version: 66.06
glider: 187
mission: 2
dive: 68
start: 7 18 110 14 38 31
data:
$ID,187
$MISSION,2
$DIVE,68
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,4
$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,270
$T_MISSION,360
$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,100
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$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,-24692.322
$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,2850
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,236
$ROLL_MAX,3800
$ROLL_DEG,35
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,3150
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$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
$GPS1,143320,4746.024,-12509.055,69,3.6,88,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-76.9
$GPS2,143826,4745.988,-12509.047,18,1.4,18,18.7
$SPEED_LIMITS,0.212,0.316
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,1000.000
$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,220.0,163992,-17.9,-12.222
$D_GRID,552
$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,12,-0.99,-195.5,0.0,0.0,0,77,0.00,0.00,-62.83,0.000,2,0.000,0.000,131,2115,3255,0,0,0,0,0,0
$GC,78,-0.99,-195.5,3.7,-9.9,12,105,9.77,2.00,-13.12,0.000,4,0.247,0.077,2520,3334,3950,0,0,0,0,0,0
$GC,211,-0.65,-195.5,47.3,-28.0,37,218,0.38,1.95,0.00,0.000,6,0.160,0.049,2631,2098,3951,0,0,0,0,0,0
$GC,537,-0.65,-195.5,99.0,-13.9,98,544,0.00,1.92,0.00,0.000,4,0.000,0.058,2631,874,3953,0,0,0,0,0,0
$GC,563,-0.65,-195.5,102.9,-14.8,101,570,0.00,1.95,0.00,0.000,6,0.000,0.055,2626,2098,3953,0,0,0,0,0,0
$GC,878,-0.65,-195.5,146.7,-12.4,132,879,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2097,3954,0,0,0,0,0,0
$GC,1190,-0.65,-195.5,188.6,-13.9,162,1190,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2098,3954,0,0,0,0,0,0
$GC,1500,-0.65,-195.5,228.6,-13.4,192,1504,0.00,1.92,0.00,0.000,4,0.000,0.059,2626,870,3955,0,0,0,0,0,0
$GC,1531,-0.65,-195.5,232.9,-13.3,195,1536,0.00,1.95,0.00,0.000,6,0.000,0.057,2623,2099,3954,0,0,0,0,0,0
$GC,1853,-0.65,-195.5,274.8,-12.8,226,1853,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2099,3955,0,0,0,0,0,0
$GC,2164,-0.69,-195.5,315.7,-13.4,256,2165,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2099,3955,0,0,0,0,0,0
$GC,2474,-0.73,-195.5,355.2,-12.3,286,2475,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2099,3955,0,0,0,0,0,0
$GC,2785,-0.77,-195.5,393.7,-12.3,316,2785,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2099,3956,0,0,0,0,0,0
$GC,3095,-0.82,-195.5,432.0,-12.1,346,3096,0.10,0.00,0.00,0.000,6,0.117,0.000,2576,2099,3956,0,0,0,0,0,0
$GC,3405,-0.75,-195.5,482.4,-16.5,376,3409,0.12,1.98,0.00,0.000,4,0.170,0.070,2601,3329,3956,0,0,0,0,0,0
$GC,3437,-0.79,-195.5,487.1,-14.4,379,3441,0.00,1.92,0.00,0.000,6,0.000,0.054,2601,2093,3957,0,0,0,0,0,0
$GC,3756,-0.79,-195.5,532.4,-13.9,410,3761,0.00,2.00,0.00,0.000,4,0.000,0.070,2593,3332,3957,0,0,0,0,0,0
$GC,3783,-0.79,-195.5,536.6,-16.5,412,3790,0.00,1.95,0.00,0.000,6,0.000,0.054,2593,2095,3957,0,0,0,0,0,0
$STATE,3902,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3902,begin apogee
$GC,3905,-0.21,0.0,553.4,14.0,424,4069,0.57,0.00,161.32,0.933,6,0.133,0.000,2778,1984,3150,0,0,0,0,0,0
