version: 66.06
glider: 187
mission: 2
dive: 686
start: 10 16 110 5 11 25
data:
$ID,187
$MISSION,2
$DIVE,686
$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,-38493.199
$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,37
$R_STBD_OVSHOOT,20
$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
$GPS1,050337,4741.812,-12556.720,53,1.1,53,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-74.8
$GPS2,051119,4741.734,-12556.667,16,1.2,16,18.7
$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,351.3,2806,-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,14,-0.83,-72.2,0.0,0.0,0,66,0.00,0.00,-51.05,0.000,2,0.000,0.000,128,2056,2916,0,0,0,0,0,0
$GC,69,-0.87,-142.4,3.2,-3.9,10,102,9.95,0.00,-18.33,0.000,6,0.231,0.000,2566,2054,3732,0,0,0,0,0,0
$GC,425,-0.89,-142.4,86.6,-19.2,76,431,0.00,2.03,0.00,0.000,4,0.000,0.061,2559,3312,3735,0,0,0,0,0,0
$GC,469,-0.91,-142.4,95.7,-18.9,84,475,0.00,1.95,0.00,0.000,6,0.000,0.049,2559,2079,3736,0,0,0,0,0,0
$GC,791,-0.93,-142.4,153.8,-17.7,117,792,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2076,3737,0,0,0,0,0,0
$GC,1103,-0.95,-142.4,206.1,-16.6,147,1106,0.00,2.00,0.00,0.000,4,0.000,0.064,2550,3324,3737,0,0,0,0,0,0
$GC,1204,-0.98,-142.4,222.8,-15.5,156,1210,0.00,1.98,0.00,0.000,6,0.000,0.050,2550,2075,3737,0,0,0,0,0,0
$GC,1520,-1.00,-142.4,273.4,-16.0,187,1523,0.00,1.98,0.00,0.000,4,0.000,0.063,2541,3320,3737,0,0,0,0,0,0
$GC,1690,-1.02,-142.4,300.3,-16.2,203,1693,0.00,1.92,0.00,0.000,6,0.000,0.050,2540,2097,3736,0,0,0,0,0,0
$GC,2011,-1.03,-142.4,354.0,-17.5,234,2014,0.00,1.98,0.00,0.000,4,0.000,0.065,2531,3312,3736,0,0,0,0,0,0
$GC,2101,-1.05,-142.4,369.9,-16.6,242,2106,0.00,1.90,0.00,0.000,6,0.000,0.051,2531,2109,3736,0,0,0,0,0,0
$GC,2417,-1.07,-142.4,427.7,-18.7,273,2417,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2109,3736,0,0,0,0,0,0
$GC,2728,-1.08,-142.4,486.1,-18.3,303,2731,0.00,1.92,0.00,0.000,4,0.000,0.066,2522,3322,3735,0,0,0,0,0,0
$GC,2840,-1.10,-142.4,506.3,-17.1,313,2845,0.00,1.88,0.00,0.000,6,0.000,0.051,2522,2122,3734,0,0,0,0,0,0
$GC,3155,-1.11,-142.4,563.9,-18.0,344,3159,0.00,1.95,0.00,0.000,4,0.000,0.067,2513,3318,3733,0,0,0,0,0,0
$GC,3241,-1.13,-142.4,578.4,-16.9,352,3244,0.00,1.85,0.00,0.000,6,0.000,0.052,2513,2135,3733,0,0,0,0,0,0
$GC,3559,-1.13,-142.4,631.9,-17.0,371,3563,0.00,1.92,0.00,0.000,4,0.000,0.068,2505,3312,3733,0,0,0,0,0,0
$GC,3649,-1.14,-142.4,647.5,-17.3,373,3655,0.00,1.83,0.00,0.000,6,0.000,0.053,2505,2161,3732,0,0,0,0,0,0
$GC,3962,-1.14,-142.4,700.6,-17.3,384,3962,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2161,3732,0,0,0,0,0,0
$GC,4262,-1.14,-142.4,753.7,-17.6,394,4265,0.00,1.88,0.00,0.000,4,0.000,0.068,2496,3321,3731,0,0,0,0,0,0
$GC,4331,-1.14,-142.4,766.4,-18.0,396,4334,0.00,1.80,0.00,0.000,6,0.000,0.054,2496,2156,3731,0,0,0,0,0,0
$GC,4663,-1.14,-142.4,826.9,-18.4,407,4664,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2155,3730,0,0,0,0,0,0
$GC,4965,-1.14,-142.4,882.2,-18.2,417,4968,0.00,1.85,0.00,0.000,4,0.000,0.070,2487,3313,3730,0,0,0,0,0,0
