version: 66.06
glider: 187
mission: 2
dive: 677
start: 10 14 110 15 25 39
data:
$ID,187
$MISSION,2
$DIVE,677
$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,-38344.496
$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,35
$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
$GPS1,151908,4753.480,-12534.442,12,1.3,12,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-72.1
$GPS2,152531,4753.465,-12534.427,14,1.3,31,18.8
$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,208.3,33023,-17.4,-11.000
$D_GRID,437
$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,-195.5,0.0,0.0,0,112,0.00,0.00,-96.75,0.000,2,0.000,0.000,131,2083,3030,0,0,0,0,0,0
$GC,115,-0.60,-195.5,3.3,-4.5,18,149,10.10,1.95,-18.98,0.000,4,0.228,0.075,2644,3301,3949,0,0,0,0,0,0
$GC,215,-0.60,-195.5,25.2,-14.3,36,221,0.00,1.95,0.00,0.000,6,0.000,0.048,2643,2070,3951,0,0,0,0,0,0
$GC,541,-0.60,-195.5,70.4,-11.9,97,547,0.00,2.03,0.00,0.000,4,0.000,0.063,2635,3299,3952,0,0,0,0,0,0
$GC,569,-0.60,-195.5,73.8,-11.9,102,574,0.00,1.92,0.00,0.000,6,0.000,0.050,2635,2082,3952,0,0,0,0,0,0
$GC,890,-0.60,-195.5,116.2,-13.5,152,894,0.00,2.00,0.00,0.000,4,0.000,0.064,2626,3298,3952,0,0,0,0,0,0
$GC,982,-0.62,-195.5,127.4,-11.4,160,986,0.00,1.88,0.00,0.000,6,0.000,0.049,2626,2089,3953,0,0,0,0,0,0
$GC,1296,-0.62,-195.5,162.0,-11.1,191,1297,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2088,3952,0,0,0,0,0,0
$GC,1609,-0.62,-195.5,201.2,-13.4,221,1612,0.00,1.98,0.00,0.000,4,0.000,0.065,2618,3308,3952,0,0,0,0,0,0
$GC,1663,-0.63,-195.5,208.2,-12.3,226,1667,0.12,1.88,0.00,0.000,6,0.143,0.050,2653,2103,3952,0,0,0,0,0,0
$GC,1984,-0.66,-195.5,244.4,-10.8,257,1987,0.00,1.98,0.00,0.000,4,0.000,0.065,2647,3301,3952,0,0,0,0,0,0
$GC,2010,-0.68,-195.5,247.2,-10.7,259,2016,0.00,1.88,0.00,0.000,6,0.000,0.049,2647,2105,3952,0,0,0,0,0,0
$GC,2325,-0.70,-195.5,281.9,-10.5,290,2326,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2105,3951,0,0,0,0,0,0
$GC,2637,-0.73,-195.5,315.4,-11.7,320,2638,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2105,3951,0,0,0,0,0,0
$GC,2950,-0.75,-195.5,351.0,-11.1,350,2953,0.00,1.95,0.00,0.000,4,0.000,0.066,2639,3302,3950,0,0,0,0,0,0
$GC,3019,-0.78,-195.5,359.2,-10.7,356,3024,0.05,1.88,0.00,0.000,6,0.072,0.051,2588,2112,3950,0,0,0,0,0,0
$GC,3334,-0.78,-195.5,401.8,-12.3,387,3337,0.00,1.95,0.00,0.000,4,0.000,0.065,2580,3297,3949,0,0,0,0,0,0
$GC,3377,-0.78,-195.5,406.9,-11.8,391,3380,0.00,1.85,0.00,0.000,6,0.000,0.053,2579,2110,3949,0,0,0,0,0,0
$STATE,3614,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3614,begin apogee
$GC,3620,-0.14,0.0,437.8,12.7,414,3785,0.68,0.00,158.73,0.861,6,0.121,0.000,2801,1985,3150,0,0,0,0,0,0
$STATE,3787,end apogee,CONTROL_FINISHED_OK
$STATE,3788,begin climb
$GC,3790,0.60,195.5,445.7,0.0,431,3957,0.68,0.00,163.30,0.834,6,0.055,0.000,3053,1985,2353,0,0,0,0,0,0
