version: 66.06
glider: 187
mission: 2
dive: 683
start: 10 15 110 17 8 44
data:
$ID,187
$MISSION,2
$DIVE,683
$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,-38446.031
$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,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
$GPS1,165437,4744.138,-12554.958,32,1.1,32,18.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-75.4
$GPS2,170838,4743.997,-12555.023,15,1.0,15,18.8
$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,203.3,1993,-28.3,-11.000
$D_GRID,1000
$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,-0.83,-72.2,0.0,0.0,0,104,0.00,0.00,-88.05,0.000,2,0.000,0.000,131,2085,2903,0,0,0,0,0,0
$GC,106,-0.87,-145.3,3.2,-3.6,16,140,9.93,1.98,-19.27,0.000,4,0.231,0.072,2561,3304,3744,0,0,0,0,0,0
$GC,380,-0.89,-145.3,68.1,-18.7,67,386,0.00,1.95,0.00,0.000,6,0.000,0.048,2561,2070,3747,0,0,0,0,0,0
$GC,701,-0.91,-145.3,125.1,-16.8,114,702,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2067,3748,0,0,0,0,0,0
$GC,1013,-0.94,-145.3,176.3,-16.7,144,1016,0.00,2.00,0.00,0.000,4,0.000,0.063,2551,3299,3748,0,0,0,0,0,0
$GC,1092,-0.96,-145.3,189.5,-16.1,151,1098,0.00,1.92,0.00,0.000,6,0.000,0.049,2551,2076,3748,0,0,0,0,0,0
$GC,1408,-0.98,-145.3,241.7,-16.6,182,1411,0.00,2.00,0.00,0.000,4,0.000,0.064,2542,3294,3748,0,0,0,0,0,0
$GC,1456,-1.01,-145.3,250.2,-17.6,186,1463,0.00,1.92,0.00,0.000,6,0.000,0.050,2542,2075,3748,0,0,0,0,0,0
$GC,1772,-1.03,-145.3,308.6,-18.5,217,1775,0.00,1.98,0.00,0.000,4,0.000,0.063,2533,3300,3746,0,0,0,0,0,0
$GC,1840,-1.05,-145.3,321.1,-17.2,223,1846,0.00,1.92,0.00,0.000,6,0.000,0.050,2533,2080,3746,0,0,0,0,0,0
$GC,2156,-1.07,-145.3,377.8,-17.2,254,2159,0.00,2.00,0.00,0.000,4,0.000,0.064,2524,3297,3745,0,0,0,0,0,0
$GC,2199,-1.09,-145.3,385.1,-17.6,258,2202,0.00,1.92,0.00,0.000,6,0.000,0.051,2524,2080,3745,0,0,0,0,0,0
$GC,2520,-1.10,-145.3,441.9,-17.9,289,2523,0.00,2.00,0.00,0.000,4,0.000,0.066,2515,3306,3744,0,0,0,0,0,0
$GC,2616,-1.11,-145.3,459.3,-18.2,298,2619,0.00,1.90,0.00,0.000,6,0.000,0.051,2515,2089,3744,0,0,0,0,0,0
$GC,2936,-1.12,-145.3,520.4,-18.5,329,2940,0.00,1.98,0.00,0.000,4,0.000,0.067,2506,3297,3743,0,0,0,0,0,0
$GC,2991,-1.14,-145.3,530.1,-18.1,334,2994,0.00,1.85,0.00,0.000,6,0.000,0.052,2506,2098,3742,0,0,0,0,0,0
$GC,3311,-1.14,-145.3,591.7,-18.6,365,3315,0.00,1.95,0.00,0.000,4,0.000,0.067,2497,3294,3741,0,0,0,0,0,0
$GC,3355,-1.14,-145.3,600.0,-19.1,369,3359,0.00,1.88,0.00,0.000,6,0.000,0.053,2497,2096,3741,0,0,0,0,0,0
$GC,3669,-1.14,-145.3,660.8,-18.9,380,3672,0.00,1.95,0.00,0.000,4,0.000,0.067,2487,3309,3740,0,0,0,0,0,0
$GC,3765,-1.14,-145.3,678.7,-18.2,383,3768,0.00,1.88,0.00,0.000,6,0.000,0.051,2488,2104,3740,0,0,0,0,0,0
$GC,4101,-1.14,-145.3,743.1,-19.7,394,4104,0.00,1.92,0.00,0.000,4,0.000,0.067,2479,3298,3738,0,0,0,0,0,0
$GC,4208,-1.14,-145.3,764.7,-20.4,397,4211,0.00,1.83,0.00,0.000,6,0.000,0.053,2479,2120,3738,0,0,0,0,0,0
