version: 66.06
glider: 187
mission: 2
dive: 673
start: 10 14 110 6 18 32
data:
$ID,187
$MISSION,2
$DIVE,673
$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,300
$T_MISSION,480
$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,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,0.0046000001
$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,-38254.555
$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,34
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,350
$ALTIM_PING_DELTA,25
$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
$GPS1,060930,4755.079,-12528.317,36,1.0,42,18.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-73.1
$GPS2,061826,4754.972,-12528.343,14,1.8,14,18.8
$SPEED_LIMITS,0.191,0.307
$TGT_NAME,PATCH
$TGT_LATLONG,4743.200,-12556.100
$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,216.9,40881,-17.4,-11.000
$D_GRID,456
$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,13,-0.60,-195.5,0.0,0.0,0,114,0.00,0.00,-98.85,0.000,2,0.000,0.000,131,2082,3082,0,0,0,0,0,0
$GC,117,-0.60,-195.5,3.3,-5.0,19,150,10.23,1.98,-17.60,0.000,4,0.232,0.071,2651,834,3949,0,0,0,0,0,0
$GC,231,-0.61,-195.5,30.4,-15.9,40,236,0.00,1.98,0.00,0.000,6,0.000,0.056,2646,2065,3951,0,0,0,0,0,0
$GC,556,-0.61,-195.5,73.0,-12.1,101,563,0.00,2.00,0.00,0.000,4,0.000,0.064,2636,3308,3951,0,0,0,0,0,0
$GC,798,-0.63,-195.5,101.9,-12.0,145,804,0.00,1.90,0.00,0.000,6,0.000,0.047,2635,2099,3952,0,0,0,0,0,0
$GC,1113,-0.63,-195.5,139.2,-11.1,176,1117,0.00,1.98,0.00,0.000,4,0.000,0.063,2627,3307,3952,0,0,0,0,0,0
$GC,1135,-0.63,-195.5,141.6,-11.8,178,1138,0.00,1.88,0.00,0.000,6,0.000,0.050,2627,2099,3951,0,0,0,0,0,0
$GC,1455,-0.63,-195.5,181.2,-12.3,209,1459,0.00,1.98,0.00,0.000,4,0.000,0.064,2620,3308,3952,0,0,0,0,0,0
$GC,1525,-0.64,-195.5,190.0,-12.2,215,1530,0.00,1.85,0.00,0.000,6,0.000,0.050,2619,2115,3951,0,0,0,0,0,0
$GC,1840,-0.64,-195.5,231.6,-13.5,246,1843,0.00,1.95,0.00,0.000,4,0.000,0.064,2611,3306,3951,0,0,0,0,0,0
$GC,1877,-0.64,-195.5,236.5,-13.2,249,1884,0.10,1.88,0.00,0.000,6,0.118,0.051,2646,2116,3951,0,0,0,0,0,0
$GC,2193,-0.66,-195.5,270.6,-10.7,280,2194,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2115,3950,0,0,0,0,0,0
$GC,2507,-0.67,-195.5,304.1,-11.3,310,2509,0.00,1.95,0.00,0.000,4,0.000,0.066,2640,3316,3949,0,0,0,0,0,0
$GC,2570,-0.70,-195.5,311.8,-11.2,316,2574,0.00,1.88,0.00,0.000,6,0.000,0.051,2639,2126,3949,0,0,0,0,0,0
$GC,2891,-0.71,-195.5,348.5,-10.3,347,2892,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2125,3949,0,0,0,0,0,0
$GC,3201,-0.73,-195.5,380.5,-10.3,377,3204,0.00,1.92,0.00,0.000,4,0.000,0.067,2635,3307,3948,0,0,0,0,0,0
$GC,3233,-0.75,-195.5,383.7,-10.0,380,3236,0.00,1.88,0.00,0.000,6,0.000,0.052,2635,2122,3948,0,0,0,0,0,0
$GC,3554,-0.76,-195.5,416.9,-9.7,411,3554,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2122,3948,0,0,0,0,0,0
$GC,3866,-0.78,-195.5,448.8,-10.8,441,3869,0.00,1.95,0.00,0.000,4,0.000,0.068,2627,3315,3947,0,0,0,0,0,0
$GC,3919,-0.80,-195.5,454.6,-10.7,446,3922,0.00,1.85,0.00,0.000,6,0.000,0.052,2627,2133,3947,0,0,0,0,0,0
$STATE,3937,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3938,begin apogee
$GC,3943,-0.14,0.0,456.7,10.0,448,4104,0.55,0.00,158.95,0.874,6,0.114,0.000,2808,1992,3150,0,0,0,0,0,0
