version: 66.06
glider: 187
mission: 2
dive: 689
start: 10 16 110 17 30 13
data:
$ID,187
$MISSION,2
$DIVE,689
$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,-38556.418
$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,23
$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
$GPS1,172237,4742.972,-12556.329,50,1.1,50,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-74.7
$GPS2,173007,4742.930,-12556.276,12,1.4,12,18.7
$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,356.3,547,-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,-72.2,0.0,0.0,0,66,0.00,0.00,-51.40,0.000,2,0.000,0.000,131,2070,2915,0,0,0,0,0,0
$GC,70,-0.88,-148.4,3.2,-3.2,10,103,9.93,1.98,-19.10,0.000,4,0.229,0.068,2568,834,3755,0,0,0,0,0,0
$GC,174,-0.88,-148.4,29.9,-24.2,29,179,0.00,2.00,0.00,0.000,6,0.000,0.057,2561,2073,3756,0,0,0,0,0,0
$GC,500,-0.89,-148.4,96.1,-17.5,90,506,0.00,2.00,0.00,0.000,4,0.000,0.064,2552,3313,3759,0,0,0,0,0,0
$GC,746,-0.91,-148.4,140.8,-17.1,115,749,0.00,1.90,0.00,0.000,6,0.000,0.046,2552,2086,3760,0,0,0,0,0,0
$GC,1067,-0.93,-148.4,199.8,-18.9,146,1070,0.00,1.95,0.00,0.000,4,0.000,0.064,2543,3314,3760,0,0,0,0,0,0
$GC,1275,-0.96,-148.4,236.7,-17.1,165,1282,0.00,1.85,0.00,0.000,6,0.000,0.046,2543,2133,3760,0,0,0,0,0,0
$GC,1591,-0.97,-148.4,291.8,-17.2,196,1594,0.00,1.90,0.00,0.000,4,0.000,0.064,2534,3317,3760,0,0,0,0,0,0
$GC,1721,-0.99,-148.4,313.8,-16.5,208,1724,0.00,1.80,0.00,0.000,6,0.000,0.049,2534,2152,3759,0,0,0,0,0,0
$GC,2041,-1.01,-148.4,369.5,-16.6,239,2044,0.00,1.88,0.00,0.000,4,0.000,0.065,2525,3309,3759,0,0,0,0,0,0
$GC,2133,-1.03,-148.4,384.0,-15.3,247,2137,0.00,1.75,0.00,0.000,6,0.000,0.049,2525,2166,3759,0,0,0,0,0,0
$GC,2447,-1.04,-148.4,439.4,-17.5,278,2451,0.00,1.85,0.00,0.000,4,0.000,0.064,2517,3308,3758,0,0,0,0,0,0
$GC,2506,-1.06,-148.4,449.4,-17.2,283,2515,0.00,1.73,0.00,0.000,6,0.000,0.051,2516,2181,3758,0,0,0,0,0,0
$GC,2821,-1.07,-148.4,507.6,-18.5,314,2822,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2180,3758,0,0,0,0,0,0
$GC,3132,-1.08,-148.4,566.5,-19.1,344,3135,0.00,1.83,0.00,0.000,4,0.000,0.066,2508,3304,3757,0,0,0,0,0,0
$GC,3218,-1.10,-148.4,582.7,-18.0,352,3222,0.00,1.77,0.00,0.000,6,0.000,0.051,2507,2183,3757,0,0,0,0,0,0
$GC,3555,-1.10,-148.4,648.9,-19.5,369,3558,0.00,1.80,0.00,0.000,4,0.000,0.067,2499,3312,3756,0,0,0,0,0,0
$GC,3603,-1.11,-148.4,658.3,-19.0,370,3606,0.00,1.77,0.00,0.000,6,0.000,0.052,2499,2194,3756,0,0,0,0,0,0
$GC,3922,-1.11,-148.4,720.4,-19.4,381,3925,0.00,1.83,0.00,0.000,4,0.000,0.067,2491,3308,3755,0,0,0,0,0,0
$GC,3958,-1.11,-148.4,727.5,-19.4,382,3962,0.00,1.77,0.00,0.000,6,0.000,0.052,2491,2191,3755,0,0,0,0,0,0
$GC,4289,-1.11,-148.4,791.1,-18.7,393,4292,0.00,1.83,0.00,0.000,4,0.000,0.069,2483,3317,3754,0,0,0,0,0,0
$GC,4342,-1.11,-148.4,801.1,-18.5,394,4345,0.00,1.75,0.00,0.000,6,0.000,0.052,2482,2213,3754,0,0,0,0,0,0
