version: 66.06
glider: 187
mission: 2
dive: 674
start: 10 14 110 9 4 46
data:
$ID,187
$MISSION,2
$DIVE,674
$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,-38273.363
$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,25
$R_STBD_OVSHOOT,22
$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
$GPS1,084834,4754.511,-12529.940,11,2.3,31,18.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-73.5
$GPS2,090438,4754.406,-12530.097,16,1.3,16,18.8
$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,220.1,38474,-17.4,-11.000
$D_GRID,441
$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,-0.60,-195.5,0.0,0.0,0,107,0.00,0.00,-92.75,0.000,2,0.000,0.000,131,2075,3063,0,0,0,0,0,0
$GC,110,-0.60,-195.5,3.5,-5.7,18,144,10.18,1.98,-17.95,0.000,4,0.229,0.075,2647,3313,3949,0,0,0,0,0,0
$GC,282,-0.60,-195.5,36.2,-13.8,50,288,0.00,1.98,0.00,0.000,6,0.000,0.048,2647,2064,3950,0,0,0,0,0,0
$GC,609,-0.60,-195.5,80.2,-12.1,111,614,0.00,2.05,0.00,0.000,4,0.000,0.064,2638,3310,3951,0,0,0,0,0,0
$GC,685,-0.62,-195.5,88.9,-11.9,125,691,0.00,1.95,0.00,0.000,6,0.000,0.049,2638,2075,3951,0,0,0,0,0,0
$GC,1008,-0.63,-195.5,128.6,-10.9,164,1011,0.00,2.03,0.00,0.000,4,0.000,0.063,2630,3312,3951,0,0,0,0,0,0
$GC,1078,-0.65,-195.5,136.2,-10.6,170,1084,0.00,1.92,0.00,0.000,6,0.000,0.048,2630,2075,3951,0,0,0,0,0,0
$GC,1394,-0.65,-195.5,173.4,-12.1,201,1397,0.00,2.00,0.00,0.000,4,0.000,0.064,2622,3313,3951,0,0,0,0,0,0
$GC,1473,-0.67,-195.5,182.8,-11.8,208,1479,0.00,1.90,0.00,0.000,6,0.000,0.048,2621,2101,3951,0,0,0,0,0,0
$GC,1789,-0.67,-195.5,220.3,-12.2,239,1792,0.00,1.98,0.00,0.000,4,0.000,0.064,2614,3324,3950,0,0,0,0,0,0
$GC,1815,-0.67,-195.5,223.7,-12.8,241,1820,0.00,1.92,0.00,0.000,6,0.000,0.051,2614,2105,3950,0,0,0,0,0,0
$GC,2130,-0.67,-195.5,265.3,-13.2,272,2134,0.00,1.98,0.00,0.000,4,0.000,0.065,2605,3309,3949,0,0,0,0,0,0
$GC,2185,-0.67,-195.5,272.1,-12.3,277,2189,0.12,1.88,0.00,0.000,6,0.143,0.050,2641,2105,3949,0,0,0,0,0,0
$GC,2506,-0.68,-195.5,304.0,-8.6,308,2509,0.00,1.95,0.00,0.000,4,0.000,0.065,2634,3305,3948,0,0,0,0,0,0
$GC,2560,-0.71,-195.5,308.4,-8.3,313,2563,0.00,1.85,0.00,0.000,6,0.000,0.051,2634,2116,3948,0,0,0,0,0,0
$GC,2881,-0.73,-195.5,338.7,-9.7,344,2884,0.00,2.00,0.00,0.000,4,0.000,0.058,2634,850,3947,0,0,0,0,0,0
$GC,2907,-0.74,-195.5,341.5,-11.0,346,2912,0.00,1.98,0.00,0.000,6,0.000,0.056,2628,2114,3947,0,0,0,0,0,0
$GC,3222,-0.76,-195.5,377.9,-11.9,377,3226,0.00,1.92,0.00,0.000,4,0.000,0.066,2619,3309,3946,0,0,0,0,0,0
$GC,3303,-0.78,-195.5,387.5,-11.1,384,3309,0.00,1.88,0.00,0.000,6,0.000,0.050,2619,2117,3946,0,0,0,0,0,0
$GC,3620,-0.79,-195.5,423.6,-11.5,415,3620,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2117,3945,0,0,0,0,0,0
$STATE,3781,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3781,begin apogee
$GC,3786,-0.14,0.0,441.8,11.1,431,3947,0.57,0.00,157.90,0.864,6,0.112,0.000,2809,1987,3150,0,0,0,0,0,0
$STATE,3950,end apogee,CONTROL_FINISHED_OK
$STATE,3950,begin climb
