version: 66.06
glider: 187
mission: 2
dive: 687
start: 10 16 110 9 23 44
data:
$ID,187
$MISSION,2
$DIVE,687
$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,-38527.254
$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,33
$R_STBD_OVSHOOT,22
$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
$GPS1,091137,4743.155,-12556.082,91,2.0,91,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-76.2
$GPS2,092336,4743.064,-12556.125,17,1.0,33,18.7
$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,347.6,255,-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,-72.2,0.0,0.0,0,63,0.00,0.00,-48.00,0.000,2,0.000,0.000,131,2056,2843,0,0,0,0,0,0
$GC,66,-0.88,-155.8,3.0,-2.5,9,105,9.90,1.95,-22.23,0.000,4,0.229,0.068,2563,850,3785,0,0,0,0,0,0
$GC,201,-0.88,-155.8,38.2,-27.0,34,207,0.00,1.98,0.00,0.000,6,0.000,0.054,2556,2084,3787,0,0,0,0,0,0
$GC,525,-0.89,-155.8,105.9,-18.8,92,529,0.00,1.98,0.00,0.000,4,0.000,0.063,2547,3313,3789,0,0,0,0,0,0
$GC,594,-0.92,-155.8,118.7,-17.7,98,600,0.00,1.92,0.00,0.000,6,0.000,0.048,2547,2087,3789,0,0,0,0,0,0
$GC,910,-0.93,-155.8,178.4,-18.5,129,913,0.00,2.00,0.00,0.000,4,0.000,0.063,2538,3313,3790,0,0,0,0,0,0
$GC,1000,-0.96,-155.8,194.5,-17.2,137,1006,0.00,1.90,0.00,0.000,6,0.000,0.048,2537,2105,3789,0,0,0,0,0,0
$GC,1316,-0.97,-155.8,252.2,-17.9,168,1319,0.00,1.95,0.00,0.000,4,0.000,0.064,2529,3302,3790,0,0,0,0,0,0
$GC,1369,-0.99,-155.8,261.9,-18.9,173,1372,0.00,1.88,0.00,0.000,6,0.000,0.048,2528,2110,3789,0,0,0,0,0,0
$GC,1690,-1.00,-155.8,320.9,-17.9,204,1694,0.00,2.00,0.00,0.000,4,0.000,0.056,2528,846,3789,0,0,0,0,0,0
$GC,1738,-1.02,-155.8,329.8,-17.9,208,1743,0.00,2.00,0.00,0.000,6,0.000,0.056,2519,2103,3789,0,0,0,0,0,0
$GC,2053,-1.02,-155.8,389.1,-18.9,239,2057,0.00,2.00,0.00,0.000,4,0.000,0.057,2519,847,3787,0,0,0,0,0,0
$GC,2095,-1.02,-155.8,397.2,-19.4,243,2099,0.00,2.00,0.00,0.000,6,0.000,0.057,2510,2102,3788,0,0,0,0,0,0
$GC,2418,-1.02,-155.8,459.9,-19.8,274,2420,0.00,1.95,0.00,0.000,4,0.000,0.058,2510,846,3787,0,0,0,0,0,0
$GC,2450,-1.02,-155.8,466.3,-19.2,277,2452,0.00,1.98,0.00,0.000,6,0.000,0.058,2501,2097,3787,0,0,0,0,0,0
$GC,2770,-1.02,-155.8,531.7,-20.6,308,2773,0.00,1.95,0.00,0.000,4,0.000,0.064,2491,3305,3786,0,0,0,0,0,0
$GC,2818,-1.02,-155.8,541.6,-20.4,312,2824,0.10,1.90,0.00,0.000,6,0.153,0.052,2522,2103,3786,0,0,0,0,0,0
$GC,3135,-1.03,-155.8,600.4,-18.3,343,3138,0.00,1.95,0.00,0.000,4,0.000,0.067,2515,3299,3785,0,0,0,0,0,0
$GC,3194,-1.05,-155.8,611.5,-17.6,344,3199,0.00,1.85,0.00,0.000,6,0.000,0.053,2514,2119,3785,0,0,0,0,0,0
$GC,3502,-1.06,-155.8,667.8,-18.1,355,3503,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2119,3785,0,0,0,0,0,0
$GC,3806,-1.07,-155.8,723.0,-18.1,365,3807,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2119,3784,0,0,0,0,0,0
$GC,4110,-1.09,-155.8,776.2,-17.6,375,4113,0.00,1.95,0.00,0.000,4,0.000,0.069,2506,3305,3783,0,0,0,0,0,0
$GC,4163,-1.10,-155.8,785.6,-17.4,376,4166,0.00,1.88,0.00,0.000,6,0.000,0.052,2506,2125,3783,0,0,0,0,0,0
