version: 66.06
glider: 187
mission: 2
dive: 688
start: 10 16 110 13 27 53
data:
$ID,187
$MISSION,2
$DIVE,688
$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,-38543.57
$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,21
$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
$GPS1,131236,4744.577,-12556.016,91,0.9,91,18.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-73.8
$GPS2,132744,4744.499,-12556.047,15,0.9,15,18.8
$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,166.5,2405,-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,-72.2,0.0,0.0,0,66,0.00,0.00,-52.03,0.000,2,0.000,0.000,131,2082,2955,0,0,0,0,0,0
$GC,69,-0.87,-147.8,3.3,-3.3,10,102,10.00,1.98,-18.00,0.000,4,0.231,0.069,2569,829,3754,0,0,0,0,0,0
$GC,338,-0.89,-147.8,64.1,-20.7,60,344,0.00,2.00,0.00,0.000,6,0.000,0.055,2562,2080,3758,0,0,0,0,0,0
$GC,661,-0.91,-147.8,125.9,-18.9,108,663,0.00,1.98,0.00,0.000,4,0.000,0.064,2552,3312,3759,0,0,0,0,0,0
$GC,708,-0.94,-147.8,134.7,-18.2,112,714,0.00,1.95,0.00,0.000,6,0.000,0.049,2553,2078,3759,0,0,0,0,0,0
$GC,1023,-0.95,-147.8,190.7,-17.5,143,1026,0.00,2.00,0.00,0.000,4,0.000,0.062,2544,3316,3759,0,0,0,0,0,0
$GC,1146,-0.97,-147.8,212.5,-17.8,154,1151,0.00,1.92,0.00,0.000,6,0.000,0.049,2543,2091,3759,0,0,0,0,0,0
$GC,1461,-0.99,-147.8,265.9,-16.6,185,1465,0.00,2.00,0.00,0.000,4,0.000,0.065,2534,3303,3759,0,0,0,0,0,0
$GC,1515,-1.01,-147.8,274.9,-16.6,190,1518,0.00,1.88,0.00,0.000,6,0.000,0.049,2534,2094,3758,0,0,0,0,0,0
$GC,1835,-1.02,-147.8,332.1,-17.4,221,1839,0.00,1.98,0.00,0.000,4,0.000,0.064,2525,3310,3758,0,0,0,0,0,0
$GC,1965,-1.03,-147.8,355.6,-18.5,233,1968,0.00,1.88,0.00,0.000,6,0.000,0.050,2525,2105,3757,0,0,0,0,0,0
$GC,2285,-1.03,-147.8,416.4,-18.9,264,2289,0.00,1.98,0.00,0.000,4,0.000,0.067,2516,3315,3757,0,0,0,0,0,0
$GC,2531,-1.04,-147.8,463.7,-18.8,287,2534,0.00,1.88,0.00,0.000,6,0.000,0.050,2516,2120,3756,0,0,0,0,0,0
$GC,2851,-1.04,-147.8,523.9,-18.2,318,2855,0.00,1.95,0.00,0.000,4,0.000,0.067,2507,3314,3755,0,0,0,0,0,0
$GC,3098,-1.04,-147.8,569.2,-18.2,341,3101,0.00,1.83,0.00,0.000,6,0.000,0.050,2507,2140,3754,0,0,0,0,0,0
$GC,3426,-1.04,-147.8,628.6,-17.9,363,3429,0.00,1.90,0.00,0.000,4,0.000,0.067,2498,3303,3754,0,0,0,0,0,0
$GC,3671,-1.04,-147.8,673.5,-17.7,370,3674,0.00,1.80,0.00,0.000,6,0.000,0.051,2497,2167,3753,0,0,0,0,0,0
$GC,3990,-1.04,-147.8,728.9,-17.6,381,3992,0.00,1.85,0.00,0.000,4,0.000,0.067,2489,3315,3752,0,0,0,0,0,0
$GC,4234,-1.04,-147.8,774.0,-17.6,388,4238,0.00,1.77,0.00,0.000,6,0.000,0.050,2489,2189,3751,0,0,0,0,0,0
$GC,4552,-1.04,-147.8,829.1,-17.6,399,4555,0.12,2.15,0.00,0.000,4,0.193,0.058,2519,839,3751,0,0,0,0,0,0
$GC,4749,-1.06,-147.8,860.2,-14.9,405,4753,0.00,2.22,0.00,0.000,6,0.000,0.061,2511,2228,3750,0,0,0,0,0,0