$STATE,4069,end apogee,CONTROL_FINISHED_OK
$STATE,4069,begin climb
$GC,4070,0.99,195.5,558.2,0.0,440,4243,1.15,2.05,164.55,0.900,4,0.083,0.061,3170,775,2354,0,0,0,0,0,0
$GC,4338,0.56,195.5,523.8,20.9,466,4342,0.47,2.03,0.00,0.000,6,0.175,0.055,3036,1997,2350,0,0,0,0,0,0
$GC,4658,0.45,205.6,484.3,11.8,497,4673,0.15,2.08,9.07,0.771,4,0.169,0.066,2995,3236,2312,0,0,0,0,0,0
$GC,4769,0.51,252.9,472.7,10.2,507,4816,0.00,2.00,40.67,0.853,6,0.000,0.055,3000,2011,2119,0,0,0,0,0,0
$GC,5125,0.64,310.0,438.6,9.8,542,5178,0.15,2.08,48.72,0.844,4,0.086,0.064,3070,758,1886,0,0,0,0,0,0
$GC,5210,0.60,310.0,427.3,14.8,550,5213,0.00,2.05,0.00,0.000,6,0.000,0.058,3070,1997,1883,0,0,0,0,0,0
$GC,5529,0.53,310.0,378.1,15.5,581,5534,0.17,2.05,0.00,0.000,4,0.153,0.067,3021,3236,1879,0,0,0,0,0,0
$GC,5588,0.60,321.1,370.8,11.8,586,5605,0.00,2.03,9.82,0.751,6,0.000,0.057,3023,1996,1840,0,0,0,0,0,0
$GC,5913,0.71,355.2,335.0,10.8,618,5949,0.15,2.05,29.80,0.792,4,0.087,0.067,3096,760,1701,0,0,0,0,0,0
$GC,6012,0.71,355.2,320.1,15.2,627,6020,0.00,2.03,0.00,0.000,6,0.000,0.056,3095,2002,1699,0,0,0,0,0,0
$GC,6329,0.62,355.2,267.5,17.0,658,6333,0.15,2.03,0.00,0.000,4,0.161,0.067,3054,3233,1696,0,0,0,0,0,0
$GC,6393,0.66,355.2,257.8,14.0,664,6397,0.00,1.98,0.00,0.000,6,0.000,0.057,3055,2006,1694,0,0,0,0,0,0
$GC,6712,0.66,355.2,212.0,14.1,695,6717,0.00,2.03,0.00,0.000,4,0.000,0.067,3063,752,1694,0,0,0,0,0,0
$GC,6782,0.72,355.2,202.6,12.8,701,6788,0.00,2.00,0.00,0.000,6,0.000,0.058,3063,2004,1694,0,0,0,0,0,0
$GC,7097,0.72,355.2,159.0,12.6,732,7102,0.00,2.03,0.00,0.000,4,0.000,0.067,3063,3238,1694,0,0,0,0,0,0
$GC,7129,0.72,355.2,154.8,13.0,735,7134,0.00,2.00,0.00,0.000,6,0.000,0.058,3069,1993,1694,0,0,0,0,0,0
$GC,7450,0.72,355.2,110.3,14.3,766,7454,0.00,1.95,0.00,0.000,4,0.000,0.067,3076,762,1694,0,0,0,0,0,0
$GC,7503,0.80,355.2,103.1,12.4,771,7508,0.00,1.98,0.00,0.000,6,0.000,0.058,3076,2006,1694,0,0,0,0,0,0
$GC,7829,0.90,367.0,63.7,11.7,829,7841,0.17,0.00,9.93,0.625,6,0.083,0.000,3153,2007,1653,0,0,0,0,0,0
$GC,8161,0.82,367.0,11.7,12.3,891,8167,0.15,1.98,0.00,0.000,4,0.163,0.067,3112,3229,1651,0,0,0,0,0,0
$GC,8182,0.84,382.5,9.2,11.6,895,8200,0.00,1.95,13.80,0.600,6,0.000,0.056,3115,1996,1590,0,0,0,0,0,0
$STATE,8246,end climb,SURFACE_DEPTH_REACHED
$STATE,8246,begin surface coast
$FINISH,0.6,1.023967
$STATE,8273,end surface coast,CONTROL_FINISHED_OK
$STATE,8273,begin surface
$SM_CCo,8345,0.00,0.000,0,0,1584,384.14
$SM_GC,1.07,7.85,0.00,0.00,0.044,0.000,0.000,143,2114,1584,-8.39,0.40,384.14
$IRIDIUM_FIX,4729.30,-12511.06,121099,121233
$TT8_MAMPS,0.052923
$HUMID,40.58
$INTERNAL_PRESSURE,9.0011
$TCM_TEMP,15.80
$XPDR_PINGS,0
$24V_AH,23.7,8.363
$10V_AH,10.4,4.458
$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,21.525,60.200,487.700,0.000,0.000,22.356,38.913,175.439,0.000,0.000,19.018,0.000,5668.729,498.959,2154.872,325.576,0.000,1314.679,0.000,1847.639,0.000,0.533,0.000
$DEVICE_MAMPS,246.974,90.506,933.439,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,625.851,727.387,971.763,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298640
$DATA_FILE_SIZE,50741,912
$CAP_FILE_SIZE,101975,0
$CFSIZE,260165632,254857216
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,180710,165802,4745.291,-12511.027,11,1.9,11,18.7