$GC,4479,-1.11,-155.8,840.0,-17.1,387,4480,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,2123,3782,0,0,0,0,0,0
$GC,4780,-1.13,-155.8,891.2,-16.8,397,4783,0.00,1.95,0.00,0.000,4,0.000,0.069,2497,3308,3782,0,0,0,0,0,0
$GC,4844,-1.14,-155.8,902.2,-16.6,399,4847,0.00,1.85,0.00,0.000,6,0.000,0.054,2497,2130,3781,0,0,0,0,0,0
$GC,5181,-1.14,-155.8,961.7,-17.8,410,5182,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2130,3781,0,0,0,0,0,0
$STATE,5359,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5359,begin apogee
$GC,5365,-0.14,0.0,993.6,17.5,416,5504,1.02,0.00,136.18,1.230,6,0.144,0.000,2805,1993,3150,0,0,0,0,0,0
$STATE,5504,end apogee,CONTROL_FINISHED_OK
$STATE,5504,begin climb
$GC,5506,0.88,155.8,998.3,0.0,420,5654,0.95,0.00,145.38,1.190,6,0.055,0.000,3145,1992,2515,0,0,0,0,0,0
$GC,5935,0.86,155.8,943.3,17.5,435,5938,0.00,2.10,0.00,0.000,4,0.000,0.065,3145,3230,2509,0,0,0,0,0,0
$GC,6015,0.83,155.8,928.6,18.4,437,6019,0.12,2.00,0.00,0.000,6,0.186,0.055,3121,2008,2508,0,0,0,0,0,0
$GC,6335,0.81,155.8,878.6,15.3,448,6338,0.00,2.03,0.00,0.000,4,0.000,0.067,3121,3237,2507,0,0,0,0,0,0
$GC,6420,0.80,155.8,864.0,16.2,450,6423,0.00,1.98,0.00,0.000,6,0.000,0.055,3128,2013,2507,0,0,0,0,0,0
$GC,6734,0.78,155.8,813.7,15.9,461,6737,0.00,2.00,0.00,0.000,4,0.000,0.066,3127,3236,2506,0,0,0,0,0,0
$GC,6841,0.76,155.8,795.4,18.0,464,6844,0.15,1.90,0.00,0.000,6,0.202,0.055,3102,2026,2505,0,0,0,0,0,0
$GC,7165,0.76,155.8,748.8,14.4,475,7168,0.00,1.98,0.00,0.000,4,0.000,0.066,3102,3229,2505,0,0,0,0,0,0
$GC,7250,0.76,155.8,735.6,14.9,477,7253,0.00,1.88,0.00,0.000,6,0.000,0.055,3109,2040,2505,0,0,0,0,0,0
$GC,7564,0.76,155.8,687.5,15.2,488,7567,0.00,1.95,0.00,0.000,4,0.000,0.066,3109,3237,2505,0,0,0,0,0,0
$GC,7644,0.75,155.8,674.9,15.4,490,7647,0.00,1.88,0.00,0.000,6,0.000,0.054,3118,2064,2504,0,0,0,0,0,0
$GC,7964,0.75,155.8,627.0,14.5,501,7966,0.00,1.88,0.00,0.000,4,0.000,0.064,3118,3243,2504,0,0,0,0,0,0
$GC,8011,0.73,155.8,619.3,16.8,502,8014,0.10,1.88,0.00,0.000,6,0.175,0.054,3098,2070,2503,0,0,0,0,0,0
$GC,8325,0.73,155.8,578.3,12.8,522,8328,0.00,1.88,0.00,0.000,4,0.000,0.065,3097,3236,2503,0,0,0,0,0,0
$GC,8368,0.73,155.8,572.3,14.0,526,8371,0.00,1.85,0.00,0.000,6,0.000,0.054,3104,2080,2503,0,0,0,0,0,0
$GC,8688,0.73,155.8,530.3,12.3,557,8691,0.00,1.88,0.00,0.000,4,0.000,0.065,3104,3243,2503,0,0,0,0,0,0
$GC,8710,0.73,155.8,527.7,13.1,559,8712,0.00,1.83,0.00,0.000,6,0.000,0.056,3113,2077,2502,0,0,0,0,0,0
$GC,9030,0.73,155.8,487.6,12.6,590,9034,0.00,1.88,0.00,0.000,4,0.000,0.064,3113,3230,2503,0,0,0,0,0,0
$GC,9110,0.73,155.8,477.5,12.5,597,9116,0.10,1.83,0.00,0.000,6,0.164,0.054,3092,2092,2502,0,0,0,0,0,0
$GC,9426,0.73,160.9,443.9,10.5,628,9429,0.00,1.88,0.00,0.000,4,0.000,0.066,3092,3237,2502,0,0,0,0,0,0
$GC,9474,0.73,160.9,438.1,12.4,632,9478,0.00,1.77,0.00,0.000,6,0.000,0.054,3098,2096,2502,0,0,0,0,0,0
