version: 66.06
glider: 187
mission: 2
dive: 692
start: 10 17 110 5 19 25
data:
$ID,187
$MISSION,2
$DIVE,692
$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,-38606.793
$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,29
$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
$GPS1,050854,4743.764,-12555.650,73,1.1,73,18.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-75.7
$GPS2,051919,4743.741,-12555.646,10,1.3,15,18.8
$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,195.3,1150,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.83,-72.2,0.0,0.0,0,69,0.00,0.00,-51.55,0.000,2,0.000,0.000,130,2071,2924,0,0,0,0,0,0
$GC,72,-0.88,-153.4,3.2,-2.7,10,105,9.98,2.08,-19.42,0.000,4,0.231,0.077,2556,3312,3777,0,0,0,0,0,0
$GC,320,-0.89,-153.4,62.3,-18.9,56,326,0.00,1.98,0.00,0.000,6,0.000,0.049,2556,2069,3780,0,0,0,0,0,0
$GC,648,-0.91,-153.4,125.6,-17.7,105,651,0.00,2.00,0.00,0.000,4,0.000,0.065,2547,3311,3782,0,0,0,0,0,0
$GC,733,-0.93,-153.4,141.0,-17.3,113,737,0.00,1.92,0.00,0.000,6,0.000,0.049,2546,2092,3782,0,0,0,0,0,0
$GC,1054,-0.95,-153.4,201.2,-18.8,144,1057,0.00,2.00,0.00,0.000,4,0.000,0.065,2538,3309,3782,0,0,0,0,0,0
$GC,1090,-0.97,-153.4,208.2,-19.3,147,1097,0.00,1.90,0.00,0.000,6,0.000,0.049,2537,2099,3782,0,0,0,0,0,0
$GC,1408,-0.99,-153.4,267.4,-18.3,178,1411,0.00,1.95,0.00,0.000,4,0.000,0.064,2528,3313,3782,0,0,0,0,0,0
$GC,1492,-1.01,-153.4,283.5,-18.1,186,1496,0.00,1.90,0.00,0.000,6,0.000,0.048,2528,2099,3782,0,0,0,0,0,0
$GC,1815,-1.02,-153.4,343.8,-18.1,217,1818,0.00,1.98,0.00,0.000,4,0.000,0.064,2519,3312,3782,0,0,0,0,0,0
$GC,1873,-1.04,-153.4,355.0,-18.9,222,1879,0.00,1.90,0.00,0.000,6,0.000,0.049,2519,2109,3782,0,0,0,0,0,0
$GC,2189,-1.05,-153.4,417.6,-19.4,253,2192,0.00,1.98,0.00,0.000,4,0.000,0.065,2510,3321,3780,0,0,0,0,0,0
$GC,2236,-1.06,-153.4,427.1,-19.3,257,2241,0.00,1.90,0.00,0.000,6,0.000,0.050,2509,2117,3781,0,0,0,0,0,0
$GC,2552,-1.06,-153.4,488.5,-18.7,288,2555,0.00,1.98,0.00,0.000,4,0.000,0.066,2501,3314,3780,0,0,0,0,0,0
$GC,2637,-1.06,-153.4,504.4,-18.6,296,2640,0.00,1.90,0.00,0.000,6,0.000,0.051,2501,2116,3779,0,0,0,0,0,0
$GC,2958,-1.06,-153.4,567.1,-19.3,327,2961,0.00,1.98,0.00,0.000,4,0.000,0.066,2491,3306,3779,0,0,0,0,0,0
$GC,3011,-1.06,-153.4,577.6,-19.6,332,3014,0.00,1.88,0.00,0.000,6,0.000,0.052,2492,2125,3779,0,0,0,0,0,0
$GC,3340,-1.06,-153.4,643.4,-20.3,350,3342,0.00,1.92,0.00,0.000,4,0.000,0.067,2483,3312,3778,0,0,0,0,0,0
$GC,3429,-1.06,-153.4,662.2,-19.9,352,3436,0.00,1.88,0.00,0.000,6,0.000,0.052,2483,2130,3778,0,0,0,0,0,0
$GC,3739,-1.06,-153.4,724.0,-19.9,363,3742,0.12,1.95,0.00,0.000,4,0.189,0.069,2506,3319,3777,0,0,0,0,0,0
$GC,3819,-1.08,-153.4,737.7,-16.9,365,3822,0.00,1.88,0.00,0.000,6,0.000,0.054,2506,2126,3777,0,0,0,0,0,0
$GC,4140,-1.09,-153.4,794.4,-17.8,376,4143,0.00,1.92,0.00,0.000,4,0.000,0.069,2497,3312,3776,0,0,0,0,0,0