$GC,5017,-1.14,-142.4,892.1,-18.7,418,5021,0.00,1.83,0.00,0.000,6,0.000,0.054,2487,2170,3729,0,0,0,0,0,0
$GC,5331,-1.14,-142.4,949.0,-17.9,429,5335,0.00,1.88,0.00,0.000,4,0.000,0.070,2479,3312,3728,0,0,0,0,0,0
$GC,5412,-1.14,-142.4,963.4,-17.9,431,5415,0.00,1.80,0.00,0.000,6,0.000,0.055,2479,2185,3728,0,0,0,0,0,0
$STATE,5577,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5577,begin apogee
$GC,5583,-0.14,0.0,994.5,18.5,437,5711,1.10,0.00,125.25,1.231,6,0.149,0.000,2805,1998,3150,0,0,0,0,0,0
$STATE,5711,end apogee,CONTROL_FINISHED_OK
$STATE,5711,begin climb
$GC,5714,0.87,142.4,999.0,0.0,441,5854,0.93,2.12,131.93,1.189,4,0.054,0.062,3150,777,2568,0,0,0,0,0,0
$GC,5882,0.85,142.4,988.2,16.0,446,5886,0.00,2.12,0.00,0.000,6,0.000,0.057,3150,2004,2566,0,0,0,0,0,0
$GC,6196,0.82,142.4,935.3,16.6,457,6199,0.12,2.03,0.00,0.000,4,0.199,0.066,3122,3246,2562,0,0,0,0,0,0
$GC,6320,0.80,142.4,915.6,15.4,460,6325,0.00,1.98,0.00,0.000,6,0.000,0.056,3129,2021,2561,0,0,0,0,0,0
$GC,6629,0.78,142.4,870.2,14.6,471,6632,0.00,2.00,0.00,0.000,4,0.000,0.067,3128,3252,2560,0,0,0,0,0,0
$GC,6708,0.76,142.4,857.6,15.9,473,6711,0.12,1.98,0.00,0.000,6,0.183,0.056,3103,2033,2560,0,0,0,0,0,0
$GC,7028,0.76,142.4,817.5,12.0,484,7030,0.00,1.95,0.00,0.000,4,0.000,0.067,3103,3240,2560,0,0,0,0,0,0
$GC,7096,0.75,142.4,808.4,13.8,486,7100,0.00,1.95,0.00,0.000,6,0.000,0.058,3110,2036,2559,0,0,0,0,0,0
$GC,7426,0.75,142.4,765.9,13.1,497,7430,0.00,1.95,0.00,0.000,4,0.000,0.066,3110,3230,2559,0,0,0,0,0,0
$GC,7480,0.73,142.4,758.5,13.5,498,7483,0.00,1.88,0.00,0.000,6,0.000,0.056,3119,2050,2559,0,0,0,0,0,0
$GC,7793,0.72,142.4,715.5,13.9,509,7797,0.12,1.92,0.00,0.000,4,0.203,0.066,3089,3229,2559,0,0,0,0,0,0
$GC,7863,0.72,142.4,706.0,13.7,511,7866,0.00,1.85,0.00,0.000,6,0.000,0.056,3096,2067,2558,0,0,0,0,0,0
$GC,8192,0.72,142.4,661.2,13.9,522,8193,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2067,2558,0,0,0,0,0,0
$GC,8496,0.72,142.4,621.2,12.8,532,8499,0.00,1.92,0.00,0.000,4,0.000,0.067,3096,3237,2558,0,0,0,0,0,0
$GC,8549,0.72,142.4,614.0,13.9,533,8552,0.00,1.85,0.00,0.000,6,0.000,0.056,3105,2071,2558,0,0,0,0,0,0
$GC,8868,0.72,142.4,573.7,11.9,556,8871,0.00,1.88,0.00,0.000,4,0.000,0.066,3105,3237,2558,0,0,0,0,0,0
$GC,8980,0.71,142.4,559.2,12.9,566,8985,0.12,1.83,0.00,0.000,6,0.196,0.053,3085,2077,2557,0,0,0,0,0,0
$GC,9296,0.71,147.9,525.1,10.4,597,9307,0.00,1.92,4.00,0.634,4,0.000,0.064,3084,3241,2547,0,0,0,0,0,0
$GC,9361,0.71,147.9,517.5,11.8,603,9364,0.00,1.80,0.00,0.000,6,0.000,0.055,3091,2092,2547,0,0,0,0,0,0
$GC,9682,0.71,147.9,481.8,11.2,634,9685,0.00,1.85,0.00,0.000,4,0.000,0.066,3091,3237,2547,0,0,0,0,0,0
$GC,9714,0.71,147.9,478.1,12.5,637,9717,0.00,1.80,0.00,0.000,6,0.000,0.055,3100,2102,2546,0,0,0,0,0,0
$GC,10034,0.71,147.9,441.0,12.3,668,10038,0.00,1.88,0.00,0.000,4,0.000,0.066,3099,3232,2547,0,0,0,0,0,0
$GC,10044,0.71,147.9,439.8,11.5,669,10048,0.00,1.83,0.00,0.000,6,0.000,0.056,3109,2096,2547,0,0,0,0,0,0
$GC,10366,0.71,147.9,400.6,12.8,700,10369,0.00,1.85,0.00,0.000,4,0.000,0.064,3109,3237,2546,0,0,0,0,0,0
