version: 66.06
glider: 187
mission: 2
dive: 69
start: 7 18 110 17 2 52
data:
$ID,187
$MISSION,2
$DIVE,69
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,4
$D_FINISH,5
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,270
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$T_LOITER,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,-7
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$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,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$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,-24724.797
$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,2850
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,236
$ROLL_MAX,3800
$ROLL_DEG,35
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,3150
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-61.597298
$PRESSURE_SLOPE,0.0001138132
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$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
$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,0.0043543768
$SEABIRD_T_H,0.0006249955
$SEABIRD_T_I,2.3401506e-05
$SEABIRD_T_J,2.4672308e-06
$SEABIRD_C_G,-9.9855604
$SEABIRD_C_H,1.1126566
$SEABIRD_C_I,-0.0021479612
$SEABIRD_C_J,0.0002479906
$GPS1,165802,4745.291,-12511.027,11,1.9,11,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-74.7
$GPS2,170246,4745.257,-12510.985,11,2.5,30,18.7
$SPEED_LIMITS,0.212,0.316
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,220.0,161196,-17.9,-12.222
$D_GRID,631
$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
$STATE,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,11,-0.99,-195.5,0.0,0.0,0,76,0.00,0.00,-62.83,0.000,2,0.000,0.000,132,2113,3049,0,0,0,0,0,0
$GC,77,-0.99,-195.5,3.0,-6.2,12,109,9.77,1.98,-18.80,0.000,4,0.252,0.079,2518,3326,3949,0,0,0,0,0,0
$GC,173,-0.70,-195.5,33.5,-27.2,30,179,0.32,1.95,0.00,0.000,6,0.160,0.051,2615,2096,3951,0,0,0,0,0,0
$GC,499,-0.62,-195.5,92.9,-15.8,91,505,0.12,0.00,0.00,0.000,6,0.173,0.000,2649,2093,3953,0,0,0,0,0,0
$GC,815,-0.67,-195.5,133.9,-12.4,127,819,0.00,2.00,0.00,0.000,4,0.000,0.068,2643,3321,3953,0,0,0,0,0,0
$GC,825,-0.73,-195.5,135.1,-12.1,128,830,0.00,1.95,0.00,0.000,6,0.000,0.051,2643,2086,3954,0,0,0,0,0,0
$GC,1146,-0.78,-195.5,174.3,-12.7,159,1151,0.12,1.95,0.00,0.000,4,0.097,0.059,2585,859,3954,0,0,0,0,0,0
$GC,1157,-0.78,-195.5,175.6,-12.9,160,1161,0.00,1.92,0.00,0.000,6,0.000,0.056,2577,2086,3954,0,0,0,0,0,0
$GC,1477,-0.66,-195.5,232.1,-17.7,191,1482,0.20,2.00,0.00,0.000,4,0.157,0.066,2626,3332,3954,0,0,0,0,0,0
$GC,1535,-0.79,-195.5,239.9,-11.9,196,1542,0.00,1.95,0.00,0.000,6,0.000,0.051,2626,2086,3955,0,0,0,0,0,0
$GC,1851,-0.79,-195.5,281.9,-13.1,227,1856,0.00,1.95,0.00,0.000,4,0.000,0.061,2626,861,3955,0,0,0,0,0,0
$GC,1963,-0.87,-195.5,295.5,-11.4,237,1971,0.15,1.98,0.00,0.000,6,0.087,0.058,2559,2108,3955,0,0,0,0,0,0
$GC,2279,-0.73,-195.5,352.2,-18.3,268,2283,0.20,1.95,0.00,0.000,4,0.165,0.061,2614,876,3955,0,0,0,0,0,0
$GC,2391,-0.80,-195.5,366.8,-12.0,278,2397,0.00,1.92,0.00,0.000,6,0.000,0.058,2613,2103,3955,0,0,0,0,0,0
$GC,2706,-0.80,-195.5,408.2,-13.4,309,2711,0.00,1.95,0.00,0.000,4,0.000,0.061,2613,867,3954,0,0,0,0,0,0
$GC,2823,-0.86,-195.5,423.2,-12.3,320,2828,0.12,1.95,0.00,0.000,6,0.095,0.058,2557,2100,3955,0,0,0,0,0,0
$GC,3144,-0.72,-195.5,481.4,-19.8,351,3149,0.20,1.92,0.00,0.000,4,0.164,0.061,2611,876,3955,0,0,0,0,0,0
$GC,3262,-0.78,-195.5,499.5,-14.4,362,3266,0.00,1.92,0.00,0.000,6,0.000,0.059,2611,2102,3955,0,0,0,0,0,0
$GC,3582,-0.78,-195.5,545.4,-13.0,393,3586,0.00,1.95,0.00,0.000,4,0.000,0.061,2611,867,3955,0,0,0,0,0,0
$GC,3705,-0.85,-195.5,560.4,-12.5,404,3711,0.12,1.95,0.00,0.000,6,0.095,0.059,2557,2102,3955,0,0,0,0,0,0