$GC,4265,0.58,201.1,411.1,10.8,477,4277,0.00,2.05,5.18,0.611,4,0.000,0.061,3053,3223,2330,0,0,0,0,0,0
$GC,4319,0.56,201.1,404.8,12.1,482,4322,0.00,1.95,0.00,0.000,6,0.000,0.052,3062,2015,2329,0,0,0,0,0,0
$GC,4640,0.55,227.7,370.6,10.0,513,4671,0.00,2.03,23.40,0.792,4,0.000,0.062,3062,3223,2220,0,0,0,0,0,0
$GC,4714,0.53,227.7,362.8,11.3,520,4718,0.17,1.95,0.00,0.000,6,0.153,0.053,3022,2006,2217,0,0,0,0,0,0
$GC,5030,0.55,271.7,334.7,9.3,550,5070,0.00,2.08,36.70,0.791,4,0.000,0.064,3022,3233,2042,0,0,0,0,0,0
$GC,5126,0.56,284.6,325.3,10.5,559,5145,0.00,1.98,12.30,0.726,6,0.000,0.053,3025,2005,1988,0,0,0,0,0,0
$GC,5455,0.59,334.6,295.0,9.1,591,5501,0.00,2.03,42.15,0.769,4,0.000,0.061,3034,762,1784,0,0,0,0,0,0
$GC,5537,0.63,368.4,287.7,9.7,598,5570,0.00,2.00,28.95,0.739,6,0.000,0.054,3034,2000,1648,0,0,0,0,0,0
$GC,5888,0.66,384.3,253.9,10.4,632,5908,0.00,0.00,13.93,0.703,6,0.000,0.000,3033,2001,1582,0,0,0,0,0,0
$GC,6218,0.67,384.3,217.8,11.0,664,6221,0.10,2.00,0.00,0.000,4,0.110,0.064,3090,765,1579,0,0,0,0,0,0
$GC,6276,0.67,384.3,210.2,13.9,669,6282,0.00,1.98,0.00,0.000,6,0.000,0.054,3090,2009,1578,0,0,0,0,0,0
$GC,6592,0.67,384.3,167.1,12.5,700,6595,0.00,2.00,0.00,0.000,4,0.000,0.064,3098,765,1578,0,0,0,0,0,0
$GC,6618,0.67,384.3,163.6,13.5,702,6625,0.00,1.95,0.00,0.000,6,0.000,0.054,3098,1997,1577,0,0,0,0,0,0
$GC,6934,0.67,384.3,120.6,13.7,733,6935,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1998,1577,0,0,0,0,0,0
$GC,7250,0.67,384.3,76.8,12.0,779,7256,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,1999,1576,0,0,0,0,0,0
$GC,7578,0.71,424.9,42.4,9.5,840,7616,0.00,1.98,33.30,0.619,4,0.000,0.061,3106,761,1418,0,0,0,0,0,0
$GC,7671,0.74,424.9,32.6,11.4,857,7676,0.00,1.98,0.00,0.000,6,0.000,0.054,3105,1999,1416,0,0,0,0,0,0
$GC,7997,0.82,505.9,4.4,7.9,918,8019,0.00,0.00,20.65,0.585,2,0.000,0.000,3104,2003,1317,0,0,0,0,0,0
$STATE,8020,end climb,SURFACE_DEPTH_REACHED
$STATE,8020,begin surface coast
$FINISH,1.0,1.012042
$STATE,8055,end surface coast,CONTROL_FINISHED_OK
$STATE,8055,begin surface
$SM_CCo,8132,0.00,0.000,0,0,1311,450.86
$SM_GC,2.07,7.90,0.00,0.00,0.044,0.000,0.000,126,2092,1311,-8.41,0.48,450.86
$IRIDIUM_FIX,4735.69,-12532.63,080100,131307
$TT8_MAMPS,0.052156
$HUMID,43.42
$INTERNAL_PRESSURE,9.02063
$TCM_TEMP,16.40
$XPDR_PINGS,0
$24V_AH,23.1,72.114
$10V_AH,9.8,69.614
$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,19.800,55.275,538.575,0.000,0.000,28.498,42.245,168.151,1.000,0.000,31.751,0.000,5224.877,541.289,2242.263,488.727,0.000,1383.781,0.000,1910.814,0.000,11.450,0.000
$DEVICE_MAMPS,227.799,98.943,861.341,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,666.855,618.733,1106.625,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298416
$DATA_FILE_SIZE,50776,929
$CAP_FILE_SIZE,100121,0
$CFSIZE,260165632,212652032
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.052,288.7,1
$GPS,141010,174206,4752.656,-12536.376,35,1.2,36,18.8