$GC,4657,-1.11,-148.4,862.0,-19.1,405,4657,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2212,3754,0,0,0,0,0,0
$GC,4959,-1.11,-148.4,918.0,-18.3,415,4963,0.00,1.80,0.00,0.000,4,0.000,0.067,2474,3309,3753,0,0,0,0,0,0
$GC,5007,-1.11,-148.4,926.8,-17.6,416,5011,0.00,1.75,0.00,0.000,6,0.000,0.053,2474,2212,3752,0,0,0,0,0,0
$GC,5327,-1.11,-148.4,985.0,-18.2,427,5330,0.00,1.77,0.00,0.000,4,0.000,0.068,2466,3310,3752,0,0,0,0,0,0
$STATE,5356,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5356,begin apogee
$GC,5363,-0.14,0.0,990.8,18.0,428,5496,1.15,0.00,130.62,1.226,6,0.150,0.000,2805,2005,3150,0,0,0,0,0,0
$STATE,5497,end apogee,CONTROL_FINISHED_OK
$STATE,5497,begin climb
$GC,5500,0.88,148.4,994.9,0.0,432,5645,0.95,2.20,137.98,1.187,4,0.055,0.063,3150,765,2545,0,0,0,0,0,0
$GC,5655,0.85,148.4,985.6,14.8,438,5658,0.00,2.20,0.00,0.000,6,0.000,0.058,3150,2002,2543,0,0,0,0,0,0
$GC,5991,0.83,148.4,924.5,18.3,449,5994,0.00,2.05,0.00,0.000,4,0.000,0.067,3150,3240,2539,0,0,0,0,0,0
$GC,6054,0.79,148.4,912.5,19.7,451,6058,0.15,2.00,0.00,0.000,6,0.185,0.057,3119,2016,2538,0,0,0,0,0,0
$GC,6391,0.78,148.4,860.5,15.2,462,6393,0.00,2.03,0.00,0.000,4,0.000,0.066,3118,3247,2536,0,0,0,0,0,0
$GC,6448,0.76,148.4,851.1,16.7,463,6454,0.00,1.98,0.00,0.000,6,0.000,0.056,3125,2025,2536,0,0,0,0,0,0
$GC,6757,0.74,148.4,803.1,15.7,474,6758,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2025,2535,0,0,0,0,0,0
$GC,7061,0.73,148.4,757.4,14.9,484,7065,0.12,1.95,0.00,0.000,4,0.206,0.066,3096,3237,2535,0,0,0,0,0,0
$GC,7179,0.73,148.4,740.5,14.7,487,7184,0.00,1.90,0.00,0.000,6,0.000,0.054,3103,2036,2535,0,0,0,0,0,0
$GC,7487,0.73,148.4,698.3,13.6,498,7490,0.00,1.98,0.00,0.000,4,0.000,0.065,3103,3241,2534,0,0,0,0,0,0
$GC,7519,0.72,148.4,694.1,14.2,499,7522,0.00,1.92,0.00,0.000,6,0.000,0.057,3113,2053,2534,0,0,0,0,0,0
$GC,7854,0.72,148.4,648.1,13.7,510,7857,0.00,1.92,0.00,0.000,4,0.000,0.065,3112,3231,2534,0,0,0,0,0,0
$GC,7881,0.71,148.4,644.3,14.5,510,7886,0.15,1.88,0.00,0.000,6,0.193,0.056,3085,2051,2534,0,0,0,0,0,0
$GC,8189,0.71,148.4,608.1,11.5,521,8192,0.00,1.95,0.00,0.000,4,0.000,0.066,3085,3241,2534,0,0,0,0,0,0
$GC,8252,0.71,148.4,599.7,13.8,523,8256,0.00,1.88,0.00,0.000,6,0.000,0.056,3091,2070,2533,0,0,0,0,0,0
$GC,8573,0.71,148.4,559.5,12.7,554,8577,0.00,1.90,0.00,0.000,4,0.000,0.066,3091,3230,2533,0,0,0,0,0,0
$GC,8610,0.71,148.4,554.7,13.4,557,8616,0.00,1.85,0.00,0.000,6,0.000,0.055,3100,2079,2533,0,0,0,0,0,0
$GC,8926,0.71,148.4,513.7,12.7,588,8927,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2078,2533,0,0,0,0,0,0
$GC,9238,0.71,148.4,474.6,13.0,618,9239,0.00,0.00,0.00,0.000,6,0.000,0.000,3100,2078,2533,0,0,0,0,0,0
$GC,9549,0.71,148.4,436.5,11.9,648,9552,0.00,1.88,0.00,0.000,4,0.000,0.064,3100,3239,2533,0,0,0,0,0,0
$GC,9603,0.71,148.4,430.0,12.4,653,9606,0.00,1.85,0.00,0.000,6,0.000,0.056,3109,2060,2533,0,0,0,0,0,0