$GC,5070,-1.08,-147.8,910.8,-16.0,416,5072,0.00,1.77,0.00,0.000,4,0.000,0.069,2503,3313,3748,0,0,0,0,0,0
$GC,5277,-1.09,-147.8,944.5,-16.2,422,5281,0.00,1.70,0.00,0.000,6,0.000,0.053,2502,2246,3748,0,0,0,0,0,0
$STATE,5564,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5564,begin apogee
$GC,5570,-0.14,0.0,991.5,16.3,432,5702,1.00,0.00,129.80,1.226,6,0.143,0.000,2804,1999,3150,0,0,0,0,0,0
$STATE,5703,end apogee,CONTROL_FINISHED_OK
$STATE,5703,begin climb
$GC,5705,0.87,147.8,995.5,0.0,436,5848,0.93,2.25,137.20,1.187,4,0.057,0.063,3145,778,2546,0,0,0,0,0,0
$GC,5902,0.85,147.8,979.5,17.2,442,5905,0.00,2.10,0.00,0.000,6,0.000,0.057,3145,2003,2543,0,0,0,0,0,0
$GC,6221,0.83,147.8,921.3,18.4,453,6224,0.00,2.05,0.00,0.000,4,0.000,0.066,3145,3247,2539,0,0,0,0,0,0
$GC,6351,0.80,147.8,895.5,20.5,457,6354,0.17,1.98,0.00,0.000,6,0.206,0.057,3114,2020,2538,0,0,0,0,0,0
$GC,6680,0.79,147.8,841.0,16.0,468,6684,0.00,2.00,0.00,0.000,4,0.000,0.066,3114,3232,2537,0,0,0,0,0,0
$GC,6798,0.77,147.8,821.3,16.9,471,6801,0.00,1.92,0.00,0.000,6,0.000,0.056,3121,2013,2537,0,0,0,0,0,0
$GC,7112,0.76,147.8,771.6,15.4,482,7115,0.00,2.00,0.00,0.000,4,0.000,0.066,3121,3232,2536,0,0,0,0,0,0
$GC,7203,0.74,147.8,756.8,16.6,484,7209,0.15,1.90,0.00,0.000,6,0.202,0.056,3094,2026,2535,0,0,0,0,0,0
$GC,7511,0.74,147.8,715.2,12.9,495,7514,0.00,1.98,0.00,0.000,4,0.000,0.067,3094,3228,2535,0,0,0,0,0,0
$GC,7617,0.74,147.8,700.7,13.2,498,7621,0.00,1.92,0.00,0.000,6,0.000,0.055,3101,2036,2535,0,0,0,0,0,0
$GC,7943,0.74,147.8,660.8,12.1,509,7946,0.00,1.95,0.00,0.000,4,0.000,0.066,3101,3240,2534,0,0,0,0,0,0
$GC,7990,0.73,147.8,654.6,13.2,510,7993,0.00,1.92,0.00,0.000,6,0.000,0.056,3110,2049,2534,0,0,0,0,0,0
$GC,8309,0.73,147.8,613.7,12.5,521,8313,0.00,1.95,0.00,0.000,4,0.000,0.065,3110,3240,2534,0,0,0,0,0,0
$GC,8400,0.72,147.8,601.2,14.4,523,8405,0.12,1.88,0.00,0.000,6,0.198,0.055,3090,2058,2534,0,0,0,0,0,0
$GC,8715,0.72,147.8,563.1,12.1,552,8718,0.00,1.90,0.00,0.000,4,0.000,0.065,3090,3236,2534,0,0,0,0,0,0
$GC,8800,0.72,147.8,551.8,13.5,560,8803,0.00,1.85,0.00,0.000,6,0.000,0.054,3097,2076,2534,0,0,0,0,0,0
$GC,9121,0.72,147.8,513.0,12.7,591,9122,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2076,2534,0,0,0,0,0,0
$GC,9433,0.72,147.8,475.1,12.3,621,9436,0.00,1.88,0.00,0.000,4,0.000,0.064,3097,3229,2534,0,0,0,0,0,0
$GC,9511,0.72,147.8,465.2,12.8,628,9518,0.00,1.85,0.00,0.000,6,0.000,0.054,3106,2073,2534,0,0,0,0,0,0
$GC,9827,0.72,147.8,428.5,11.4,659,9831,0.00,1.90,0.00,0.000,4,0.000,0.064,3106,3237,2534,0,0,0,0,0,0
$GC,9875,0.72,147.8,422.7,13.0,663,9881,0.00,1.88,0.00,0.000,6,0.000,0.054,3114,2070,2533,0,0,0,0,0,0
$GC,10191,0.72,147.8,384.5,12.0,694,10194,0.00,1.88,0.00,0.000,4,0.000,0.065,3115,3236,2533,0,0,0,0,0,0