$GC,4535,-1.14,-145.3,829.9,-19.8,408,4538,0.00,1.92,0.00,0.000,4,0.000,0.069,2470,3298,3737,0,0,0,0,0,0
$GC,4614,-1.14,-145.3,846.1,-19.9,410,4617,0.00,1.88,0.00,0.000,6,0.000,0.054,2469,2124,3737,0,0,0,0,0,0
$GC,4935,-1.14,-145.3,908.5,-19.2,421,4938,0.00,1.95,0.00,0.000,4,0.000,0.070,2460,3308,3736,0,0,0,0,0,0
$GC,5021,-1.14,-145.3,925.4,-18.3,423,5024,0.00,1.85,0.00,0.000,6,0.000,0.053,2460,2132,3736,0,0,0,0,0,0
$GC,5335,-1.14,-145.3,985.7,-19.2,434,5338,0.00,1.92,0.00,0.000,4,0.000,0.069,2452,3301,3735,0,0,0,0,0,0
$STATE,5358,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5358,begin apogee
$GC,5365,-0.14,0.0,990.8,19.8,434,5494,1.17,0.00,126.03,1.229,6,0.154,0.000,2801,1997,3150,0,0,0,0,0,0
$STATE,5494,end apogee,CONTROL_FINISHED_OK
$STATE,5494,begin climb
$GC,5497,0.87,145.3,995.5,0.0,439,5638,0.93,2.20,133.98,1.187,4,0.053,0.062,3147,772,2557,0,0,0,0,0,0
$GC,5698,0.85,145.3,978.3,16.4,445,5701,0.00,2.05,0.00,0.000,6,0.000,0.056,3147,1989,2554,0,0,0,0,0,0
$GC,6006,0.83,145.3,924.1,17.6,455,6009,0.00,2.08,0.00,0.000,4,0.000,0.066,3148,3241,2551,0,0,0,0,0,0
$GC,6168,0.79,145.3,894.6,19.6,460,6172,0.17,1.95,0.00,0.000,6,0.208,0.054,3116,2018,2549,0,0,0,0,0,0
$GC,6498,0.78,145.3,842.5,15.5,471,6501,0.00,2.00,0.00,0.000,4,0.000,0.064,3116,3239,2548,0,0,0,0,0,0
$GC,6556,0.76,145.3,833.2,15.8,472,6561,0.00,1.95,0.00,0.000,6,0.000,0.056,3124,2028,2547,0,0,0,0,0,0
$GC,6866,0.75,145.3,786.7,14.7,483,6868,0.00,1.92,0.00,0.000,4,0.000,0.066,3124,3235,2547,0,0,0,0,0,0
$GC,6966,0.73,145.3,771.1,15.2,486,6970,0.12,1.92,0.00,0.000,6,0.180,0.054,3097,2034,2546,0,0,0,0,0,0
$GC,7297,0.73,145.3,728.9,12.6,497,7300,0.00,1.95,0.00,0.000,4,0.000,0.064,3097,3230,2546,0,0,0,0,0,0
$GC,7386,0.73,145.3,716.7,13.6,499,7392,0.00,1.90,0.00,0.000,6,0.000,0.054,3104,2043,2546,0,0,0,0,0,0
$GC,7696,0.73,145.3,677.5,12.5,510,7699,0.00,1.92,0.00,0.000,4,0.000,0.065,3104,3239,2545,0,0,0,0,0,0
$GC,7770,0.72,145.3,667.6,14.1,512,7773,0.00,1.88,0.00,0.000,6,0.000,0.054,3112,2060,2545,0,0,0,0,0,0
$GC,8094,0.72,145.3,624.0,13.5,523,8098,0.00,1.90,0.00,0.000,4,0.000,0.064,3113,3226,2545,0,0,0,0,0,0
$GC,8137,0.70,145.3,617.9,15.0,524,8141,0.15,1.85,0.00,0.000,6,0.194,0.054,3085,2054,2545,0,0,0,0,0,0
$GC,8457,0.70,145.3,579.6,11.4,546,8457,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2054,2545,0,0,0,0,0,0
$GC,8768,0.71,147.9,546.5,10.7,576,8771,0.00,1.90,0.00,0.000,4,0.000,0.064,3085,3239,2544,0,0,0,0,0,0
$GC,8875,0.71,147.9,533.6,12.0,586,8878,0.00,1.85,0.00,0.000,6,0.000,0.054,3092,2068,2544,0,0,0,0,0,0
$GC,9195,0.71,147.9,494.8,12.5,617,9196,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2068,2543,0,0,0,0,0,0
$GC,9507,0.71,147.9,455.8,12.1,647,9508,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2068,2544,0,0,0,0,0,0
$GC,9819,0.71,147.9,420.4,11.2,677,9821,0.00,1.90,0.00,0.000,4,0.000,0.066,3092,3235,2544,0,0,0,0,0,0
$GC,9908,0.71,147.9,408.8,13.5,685,9914,0.00,1.85,0.00,0.000,6,0.000,0.054,3100,2075,2543,0,0,0,0,0,0
