version: 66.06
glider: 187
mission: 2
dive: 586
start: 9 29 110 17 53 26
data:
$ID,187
$MISSION,2
$DIVE,586
$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,-36202.031
$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,2855
$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,28
$R_STBD_OVSHOOT,26
$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
$GPS1,173927,4749.200,-12516.230,57,3.7,76,18.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-76.5
$GPS2,175320,4749.079,-12516.224,14,1.5,14,18.7
$SPEED_LIMITS,0.106,0.196
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$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,245.5,159508,-13.9,-6.111
$D_GRID,514
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.45,-112.4,0.0,0.0,0,69,0.00,0.00,-53.97,0.000,2,0.000,0.000,131,2049,3001,0,0,0,0,0,0
$GC,71,-0.45,-112.4,3.1,-2.3,10,100,10.55,2.03,-13.50,0.000,4,0.234,0.073,2693,3314,3610,0,0,0,0,0,0
$GC,206,-0.45,-112.4,25.7,-9.9,35,212,0.00,1.98,0.00,0.000,6,0.000,0.047,2693,2071,3612,0,0,0,0,0,0
$GC,533,-0.44,-112.4,60.0,-8.4,96,539,0.00,2.05,0.00,0.000,4,0.000,0.065,2684,3305,3614,0,0,0,0,0,0
$GC,555,-0.44,-112.4,61.9,-7.9,100,560,0.00,1.95,0.00,0.000,6,0.000,0.050,2684,2078,3614,0,0,0,0,0,0
$GC,882,-0.43,-112.4,89.3,-8.2,161,889,0.12,1.98,0.00,0.000,4,0.152,0.057,2719,847,3614,0,0,0,0,0,0
$GC,911,-0.43,-112.4,91.3,-7.5,166,916,0.00,2.00,0.00,0.000,6,0.000,0.054,2719,2104,3614,0,0,0,0,0,0
$GC,1230,-0.44,-112.4,112.9,-6.7,209,1234,0.00,1.95,0.00,0.000,4,0.000,0.064,2717,3314,3614,0,0,0,0,0,0
$GC,1383,-0.47,-112.4,122.2,-5.9,223,1386,0.00,1.83,0.00,0.000,6,0.000,0.048,2717,2132,3614,0,0,0,0,0,0
$GC,1703,-0.48,-112.4,143.0,-6.6,254,1706,0.00,2.08,0.00,0.000,4,0.000,0.057,2717,842,3614,0,0,0,0,0,0
$GC,1745,-0.50,-112.4,145.9,-6.7,258,1749,0.00,2.08,0.00,0.000,6,0.000,0.055,2717,2144,3614,0,0,0,0,0,0
$GC,2067,-0.52,-112.4,165.8,-6.1,289,2070,0.00,1.88,0.00,0.000,4,0.000,0.066,2717,3308,3613,0,0,0,0,0,0
$GC,2136,-0.54,-112.4,170.1,-5.8,295,2141,0.12,1.80,0.00,0.000,6,0.093,0.050,2653,2149,3613,0,0,0,0,0,0
$GC,2451,-0.53,-112.4,199.0,-9.1,326,2452,0.10,0.00,0.00,0.000,6,0.166,0.000,2681,2148,3612,0,0,0,0,0,0
$GC,2761,-0.53,-112.4,222.0,-7.7,356,2764,0.00,1.92,0.00,0.000,4,0.000,0.067,2674,3314,3611,0,0,0,0,0,0
$GC,2792,-0.53,-112.4,224.6,-8.1,359,2796,0.00,1.83,0.00,0.000,6,0.000,0.051,2674,2160,3612,0,0,0,0,0,0
