version: 66.06
glider: 187
mission: 2
dive: 72
start: 7 19 110 2 0 34
data:
$ID,187
$MISSION,2
$DIVE,72
$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,2
$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,-24789.814
$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,23
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,236
$ROLL_MAX,3800
$ROLL_DEG,35
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$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
$GPS1,015536,4742.895,-12517.659,38,1.4,44,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-69.5
$GPS2,020028,4742.873,-12517.626,10,2.1,29,18.7
$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,207.8,151736,-17.9,-12.222
$D_GRID,1000
$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,-1.02,-195.5,0.0,0.0,0,91,0.00,0.00,-77.30,0.000,2,0.000,0.000,132,1982,3150,0,0,0,0,0,0
$GC,92,-1.02,-195.5,3.1,-5.1,14,125,9.73,2.03,-15.95,0.000,4,0.252,0.080,2509,3231,3950,0,0,0,0,0,0
$GC,290,-0.82,-195.5,69.8,-29.7,51,297,0.22,1.95,0.00,0.000,6,0.160,0.051,2575,1995,3952,0,0,0,0,0,0
$GC,614,-0.74,-195.5,137.3,-19.2,95,619,0.12,2.03,0.00,0.000,4,0.179,0.067,2602,3235,3954,0,0,0,0,0,0
$GC,673,-0.74,-195.5,147.3,-16.5,100,680,0.00,1.95,0.00,0.000,6,0.000,0.051,2602,2004,3954,0,0,0,0,0,0
$GC,989,-0.71,-195.5,199.1,-16.1,131,993,0.00,2.00,0.00,0.000,4,0.000,0.067,2594,3231,3954,0,0,0,0,0,0
$GC,1122,-0.69,-195.5,220.9,-16.6,143,1128,0.08,1.90,0.00,0.000,6,0.137,0.051,2619,2014,3953,0,0,0,0,0,0
$GC,1437,-0.69,-195.5,268.4,-14.1,174,1442,0.00,2.00,0.00,0.000,4,0.000,0.067,2613,3236,3954,0,0,0,0,0,0
$GC,1517,-0.69,-195.5,279.6,-14.0,181,1523,0.00,1.92,0.00,0.000,6,0.000,0.052,2613,2014,3954,0,0,0,0,0,0
$GC,1832,-0.69,-195.5,324.6,-14.0,212,1837,0.00,2.00,0.00,0.000,4,0.000,0.067,2605,3237,3954,0,0,0,0,0,0
$GC,1901,-0.69,-195.5,334.2,-13.8,218,1908,0.00,1.92,0.00,0.000,6,0.000,0.052,2605,2014,3954,0,0,0,0,0,0
$GC,2217,-0.69,-195.5,379.8,-14.4,249,2222,0.00,2.00,0.00,0.000,4,0.000,0.068,2597,3237,3953,0,0,0,0,0,0
$GC,2286,-0.69,-195.5,389.7,-14.1,255,2294,0.12,1.90,0.00,0.000,6,0.158,0.053,2631,2026,3953,0,0,0,0,0,0
$GC,2603,-0.72,-195.5,428.4,-12.1,286,2606,0.00,1.95,0.00,0.000,4,0.000,0.070,2624,3229,3953,0,0,0,0,0,0
$GC,2650,-0.76,-195.5,434.3,-11.5,290,2656,0.00,1.88,0.00,0.000,6,0.000,0.054,2624,2026,3953,0,0,0,0,0,0
$GC,2965,-0.78,-195.5,475.8,-13.5,321,2969,0.00,1.98,0.00,0.000,4,0.000,0.070,2616,3247,3952,0,0,0,0,0,0
$GC,3040,-0.82,-195.5,485.4,-12.9,328,3045,0.05,1.90,0.00,0.000,6,0.078,0.054,2575,2030,3952,0,0,0,0,0,0
$GC,3360,-0.79,-195.5,536.7,-15.4,359,3365,0.00,1.98,0.00,0.000,4,0.000,0.070,2567,3240,3951,0,0,0,0,0,0
$GC,3415,-0.76,-195.5,544.9,-14.6,364,3418,0.10,1.88,0.00,0.000,6,0.144,0.054,2598,2037,3951,0,0,0,0,0,0
$GC,3734,-0.76,-195.5,588.5,-14.1,395,3739,0.00,1.98,0.00,0.000,4,0.000,0.071,2592,3245,3950,0,0,0,0,0,0
$GC,3782,-0.76,-195.5,595.2,-13.5,399,3789,0.00,1.90,0.00,0.000,6,0.000,0.054,2592,2037,3950,0,0,0,0,0,0
