version: 66.06
glider: 187
mission: 2
dive: 70
start: 7 18 110 19 40 2
data:
$ID,187
$MISSION,2
$DIVE,70
$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,-24742.535
$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,27
$R_STBD_OVSHOOT,30
$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
$GPS1,193525,4744.317,-12512.245,42,1.6,43,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-75.0
$GPS2,193956,4744.259,-12512.190,16,0.9,16,18.7
$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,220.3,158937,-17.9,-12.222
$D_GRID,722
$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,-195.5,0.0,0.0,0,97,0.00,0.00,-84.00,0.000,2,0.000,0.000,133,2106,3228,0,0,0,0,0,0
$GC,98,-0.99,-195.5,3.8,-9.3,16,130,9.85,2.03,-13.80,0.000,4,0.252,0.077,2518,3341,3951,0,0,0,0,0,0
$GC,178,-0.55,-195.5,34.5,-31.9,31,183,0.45,1.98,0.00,0.000,6,0.162,0.050,2663,2098,3952,0,0,0,0,0,0
$GC,503,-0.59,-195.5,83.2,-13.3,92,510,0.00,2.00,0.00,0.000,4,0.000,0.067,2657,3320,3954,0,0,0,0,0,0
$GC,589,-0.68,-195.5,94.5,-13.4,108,595,0.00,1.92,0.00,0.000,6,0.000,0.051,2657,2092,3954,0,0,0,0,0,0
$GC,910,-0.74,-195.5,132.1,-10.5,143,915,0.15,2.00,0.00,0.000,4,0.087,0.067,2584,3323,3955,0,0,0,0,0,0
$GC,990,-0.64,-195.5,144.7,-16.0,150,998,0.20,1.92,0.00,0.000,6,0.153,0.049,2640,2099,3955,0,0,0,0,0,0
$GC,1306,-0.68,-195.5,185.9,-12.5,181,1310,0.00,2.00,0.00,0.000,4,0.000,0.067,2634,3332,3955,0,0,0,0,0,0
$GC,1332,-0.74,-195.5,189.3,-12.9,183,1339,0.00,1.92,0.00,0.000,6,0.000,0.051,2633,2102,3955,0,0,0,0,0,0
$GC,1648,-0.74,-195.5,230.1,-12.8,214,1652,0.00,1.98,0.00,0.000,4,0.000,0.067,2626,3323,3955,0,0,0,0,0,0
$GC,1668,-0.77,-195.5,232.8,-12.9,216,1673,0.00,1.92,0.00,0.000,6,0.000,0.051,2626,2098,3955,0,0,0,0,0,0
$GC,1990,-0.77,-195.5,272.9,-11.8,247,1994,0.00,2.00,0.00,0.000,4,0.000,0.070,2618,3325,3955,0,0,0,0,0,0
$GC,2058,-0.81,-195.5,281.1,-11.4,253,2065,0.00,1.92,0.00,0.000,6,0.000,0.051,2618,2099,3956,0,0,0,0,0,0
$GC,2373,-0.81,-195.5,321.2,-12.7,284,2378,0.00,2.03,0.00,0.000,4,0.000,0.070,2610,3337,3955,0,0,0,0,0,0
$GC,2400,-0.81,-195.5,324.7,-13.8,286,2406,0.00,1.95,0.00,0.000,6,0.000,0.052,2609,2094,3955,0,0,0,0,0,0
$GC,2715,-0.81,-195.5,368.9,-13.9,317,2720,0.00,2.03,0.00,0.000,4,0.000,0.070,2601,3334,3955,0,0,0,0,0,0
$GC,2763,-0.81,-195.5,375.4,-13.3,321,2770,0.00,1.95,0.00,0.000,6,0.000,0.052,2601,2091,3956,0,0,0,0,0,0
$GC,3079,-0.78,-195.5,421.5,-14.8,352,3083,0.00,1.98,0.00,0.000,4,0.000,0.070,2593,3325,3956,0,0,0,0,0,0