$GC,4039,-0.72,-195.5,617.6,-17.5,431,4044,0.20,1.95,0.00,0.000,4,0.163,0.062,2611,870,3955,0,0,0,0,0,0
$STATE,4144,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4144,begin apogee
$GC,4149,-0.21,0.0,631.4,11.4,434,4314,0.47,0.00,162.90,0.987,6,0.125,0.000,2774,2009,3150,0,0,0,0,0,0
$STATE,4314,end apogee,CONTROL_FINISHED_OK
$STATE,4314,begin climb
$GC,4315,0.99,195.5,638.4,0.0,439,4490,1.17,2.15,167.05,0.953,4,0.085,0.063,3171,780,2352,0,0,0,0,0,0
$GC,4554,0.54,195.5,608.6,23.3,446,4560,0.50,2.03,0.00,0.000,6,0.177,0.055,3032,1990,2348,0,0,0,0,0,0
$GC,4868,0.44,195.5,566.4,12.9,473,4873,0.15,2.08,0.00,0.000,4,0.165,0.066,2992,3237,2346,0,0,0,0,0,0
$GC,4937,0.47,220.7,558.4,11.2,479,4964,0.00,2.03,21.60,0.888,6,0.000,0.054,2997,1996,2249,0,0,0,0,0,0
$GC,5272,0.54,279.3,525.3,9.8,512,5325,0.00,0.00,50.35,0.899,6,0.000,0.000,2997,1996,2011,0,0,0,0,0,0
$GC,5634,0.72,357.1,492.0,8.9,547,5706,0.22,2.05,66.38,0.881,4,0.071,0.065,3097,769,1694,0,0,0,0,0,0
$GC,5773,0.67,357.1,469.4,15.8,560,5780,0.12,2.08,0.00,0.000,6,0.155,0.057,3065,2011,1689,0,0,0,0,0,0
$GC,6089,0.67,357.1,421.4,15.4,591,6094,0.00,2.05,0.00,0.000,4,0.000,0.067,3069,767,1685,0,0,0,0,0,0
$GC,6121,0.67,357.1,416.4,15.7,594,6125,0.00,1.98,0.00,0.000,6,0.000,0.057,3070,1994,1684,0,0,0,0,0,0
$GC,6442,0.62,357.1,365.9,15.5,625,6446,0.00,1.98,0.00,0.000,4,0.000,0.067,3076,773,1683,0,0,0,0,0,0
$GC,6474,0.62,357.1,361.1,14.9,628,6478,0.00,1.98,0.00,0.000,6,0.000,0.057,3076,2005,1684,0,0,0,0,0,0
$GC,6794,0.57,357.1,312.3,14.6,659,6795,0.15,0.00,0.00,0.000,6,0.156,0.000,3033,2008,1683,0,0,0,0,0,0
$GC,7105,0.71,402.9,280.0,10.3,689,7147,0.12,2.03,37.45,0.776,4,0.097,0.067,3095,765,1506,0,0,0,0,0,0
$GC,7225,0.71,402.9,262.8,14.4,700,7232,0.00,2.03,0.00,0.000,6,0.000,0.058,3096,2008,1503,0,0,0,0,0,0
$GC,7541,0.66,402.9,208.6,17.7,731,7546,0.12,2.03,0.00,0.000,4,0.164,0.067,3068,767,1500,0,0,0,0,0,0
$GC,7578,0.72,402.9,203.0,14.7,734,7584,0.00,2.00,0.00,0.000,6,0.000,0.058,3068,2011,1500,0,0,0,0,0,0
$GC,7893,0.75,402.9,158.2,14.1,765,7898,0.00,2.03,0.00,0.000,4,0.000,0.068,3073,764,1499,0,0,0,0,0,0
$GC,7946,0.82,402.9,150.7,13.7,770,7951,0.12,1.98,0.00,0.000,6,0.095,0.058,3131,2000,1499,0,0,0,0,0,0
$GC,8264,0.72,402.9,89.2,20.3,805,8270,0.17,0.00,0.00,0.000,6,0.160,0.000,3081,2002,1499,0,0,0,0,0,0
$GC,8590,0.83,414.2,49.2,11.7,866,8608,0.12,2.03,9.50,0.613,4,0.094,0.067,3142,758,1461,0,0,0,0,0,0
$GC,8628,0.80,414.2,43.8,15.3,873,8635,0.10,1.98,0.00,0.000,6,0.140,0.057,3109,2005,1460,0,0,0,0,0,0
$GC,8955,0.97,484.0,8.1,9.3,934,9003,0.15,0.00,45.12,0.605,2,0.085,0.000,3173,2007,1236,0,0,0,0,0,0
$STATE,9003,end climb,SURFACE_DEPTH_REACHED
$STATE,9003,begin surface coast
$FINISH,0.3,1.002942
$STATE,9022,end surface coast,CONTROL_FINISHED_OK
$STATE,9023,begin surface
$SM_CCo,9095,0.00,0.000,0,0,1229,470.98
$SM_GC,1.17,8.20,0.00,0.00,0.048,0.000,0.000,137,2107,1229,-8.39,0.20,470.98
$IRIDIUM_FIX,4729.30,-12506.60,121099,141414
$TT8_MAMPS,0.052923
$HUMID,39.25
$INTERNAL_PRESSURE,8.9718
$TCM_TEMP,16.00
$XPDR_PINGS,0
$24V_AH,23.5,8.516
$10V_AH,10.3,4.543
$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,23.475,75.500,560.350,0.000,0.000,30.408,31.622,132.397,0.000,0.000,31.845,0.000,6101.167,604.302,2366.648,294.609,0.000,1502.898,0.000,2024.148,0.000,0.533,0.000
$DEVICE_MAMPS,252.343,91.273,987.129,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,651.266,758.299,1005.583,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298584
$DATA_FILE_SIZE,53843,947
$CAP_FILE_SIZE,113488,0
$CFSIZE,260165632,254783488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180710,193525,4744.317,-12512.245,42,1.6,43,18.7