7595,0.00,2.35,11.23,0.571,4,0.000,0.063,3496,3743,2403,0,0,0,0,0,0,28.83,25.20,24.10
$GC,7805,0.88,95.6,90.3,7.0,548,7813,0.00,2.25,0.00,0.000,6,0.000,0.046,3507,2313,2402,0,0,0,0,0,0,28.83,25.38,28.83
$GC,8119,0.89,135.4,79.9,1.8,609,8161,0.00,2.42,35.72,0.600,4,0.000,0.063,3508,3737,2241,0,0,0,0,0,0,28.83,25.19,24.00
$GC,8259,0.89,135.4,70.0,11.5,635,8267,0.15,2.22,0.00,0.000,6,0.174,0.046,3482,2327,2237,0,0,0,0,0,0,25.06,25.43,28.83
$GC,8573,0.90,146.8,49.0,5.5,696,8593,0.00,2.38,10.38,0.529,4,0.000,0.063,3482,3734,2194,0,0,0,0,0,0,28.83,25.35,24.13
$GC,8664,0.90,159.9,44.0,5.3,712,8684,0.00,2.22,12.70,0.539,6,0.000,0.046,3492,2317,2141,0,0,0,0,0,0,28.83,25.51,24.09
$GC,8992,0.91,166.5,26.1,6.2,775,9006,0.00,2.35,6.93,0.480,4,0.000,0.062,3492,3738,2113,0,0,0,0,0,0,28.83,25.36,24.15
$GC,9090,0.91,166.5,19.0,7.1,793,9096,0.00,2.22,0.00,0.000,6,0.000,0.045,3503,2320,2112,0,0,0,0,0,0,28.83,25.49,28.83
$STATE,9394,end climb,SURFACE_DEPTH_REACHED
$STATE,9395,begin surface coast
$FINISH,1.2,1.014904
$STATE,9546,end surface coast,CONTROL_FINISHED_OK
$STATE,9547,begin surface
$SM_CCo,9568,86.20,0.474,4,0,1570,300.00
$SM_GC,2.34,8.70,0.17,86.20,0.025,0.076,0.474,106,2192,1570,-9.47,1.19,300.00,0,0,0,0,4,0,25.75,25.94,23.93
$IRIDIUM_FIX,4729.30,-12512.90,180413,181830
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.74
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,19.20
$XPDR_PINGS,1
$24V_AH,23.4,115.158
$10V_AH,9.9,85.736
$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,22.250,82.975,221.300,86.200,0.000,28.093,37.115,194.094,0.250,0.000,33.203,2220.423,5444.853,471.728,1704.610,253.013,0.000,1210.641,0.000,1410.783,0.000,0.535,0.000
$DEVICE_MAMPS,216.495,75.735,839.970,474.300,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,606.721,572.216,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296756
$DATA_FILE_SIZE,46855,883
$CAP_FILE_SIZE,96018,0
$CFSIZE,260165632,188715008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.106, 94.6,1
$GPS,180413,234932,4749.931,-12515.001,16,1.9,17,18.7