version: 66.06
glider: 187
mission: 2
dive: 315
start: 8 30 110 13 14 56
data:
$ID,187
$MISSION,2
$DIVE,315
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,3
$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,540
$T_MISSION,600
$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,1000
$T_WATCHDOG,10
$RELAUNCH,-7
$APOGEE_PITCH,-5
$MAX_BUOY,115
$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,0.0046000001
$HD_B,0.0099999998
$HD_C,1.34e-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,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,-29795.594
$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,2835
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,36
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,2
$ROLL_MIN,236
$ROLL_MAX,3800
$ROLL_DEG,35
$C_ROLL_DIVE,2075
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$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,0.00060000003
$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
$GPS1,130831,4750.293,-12514.718,43,1.0,43,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-77.5
$GPS2,131449,4750.280,-12514.787,12,1.4,12,18.7
$SPEED_LIMITS,0.106,0.196
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$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,80.0,26285,-13.9,-6.111
$D_GRID,381
$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,12,-0.45,-112.4,0.0,0.0,0,72,0.00,0.00,-58.17,0.000,2,0.000,0.000,134,2075,2989,0,0,0,0,0,0
$GC,74,-0.45,-112.4,3.1,-1.8,11,107,10.38,2.03,-15.02,0.000,4,0.240,0.080,2676,3317,3611,0,0,0,0,0,0
$GC,161,-0.43,-112.4,19.4,-16.6,27,166,0.00,1.98,0.00,0.000,6,0.000,0.053,2676,2078,3613,0,0,0,0,0,0
$GC,487,-0.41,-112.4,67.1,-13.0,88,493,0.00,2.03,0.00,0.000,4,0.000,0.067,2667,3310,3614,0,0,0,0,0,0
$GC,530,-0.39,-112.4,72.5,-12.6,96,535,0.10,1.92,0.00,0.000,6,0.130,0.051,2701,2084,3614,0,0,0,0,0,0
$GC,854,-0.39,-112.4,103.5,-8.0,153,857,0.00,1.95,0.00,0.000,4,0.000,0.058,2702,840,3615,0,0,0,0,0,0
$GC,961,-0.39,-112.4,111.7,-7.3,163,964,0.00,1.95,0.00,0.000,6,0.000,0.057,2701,2073,3615,0,0,0,0,0,0
$GC,1281,-0.39,-112.4,135.6,-7.5,194,1285,0.00,2.00,0.00,0.000,4,0.000,0.067,2695,3311,3616,0,0,0,0,0,0
$GC,1323,-0.39,-112.4,138.9,-7.7,198,1327,0.00,1.95,0.00,0.000,6,0.000,0.051,2695,2065,3615,0,0,0,0,0,0
$GC,1645,-0.39,-112.4,166.8,-9.0,229,1645,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2065,3615,0,0,0,0,0,0
$GC,1956,-0.39,-112.4,196.7,-9.9,259,1959,0.00,1.92,0.00,0.000,4,0.000,0.060,2695,835,3615,0,0,0,0,0,0
$GC,1981,-0.39,-112.4,199.4,-10.3,261,1988,0.00,1.95,0.00,0.000,6,0.000,0.058,2695,2072,3615,0,0,0,0,0,0