$GC,10260,0.71,147.8,375.4,14.1,700,10266,0.12,1.85,0.00,0.000,6,0.162,0.054,3086,2079,2533,0,0,0,0,0,0
$GC,10576,0.72,158.2,343.1,9.9,731,10586,0.00,0.00,8.02,0.736,6,0.000,0.000,3086,2078,2504,0,0,0,0,0,0
$GC,10897,0.74,169.4,311.0,9.9,762,10912,0.00,1.85,11.40,0.755,4,0.000,0.061,3086,3237,2458,0,0,0,0,0,0
$GC,10986,0.74,169.4,301.1,11.7,770,10989,0.00,1.85,0.00,0.000,6,0.000,0.052,3092,2084,2457,0,0,0,0,0,0
$GC,11307,0.76,169.4,265.6,11.4,801,11308,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2084,2457,0,0,0,0,0,0
$GC,11619,0.77,181.6,232.6,9.8,831,11634,0.00,1.92,11.62,0.709,4,0.000,0.064,3092,3242,2409,0,0,0,0,0,0
$GC,11693,0.77,181.6,224.2,11.0,837,11698,0.00,1.85,0.00,0.000,6,0.000,0.053,3100,2086,2408,0,0,0,0,0,0
$GC,12009,0.79,181.6,190.5,11.3,868,12012,0.00,1.88,0.00,0.000,4,0.000,0.064,3101,3236,2407,0,0,0,0,0,0
$GC,12051,0.79,181.6,185.3,13.3,872,12054,0.00,1.80,0.00,0.000,6,0.000,0.053,3109,2095,2407,0,0,0,0,0,0
$GC,12371,0.79,186.1,148.7,10.5,903,12383,0.00,1.88,5.38,0.568,4,0.000,0.064,3110,3239,2391,0,0,0,0,0,0
$GC,12462,0.79,186.1,137.7,11.2,911,12467,0.00,1.83,0.00,0.000,6,0.000,0.052,3118,2096,2390,0,0,0,0,0,0
$GC,12778,0.79,186.1,101.0,11.1,942,12778,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2095,2390,0,0,0,0,0,0
$GC,13100,0.81,195.4,69.2,10.1,1001,13115,0.00,1.85,9.68,0.605,4,0.000,0.064,3118,3229,2352,0,0,0,0,0,0
$GC,13356,0.85,235.4,45.4,6.9,1049,13394,0.00,1.75,33.35,0.623,6,0.000,0.051,3127,2126,2190,0,0,0,0,0,0
$GC,13715,0.93,295.8,23.7,4.9,1116,13770,0.00,1.85,49.42,0.604,4,0.000,0.063,3127,3235,1942,0,0,0,0,0,0
$GC,13824,0.99,318.5,16.3,8.7,1136,13852,0.08,1.80,19.48,0.574,6,0.064,0.051,3177,2124,1850,0,0,0,0,0,0
$STATE,13940,end climb,SURFACE_DEPTH_REACHED
$STATE,13941,begin surface coast
$FINISH,1.2,1.012829
$STATE,13968,end surface coast,CONTROL_FINISHED_OK
$STATE,13968,begin surface
$SM_CCo,13984,22.38,0.407,1,0,1723,350.04
$SM_GC,1.75,0.00,0.00,22.38,0.000,0.000,0.407,132,2069,1723,-8.51,-0.14,350.04
$IRIDIUM_FIX,4726.11,-12601.64,100100,131305
$TT8_MAMPS,0.05369
$HUMID,42.79
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,16.80
$XPDR_PINGS,0
$24V_AH,22.1,74.038
$10V_AH,9.8,70.849
$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,20.800,107.675,415.350,22.375,0.000,84.537,115.116,403.009,6.500,0.000,15.687,0.000,10185.708,491.195,3221.654,997.473,0.000,1684.338,0.000,2743.013,0.000,56.044,0.000
$DEVICE_MAMPS,230.867,125.021,1225.666,406.510,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,808.881,904.094,1144.212,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298400
$DATA_FILE_SIZE,66416,1163
$CAP_FILE_SIZE,163352,0
$CFSIZE,260165632,211701760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.031,132.8,1
$GPS,161010,172237,4742.972,-12556.329,50,1.1,50,18.7