$GC,3113,-0.53,-112.4,250.6,-8.1,390,3117,0.00,1.90,0.00,0.000,4,0.000,0.066,2667,3309,3611,0,0,0,0,0,0
$GC,3157,-0.53,-112.4,253.9,-7.8,394,3160,0.00,1.80,0.00,0.000,6,0.000,0.050,2666,2166,3611,0,0,0,0,0,0
$GC,3477,-0.53,-112.4,280.1,-8.1,425,3481,0.00,1.88,0.00,0.000,4,0.000,0.066,2659,3308,3611,0,0,0,0,0,0
$GC,3514,-0.53,-112.4,283.3,-8.7,428,3519,0.00,1.80,0.00,0.000,6,0.000,0.051,2659,2169,3611,0,0,0,0,0,0
$GC,3829,-0.52,-112.4,311.4,-9.0,459,3830,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2169,3610,0,0,0,0,0,0
$GC,4142,-0.51,-112.4,341.0,-9.5,489,4145,0.12,1.88,0.00,0.000,4,0.153,0.066,2689,3306,3609,0,0,0,0,0,0
$GC,4184,-0.52,-112.4,344.8,-7.9,493,4187,0.00,1.77,0.00,0.000,6,0.000,0.051,2689,2167,3609,0,0,0,0,0,0
$GC,4504,-0.52,-112.4,370.6,-8.1,524,4508,0.00,1.85,0.00,0.000,4,0.000,0.067,2686,3302,3609,0,0,0,0,0,0
$GC,4536,-0.52,-112.4,373.1,-7.9,527,4540,0.00,1.77,0.00,0.000,6,0.000,0.051,2686,2178,3609,0,0,0,0,0,0
$GC,4857,-0.52,-112.4,398.9,-7.8,558,4858,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2177,3609,0,0,0,0,0,0
$GC,5169,-0.52,-112.4,423.4,-7.8,588,5171,0.00,1.83,0.00,0.000,4,0.000,0.067,2679,3307,3608,0,0,0,0,0,0
$GC,5189,-0.52,-112.4,425.1,-7.8,590,5192,0.00,1.77,0.00,0.000,6,0.000,0.052,2678,2183,3608,0,0,0,0,0,0
$GC,5509,-0.52,-112.4,450.7,-8.0,621,5514,0.00,1.85,0.00,0.000,4,0.000,0.067,2673,3299,3607,0,0,0,0,0,0
$GC,5586,-0.52,-112.4,456.7,-7.7,628,5589,0.00,1.73,0.00,0.000,6,0.000,0.053,2673,2191,3607,0,0,0,0,0,0
$GC,5906,-0.52,-112.4,483.4,-7.7,659,5909,0.00,1.85,0.00,0.000,4,0.000,0.068,2671,3306,3607,0,0,0,0,0,0
$GC,5953,-0.52,-112.4,487.3,-7.8,663,5960,0.00,1.75,0.00,0.000,6,0.000,0.051,2671,2198,3606,0,0,0,0,0,0
$GC,6270,-0.52,-112.4,511.7,-7.9,694,6273,0.00,2.15,0.00,0.000,4,0.000,0.059,2671,838,3606,0,0,0,0,0,0
$GC,6291,-0.52,-112.4,513.4,-8.2,696,6294,0.00,2.17,0.00,0.000,6,0.000,0.059,2665,2203,3606,0,0,0,0,0,0
$STATE,6304,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6304,begin apogee
$GC,6310,-0.14,0.0,514.7,8.4,697,6407,0.45,0.00,91.60,0.917,6,0.117,0.000,2811,1994,3149,0,0,0,0,0,0
$STATE,6407,end apogee,CONTROL_FINISHED_OK
$STATE,6407,begin climb
$GC,6409,0.45,112.4,518.1,0.0,707,6510,0.52,2.08,93.88,0.888,4,0.072,0.059,3009,764,2690,0,0,0,0,0,0
$GC,6638,0.43,116.6,511.6,6.0,728,6648,0.00,2.03,4.55,0.611,6,0.000,0.055,3009,1998,2673,0,0,0,0,0,0
$GC,6958,0.41,116.6,490.9,6.8,759,6962,0.00,2.05,0.00,0.000,4,0.000,0.064,3009,3235,2672,0,0,0,0,0,0