$GC,9923,0.71,152.1,394.6,10.6,684,9924,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2060,2533,0,0,0,0,0,0
$GC,10235,0.71,159.0,362.1,10.3,714,10248,0.00,1.95,8.62,0.754,4,0.000,0.065,3110,3239,2501,0,0,0,0,0,0
$GC,10320,0.71,159.0,352.9,11.3,722,10323,0.12,1.88,0.00,0.000,6,0.189,0.055,3089,2059,2500,0,0,0,0,0,0
$GC,10641,0.73,166.9,321.7,10.2,753,10654,0.00,1.95,8.38,0.731,4,0.000,0.064,3089,3239,2468,0,0,0,0,0,0
$GC,10677,0.73,167.9,317.8,10.9,756,10684,0.00,1.88,0.00,0.000,6,0.000,0.055,3095,2073,2468,0,0,0,0,0,0
$GC,10994,0.74,167.9,282.7,11.4,787,10997,0.00,1.90,0.00,0.000,4,0.000,0.065,3095,3237,2467,0,0,0,0,0,0
$GC,11026,0.74,167.9,278.6,12.2,790,11029,0.00,1.83,0.00,0.000,6,0.000,0.055,3104,2074,2468,0,0,0,0,0,0
$GC,11346,0.74,167.9,238.7,12.6,821,11350,0.00,1.92,0.00,0.000,4,0.000,0.064,3104,3240,2468,0,0,0,0,0,0
$GC,11357,0.74,167.9,237.5,12.3,822,11360,0.00,1.88,0.00,0.000,6,0.000,0.055,3113,2075,2467,0,0,0,0,0,0
$GC,11678,0.74,167.9,197.5,12.0,853,11679,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2075,2467,0,0,0,0,0,0
$GC,11991,0.74,167.9,160.9,11.3,883,11994,0.00,1.88,0.00,0.000,4,0.000,0.063,3113,3245,2468,0,0,0,0,0,0
$GC,12027,0.74,167.9,156.3,12.6,886,12033,0.00,1.85,0.00,0.000,6,0.000,0.053,3122,2088,2467,0,0,0,0,0,0
$GC,12343,0.74,167.9,119.1,11.9,917,12344,0.00,0.00,0.00,0.000,6,0.000,0.000,3122,2087,2467,0,0,0,0,0,0
$GC,12658,0.75,189.5,87.2,8.8,959,12686,0.00,1.90,20.20,0.650,4,0.000,0.064,3122,3240,2376,0,0,0,0,0,0
$GC,12926,0.76,203.9,57.0,9.5,1009,12948,0.08,1.85,13.20,0.614,6,0.165,0.052,3107,2082,2317,0,0,0,0,0,0
$GC,13271,0.84,262.5,34.3,5.0,1073,13326,0.00,2.15,47.62,0.616,4,0.000,0.062,3115,773,2079,0,0,0,0,0,0
$GC,13391,0.91,301.2,26.6,7.1,1095,13429,0.00,2.08,32.50,0.597,6,0.000,0.056,3115,2058,1921,0,0,0,0,0,0
$STATE,13726,end climb,SURFACE_DEPTH_REACHED
$STATE,13726,begin surface coast
$FINISH,1.2,1.008141
$STATE,13769,end surface coast,CONTROL_FINISHED_OK
$STATE,13769,begin surface
$SM_CCo,13785,28.98,0.453,1,0,1722,350.04
$SM_GC,2.19,0.00,0.00,28.98,0.000,0.000,0.453,133,2062,1722,-8.51,-0.37,350.04
$IRIDIUM_FIX,4726.11,-12559.05,100100,131319
$TT8_MAMPS,0.05369
$HUMID,42.59
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,16.50
$XPDR_PINGS,0
$24V_AH,22.1,74.175
$10V_AH,9.8,70.955
$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,20.575,106.525,399.125,28.975,0.000,23.546,38.954,232.054,6.500,0.000,12.219,0.000,10133.562,504.268,2954.230,648.565,0.000,1579.764,0.000,2497.951,0.000,53.551,0.000
$DEVICE_MAMPS,228.566,69.030,1226.433,452.530,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,808.331,908.700,1161.073,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298392
$DATA_FILE_SIZE,66517,1166
$CAP_FILE_SIZE,148841,0
$CFSIZE,260165632,211632128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.045,176.0,1
$GPS,161010,212137,4744.168,-12555.566,42,1.3,42,18.8