version: 66.06
glider: 187
mission: 2
dive: 685
start: 10 16 110 1 13 2
data:
$ID,187
$MISSION,2
$DIVE,685
$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,-38476.363
$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,31
$R_STBD_OVSHOOT,18
$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
$GPS1,010555,4743.763,-12555.668,55,1.0,55,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-75.1
$GPS2,011256,4743.741,-12555.641,12,1.5,12,18.8
$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,184.8,1153,-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,-72.2,0.0,0.0,0,65,0.00,0.00,-49.65,0.000,2,0.000,0.000,130,2062,2883,0,0,0,0,0,0
$GC,68,-0.87,-145.1,3.2,-3.6,9,102,9.93,2.03,-19.45,0.000,4,0.229,0.075,2561,3317,3743,0,0,0,0,0,0
$GC,344,-0.89,-145.1,63.9,-19.1,60,349,0.00,1.95,0.00,0.000,6,0.000,0.049,2561,2082,3746,0,0,0,0,0,0
$GC,671,-0.91,-145.1,127.3,-19.7,109,672,0.00,0.00,0.00,0.000,6,0.000,0.000,2560,2078,3748,0,0,0,0,0,0
$GC,984,-0.94,-145.1,181.0,-17.0,139,984,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2078,3749,0,0,0,0,0,0
$GC,1294,-0.96,-145.1,234.0,-17.8,169,1295,0.00,0.00,0.00,0.000,6,0.000,0.000,2561,2078,3748,0,0,0,0,0,0
$GC,1604,-0.99,-145.1,289.2,-18.1,199,1607,0.00,2.03,0.00,0.000,4,0.000,0.064,2552,3322,3748,0,0,0,0,0,0
$GC,1673,-1.02,-145.1,302.0,-17.3,205,1678,0.00,1.92,0.00,0.000,6,0.000,0.051,2552,2076,3748,0,0,0,0,0,0
$GC,1988,-1.04,-145.1,359.3,-18.0,236,1991,0.00,2.03,0.00,0.000,4,0.000,0.065,2542,3308,3748,0,0,0,0,0,0
$GC,2058,-1.06,-145.1,371.5,-17.1,242,2063,0.00,1.90,0.00,0.000,6,0.000,0.048,2542,2084,3747,0,0,0,0,0,0
$GC,2373,-1.08,-145.1,427.5,-17.6,273,2376,0.10,2.00,0.00,0.000,4,0.110,0.066,2490,3316,3747,0,0,0,0,0,0
$GC,2426,-1.08,-145.1,438.0,-20.2,278,2429,0.00,1.92,0.00,0.000,6,0.000,0.051,2490,2084,3747,0,0,0,0,0,0
$GC,2747,-1.08,-145.1,503.9,-19.8,309,2750,0.00,2.00,0.00,0.000,4,0.000,0.067,2480,3322,3746,0,0,0,0,0,0
$GC,2822,-1.08,-145.1,519.0,-20.3,316,2825,0.00,1.92,0.00,0.000,6,0.000,0.052,2480,2109,3746,0,0,0,0,0,0
$GC,3143,-1.08,-145.1,586.8,-20.8,347,3146,0.00,2.00,0.00,0.000,4,0.000,0.067,2471,3315,3745,0,0,0,0,0,0
$GC,3179,-1.08,-145.1,594.5,-20.5,350,3185,0.10,1.92,0.00,0.000,6,0.156,0.053,2501,2103,3745,0,0,0,0,0,0
$GC,3492,-1.08,-145.1,653.8,-19.0,363,3495,0.00,1.98,0.00,0.000,4,0.000,0.067,2493,3325,3744,0,0,0,0,0,0
$GC,3571,-1.08,-145.1,670.5,-19.7,365,3575,0.00,1.92,0.00,0.000,6,0.000,0.051,2493,2116,3744,0,0,0,0,0,0
$GC,3892,-1.08,-145.1,734.1,-19.8,376,3895,0.00,1.92,0.00,0.000,4,0.000,0.067,2485,3320,3744,0,0,0,0,0,0
$GC,3924,-1.08,-145.1,740.6,-19.3,377,3927,0.00,1.90,0.00,0.000,6,0.000,0.054,2484,2112,3743,0,0,0,0,0,0
$GC,4260,-1.08,-145.1,806.0,-18.9,388,4263,0.00,1.95,0.00,0.000,4,0.000,0.069,2475,3315,3743,0,0,0,0,0,0
$GC,4334,-1.08,-145.1,819.8,-18.4,390,4337,0.12,1.90,0.00,0.000,6,0.178,0.054,2505,2104,3743,0,0,0,0,0,0