$GC,7066,0.38,116.6,482.3,8.4,769,7069,0.15,1.95,0.00,0.000,6,0.156,0.053,2977,2010,2671,0,0,0,0,0,0
$GC,7386,0.40,150.9,465.3,4.9,800,7420,0.00,2.08,28.90,0.861,4,0.000,0.065,2977,3239,2534,0,0,0,0,0,0
$GC,7528,0.40,150.9,456.6,6.9,813,7534,0.00,1.98,0.00,0.000,6,0.000,0.053,2979,2021,2531,0,0,0,0,0,0
$GC,7844,0.41,181.9,439.7,5.0,844,7875,0.00,1.98,27.05,0.848,4,0.000,0.064,2979,3232,2407,0,0,0,0,0,0
$GC,7928,0.41,181.9,434.8,6.6,852,7931,0.00,1.95,0.00,0.000,6,0.000,0.054,2985,2005,2404,0,0,0,0,0,0
$GC,8249,0.41,181.9,416.0,6.3,883,8250,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2005,2403,0,0,0,0,0,0
$GC,8562,0.41,181.9,395.6,6.5,913,8565,0.00,2.03,0.00,0.000,4,0.000,0.066,2985,3238,2402,0,0,0,0,0,0
$GC,8614,0.41,181.9,391.6,7.1,918,8618,0.00,1.92,0.00,0.000,6,0.000,0.054,2986,2042,2402,0,0,0,0,0,0
$GC,8936,0.41,181.9,370.6,7.1,949,8936,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2042,2402,0,0,0,0,0,0
$GC,9247,0.41,181.9,350.3,6.1,979,9250,0.00,1.95,0.00,0.000,4,0.000,0.066,2986,3235,2401,0,0,0,0,0,0
$GC,9300,0.41,181.9,346.6,7.0,984,9303,0.00,1.92,0.00,0.000,6,0.000,0.054,2986,2037,2400,0,0,0,0,0,0
$GC,9621,0.42,189.8,327.7,5.8,1015,9633,0.00,2.08,6.97,0.695,4,0.000,0.064,2986,758,2376,0,0,0,0,0,0
$GC,9654,0.43,213.8,325.9,5.2,1018,9679,0.00,2.03,21.58,0.779,6,0.000,0.057,2986,2047,2278,0,0,0,0,0,0
$GC,9989,0.45,233.9,306.6,5.4,1050,10011,0.00,1.98,17.42,0.761,4,0.000,0.064,2986,3239,2196,0,0,0,0,0,0
$GC,10054,0.45,233.9,302.2,7.1,1056,10057,0.00,1.90,0.00,0.000,6,0.000,0.054,2986,2048,2193,0,0,0,0,0,0
$GC,10375,0.45,233.9,281.5,6.6,1087,10378,0.00,2.05,0.00,0.000,4,0.000,0.064,2986,766,2193,0,0,0,0,0,0
$GC,10423,0.46,233.9,278.3,7.0,1091,10429,0.00,2.03,0.00,0.000,6,0.000,0.056,2986,2047,2192,0,0,0,0,0,0
$GC,10737,0.46,233.9,255.9,7.3,1122,10741,0.00,1.95,0.00,0.000,4,0.000,0.064,2986,3230,2192,0,0,0,0,0,0
$GC,10775,0.46,233.9,253.0,8.3,1125,10781,0.00,1.90,0.00,0.000,6,0.000,0.054,2987,2045,2191,0,0,0,0,0,0
$GC,11091,0.46,233.9,229.4,7.7,1156,11093,0.00,2.08,0.00,0.000,4,0.000,0.064,2986,756,2191,0,0,0,0,0,0
$GC,11132,0.48,233.9,226.4,7.1,1160,11136,0.00,2.05,0.00,0.000,6,0.000,0.056,2986,2043,2191,0,0,0,0,0,0
$GC,11453,0.49,233.9,202.3,7.3,1191,11457,0.00,1.98,0.00,0.000,4,0.000,0.065,2986,3243,2191,0,0,0,0,0,0
$GC,11485,0.49,233.9,200.0,7.9,1194,11489,0.00,1.92,0.00,0.000,6,0.000,0.054,2986,2038,2190,0,0,0,0,0,0