$GC,3952,0.60,195.5,448.9,0.0,447,4119,0.65,0.00,163.43,0.832,6,0.062,0.000,3046,1987,2354,0,0,0,0,0,0
$GC,4430,0.59,197.8,412.8,10.9,493,4433,0.00,2.03,0.00,0.000,4,0.000,0.058,3047,3234,2346,0,0,0,0,0,0
$GC,4466,0.56,197.8,408.4,11.5,496,4472,0.00,1.98,0.00,0.000,6,0.000,0.053,3055,2010,2345,0,0,0,0,0,0
$GC,4781,0.54,197.8,372.2,11.0,527,4782,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2010,2345,0,0,0,0,0,0
$GC,5094,0.54,221.7,339.6,10.1,557,5119,0.00,1.98,21.67,0.779,4,0.000,0.061,3055,3233,2246,0,0,0,0,0,0
$GC,5215,0.52,221.7,325.1,12.1,568,5219,0.15,1.95,0.00,0.000,6,0.159,0.053,3023,2008,2242,0,0,0,0,0,0
$GC,5531,0.55,283.2,296.7,8.7,598,5584,0.00,0.00,51.20,0.772,6,0.000,0.000,3023,2007,1995,0,0,0,0,0,0
$GC,5892,0.60,344.2,265.5,8.7,633,5944,0.00,0.00,50.88,0.749,6,0.000,0.000,3023,2007,1746,0,0,0,0,0,0
$GC,6252,0.65,379.2,232.8,9.7,668,6287,0.12,2.08,28.90,0.719,4,0.094,0.064,3087,767,1604,0,0,0,0,0,0
$GC,6333,0.65,379.2,222.2,14.5,675,6338,0.00,2.00,0.00,0.000,6,0.000,0.054,3087,2005,1601,0,0,0,0,0,0
$GC,6649,0.65,379.2,175.8,13.8,706,6652,0.00,2.00,0.00,0.000,4,0.000,0.063,3088,3239,1597,0,0,0,0,0,0
$GC,6674,0.65,379.2,172.1,14.1,708,6682,0.08,2.00,0.00,0.000,6,0.137,0.054,3068,1999,1596,0,0,0,0,0,0
$GC,6990,0.65,379.2,134.0,11.5,739,6993,0.00,1.98,0.00,0.000,4,0.000,0.064,3075,757,1596,0,0,0,0,0,0
$GC,7049,0.66,379.2,127.1,11.4,744,7056,0.00,1.95,0.00,0.000,6,0.000,0.054,3075,1988,1596,0,0,0,0,0,0
$GC,7367,0.66,379.2,90.5,13.0,781,7372,0.00,2.00,0.00,0.000,4,0.000,0.063,3075,3229,1595,0,0,0,0,0,0
$GC,7394,0.66,379.2,86.9,13.7,786,7399,0.00,1.98,0.00,0.000,6,0.000,0.055,3082,1995,1594,0,0,0,0,0,0
$GC,7720,0.68,404.9,51.6,10.0,847,7748,0.00,2.00,21.23,0.618,4,0.000,0.064,3086,765,1498,0,0,0,0,0,0
$GC,7814,0.71,419.3,42.3,10.5,864,7832,0.00,1.92,13.50,0.591,6,0.000,0.055,3085,1975,1440,0,0,0,0,0,0
$GC,8155,0.79,491.5,13.2,8.3,927,8217,0.00,0.00,58.25,0.595,6,0.000,0.000,3085,1976,1146,0,0,0,0,0,0
$STATE,8300,end climb,SURFACE_DEPTH_REACHED
$STATE,8300,begin surface coast
$FINISH,1.0,1.013016
$STATE,8348,end surface coast,CONTROL_FINISHED_OK
$STATE,8348,begin surface
$SM_CCo,8425,0.00,0.000,0,0,1137,493.79
$SM_GC,1.79,7.80,0.00,0.00,0.039,0.000,0.000,138,2084,1137,-8.40,0.28,493.79
$IRIDIUM_FIX,4735.69,-12523.69,080100,090914
$TT8_MAMPS,0.052923
$HUMID,43.26
$INTERNAL_PRESSURE,9.0011
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,375.4,95.1
$24V_AH,23.1,71.691
$10V_AH,9.8,69.372
$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,19.675,63.275,566.950,0.000,0.000,113.060,231.975,286.129,1.000,0.000,18.181,0.000,5589.094,559.857,2311.603,906.271,0.000,1438.090,0.000,1984.156,0.000,10.658,0.000
$DEVICE_MAMPS,228.566,88.205,863.642,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,666.882,684.189,1148.759,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298392
$DATA_FILE_SIZE,53898,963
$CAP_FILE_SIZE,108741,0
$CFSIZE,260165632,212795392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.062,  2.3,1
$GPS,141010,112604,4754.195,-12531.981,14,5.7,33,18.8