$GC,4220,-1.10,-153.4,808.8,-17.3,378,4223,0.00,1.85,0.00,0.000,6,0.000,0.054,2497,2152,3776,0,0,0,0,0,0
$GC,4539,-1.10,-153.4,865.6,-17.8,389,4540,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2151,3775,0,0,0,0,0,0
$GC,4842,-1.10,-153.4,917.8,-17.2,399,4846,0.00,1.95,0.00,0.000,4,0.000,0.070,2488,3311,3775,0,0,0,0,0,0
$GC,4923,-1.11,-153.4,931.6,-17.0,401,4926,0.00,1.85,0.00,0.000,6,0.000,0.054,2488,2145,3774,0,0,0,0,0,0
$GC,5241,-1.11,-153.4,988.7,-18.0,412,5245,0.00,1.95,0.00,0.000,4,0.000,0.070,2480,3312,3773,0,0,0,0,0,0
$STATE,5249,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5249,begin apogee
$GC,5257,-0.14,0.0,990.6,17.9,412,5399,1.08,0.00,135.45,1.224,6,0.148,0.000,2803,2001,3149,0,0,0,0,0,0
$STATE,5400,end apogee,CONTROL_FINISHED_OK
$STATE,5400,begin climb
$GC,5402,0.88,153.4,995.6,0.0,417,5554,0.95,2.25,142.62,1.185,4,0.054,0.063,3155,770,2523,0,0,0,0,0,0
$GC,5601,0.85,153.4,977.9,17.9,423,5604,0.00,2.12,0.00,0.000,6,0.000,0.058,3155,1993,2521,0,0,0,0,0,0
$GC,5920,0.82,153.4,917.4,18.8,434,5924,0.12,2.05,0.00,0.000,4,0.206,0.066,3126,3239,2517,0,0,0,0,0,0
$GC,6034,0.80,153.4,897.1,17.5,437,6037,0.00,1.95,0.00,0.000,6,0.000,0.056,3133,2010,2516,0,0,0,0,0,0
$GC,6353,0.79,153.4,844.2,16.3,448,6356,0.00,2.00,0.00,0.000,4,0.000,0.066,3133,3226,2515,0,0,0,0,0,0
$GC,6428,0.76,153.4,831.7,17.9,450,6432,0.15,1.92,0.00,0.000,6,0.204,0.057,3106,2021,2515,0,0,0,0,0,0
$GC,6747,0.76,153.4,785.1,14.1,461,6750,0.00,2.00,0.00,0.000,4,0.000,0.067,3106,3234,2515,0,0,0,0,0,0
$GC,6789,0.75,153.4,778.7,15.2,462,6793,0.00,1.95,0.00,0.000,6,0.000,0.057,3114,2030,2515,0,0,0,0,0,0
$GC,7115,0.75,153.4,731.8,14.2,473,7118,0.00,1.95,0.00,0.000,4,0.000,0.067,3114,3238,2514,0,0,0,0,0,0
$GC,7194,0.73,153.4,719.3,15.6,475,7198,0.10,1.92,0.00,0.000,6,0.174,0.056,3094,2042,2514,0,0,0,0,0,0
$GC,7514,0.73,153.4,678.7,12.6,486,7517,0.00,1.90,0.00,0.000,4,0.000,0.067,3093,3236,2513,0,0,0,0,0,0
$GC,7550,0.73,153.4,673.7,13.7,487,7554,0.00,1.90,0.00,0.000,6,0.000,0.054,3100,2048,2514,0,0,0,0,0,0
$GC,7880,0.73,153.4,631.6,12.2,498,7884,0.00,1.95,0.00,0.000,4,0.000,0.066,3100,3239,2513,0,0,0,0,0,0
$GC,7913,0.73,153.4,627.2,14.2,499,7916,0.00,1.90,0.00,0.000,6,0.000,0.055,3110,2041,2513,0,0,0,0,0,0
$GC,8229,0.73,153.4,586.4,13.4,516,8233,0.00,1.95,0.00,0.000,4,0.000,0.066,3109,3233,2513,0,0,0,0,0,0
$GC,8273,0.72,153.4,580.4,14.8,520,8276,0.12,1.85,0.00,0.000,6,0.194,0.054,3089,2050,2513,0,0,0,0,0,0
$GC,8593,0.72,153.4,540.9,12.0,551,8596,0.00,1.92,0.00,0.000,4,0.000,0.064,3089,3228,2513,0,0,0,0,0,0
$GC,8624,0.72,153.4,536.8,13.5,554,8628,0.00,1.88,0.00,0.000,6,0.000,0.054,3096,2059,2513,0,0,0,0,0,0
$GC,8945,0.72,153.4,497.1,11.9,585,8946,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2058,2512,0,0,0,0,0,0
$GC,9258,0.72,153.4,460.5,11.5,615,9260,0.00,1.90,0.00,0.000,4,0.000,0.065,3096,3239,2512,0,0,0,0,0,0
$GC,9333,0.72,153.4,451.2,12.7,622,9336,0.00,1.88,0.00,0.000,6,0.000,0.054,3105,2054,2512,0,0,0,0,0,0