$GC,11806,0.49,233.9,179.2,6.2,1225,11809,0.00,2.03,0.00,0.000,4,0.000,0.063,2986,759,2191,0,0,0,0,0,0
$GC,11843,0.51,241.5,177.2,5.8,1228,11854,0.00,2.03,7.40,0.630,6,0.000,0.056,2986,2034,2165,0,0,0,0,0,0
$GC,12163,0.52,241.5,157.1,6.5,1259,12164,0.10,0.00,0.00,0.000,6,0.109,0.000,3035,2034,2164,0,0,0,0,0,0
$GC,12474,0.51,241.5,129.4,9.0,1289,12477,0.00,1.95,0.00,0.000,4,0.000,0.064,3035,3226,2164,0,0,0,0,0,0
$GC,12516,0.50,241.5,125.1,10.1,1293,12520,0.00,1.90,0.00,0.000,6,0.000,0.054,3041,2034,2163,0,0,0,0,0,0
$GC,12834,0.48,241.5,94.8,9.1,1328,12839,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2033,2163,0,0,0,0,0,0
$GC,13160,0.48,241.5,68.3,7.5,1389,13166,0.00,1.95,0.00,0.000,4,0.000,0.063,3041,3222,2163,0,0,0,0,0,0
$GC,13182,0.48,241.5,66.5,7.7,1393,13188,0.00,1.90,0.00,0.000,6,0.000,0.054,3041,2034,2162,0,0,0,0,0,0
$GC,13509,0.48,241.5,42.9,6.2,1454,13514,0.00,1.98,0.00,0.000,4,0.000,0.064,3041,3233,2162,0,0,0,0,0,0
$GC,13568,0.48,241.5,38.5,7.5,1465,13573,0.00,1.92,0.00,0.000,6,0.000,0.054,3042,2028,2162,0,0,0,0,0,0
$GC,13895,0.49,253.7,20.2,5.7,1526,13912,0.00,1.95,11.48,0.586,4,0.000,0.064,3042,3226,2113,0,0,0,0,0,0
$GC,13929,0.49,253.7,17.9,6.4,1532,13934,0.00,1.88,0.00,0.000,6,0.000,0.054,3042,2051,2112,0,0,0,0,0,0
$GC,14256,0.56,337.1,6.5,3.1,1593,14328,0.00,2.00,66.95,0.593,4,0.000,0.064,3042,3234,1774,0,0,0,0,0,0
$STATE,14349,end climb,SURFACE_DEPTH_REACHED
$STATE,14349,begin surface coast
$FINISH,1.0,1.009523
$STATE,14427,end surface coast,CONTROL_FINISHED_OK
$STATE,14427,begin surface
$SM_CCo,14445,7.80,0.087,1,0,1723,350.04
$SM_GC,3.18,0.00,0.00,7.80,0.000,0.000,0.087,136,2072,1723,-8.50,-0.06,350.04
$IRIDIUM_FIX,4729.30,-12517.37,241299,171734
$TT8_MAMPS,0.05369
$HUMID,41.65
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,16.70
$XPDR_PINGS,0
$24V_AH,23.6,60.571
$10V_AH,10.0,58.649
$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,20.025,128.600,377.775,7.800,0.000,88.625,154.034,310.119,0.000,0.000,14.383,0.000,9996.621,458.511,3873.672,931.877,0.000,1806.499,0.000,3333.740,0.000,0.533,0.000
$DEVICE_MAMPS,233.935,72.865,916.565,86.671,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1171.594,1077.427,1840.141,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298564
$DATA_FILE_SIZE,88368,1625
$CAP_FILE_SIZE,177983,0
$CFSIZE,260165632,219615232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.124, 99.3,1
$GPS,290910,215701,4748.820,-12517.191,136,0.9,136,18.7