$GC,4091,-0.76,-195.5,637.4,-13.3,412,4096,0.00,1.98,0.00,0.000,4,0.000,0.071,2585,3246,3950,0,0,0,0,0,0
$GC,4138,-0.76,-195.5,643.5,-12.8,413,4143,0.00,1.90,0.00,0.000,6,0.000,0.054,2584,2037,3949,0,0,0,0,0,0
$GC,4458,-0.74,-195.5,683.4,-12.3,424,4462,0.00,1.92,0.00,0.000,4,0.000,0.071,2576,3228,3949,0,0,0,0,0,0
$GC,4505,-0.74,-195.5,689.5,-12.5,425,4510,0.12,1.85,0.00,0.000,6,0.169,0.055,2608,2048,3949,0,0,0,0,0,0
$GC,4825,-0.76,-195.5,726.0,-11.6,436,4829,0.00,1.90,0.00,0.000,4,0.000,0.073,2603,3233,3949,0,0,0,0,0,0
$GC,4910,-0.79,-195.5,736.1,-12.7,438,4914,0.00,1.88,0.00,0.000,6,0.000,0.055,2603,2039,3949,0,0,0,0,0,0
$GC,5224,-0.79,-195.5,773.0,-11.5,449,5228,0.00,1.92,0.00,0.000,4,0.000,0.071,2597,3234,3948,0,0,0,0,0,0
$GC,5282,-0.81,-195.5,779.1,-9.7,450,5289,0.00,1.85,0.00,0.000,6,0.000,0.056,2597,2057,3948,0,0,0,0,0,0
$GC,5591,-0.81,-195.5,814.9,-12.0,461,5595,0.00,1.90,0.00,0.000,4,0.000,0.072,2591,3234,3947,0,0,0,0,0,0
$GC,5665,-0.81,-195.5,824.1,-12.4,463,5670,0.00,1.85,0.00,0.000,6,0.000,0.056,2591,2058,3947,0,0,0,0,0,0
$GC,5990,-0.81,-195.5,867.8,-14.2,474,5994,0.00,1.90,0.00,0.000,4,0.000,0.072,2584,3235,3947,0,0,0,0,0,0
$GC,6042,-0.81,-195.5,875.7,-14.8,475,6047,0.00,1.85,0.00,0.000,6,0.000,0.056,2584,2061,3946,0,0,0,0,0,0
$GC,6357,-0.86,-195.5,908.2,-3.6,486,6361,0.00,1.90,0.00,0.000,4,0.000,0.071,2582,3233,3945,0,0,0,0,0,0
$GC,6602,-0.77,-195.5,908.0,0.9,493,6607,0.00,1.85,0.00,0.000,6,0.000,0.062,2582,2070,3945,0,0,0,0,0,0
$STATE,6915,end dive,NO_VERTICAL_VELOCITY
$STATE,6915,begin apogee
$GC,6918,-0.22,0.0,908.1,0.0,504,7087,0.60,0.00,167.10,1.169,6,0.125,0.000,2780,1998,3150,0,0,0,0,0,0
$STATE,7087,end apogee,CONTROL_FINISHED_OK
$STATE,7088,begin climb
$GC,7088,1.02,195.5,908.1,0.0,509,7271,1.23,2.15,173.75,1.131,4,0.101,0.067,3177,770,2353,0,0,0,0,0,0
$GC,7354,0.79,195.5,888.2,21.4,517,7359,0.28,2.10,0.00,0.000,6,0.201,0.058,3109,2002,2349,0,0,0,0,0,0
$GC,7668,0.62,195.5,829.8,18.9,528,7673,0.20,2.08,0.00,0.000,4,0.183,0.068,3055,3234,2347,0,0,0,0,0,0
$GC,7812,0.51,195.5,806.1,16.1,532,7817,0.17,2.03,0.00,0.000,6,0.179,0.058,3012,2007,2346,0,0,0,0,0,0
$GC,8131,0.52,231.0,770.2,10.7,543,8166,0.00,2.10,30.77,1.050,4,0.000,0.071,3013,3232,2208,0,0,0,0,0,0
$GC,8198,0.50,233.3,762.7,12.1,545,8203,0.00,2.05,0.00,0.000,6,0.000,0.058,3017,2008,2205,0,0,0,0,0,0
$GC,8529,0.47,233.3,719.1,13.1,556,8529,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2008,2203,0,0,0,0,0,0
$GC,8832,0.45,237.8,681.5,12.0,566,8842,0.00,2.00,6.93,0.869,4,0.000,0.070,3017,3240,2180,0,0,0,0,0,0
$GC,8901,0.42,237.8,672.9,13.7,568,8906,0.10,2.03,0.00,0.000,6,0.185,0.058,2994,2003,2179,0,0,0,0,0,0
$GC,9225,0.52,305.5,642.2,9.4,579,9290,0.00,2.12,59.30,0.998,4,0.000,0.069,2999,766,1904,0,0,0,0,0,0
$GC,9318,0.69,391.9,633.8,8.6,582,9398,0.17,2.08,75.78,0.977,6,0.056,0.059,3078,2010,1552,0,0,0,0,0,0
$GC,9706,0.65,391.9,563.3,19.4,606,9710,0.00,2.08,0.00,0.000,4,0.000,0.070,3085,761,1543,0,0,0,0,0,0
$GC,9753,0.65,391.9,554.4,17.7,610,9760,0.00,2.05,0.00,0.000,6,0.000,0.057,3085,2013,1543,0,0,0,0,0,0