$GC,10224,0.71,147.9,371.8,11.6,716,10227,0.00,1.90,0.00,0.000,4,0.000,0.064,3101,3233,2543,0,0,0,0,0,0
$GC,10293,0.71,147.9,363.4,12.1,722,10299,0.00,1.83,0.00,0.000,6,0.000,0.053,3109,2084,2543,0,0,0,0,0,0
$GC,10608,0.71,147.9,327.3,11.1,753,10612,0.00,1.90,0.00,0.000,4,0.000,0.064,3109,3237,2543,0,0,0,0,0,0
$GC,10635,0.71,147.9,324.3,12.4,755,10640,0.10,1.85,0.00,0.000,6,0.166,0.054,3089,2082,2543,0,0,0,0,0,0
$GC,10951,0.73,164.3,293.5,9.3,786,10972,0.00,1.90,15.15,0.764,4,0.000,0.065,3088,3232,2479,0,0,0,0,0,0
$GC,11020,0.73,169.0,286.6,10.5,792,11029,0.00,1.83,5.80,0.637,6,0.000,0.054,3095,2094,2460,0,0,0,0,0,0
$GC,11342,0.74,169.5,252.7,11.0,823,11342,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2094,2459,0,0,0,0,0,0
$GC,11654,0.76,176.4,218.2,10.3,853,11668,0.00,1.90,7.90,0.667,4,0.000,0.065,3094,3237,2430,0,0,0,0,0,0
$GC,11706,0.76,181.1,212.2,10.5,858,11718,0.00,1.83,5.65,0.601,6,0.000,0.054,3103,2099,2410,0,0,0,0,0,0
$GC,12028,0.78,187.6,177.2,10.3,889,12041,0.00,2.17,7.12,0.630,4,0.000,0.061,3114,763,2385,0,0,0,0,0,0
$GC,12135,0.79,190.0,165.2,10.8,899,12144,0.00,2.10,3.88,0.489,6,0.000,0.055,3114,2098,2375,0,0,0,0,0,0
$GC,12454,0.79,190.0,128.7,11.4,930,12458,0.00,2.15,0.00,0.000,4,0.000,0.061,3124,759,2374,0,0,0,0,0,0
$GC,12605,0.80,190.0,111.0,12.0,944,12608,0.00,2.03,0.00,0.000,6,0.000,0.055,3124,2065,2374,0,0,0,0,0,0
$GC,12928,0.83,214.6,77.5,8.5,995,12956,0.00,1.90,21.38,0.641,4,0.000,0.064,3124,3231,2274,0,0,0,0,0,0
$GC,13046,0.85,218.1,64.6,10.6,1017,13058,0.00,1.88,4.32,0.475,6,0.000,0.052,3133,2060,2260,0,0,0,0,0,0
$GC,13381,0.89,254.6,33.7,7.3,1079,13418,0.00,2.10,30.88,0.612,4,0.000,0.061,3143,767,2110,0,0,0,0,0,0
$GC,13531,0.97,309.8,24.8,5.4,1107,13580,0.00,2.05,45.25,0.601,6,0.000,0.056,3142,2047,1886,0,0,0,0,0,0
$STATE,13842,end climb,SURFACE_DEPTH_REACHED
$STATE,13842,begin surface coast
$FINISH,1.2,1.013026
$STATE,13877,end surface coast,CONTROL_FINISHED_OK
$STATE,13877,begin surface
$SM_CCo,13893,30.75,0.439,2,0,1723,350.04
$SM_GC,2.88,0.00,0.00,30.75,0.000,0.000,0.439,133,2048,1723,-8.51,-0.76,350.04
$IRIDIUM_FIX,4722.92,-12555.30,090100,171756
$TT8_MAMPS,0.052923
$HUMID,42.79
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,16.70
$XPDR_PINGS,0
$24V_AH,22.2,73.313
$10V_AH,9.8,70.309
$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,20.550,116.625,407.325,30.750,0.000,84.439,203.973,267.618,6.500,0.000,15.196,0.000,10194.605,521.755,3089.017,937.904,0.000,1675.757,0.000,2622.746,0.000,58.484,0.000
$DEVICE_MAMPS,230.867,72.098,1228.734,438.724,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,851.428,780.805,1157.187,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298424
$DATA_FILE_SIZE,66385,1172
$CAP_FILE_SIZE,159591,0
$CFSIZE,260165632,212094976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.012,216.6,1
$GPS,151010,210255,4742.625,-12557.309,95,1.1,95,18.7