version: 66.06
glider: 187
mission: 2
dive: 684
start: 10 15 110 21 16 44
data:
$ID,187
$MISSION,2
$DIVE,684
$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,-38463.207
$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,27
$R_STBD_OVSHOOT,26
$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
$GPS1,210255,4742.625,-12557.309,95,1.1,95,18.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-76.5
$GPS2,211638,4742.547,-12557.363,16,1.6,16,18.7
$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,32.7,1986,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,13,-0.83,-72.2,0.0,0.0,0,65,0.00,0.00,-49.95,0.000,2,0.000,0.000,131,2048,2923,0,0,0,0,0,0
$GC,68,-0.87,-146.0,3.3,-3.5,9,102,9.82,1.90,-18.35,0.000,4,0.227,0.067,2564,838,3745,0,0,0,0,0,0
$GC,182,-0.87,-146.0,33.9,-25.6,30,189,0.00,2.00,0.00,0.000,6,0.000,0.057,2557,2080,3747,0,0,0,0,0,0
$GC,514,-0.89,-146.0,102.2,-19.6,91,517,0.00,1.98,0.00,0.000,4,0.000,0.063,2548,3322,3750,0,0,0,0,0,0
$GC,573,-0.91,-146.0,113.1,-18.0,96,578,0.00,1.98,0.00,0.000,6,0.000,0.049,2548,2065,3750,0,0,0,0,0,0
$GC,889,-0.93,-146.0,170.3,-17.5,127,892,0.00,2.03,0.00,0.000,4,0.000,0.065,2539,3316,3750,0,0,0,0,0,0
$GC,947,-0.95,-146.0,180.9,-17.1,132,953,0.00,1.95,0.00,0.000,6,0.000,0.048,2538,2078,3751,0,0,0,0,0,0
$GC,1264,-0.96,-146.0,237.9,-17.6,163,1266,0.00,2.03,0.00,0.000,4,0.000,0.063,2529,3328,3750,0,0,0,0,0,0
$GC,1338,-0.98,-146.0,251.0,-17.2,170,1341,0.00,1.92,0.00,0.000,6,0.000,0.049,2529,2088,3750,0,0,0,0,0,0
$GC,1658,-1.00,-146.0,309.0,-18.5,201,1662,0.00,2.03,0.00,0.000,4,0.000,0.065,2520,3321,3750,0,0,0,0,0,0
$GC,1691,-1.01,-146.0,315.0,-18.6,204,1694,0.00,1.90,0.00,0.000,6,0.000,0.051,2520,2099,3749,0,0,0,0,0,0
$GC,2013,-1.01,-146.0,375.7,-18.6,235,2016,0.00,1.95,0.00,0.000,4,0.000,0.065,2510,3316,3748,0,0,0,0,0,0
$GC,2082,-1.02,-146.0,389.0,-19.0,241,2087,0.00,1.88,0.00,0.000,6,0.000,0.051,2510,2099,3748,0,0,0,0,0,0
$GC,2398,-1.02,-146.0,450.4,-19.5,272,2401,0.00,1.95,0.00,0.000,4,0.000,0.066,2501,3316,3747,0,0,0,0,0,0
$GC,2452,-1.02,-146.0,460.5,-18.6,277,2455,0.00,1.88,0.00,0.000,6,0.000,0.051,2501,2114,3747,0,0,0,0,0,0
$GC,2772,-1.02,-146.0,523.1,-19.1,308,2775,0.00,1.98,0.00,0.000,4,0.000,0.067,2492,3310,3746,0,0,0,0,0,0
$GC,2879,-1.02,-146.0,544.6,-20.0,318,2882,0.12,1.85,0.00,0.000,6,0.171,0.051,2523,2125,3746,0,0,0,0,0,0
$GC,3220,-1.04,-146.0,605.9,-17.8,349,3223,0.00,1.92,0.00,0.000,4,0.000,0.067,2516,3322,3745,0,0,0,0,0,0
$GC,3262,-1.06,-146.0,613.7,-18.2,350,3265,0.00,1.88,0.00,0.000,6,0.000,0.052,2516,2142,3745,0,0,0,0,0,0
$GC,3589,-1.07,-146.0,672.5,-18.3,361,3592,0.00,1.95,0.00,0.000,4,0.000,0.068,2507,3317,3744,0,0,0,0,0,0
$GC,3636,-1.09,-146.0,681.4,-17.9,362,3640,0.00,1.85,0.00,0.000,6,0.000,0.054,2507,2154,3744,0,0,0,0,0,0
$GC,3955,-1.09,-146.0,740.1,-18.3,373,3959,0.00,1.90,0.00,0.000,4,0.000,0.068,2498,3311,3743,0,0,0,0,0,0
$GC,3993,-1.10,-146.0,747.0,-18.4,374,3996,0.00,1.80,0.00,0.000,6,0.000,0.052,2498,2162,3743,0,0,0,0,0,0
$GC,4324,-1.10,-146.0,806.6,-17.9,385,4327,0.00,1.90,0.00,0.000,4,0.000,0.067,2490,3322,3742,0,0,0,0,0,0