$STATE,4107,end apogee,CONTROL_FINISHED_OK
$STATE,4107,begin climb
$GC,4109,0.60,195.5,464.8,0.0,464,4281,0.65,2.17,163.48,0.844,4,0.057,0.059,3058,767,2353,0,0,0,0,0,0
$GC,4309,0.58,195.5,457.7,11.0,483,4313,0.00,2.08,0.00,0.000,6,0.000,0.053,3058,2003,2350,0,0,0,0,0,0
$GC,4625,0.57,211.3,423.9,10.4,513,4645,0.00,2.03,13.73,0.769,4,0.000,0.062,3057,3227,2287,0,0,0,0,0,0
$GC,4763,0.55,211.3,406.6,11.8,526,4766,0.12,1.92,0.00,0.000,6,0.164,0.053,3035,2022,2285,0,0,0,0,0,0
$GC,5084,0.55,221.7,373.9,10.6,557,5097,0.00,2.00,9.90,0.735,4,0.000,0.063,3042,764,2246,0,0,0,0,0,0
$GC,5130,0.55,223.7,368.9,10.9,561,5136,0.00,2.00,0.00,0.000,6,0.000,0.054,3042,2018,2245,0,0,0,0,0,0
$GC,5447,0.56,232.1,335.1,10.7,592,5461,0.00,1.92,10.18,0.729,4,0.000,0.062,3042,3233,2203,0,0,0,0,0,0
$GC,5510,0.55,232.1,327.9,11.6,597,5516,0.00,1.95,0.00,0.000,6,0.000,0.053,3049,2018,2201,0,0,0,0,0,0
$GC,5826,0.56,261.1,295.7,9.9,628,5857,0.00,2.03,24.92,0.764,4,0.000,0.064,3050,3234,2085,0,0,0,0,0,0
$GC,5909,0.56,261.1,286.5,11.8,636,5913,0.00,1.95,0.00,0.000,6,0.000,0.053,3056,2026,2081,0,0,0,0,0,0
$GC,6231,0.58,295.1,252.8,9.7,667,6262,0.00,0.00,29.27,0.739,6,0.000,0.000,3056,2026,1946,0,0,0,0,0,0
$GC,6572,0.60,317.0,219.2,10.2,700,6592,0.00,0.00,19.08,0.706,6,0.000,0.000,3056,2025,1857,0,0,0,0,0,0
$GC,6901,0.60,317.0,182.8,11.4,732,6902,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2026,1853,0,0,0,0,0,0
$GC,7214,0.60,328.9,148.8,10.6,762,7226,0.00,0.00,10.62,0.643,6,0.000,0.000,3056,2025,1808,0,0,0,0,0,0
$GC,7533,0.62,353.9,115.2,10.1,793,7563,0.00,2.08,21.92,0.654,4,0.000,0.063,3065,766,1707,0,0,0,0,0,0
$GC,7596,0.64,369.6,109.1,10.4,799,7617,0.00,2.03,14.27,0.625,6,0.000,0.055,3065,2050,1642,0,0,0,0,0,0
$GC,7936,0.65,369.6,75.4,11.1,854,7941,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2050,1638,0,0,0,0,0,0
$GC,8263,0.70,407.6,46.6,9.6,915,8302,0.00,1.95,31.38,0.616,4,0.000,0.063,3065,3233,1487,0,0,0,0,0,0
$GC,8346,0.75,441.4,38.4,9.7,930,8379,0.00,1.95,28.73,0.599,6,0.000,0.054,3067,2025,1349,0,0,0,0,0,0
$GC,8700,0.89,563.3,15.0,6.4,996,8806,0.20,2.05,97.25,0.585,4,0.084,0.061,3146,765,851,0,0,0,0,0,0
$STATE,8841,end climb,SURFACE_DEPTH_REACHED
$STATE,8841,begin surface coast
$FINISH,1.1,1.024044
$STATE,8873,end surface coast,CONTROL_FINISHED_OK
$STATE,8873,begin surface
$SM_CCo,8951,0.00,0.000,0,0,844,565.66
$SM_GC,1.94,8.07,0.00,0.00,0.042,0.000,0.000,137,2077,844,-8.41,0.06,565.66
$IRIDIUM_FIX,4735.69,-12532.63,080100,060629
$TT8_MAMPS,0.05369
$HUMID,41.88
$INTERNAL_PRESSURE,8.9718
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,350.6,124.3
$24V_AH,23.0,71.535
$10V_AH,9.8,69.277
$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,19.925,63.225,633.675,0.000,0.000,56.237,113.868,175.072,0.500,0.000,14.893,0.000,5800.736,600.424,2453.828,611.230,0.000,1543.422,0.000,2117.094,0.000,5.741,0.000
$DEVICE_MAMPS,231.634,78.234,873.613,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,707.326,741.556,1234.798,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298424
$DATA_FILE_SIZE,57088,1028
$CAP_FILE_SIZE,110075,0
$CFSIZE,260165632,212852736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.032, 72.5,1
$GPS,141010,084834,4754.511,-12529.940,11,2.3,31,18.8