$GC,3100,-0.75,-195.5,424.6,-14.9,354,3104,0.00,1.92,0.00,0.000,6,0.000,0.052,2592,2099,3956,0,0,0,0,0,0
$GC,3421,-0.70,-195.5,473.2,-14.7,385,3425,0.12,2.00,0.00,0.000,4,0.179,0.072,2618,3331,3955,0,0,0,0,0,0
$GC,3457,-0.77,-195.5,478.2,-13.0,388,3464,0.00,1.95,0.00,0.000,6,0.000,0.054,2618,2091,3956,0,0,0,0,0,0
$GC,3773,-0.80,-195.5,519.0,-12.7,419,3778,0.00,2.00,0.00,0.000,4,0.000,0.071,2611,3328,3956,0,0,0,0,0,0
$GC,3810,-0.86,-195.5,523.7,-12.7,422,3817,0.12,1.92,0.00,0.000,6,0.096,0.054,2552,2100,3956,0,0,0,0,0,0
$GC,4125,-0.71,-195.5,581.0,-17.7,453,4130,0.25,1.98,0.00,0.000,4,0.161,0.071,2617,3324,3956,0,0,0,0,0,0
$GC,4141,-0.63,-195.5,583.5,-17.2,454,4148,0.00,1.92,0.00,0.000,6,0.000,0.054,2616,2102,3956,0,0,0,0,0,0
$GC,4474,-0.67,-195.5,620.3,-10.8,475,4478,0.00,1.98,0.00,0.000,4,0.000,0.072,2608,3332,3956,0,0,0,0,0,0
$GC,4500,-0.71,-195.5,623.3,-11.4,475,4506,0.00,1.92,0.00,0.000,6,0.000,0.054,2608,2099,3956,0,0,0,0,0,0
$GC,4808,-0.71,-195.5,660.3,-11.8,486,4809,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2097,3956,0,0,0,0,0,0
$GC,5111,-0.71,-195.5,698.7,-12.6,496,5117,0.00,2.00,0.00,0.000,4,0.000,0.073,2600,3333,3957,0,0,0,0,0,0
$GC,5154,-0.77,-195.5,703.9,-11.9,497,5159,0.00,1.95,0.00,0.000,6,0.000,0.054,2600,2096,3957,0,0,0,0,0,0
$STATE,5326,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5326,begin apogee
$GC,5329,-0.21,0.0,725.4,12.6,503,5497,0.55,0.00,165.82,1.048,6,0.135,0.000,2776,1985,3149,0,0,0,0,0,0
$STATE,5497,end apogee,CONTROL_FINISHED_OK
$STATE,5497,begin climb
$GC,5498,0.99,195.5,730.8,0.0,508,5674,1.15,2.08,169.32,1.011,4,0.079,0.061,3170,770,2352,0,0,0,0,0,0
$GC,5758,0.55,195.5,696.6,21.6,515,5763,0.50,2.08,0.00,0.000,6,0.183,0.056,3034,1998,2348,0,0,0,0,0,0
$GC,6072,0.43,195.5,653.6,13.4,526,6077,0.15,2.05,0.00,0.000,4,0.167,0.067,2994,3232,2346,0,0,0,0,0,0
$GC,6195,0.39,195.5,638.8,12.2,529,6201,0.00,1.98,0.00,0.000,6,0.000,0.055,2999,2011,2345,0,0,0,0,0,0
$GC,6503,0.46,248.2,607.0,10.0,540,6553,0.00,2.12,44.78,0.954,4,0.000,0.067,3008,760,2138,0,0,0,0,0,0
$GC,6580,0.56,292.2,599.2,10.4,542,6627,0.00,2.05,39.28,0.932,6,0.000,0.058,3008,1999,1958,0,0,0,0,0,0
$GC,6936,0.65,326.6,558.8,10.8,576,6971,0.15,2.10,29.92,0.914,4,0.084,0.067,3073,3231,1817,0,0,0,0,0,0
$GC,7041,0.56,326.6,543.1,15.1,586,7046,0.15,2.05,0.00,0.000,6,0.137,0.057,3032,1996,1813,0,0,0,0,0,0
$GC,7361,0.59,352.0,505.4,11.2,617,7387,0.00,2.03,22.25,0.884,4,0.000,0.065,3039,759,1714,0,0,0,0,0,0
$GC,7424,0.73,402.8,498.7,10.1,622,7474,0.12,2.05,44.67,0.884,6,0.094,0.057,3096,2005,1508,0,0,0,0,0,0