$GC,9653,0.72,153.4,415.1,11.3,653,9654,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2053,2512,0,0,0,0,0,0
$GC,9966,0.72,153.4,380.6,11.2,683,9969,0.00,1.90,0.00,0.000,4,0.000,0.064,3105,3240,2512,0,0,0,0,0,0
$GC,10061,0.72,153.4,369.1,11.9,692,10065,0.00,1.88,0.00,0.000,6,0.000,0.053,3114,2063,2511,0,0,0,0,0,0
$GC,10382,0.72,153.4,333.2,11.5,723,10385,0.00,1.90,0.00,0.000,4,0.000,0.064,3114,3230,2512,0,0,0,0,0,0
$GC,10457,0.72,153.4,324.2,11.6,730,10460,0.10,1.85,0.00,0.000,6,0.163,0.054,3093,2072,2512,0,0,0,0,0,0
$GC,10777,0.73,154.0,289.9,10.9,761,10778,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2071,2512,0,0,0,0,0,0
$GC,11090,0.74,154.0,254.2,11.3,791,11093,0.00,1.88,0.00,0.000,4,0.000,0.064,3093,3236,2512,0,0,0,0,0,0
$GC,11132,0.74,154.0,248.8,12.3,795,11136,0.00,1.85,0.00,0.000,6,0.000,0.053,3100,2080,2512,0,0,0,0,0,0
$GC,11454,0.74,154.2,211.6,11.0,826,11457,0.00,1.88,0.00,0.000,4,0.000,0.064,3099,3243,2512,0,0,0,0,0,0
$GC,11555,0.74,155.7,199.7,10.8,835,11560,0.00,1.85,0.00,0.000,6,0.000,0.054,3109,2086,2512,0,0,0,0,0,0
$GC,11870,0.75,170.0,168.5,9.5,866,11885,0.00,0.00,13.82,0.682,6,0.000,0.000,3108,2086,2456,0,0,0,0,0,0
$GC,12191,0.76,183.3,134.4,9.7,897,12210,0.00,1.92,12.50,0.656,4,0.000,0.063,3108,3240,2401,0,0,0,0,0,0
$GC,12311,0.76,183.3,120.6,11.1,908,12317,0.00,1.83,0.00,0.000,6,0.000,0.053,3117,2105,2400,0,0,0,0,0,0
$GC,12632,0.77,183.3,86.3,12.8,949,12637,0.00,1.88,0.00,0.000,4,0.000,0.064,3117,3236,2399,0,0,0,0,0,0
$GC,12835,0.80,219.7,65.1,7.3,987,12869,0.00,1.75,30.90,0.636,6,0.000,0.051,3125,2136,2254,0,0,0,0,0,0
$GC,13191,0.86,283.4,34.3,4.5,1053,13251,0.00,1.85,51.92,0.612,4,0.000,0.064,3126,3237,1993,0,0,0,0,0,0
$GC,13368,0.92,307.3,21.5,8.6,1086,13395,0.00,1.75,20.17,0.584,6,0.000,0.051,3134,2149,1896,0,0,0,0,0,0
$STATE,13580,end climb,SURFACE_DEPTH_REACHED
$STATE,13580,begin surface coast
$FINISH,1.1,1.011468
$STATE,13612,end surface coast,CONTROL_FINISHED_OK
$STATE,13612,begin surface
$SM_CCo,13628,27.67,0.446,1,0,1722,350.04
$SM_GC,2.22,0.00,0.00,27.67,0.000,0.000,0.446,137,2053,1722,-8.49,-0.62,350.04
$IRIDIUM_FIX,4729.30,-12554.58,110100,050521
$TT8_MAMPS,0.052156
$HUMID,43.58
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,16.40
$XPDR_PINGS,0
$24V_AH,22.0,74.598
$10V_AH,9.8,71.267
$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,20.700,115.700,407.400,27.675,0.000,55.329,115.405,240.821,6.500,0.000,16.104,0.000,10056.908,494.273,2938.621,770.737,0.000,1589.034,0.000,2483.576,0.000,53.527,0.000
$DEVICE_MAMPS,230.867,95.108,1224.132,445.627,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,782.970,897.662,1096.287,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298404
$DATA_FILE_SIZE,63410,1132
$CAP_FILE_SIZE,152414,0
$CFSIZE,260165632,211402752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.052,165.6,1
$GPS,171010,090837,4741.899,-12557.147,68,1.9,68,18.7