$GC,9788,0.73,160.9,398.8,12.3,663,9792,0.00,1.88,0.00,0.000,4,0.000,0.065,3098,3232,2502,0,0,0,0,0,0
$GC,9832,0.73,160.9,393.0,13.8,667,9835,0.00,1.80,0.00,0.000,6,0.000,0.054,3107,2094,2502,0,0,0,0,0,0
$GC,10152,0.73,160.9,349.2,13.7,698,10156,0.00,1.88,0.00,0.000,4,0.000,0.064,3107,3233,2502,0,0,0,0,0,0
$GC,10184,0.73,160.9,344.8,14.5,701,10188,0.00,1.83,0.00,0.000,6,0.000,0.055,3116,2094,2502,0,0,0,0,0,0
$GC,10505,0.73,160.9,304.5,12.5,732,10509,0.00,1.88,0.00,0.000,4,0.000,0.064,3116,3232,2502,0,0,0,0,0,0
$GC,10569,0.73,160.9,296.1,13.1,738,10581,0.10,1.80,3.75,0.525,6,0.164,0.054,3094,2109,2494,0,0,0,0,0,0
$GC,10891,0.75,163.3,260.8,10.8,769,10899,0.00,0.00,4.03,0.541,6,0.000,0.000,3094,2108,2484,0,0,0,0,0,0
$GC,11210,0.76,167.5,226.5,10.6,800,11220,0.00,1.85,5.38,0.607,4,0.000,0.065,3094,3244,2467,0,0,0,0,0,0
$GC,11289,0.76,167.5,217.3,12.0,807,11296,0.00,1.80,0.00,0.000,6,0.000,0.054,3101,2117,2467,0,0,0,0,0,0
$GC,11605,0.77,167.5,182.7,11.4,838,11608,0.00,1.80,0.00,0.000,4,0.000,0.064,3100,3241,2467,0,0,0,0,0,0
$GC,11673,0.77,167.5,174.6,12.0,844,11679,0.00,1.77,0.00,0.000,6,0.000,0.054,3109,2128,2467,0,0,0,0,0,0
$GC,11989,0.77,167.9,140.2,11.0,875,11993,0.00,2.20,0.00,0.000,4,0.000,0.061,3120,773,2467,0,0,0,0,0,0
$GC,11999,0.78,177.5,139.1,10.0,876,12014,0.00,2.15,10.43,0.650,6,0.000,0.058,3120,2113,2425,0,0,0,0,0,0
$GC,12330,0.78,177.5,100.9,11.8,908,12334,0.00,1.85,0.00,0.000,4,0.000,0.064,3120,3237,2424,0,0,0,0,0,0
$GC,12471,0.78,182.8,85.5,10.5,933,12482,0.00,1.75,6.05,0.559,6,0.000,0.053,3128,2140,2404,0,0,0,0,0,0
$GC,12806,0.81,211.7,55.4,8.1,995,12835,0.00,1.83,24.92,0.629,4,0.000,0.064,3128,3236,2286,0,0,0,0,0,0
$GC,13022,0.85,240.4,33.8,8.1,1035,13050,0.00,1.73,24.40,0.608,6,0.000,0.051,3136,2157,2169,0,0,0,0,0,0
$GC,13372,0.91,288.9,16.3,6.1,1100,13416,0.00,2.30,39.78,0.597,4,0.000,0.060,3147,763,1971,0,0,0,0,0,0
$STATE,13542,end climb,SURFACE_DEPTH_REACHED
$STATE,13542,begin surface coast
$FINISH,1.4,1.023915
$STATE,13558,end surface coast,CONTROL_FINISHED_OK
$STATE,13558,begin surface
$SM_CCo,13577,37.10,0.482,1,0,1722,350.04
$SM_GC,2.71,0.00,0.00,37.10,0.000,0.000,0.482,143,2081,1722,-8.47,0.20,350.04
$IRIDIUM_FIX,4722.92,-12555.30,100100,090955
$TT8_MAMPS,0.05369
$HUMID,42.71
$INTERNAL_PRESSURE,9.0304
$TCM_TEMP,15.60
$XPDR_PINGS,0
$24V_AH,22.1,73.884
$10V_AH,9.8,70.735
$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,20.475,115.375,400.275,37.100,0.000,62.111,94.038,311.904,6.500,0.000,33.426,0.000,10051.173,535.739,2887.174,838.154,0.000,1568.527,0.000,2410.237,0.000,55.128,0.000
$DEVICE_MAMPS,229.333,80.535,1230.268,481.676,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,785.991,873.127,1123.380,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298388
$DATA_FILE_SIZE,66577,1135
$CAP_FILE_SIZE,152796,0
$CFSIZE,260165632,211787776
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1
$CURRENT,0.052,167.9,1
$GPS,161010,131236,4744.577,-12556.016,91,0.9,91,18.8