$GC,10418,0.71,147.9,393.6,13.6,705,10422,0.10,1.83,0.00,0.000,6,0.166,0.054,3088,2099,2547,0,0,0,0,0,0
$GC,10741,0.72,151.1,357.1,10.7,736,10750,0.00,0.00,4.80,0.637,6,0.000,0.000,3088,2098,2533,0,0,0,0,0,0
$GC,11061,0.73,152.4,322.1,10.9,767,11062,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2097,2533,0,0,0,0,0,0
$GC,11372,0.75,159.8,289.6,10.2,797,11385,0.00,1.88,9.23,0.729,4,0.000,0.064,3088,3237,2498,0,0,0,0,0,0
$GC,11414,0.75,159.8,284.8,11.5,801,11417,0.00,1.77,0.00,0.000,6,0.000,0.054,3094,2099,2497,0,0,0,0,0,0
$GC,11735,0.77,168.0,250.6,10.2,832,11748,0.00,1.88,8.50,0.694,4,0.000,0.064,3094,3236,2465,0,0,0,0,0,0
$GC,11767,0.77,168.0,247.1,11.7,835,11770,0.00,1.77,0.00,0.000,6,0.000,0.054,3103,2110,2464,0,0,0,0,0,0
$GC,12087,0.77,175.1,213.4,10.3,866,12098,0.00,1.88,7.72,0.662,4,0.000,0.065,3102,3240,2436,0,0,0,0,0,0
$GC,12119,0.77,175.1,209.9,11.3,869,12122,0.00,1.77,0.00,0.000,6,0.000,0.055,3111,2109,2435,0,0,0,0,0,0
$GC,12439,0.77,175.1,172.2,11.5,900,12443,0.00,2.15,0.00,0.000,4,0.000,0.061,3122,769,2435,0,0,0,0,0,0
$GC,12476,0.77,175.1,168.0,11.1,903,12483,0.00,2.15,0.00,0.000,6,0.000,0.057,3122,2116,2435,0,0,0,0,0,0
$GC,12793,0.78,184.1,132.1,10.1,934,12806,0.00,1.83,9.32,0.640,4,0.000,0.064,3122,3236,2399,0,0,0,0,0,0
$GC,12890,0.78,184.1,121.3,11.9,943,12893,0.00,1.77,0.00,0.000,6,0.000,0.051,3130,2104,2397,0,0,0,0,0,0
$GC,13209,0.78,184.1,86.5,11.3,985,13216,0.00,1.88,0.00,0.000,4,0.000,0.065,3130,3235,2397,0,0,0,0,0,0
$GC,13292,0.78,184.1,77.2,12.2,1000,13298,0.10,1.73,0.00,0.000,6,0.162,0.053,3108,2155,2397,0,0,0,0,0,0
$GC,13621,0.84,246.8,51.6,4.6,1061,13682,0.00,2.30,51.72,0.632,4,0.000,0.061,3117,761,2142,0,0,0,0,0,0
$GC,13716,0.90,277.0,46.2,7.9,1078,13748,0.00,2.28,25.58,0.605,6,0.000,0.056,3117,2166,2019,0,0,0,0,0,0
$GC,14070,0.98,337.1,20.3,4.9,1144,14126,0.15,1.77,48.58,0.597,4,0.088,0.062,3181,3236,1773,0,0,0,0,0,0
$STATE,14241,end climb,SURFACE_DEPTH_REACHED
$STATE,14241,begin surface coast
$FINISH,1.3,1.023933
$STATE,14263,end surface coast,CONTROL_FINISHED_OK
$STATE,14263,begin surface
$SM_CCo,14282,11.80,0.224,1,0,1723,350.04
$SM_GC,2.64,0.00,0.00,11.80,0.000,0.000,0.224,134,2058,1723,-8.51,-0.48,350.04
$IRIDIUM_FIX,4726.11,-12559.05,100100,010112
$TT8_MAMPS,0.05369
$HUMID,43.54
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,16.50
$XPDR_PINGS,0
$24V_AH,22.1,73.736
$10V_AH,9.7,70.628
$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,20.900,115.025,426.625,11.800,0.000,30.387,35.309,245.145,6.500,0.000,16.209,0.000,10536.237,493.801,3026.589,677.812,0.000,1624.189,0.000,2559.799,0.000,56.811,0.000
$DEVICE_MAMPS,230.867,71.331,1231.035,223.964,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,818.729,898.394,1136.274,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298356
$DATA_FILE_SIZE,66444,1180
$CAP_FILE_SIZE,157168,0
$CFSIZE,260165632,211857408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.032,182.2,1
$GPS,161010,091137,4743.155,-12556.082,91,2.0,91,18.7