$GC,10069,0.61,391.9,496.3,17.5,641,10074,0.15,2.03,0.00,0.000,4,0.163,0.069,3050,773,1540,0,0,0,0,0,0
$GC,10123,0.64,391.9,488.9,12.3,646,10126,0.00,1.98,0.00,0.000,6,0.000,0.058,3050,2002,1540,0,0,0,0,0,0
$GC,10443,0.64,391.9,445.1,13.7,677,10447,0.00,2.03,0.00,0.000,4,0.000,0.071,3056,758,1540,0,0,0,0,0,0
$GC,10480,0.67,391.9,440.2,13.7,680,10486,0.00,2.00,0.00,0.000,6,0.000,0.059,3055,2002,1540,0,0,0,0,0,0
$GC,10795,0.67,391.9,396.0,14.6,711,10800,0.00,2.03,0.00,0.000,4,0.000,0.071,3061,760,1540,0,0,0,0,0,0
$GC,10828,0.68,391.9,391.5,13.4,714,10832,0.00,1.95,0.00,0.000,6,0.000,0.059,3060,1987,1540,0,0,0,0,0,0
$GC,11148,0.68,391.9,344.3,14.8,745,11149,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1988,1540,0,0,0,0,0,0
$GC,11460,0.68,391.9,297.7,14.5,775,11463,0.00,1.98,0.00,0.000,4,0.000,0.071,3068,744,1540,0,0,0,0,0,0
$GC,11506,0.70,391.9,290.6,13.7,779,11512,0.00,1.98,0.00,0.000,6,0.000,0.059,3068,1988,1540,0,0,0,0,0,0
$GC,11821,0.70,391.9,242.1,15.6,810,11822,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,1989,1540,0,0,0,0,0,0
$GC,12132,0.70,391.9,194.5,14.8,840,12137,0.00,1.95,0.00,0.000,4,0.000,0.070,3075,769,1540,0,0,0,0,0,0
$GC,12196,0.72,391.9,185.9,12.8,846,12200,0.00,1.90,0.00,0.000,6,0.000,0.058,3075,1979,1540,0,0,0,0,0,0
$GC,12517,0.72,391.9,138.5,14.7,877,12521,0.00,1.95,0.00,0.000,4,0.000,0.070,3082,759,1540,0,0,0,0,0,0
$GC,12543,0.72,391.9,134.8,14.5,879,12550,0.00,1.95,0.00,0.000,6,0.000,0.058,3082,2007,1540,0,0,0,0,0,0
$GC,12862,0.72,391.9,88.8,14.8,917,12869,0.00,1.98,0.00,0.000,4,0.000,0.070,3086,764,1540,0,0,0,0,0,0
$GC,12911,0.76,391.9,82.0,13.3,926,12917,0.00,1.90,0.00,0.000,6,0.000,0.058,3086,1977,1540,0,0,0,0,0,0
$GC,13238,0.85,424.0,42.4,10.9,987,13271,0.10,2.03,25.65,0.636,4,0.114,0.066,3134,3227,1420,0,0,0,0,0,0
$GC,13360,0.85,424.0,24.8,12.5,1010,13367,0.00,1.98,0.00,0.000,6,0.000,0.055,3139,1978,1416,0,0,0,0,0,0
$STATE,13541,end climb,SURFACE_DEPTH_REACHED
$STATE,13541,begin surface coast
$FINISH,0.6,1.023930
$STATE,13563,end surface coast,CONTROL_FINISHED_OK
$STATE,13563,begin surface
$SM_CCo,13635,0.00,0.000,0,0,1412,426.33
$SM_GC,1.47,7.95,0.00,0.00,0.048,0.000,0.000,152,1974,1412,-8.37,-0.74,426.33
$IRIDIUM_FIX,4726.11,-12511.06,121099,222203
$TT8_MAMPS,0.052923
$HUMID,39.72
$INTERNAL_PRESSURE,8.98157
$TCM_TEMP,15.90
$XPDR_PINGS,0
$24V_AH,23.2,9.021
$10V_AH,10.3,4.811
$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,21.500,122.000,539.275,0.000,0.000,28.867,30.654,140.424,0.000,0.000,30.409,0.000,10136.232,675.224,2785.880,314.422,0.000,1754.965,0.000,2341.538,0.000,0.534,0.000
$DEVICE_MAMPS,251.576,115.817,1168.908,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,722.747,858.035,914.986,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298620
$DATA_FILE_SIZE,60086,1048
$CAP_FILE_SIZE,147202,0
$CFSIZE,260165632,254558208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.031,270.1,1
$GPS,190710,054931,4741.497,-12520.709,86,0.9,86,18.7