$GC,4660,-1.09,-145.1,870.9,-15.3,401,4663,0.00,1.95,0.00,0.000,4,0.000,0.068,2498,3320,3742,0,0,0,0,0,0
$GC,4697,-1.10,-145.1,877.0,-15.7,402,4700,0.00,1.88,0.00,0.000,6,0.000,0.054,2498,2129,3742,0,0,0,0,0,0
$GC,5026,-1.10,-145.1,930.7,-16.5,413,5030,0.00,1.95,0.00,0.000,4,0.000,0.068,2489,3318,3741,0,0,0,0,0,0
$GC,5085,-1.12,-145.1,940.5,-16.9,414,5090,0.00,1.85,0.00,0.000,6,0.000,0.054,2488,2131,3741,0,0,0,0,0,0
$STATE,5391,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5391,begin apogee
$GC,5396,-0.14,0.0,993.9,17.2,425,5527,1.05,0.00,127.65,1.230,6,0.147,0.000,2802,1993,3150,0,0,0,0,0,0
$STATE,5527,end apogee,CONTROL_FINISHED_OK
$STATE,5527,begin climb
$GC,5529,0.87,145.1,997.8,0.0,429,5670,0.93,2.20,134.55,1.190,4,0.055,0.061,3145,767,2558,0,0,0,0,0,0
$GC,5718,0.85,145.1,983.6,16.6,435,5722,0.00,2.15,0.00,0.000,6,0.000,0.057,3145,2007,2555,0,0,0,0,0,0
$GC,6043,0.83,145.1,928.6,16.9,446,6046,0.00,2.05,0.00,0.000,4,0.000,0.066,3145,3236,2552,0,0,0,0,0,0
$GC,6144,0.79,145.1,910.7,17.6,449,6148,0.15,2.00,0.00,0.000,6,0.189,0.056,3114,2012,2550,0,0,0,0,0,0
$GC,6475,0.78,145.1,863.2,14.2,460,6478,0.00,2.00,0.00,0.000,4,0.000,0.067,3114,3243,2549,0,0,0,0,0,0
$GC,6586,0.77,145.1,845.7,15.3,463,6590,0.00,1.98,0.00,0.000,6,0.000,0.055,3121,2017,2549,0,0,0,0,0,0
$GC,6906,0.75,145.1,796.3,15.7,474,6909,0.00,1.98,0.00,0.000,4,0.000,0.066,3121,3242,2548,0,0,0,0,0,0
$GC,7040,0.73,145.1,773.4,17.8,478,7044,0.15,1.95,0.00,0.000,6,0.202,0.055,3094,2013,2547,0,0,0,0,0,0
$GC,7365,0.73,145.1,727.8,13.6,489,7368,0.00,1.98,0.00,0.000,4,0.000,0.066,3094,3239,2547,0,0,0,0,0,0
$GC,7428,0.73,145.1,718.3,15.7,491,7431,0.00,1.95,0.00,0.000,6,0.000,0.056,3102,2029,2547,0,0,0,0,0,0
$GC,7763,0.73,145.1,670.4,14.0,502,7764,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2029,2547,0,0,0,0,0,0
$GC,8067,0.73,145.1,628.3,13.7,512,8070,0.00,1.95,0.00,0.000,4,0.000,0.066,3102,3240,2546,0,0,0,0,0,0
$GC,8194,0.73,145.1,609.7,15.0,516,8198,0.00,1.92,0.00,0.000,6,0.000,0.055,3111,2037,2546,0,0,0,0,0,0
$GC,8515,0.73,145.1,563.8,14.7,541,8518,0.00,1.92,0.00,0.000,4,0.000,0.065,3111,3238,2546,0,0,0,0,0,0
$GC,8552,0.72,145.1,558.2,15.8,544,8557,0.10,1.92,0.00,0.000,6,0.167,0.055,3091,2038,2545,0,0,0,0,0,0
$GC,8867,0.72,145.1,517.8,12.0,575,8871,0.00,1.95,0.00,0.000,4,0.000,0.065,3091,3230,2545,0,0,0,0,0,0
$GC,8915,0.72,145.1,511.6,13.0,579,8922,0.00,1.90,0.00,0.000,6,0.000,0.055,3097,2045,2546,0,0,0,0,0,0
$GC,9232,0.72,145.1,474.0,11.3,610,9235,0.00,1.92,0.00,0.000,4,0.000,0.065,3097,3243,2545,0,0,0,0,0,0
$GC,9306,0.72,145.1,464.8,12.0,617,9310,0.00,1.90,0.00,0.000,6,0.000,0.054,3106,2056,2545,0,0,0,0,0,0
$GC,9628,0.72,145.1,428.9,11.4,648,9628,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2056,2545,0,0,0,0,0,0
$GC,9939,0.72,146.5,393.9,10.9,678,9940,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2056,2545,0,0,0,0,0,0