$GC,4356,-1.10,-146.0,812.1,-16.8,386,4358,0.00,1.80,0.00,0.000,6,0.000,0.054,2490,2176,3742,0,0,0,0,0,0
$GC,4692,-1.10,-146.0,873.0,-18.3,397,4695,0.00,1.88,0.00,0.000,4,0.000,0.070,2481,3316,3741,0,0,0,0,0,0
$GC,4728,-1.10,-146.0,880.2,-17.3,398,4732,0.00,1.80,0.00,0.000,6,0.000,0.054,2481,2185,3741,0,0,0,0,0,0
$GC,5059,-1.10,-146.0,943.6,-19.0,409,5062,0.00,1.85,0.00,0.000,4,0.000,0.070,2472,3316,3740,0,0,0,0,0,0
$GC,5100,-1.10,-146.0,951.8,-19.5,410,5104,0.00,1.80,0.00,0.000,6,0.000,0.054,2472,2187,3739,0,0,0,0,0,0
$STATE,5301,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5301,begin apogee
$GC,5308,-0.14,0.0,990.0,18.9,417,5437,1.12,0.00,127.10,1.226,6,0.148,0.000,2807,1998,3150,0,0,0,0,0,0
$STATE,5438,end apogee,CONTROL_FINISHED_OK
$STATE,5438,begin climb
$GC,5440,0.87,146.0,994.3,0.0,421,5579,0.95,0.00,135.32,1.187,6,0.053,0.000,3146,1998,2554,0,0,0,0,0,0
$GC,5880,0.85,146.0,936.3,17.5,436,5883,0.00,2.05,0.00,0.000,4,0.000,0.064,3146,3232,2548,0,0,0,0,0,0
$GC,5976,0.82,146.0,918.5,19.5,439,5979,0.12,1.98,0.00,0.000,6,0.192,0.056,3122,2026,2547,0,0,0,0,0,0
$GC,6311,0.80,146.0,865.1,15.9,450,6315,0.00,2.00,0.00,0.000,4,0.000,0.066,3122,3241,2546,0,0,0,0,0,0
$GC,6396,0.78,146.0,850.6,16.6,452,6399,0.00,1.98,0.00,0.000,6,0.000,0.056,3129,2016,2545,0,0,0,0,0,0
$GC,6711,0.76,146.0,799.2,16.4,463,6714,0.00,1.98,0.00,0.000,4,0.000,0.066,3129,3240,2545,0,0,0,0,0,0
$GC,6811,0.74,146.0,781.7,17.5,466,6815,0.15,1.95,0.00,0.000,6,0.179,0.055,3096,2034,2544,0,0,0,0,0,0
$GC,7141,0.74,146.0,735.3,13.8,477,7145,0.00,1.98,0.00,0.000,4,0.000,0.065,3096,3239,2544,0,0,0,0,0,0
$GC,7216,0.74,146.0,724.6,15.2,479,7219,0.00,1.90,0.00,0.000,6,0.000,0.055,3103,2040,2544,0,0,0,0,0,0
$GC,7540,0.74,146.0,679.2,14.0,490,7544,0.00,1.95,0.00,0.000,4,0.000,0.066,3103,3235,2544,0,0,0,0,0,0
$GC,7611,0.73,146.0,669.3,15.1,492,7613,0.00,1.88,0.00,0.000,6,0.000,0.055,3112,2052,2543,0,0,0,0,0,0
$GC,7940,0.73,146.0,623.3,13.9,503,7943,0.00,1.95,0.00,0.000,4,0.000,0.065,3112,3243,2543,0,0,0,0,0,0
$GC,7987,0.71,146.0,616.2,15.0,504,7991,0.10,1.90,0.00,0.000,6,0.174,0.055,3091,2059,2543,0,0,0,0,0,0
$GC,8304,0.71,146.0,576.8,12.0,526,8305,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2059,2543,0,0,0,0,0,0
$GC,8613,0.71,146.0,539.8,12.4,556,8616,0.00,1.90,0.00,0.000,4,0.000,0.065,3091,3242,2542,0,0,0,0,0,0
$GC,8672,0.71,146.0,532.1,13.6,561,8677,0.00,1.88,0.00,0.000,6,0.000,0.056,3098,2077,2542,0,0,0,0,0,0
$GC,8987,0.71,146.0,492.8,11.6,592,8990,0.00,1.88,0.00,0.000,4,0.000,0.064,3098,3248,2542,0,0,0,0,0,0
$GC,9030,0.71,146.0,487.0,13.8,596,9033,0.00,1.88,0.00,0.000,6,0.000,0.055,3107,2079,2542,0,0,0,0,0,0
$GC,9350,0.71,146.0,447.9,12.5,627,9354,0.00,1.90,0.00,0.000,4,0.000,0.064,3107,3246,2542,0,0,0,0,0,0
$GC,9387,0.71,146.0,443.0,13.9,630,9395,0.10,1.85,0.00,0.000,6,0.170,0.054,3086,2085,2542,0,0,0,0,0,0
$GC,9705,0.71,146.0,407.7,11.0,661,9708,0.00,1.88,0.00,0.000,4,0.000,0.065,3086,3251,2542,0,0,0,0,0,0
$GC,9773,0.71,146.0,399.4,11.7,667,9779,0.00,1.85,0.00,0.000,6,0.000,0.054,3093,2094,2541,0,0,0,0,0,0
