version: 66.06
glider: 187
mission: 2
dive: 675
start: 10 14 110 11 35 7
data:
$ID,187
$MISSION,2
$DIVE,675
$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,-38291.41
$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,24
$R_STBD_OVSHOOT,38
$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
$GPS1,112604,4754.195,-12531.981,14,5.7,33,18.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-73.7
$GPS2,113501,4754.198,-12532.048,12,2.0,17,18.8
$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,207.7,36233,-17.4,-11.000
$D_GRID,315
$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,-195.5,0.0,0.0,0,97,0.00,0.00,-82.40,0.000,2,0.000,0.000,131,2083,3065,0,0,0,0,0,0
$GC,100,-0.60,-195.5,3.3,-3.7,15,134,10.23,1.95,-18.17,0.000,4,0.229,0.074,2649,3302,3949,0,0,0,0,0,0
$GC,214,-0.60,-195.5,26.7,-12.9,36,219,0.00,1.95,0.00,0.000,6,0.000,0.048,2648,2069,3951,0,0,0,0,0,0
$GC,540,-0.60,-195.5,72.7,-15.0,97,547,0.00,2.03,0.00,0.000,4,0.000,0.064,2640,3294,3952,0,0,0,0,0,0
$GC,601,-0.61,-195.5,80.6,-12.8,108,606,0.00,1.92,0.00,0.000,6,0.000,0.049,2639,2074,3952,0,0,0,0,0,0
$GC,922,-0.62,-195.5,117.3,-12.7,155,923,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2072,3952,0,0,0,0,0,0
$GC,1235,-0.64,-195.5,153.6,-11.0,185,1238,0.00,1.98,0.00,0.000,4,0.000,0.063,2631,3308,3952,0,0,0,0,0,0
$GC,1353,-0.66,-195.5,167.0,-11.5,196,1355,0.00,1.90,0.00,0.000,6,0.000,0.049,2631,2074,3952,0,0,0,0,0,0
$GC,1673,-0.67,-195.5,204.3,-11.5,227,1676,0.00,2.00,0.00,0.000,4,0.000,0.064,2624,3294,3952,0,0,0,0,0,0
$GC,1736,-0.69,-195.5,211.6,-11.3,233,1740,0.00,1.90,0.00,0.000,6,0.000,0.050,2624,2084,3952,0,0,0,0,0,0
$GC,2057,-0.69,-195.5,251.3,-12.9,264,2061,0.00,2.00,0.00,0.000,4,0.000,0.065,2615,3298,3952,0,0,0,0,0,0
$GC,2110,-0.71,-195.5,257.8,-11.5,269,2114,0.00,1.90,0.00,0.000,6,0.000,0.051,2615,2096,3952,0,0,0,0,0,0
$GC,2431,-0.71,-195.5,297.7,-12.1,300,2435,0.00,1.98,0.00,0.000,4,0.000,0.065,2607,3298,3951,0,0,0,0,0,0
$GC,2474,-0.72,-195.5,302.6,-11.0,304,2477,0.00,1.85,0.00,0.000,6,0.000,0.051,2607,2096,3951,0,0,0,0,0,0
$STATE,2575,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2575,begin apogee
$GC,2581,-0.14,0.0,315.4,12.6,314,2740,0.62,0.00,156.27,0.779,6,0.117,0.000,2811,1983,3150,0,0,0,0,0,0
$STATE,2742,end apogee,CONTROL_FINISHED_OK
$STATE,2742,begin climb
$GC,2744,0.60,195.5,323.6,0.0,330,2908,0.65,0.00,159.50,0.751,6,0.057,0.000,3053,1983,2352,0,0,0,0,0,0
$GC,3218,0.59,199.0,288.5,10.9,376,3221,0.00,2.05,0.00,0.000,4,0.000,0.061,3054,3223,2346,0,0,0,0,0,0
$GC,3259,0.56,199.0,283.4,12.4,380,3270,0.00,1.95,3.60,0.448,6,0.000,0.051,3061,2012,2337,0,0,0,0,0,0
$GC,3581,0.54,199.0,246.8,11.4,411,3584,0.00,1.98,0.00,0.000,4,0.000,0.062,3062,3215,2337,0,0,0,0,0,0
$GC,3628,0.52,199.0,241.1,12.1,415,3633,0.12,1.95,0.00,0.000,6,0.135,0.052,3029,1998,2336,0,0,0,0,0,0
$GC,3943,0.54,237.9,211.4,9.5,446,3977,0.00,0.00,32.72,0.706,6,0.000,0.000,3029,1998,2179,0,0,0,0,0,0
$GC,4284,0.56,265.1,177.7,10.0,479,4310,0.00,2.05,22.73,0.679,4,0.000,0.063,3028,3226,2069,0,0,0,0,0,0
$GC,4343,0.56,273.9,171.9,10.7,484,4356,0.00,1.95,8.98,0.614,6,0.000,0.052,3033,2005,2032,0,0,0,0,0,0
$GC,4673,0.60,332.4,141.5,8.8,516,4723,0.00,0.00,48.55,0.667,6,0.000,0.000,3033,2005,1794,0,0,0,0,0,0
$GC,5033,0.65,393.2,110.4,8.7,551,5088,0.00,2.08,49.28,0.644,4,0.000,0.063,3040,764,1546,0,0,0,0,0,0
$GC,5120,0.71,434.1,102.7,9.5,559,5162,0.12,2.00,34.47,0.625,6,0.090,0.054,3098,2023,1378,0,0,0,0,0,0
$GC,5483,0.72,434.1,55.8,12.2,624,5489,0.00,2.03,0.00,0.000,4,0.000,0.064,3105,774,1370,0,0,0,0,0,0
$GC,5569,0.74,434.1,46.5,11.3,640,5575,0.00,1.92,0.00,0.000,6,0.000,0.054,3105,1985,1370,0,0,0,0,0,0
$GC,5895,0.80,495.8,13.9,8.7,701,5950,0.00,2.03,49.08,0.589,4,0.000,0.061,3105,3239,1127,0,0,0,0,0,0
$GC,5969,0.87,565.2,8.0,8.4,714,6029,0.00,2.03,56.25,0.572,6,0.000,0.054,3110,1996,846,0,0,0,0,0,0
$STATE,6032,end climb,SURFACE_DEPTH_REACHED
$STATE,6032,begin surface coast
$FINISH,1.0,1.021347
$STATE,6070,end surface coast,CONTROL_FINISHED_OK
$STATE,6070,begin surface
$SM_CCo,6146,0.00,0.000,0,0,840,566.64
$SM_GC,1.82,7.93,0.00,0.00,0.037,0.000,0.000,137,2081,840,-8.41,0.17,566.64
$IRIDIUM_FIX,4735.69,-12530.02,080100,111100
$TT8_MAMPS,0.052923
$HUMID,42.51
$INTERNAL_PRESSURE,8.98157
$TCM_TEMP,16.20
$XPDR_PINGS,0
$24V_AH,23.4,71.831
$10V_AH,9.8,69.446
$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,19.675,47.625,621.425,0.000,0.000,49.167,113.735,183.152,0.000,0.000,17.412,0.000,3741.927,571.494,1792.660,554.795,0.000,1286.799,0.000,1540.765,0.000,0.995,0.000
$DEVICE_MAMPS,229.333,97.409,778.505,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,521.115,500.012,954.827,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298424
$DATA_FILE_SIZE,41196,733
$CAP_FILE_SIZE,83029,0
$CFSIZE,260165632,212774912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.093,  3.2,1
$GPS,141010,131836,4753.914,-12533.312,39,0.9,44,18.8