$GC,7791,0.66,402.8,437.8,17.7,658,7792,0.12,0.00,0.00,0.000,6,0.166,0.000,3063,2005,1500,0,0,0,0,0,0
$GC,8101,0.66,402.8,389.8,16.0,688,8105,0.00,2.05,0.00,0.000,4,0.000,0.069,3070,757,1500,0,0,0,0,0,0
$GC,8143,0.71,402.8,383.3,15.4,692,8148,0.00,2.03,0.00,0.000,6,0.000,0.058,3070,2011,1500,0,0,0,0,0,0
$GC,8463,0.71,402.8,332.7,15.5,723,8464,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2013,1500,0,0,0,0,0,0
$GC,8774,0.71,402.8,285.8,15.5,753,8779,0.00,2.00,0.00,0.000,4,0.000,0.068,3076,764,1500,0,0,0,0,0,0
$GC,8843,0.76,402.8,275.6,14.0,759,8850,0.00,1.98,0.00,0.000,6,0.000,0.058,3076,2001,1500,0,0,0,0,0,0
$GC,9159,0.76,402.8,226.9,15.2,790,9164,0.00,2.00,0.00,0.000,4,0.000,0.067,3076,3232,1500,0,0,0,0,0,0
$GC,9185,0.76,402.8,222.8,15.8,792,9192,0.00,1.98,0.00,0.000,6,0.000,0.058,3081,1996,1499,0,0,0,0,0,0
$GC,9501,0.76,402.8,174.7,14.4,823,9505,0.00,1.95,0.00,0.000,4,0.000,0.068,3083,767,1500,0,0,0,0,0,0
$GC,9565,0.82,402.8,166.3,12.8,829,9569,0.00,1.92,0.00,0.000,6,0.000,0.058,3083,1996,1500,0,0,0,0,0,0
$GC,9885,0.82,402.8,120.6,15.0,860,9885,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,1997,1500,0,0,0,0,0,0
$GC,10202,0.85,402.8,73.6,13.4,906,10208,0.12,0.00,0.00,0.000,6,0.100,0.000,3143,1997,1500,0,0,0,0,0,0
$GC,10527,0.76,402.8,17.5,15.2,967,10534,0.15,1.98,0.00,0.000,4,0.156,0.067,3100,3231,1500,0,0,0,0,0,0
$GC,10576,0.93,456.3,12.2,10.0,976,10624,0.10,1.95,43.30,0.617,6,0.059,0.057,3161,1986,1289,0,0,0,0,0,0
$STATE,10649,end climb,SURFACE_DEPTH_REACHED
$STATE,10649,begin surface coast
$FINISH,0.5,1.023797
$STATE,10665,end surface coast,CONTROL_FINISHED_OK
$STATE,10665,begin surface
$SM_CCo,10737,0.00,0.000,0,0,1281,458.47
$SM_GC,1.31,8.12,0.00,0.00,0.050,0.000,0.000,150,2105,1281,-8.38,0.17,458.47
$IRIDIUM_FIX,4713.38,-12515.96,121099,171704
$TT8_MAMPS,0.052156
$HUMID,39.64
$INTERNAL_PRESSURE,8.9425
$TCM_TEMP,15.50
$XPDR_PINGS,0
$24V_AH,23.5,8.679
$10V_AH,10.3,4.631
$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,22.550,95.800,559.350,0.000,0.000,30.654,30.910,132.714,0.000,0.000,17.109,0.000,7618.692,641.989,2439.385,293.697,0.000,1597.757,0.000,2076.683,0.000,0.533,0.000
$DEVICE_MAMPS,251.576,92.040,1048.489,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,683.232,798.542,974.996,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298632
$DATA_FILE_SIZE,57024,993
$CAP_FILE_SIZE,125376,0
$CFSIZE,260165632,254713856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180710,223955,4743.521,-12514.885,40,1.5,41,18.7