$GC,2297,-0.39,-112.4,230.0,-9.3,292,2300,0.00,2.00,0.00,0.000,4,0.000,0.067,2692,3312,3615,0,0,0,0,0,0
$GC,2349,-0.39,-112.4,235.1,-9.2,297,2354,0.00,1.90,0.00,0.000,6,0.000,0.052,2692,2094,3615,0,0,0,0,0,0
$GC,2671,-0.39,-112.4,263.3,-8.3,328,2674,0.00,1.95,0.00,0.000,4,0.000,0.058,2691,842,3614,0,0,0,0,0,0
$GC,2703,-0.39,-112.4,266.1,-8.9,331,2706,0.00,1.95,0.00,0.000,6,0.000,0.058,2691,2082,3614,0,0,0,0,0,0
$GC,3023,-0.39,-112.4,291.5,-7.5,362,3027,0.00,1.98,0.00,0.000,4,0.000,0.068,2691,3303,3614,0,0,0,0,0,0
$GC,3065,-0.39,-112.4,294.7,-7.3,366,3069,0.00,1.90,0.00,0.000,6,0.000,0.052,2691,2085,3614,0,0,0,0,0,0
$GC,3387,-0.39,-112.4,319.1,-7.3,397,3390,0.00,1.98,0.00,0.000,4,0.000,0.061,2691,841,3614,0,0,0,0,0,0
$GC,3412,-0.39,-112.4,321.3,-8.8,399,3419,0.00,1.95,0.00,0.000,6,0.000,0.058,2691,2077,3613,0,0,0,0,0,0
$GC,3729,-0.39,-112.4,344.6,-7.4,430,3730,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2078,3613,0,0,0,0,0,0
$GC,4040,-0.39,-112.4,368.1,-7.7,460,4043,0.00,1.98,0.00,0.000,4,0.000,0.069,2691,3314,3613,0,0,0,0,0,0
$GC,4108,-0.40,-112.4,373.4,-7.7,466,4115,0.00,1.90,0.00,0.000,6,0.000,0.054,2691,2095,3613,0,0,0,0,0,0
$STATE,4215,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4215,begin apogee
$GC,4219,-0.14,0.0,381.8,7.8,477,4310,0.30,0.00,89.18,0.834,6,0.127,0.000,2788,1985,3150,0,0,0,0,0,0
$STATE,4311,end apogee,CONTROL_FINISHED_OK
$STATE,4311,begin climb
$GC,4312,0.45,112.4,385.1,0.0,486,4409,0.57,0.00,91.40,0.804,6,0.090,0.000,2979,1985,2690,0,0,0,0,0,0
$GC,4718,0.45,127.5,366.7,5.6,526,4739,0.00,2.10,12.95,0.752,4,0.000,0.064,2979,3239,2629,0,0,0,0,0,0
$GC,4807,0.43,127.5,360.9,6.8,534,4814,0.00,1.98,0.00,0.000,6,0.000,0.053,2985,2016,2628,0,0,0,0,0,0
$GC,5123,0.41,127.5,340.2,6.7,565,5126,0.00,2.00,0.00,0.000,4,0.000,0.066,2985,3243,2627,0,0,0,0,0,0
$GC,5202,0.39,127.5,334.3,7.5,572,5208,0.00,1.92,0.00,0.000,6,0.000,0.054,2988,2032,2626,0,0,0,0,0,0
$GC,5517,0.37,127.5,313.6,6.2,603,5522,0.12,2.03,0.00,0.000,4,0.161,0.064,2960,773,2626,0,0,0,0,0,0
$GC,5561,0.39,154.8,311.4,5.1,607,5592,0.00,2.00,22.85,0.772,6,0.000,0.058,2960,2047,2518,0,0,0,0,0,0
$GC,5901,0.39,166.9,292.3,5.7,640,5916,0.00,1.92,11.30,0.728,4,0.000,0.064,2961,3242,2468,0,0,0,0,0,0
$GC,5964,0.39,166.9,288.5,6.5,645,5970,0.00,1.90,0.00,0.000,6,0.000,0.054,2960,2053,2467,0,0,0,0,0,0
$GC,6280,0.40,183.8,271.3,5.5,676,6300,0.00,2.08,15.05,0.737,4,0.000,0.064,2962,770,2400,0,0,0,0,0,0
$GC,6326,0.43,211.8,268.9,5.1,680,6354,0.00,2.05,24.02,0.739,6,0.000,0.058,2962,2046,2286,0,0,0,0,0,0