$GC,10250,0.72,148.5,359.1,10.8,708,10253,0.00,1.92,0.00,0.000,4,0.000,0.065,3107,3240,2545,0,0,0,0,0,0
$GC,10384,0.72,148.5,342.8,12.3,720,10390,0.00,1.90,0.00,0.000,6,0.000,0.054,3116,2054,2545,0,0,0,0,0,0
$GC,10699,0.72,151.4,307.9,10.7,751,10710,0.00,1.92,4.78,0.611,4,0.000,0.064,3115,3239,2532,0,0,0,0,0,0
$GC,10784,0.72,151.4,297.6,12.9,759,10788,0.10,1.88,0.00,0.000,6,0.163,0.054,3095,2067,2532,0,0,0,0,0,0
$GC,11106,0.72,152.4,262.8,10.9,790,11109,0.00,1.92,0.00,0.000,4,0.000,0.066,3094,3247,2532,0,0,0,0,0,0
$GC,11153,0.72,152.4,257.3,12.4,794,11158,0.00,1.88,0.00,0.000,6,0.000,0.054,3101,2077,2532,0,0,0,0,0,0
$GC,11468,0.73,160.8,224.7,10.1,825,11480,0.00,0.00,9.70,0.696,6,0.000,0.000,3101,2077,2494,0,0,0,0,0,0
$GC,11790,0.74,175.9,192.7,9.5,856,11810,0.00,1.88,14.65,0.702,4,0.000,0.063,3101,3239,2431,0,0,0,0,0,0
$GC,11879,0.74,175.9,182.5,12.2,864,11885,0.00,1.85,0.00,0.000,6,0.000,0.053,3110,2090,2429,0,0,0,0,0,0
$GC,12196,0.74,175.9,144.4,12.9,895,12199,0.00,2.12,0.00,0.000,4,0.000,0.061,3120,759,2429,0,0,0,0,0,0
$GC,12242,0.74,175.9,138.3,13.1,899,12249,0.00,2.12,0.00,0.000,6,0.000,0.056,3121,2093,2429,0,0,0,0,0,0
$GC,12559,0.76,192.9,102.2,9.3,930,12580,0.00,1.85,15.32,0.647,4,0.000,0.061,3120,3248,2362,0,0,0,0,0,0
$GC,12633,0.76,192.9,94.4,11.3,941,12639,0.00,1.88,0.00,0.000,6,0.000,0.053,3129,2080,2360,0,0,0,0,0,0
$GC,12963,0.80,229.3,62.1,7.3,1002,13001,0.00,2.12,30.40,0.632,4,0.000,0.061,3139,771,2215,0,0,0,0,0,0
$GC,13035,0.83,241.5,55.7,9.8,1015,13052,0.00,2.10,11.57,0.589,6,0.000,0.056,3140,2072,2164,0,0,0,0,0,0
$GC,13377,0.90,305.2,27.9,4.5,1078,13437,0.00,1.98,52.10,0.606,4,0.000,0.064,3139,3245,1903,0,0,0,0,0,0
$GC,13538,0.96,326.0,16.3,8.9,1108,13561,0.00,1.83,17.30,0.574,6,0.000,0.053,3147,2119,1820,0,0,0,0,0,0
$STATE,13681,end climb,SURFACE_DEPTH_REACHED
$STATE,13681,begin surface coast
$FINISH,1.2,1.022848
$STATE,13713,end surface coast,CONTROL_FINISHED_OK
$STATE,13713,begin surface
$SM_CCo,13729,19.00,0.325,2,0,1722,350.04
$SM_GC,1.97,0.00,0.00,19.00,0.000,0.000,0.325,129,2056,1722,-8.52,-0.54,350.04
$IRIDIUM_FIX,4726.11,-12554.58,090100,212116
$TT8_MAMPS,0.052923
$HUMID,43.38
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,16.50
$XPDR_PINGS,0
$24V_AH,22.1,73.598
$10V_AH,9.8,70.521
$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,20.725,109.875,418.025,19.000,0.000,27.680,36.122,208.717,6.500,0.000,12.528,0.000,10066.655,495.468,2967.496,622.629,0.000,1598.756,0.000,2505.709,0.000,58.446,0.000
$DEVICE_MAMPS,229.333,121.953,1229.501,325.208,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,804.795,809.466,1113.115,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298388
$DATA_FILE_SIZE,66435,1141
$CAP_FILE_SIZE,151958,0
$CFSIZE,260165632,211943424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.037,170.6,1
$GPS,161010,050337,4741.812,-12556.720,53,1.1,53,18.7