$GC,10089,0.72,151.2,365.3,10.5,698,10092,0.00,1.88,0.00,0.000,4,0.000,0.065,3093,3234,2542,0,0,0,0,0,0
$GC,10104,0.72,155.2,363.7,10.6,699,10115,0.00,1.83,7.05,0.723,6,0.000,0.055,3101,2096,2517,0,0,0,0,0,0
$GC,10426,0.72,155.2,328.5,11.3,730,10429,0.00,1.85,0.00,0.000,4,0.000,0.065,3101,3249,2517,0,0,0,0,0,0
$GC,10490,0.72,155.2,320.5,12.6,736,10493,0.00,1.83,0.00,0.000,6,0.000,0.054,3110,2111,2516,0,0,0,0,0,0
$GC,10810,0.72,155.2,282.4,11.5,767,10811,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2110,2516,0,0,0,0,0,0
$GC,11122,0.72,157.9,248.1,10.7,797,11132,0.00,1.85,4.28,0.557,4,0.000,0.066,3110,3233,2506,0,0,0,0,0,0
$GC,11164,0.72,157.9,243.1,11.4,801,11167,0.12,1.75,0.00,0.000,6,0.188,0.054,3088,2118,2505,0,0,0,0,0,0
$GC,11485,0.74,169.9,211.2,9.8,832,11504,0.00,2.22,11.95,0.702,4,0.000,0.062,3097,756,2457,0,0,0,0,0,0
$GC,11516,0.76,181.1,208.2,9.9,835,11531,0.00,2.15,11.00,0.679,6,0.000,0.057,3097,2120,2411,0,0,0,0,0,0
$GC,11842,0.78,185.2,171.4,10.6,866,11853,0.00,1.80,4.82,0.555,4,0.000,0.065,3097,3240,2395,0,0,0,0,0,0
$GC,11944,0.78,191.8,159.8,10.3,875,11960,0.00,1.75,7.53,0.624,6,0.000,0.054,3105,2128,2367,0,0,0,0,0,0
$GC,12270,0.80,191.8,123.9,11.6,907,12273,0.00,2.17,0.00,0.000,4,0.000,0.061,3116,761,2366,0,0,0,0,0,0
$GC,12296,0.81,196.7,121.1,10.5,909,12307,0.00,2.22,5.70,0.566,6,0.000,0.057,3116,2151,2347,0,0,0,0,0,0
$GC,12621,0.84,221.0,87.4,8.5,952,12649,0.00,1.80,21.42,0.647,4,0.000,0.065,3116,3243,2248,0,0,0,0,0,0
$GC,12681,0.86,221.0,81.4,11.1,963,12686,0.00,1.77,0.00,0.000,6,0.000,0.053,3124,2142,2246,0,0,0,0,0,0
$GC,13010,0.89,236.9,49.6,9.4,1024,13028,0.00,2.25,13.90,0.609,4,0.000,0.061,3135,760,2184,0,0,0,0,0,0
$GC,13115,0.93,251.1,39.4,9.6,1043,13137,0.00,2.17,13.25,0.594,6,0.000,0.054,3135,2124,2124,0,0,0,0,0,0
$GC,13460,1.00,300.6,17.0,6.0,1107,13509,0.12,2.25,40.53,0.599,4,0.098,0.061,3199,766,1923,0,0,0,0,0,0
$GC,13538,1.04,330.0,10.6,8.0,1121,13572,0.00,2.20,24.92,0.578,6,0.000,0.056,3199,2127,1804,0,0,0,0,0,0
$STATE,13607,end climb,SURFACE_DEPTH_REACHED
$STATE,13607,begin surface coast
$FINISH,1.2,1.012979
$STATE,13634,end surface coast,CONTROL_FINISHED_OK
$STATE,13634,begin surface
$SM_CCo,13651,16.77,0.341,1,0,1723,350.04
$SM_GC,2.04,0.00,0.00,16.77,0.000,0.000,0.341,130,2064,1723,-8.52,-0.31,350.04
$IRIDIUM_FIX,4722.92,-12555.30,090100,212129
$TT8_MAMPS,0.052156
$HUMID,43.26
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,15.60
$XPDR_PINGS,0
$24V_AH,22.2,73.463
$10V_AH,9.8,70.417
$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,20.875,128.100,428.775,16.775,0.000,87.198,151.896,300.912,6.500,0.000,16.545,0.000,10078.177,523.714,2939.139,926.309,0.000,1619.289,0.000,2479.923,0.000,56.803,0.000
$DEVICE_MAMPS,227.032,109.681,1226.433,341.315,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,828.701,763.912,1110.332,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298420
$DATA_FILE_SIZE,63186,1139
$CAP_FILE_SIZE,161019,0
$CFSIZE,260165632,212013056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.025,266.0,1
$GPS,161010,010555,4743.763,-12555.668,55,1.0,55,18.8