$GC,6662,0.46,230.1,249.9,5.4,713,6684,0.00,1.95,16.02,0.724,4,0.000,0.066,2962,3231,2208,0,0,0,0,0,0
$GC,6720,0.47,230.1,246.5,6.6,718,6727,0.00,1.90,0.00,0.000,6,0.000,0.055,2962,2057,2206,0,0,0,0,0,0
$GC,7036,0.51,268.7,230.0,4.7,749,7069,0.10,0.00,31.75,0.729,6,0.109,0.000,3009,2054,2055,0,0,0,0,0,0
$GC,7378,0.51,268.7,205.0,7.1,782,7378,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2054,2048,0,0,0,0,0,0
$GC,7689,0.51,268.7,180.4,8.8,812,7690,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2054,2047,0,0,0,0,0,0
$GC,8000,0.51,268.7,152.4,9.0,842,8003,0.00,1.90,0.00,0.000,4,0.000,0.067,3009,3244,2046,0,0,0,0,0,0
$GC,8020,0.51,268.7,150.3,9.7,844,8024,0.00,1.90,0.00,0.000,6,0.000,0.057,3012,2053,2045,0,0,0,0,0,0
$GC,8340,0.51,268.7,120.6,9.0,875,8345,0.00,2.05,0.00,0.000,4,0.000,0.064,3013,762,2046,0,0,0,0,0,0
$GC,8378,0.51,268.7,117.6,8.4,878,8385,0.00,2.03,0.00,0.000,6,0.000,0.056,3013,2044,2046,0,0,0,0,0,0
$GC,8697,0.51,272.3,94.4,6.0,917,8702,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2044,2045,0,0,0,0,0,0
$GC,9022,0.51,272.3,77.3,6.6,978,9029,0.00,1.92,0.00,0.000,4,0.000,0.066,3013,3236,2045,0,0,0,0,0,0
$GC,9103,0.51,272.3,70.2,9.5,993,9109,0.00,1.88,0.00,0.000,6,0.000,0.054,3013,2044,2044,0,0,0,0,0,0
$GC,9431,0.52,272.3,42.0,7.1,1054,9436,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2043,2045,0,0,0,0,0,0
$GC,9757,0.58,332.5,25.9,3.9,1115,9811,0.00,1.92,50.00,0.615,4,0.000,0.064,3013,3236,1794,0,0,0,0,0,0
$GC,9844,0.63,376.9,22.2,4.5,1131,9889,0.00,1.90,35.80,0.594,6,0.000,0.054,3013,2051,1613,0,0,0,0,0,0
$STATE,10100,end climb,SURFACE_DEPTH_REACHED
$STATE,10100,begin surface coast
$FINISH,1.2,1.014680
$STATE,10134,end surface coast,CONTROL_FINISHED_OK
$STATE,10134,begin surface
$SM_CCo,10207,0.00,0.000,0,0,1602,379.48
$SM_GC,2.04,7.70,0.00,0.00,0.045,0.000,0.000,147,2051,1602,-8.33,-0.68,379.48
$IRIDIUM_FIX,4732.49,-12521.83,241199,090955
$TT8_MAMPS,0.052156
$HUMID,38.73
$INTERNAL_PRESSURE,8.99133
$TCM_TEMP,16.00
$XPDR_PINGS,0
$24V_AH,24.2,35.683
$10V_AH,10.2,32.583
$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,19.275,78.625,400.325,0.000,0.000,28.263,32.370,203.193,0.000,0.000,12.258,0.000,6829.996,462.694,2795.321,469.643,0.000,1451.427,0.000,2424.112,0.000,0.534,0.000
$DEVICE_MAMPS,240.071,89.739,834.496,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,813.653,939.740,1437.947,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298588
$DATA_FILE_SIZE,66418,1185
$CAP_FILE_SIZE,122314,0
$CFSIZE,260165632,235720704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.127,310.4,1
$GPS,300810,160606,4750.512,-12513.482,40,1.1,47,18.7