version: 66.06
glider: 187
mission: 2
dive: 73
start: 7 19 110 5 54 38
data:
$ID,187
$MISSION,2
$DIVE,73
$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,2
$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,-24804.092
$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,23
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,236
$ROLL_MAX,3800
$ROLL_DEG,35
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$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,0.0012300001
$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
$GPS1,054931,4741.497,-12520.709,86,0.9,86,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-74.6
$GPS2,055432,4741.419,-12520.681,13,1.8,13,18.7
$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,216.9,147040,-17.9,-12.222
$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,11,-1.02,-195.5,0.0,0.0,0,87,0.00,0.00,-73.47,0.000,2,0.000,0.000,133,1973,3152,0,0,0,0,0,0
$GC,88,-1.02,-195.5,3.5,-7.0,14,121,9.77,2.03,-15.82,0.000,4,0.254,0.081,2509,3225,3950,0,0,0,0,0,0
$GC,302,-0.86,-195.5,74.6,-25.0,54,309,0.20,1.95,0.00,0.000,6,0.156,0.051,2568,1991,3952,0,0,0,0,0,0
$GC,621,-0.77,-195.5,141.5,-18.6,96,626,0.12,2.00,0.00,0.000,4,0.185,0.064,2595,3222,3953,0,0,0,0,0,0
$GC,680,-0.75,-195.5,151.1,-15.8,101,686,0.00,1.90,0.00,0.000,6,0.000,0.051,2594,2008,3954,0,0,0,0,0,0
$GC,995,-0.71,-195.5,204.3,-16.8,132,996,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,2006,3954,0,0,0,0,0,0
$GC,1306,-0.67,-195.5,255.9,-16.1,162,1311,0.12,1.98,0.00,0.000,4,0.173,0.067,2621,3228,3954,0,0,0,0,0,0
$GC,1369,-0.70,-195.5,264.4,-12.0,168,1374,0.00,1.92,0.00,0.000,6,0.000,0.051,2620,2006,3954,0,0,0,0,0,0
$GC,1691,-0.70,-195.5,307.3,-14.1,199,1695,0.00,1.98,0.00,0.000,4,0.000,0.068,2612,3225,3954,0,0,0,0,0,0
$GC,1722,-0.72,-195.5,311.5,-13.8,202,1726,0.00,1.90,0.00,0.000,6,0.000,0.053,2612,2009,3954,0,0,0,0,0,0
$GC,2042,-0.72,-195.5,356.3,-14.0,233,2048,0.00,2.00,0.00,0.000,4,0.000,0.068,2604,3233,3953,0,0,0,0,0,0
$GC,2090,-0.74,-195.5,362.9,-13.3,237,2097,0.00,1.92,0.00,0.000,6,0.000,0.053,2604,2010,3953,0,0,0,0,0,0
$GC,2407,-0.74,-195.5,408.2,-14.7,268,2410,0.00,1.98,0.00,0.000,4,0.000,0.070,2596,3229,3953,0,0,0,0,0,0
$GC,2470,-0.74,-195.5,417.4,-14.8,274,2475,0.00,1.88,0.00,0.000,6,0.000,0.053,2596,2027,3953,0,0,0,0,0,0
$GC,2790,-0.72,-195.5,464.2,-14.2,305,2795,0.00,1.98,0.00,0.000,4,0.000,0.070,2589,3241,3952,0,0,0,0,0,0
$GC,2833,-0.72,-195.5,470.3,-13.7,309,2837,0.00,1.92,0.00,0.000,6,0.000,0.054,2588,2017,3952,0,0,0,0,0,0
$GC,3154,-0.70,-195.5,519.6,-15.5,340,3159,0.12,1.95,0.00,0.000,4,0.176,0.070,2614,3225,3951,0,0,0,0,0,0
$GC,3174,-0.70,-195.5,522.6,-14.6,342,3179,0.00,1.90,0.00,0.000,6,0.000,0.054,2614,2020,3951,0,0,0,0,0,0
$GC,3496,-0.70,-195.5,564.2,-12.5,373,3500,0.00,1.95,0.00,0.000,4,0.000,0.071,2606,3222,3951,0,0,0,0,0,0
$GC,3549,-0.72,-195.5,570.7,-12.2,378,3553,0.00,1.88,0.00,0.000,6,0.000,0.054,2606,2031,3950,0,0,0,0,0,0
$GC,3868,-0.72,-195.5,612.8,-13.2,403,3872,0.00,1.95,0.00,0.000,4,0.000,0.071,2599,3229,3949,0,0,0,0,0,0
$GC,3893,-0.72,-195.5,616.4,-13.5,403,3900,0.00,1.90,0.00,0.000,6,0.000,0.055,2599,2022,3949,0,0,0,0,0,0
$GC,4202,-0.72,-195.5,657.8,-13.4,414,4207,0.00,1.98,0.00,0.000,4,0.000,0.071,2592,3232,3949,0,0,0,0,0,0
$GC,4233,-0.72,-195.5,662.0,-13.3,415,4238,0.00,1.90,0.00,0.000,6,0.000,0.055,2592,2026,3949,0,0,0,0,0,0
$GC,4569,-0.72,-195.5,707.9,-13.7,426,4573,0.00,1.98,0.00,0.000,4,0.000,0.071,2584,3234,3948,0,0,0,0,0,0
$GC,4627,-0.72,-195.5,715.9,-13.2,427,4634,0.12,1.90,0.00,0.000,6,0.166,0.055,2616,2027,3949,0,0,0,0,0,0
$GC,4936,-0.75,-195.5,754.5,-12.7,438,4941,0.00,1.92,0.00,0.000,4,0.000,0.072,2611,3228,3948,0,0,0,0,0,0
$GC,4973,-0.80,-195.5,759.3,-13.2,439,4977,0.00,1.88,0.00,0.000,6,0.000,0.057,2610,2038,3947,0,0,0,0,0,0
$GC,5303,-0.82,-195.5,802.7,-13.7,450,5308,0.00,1.92,0.00,0.000,4,0.000,0.071,2607,3240,3947,0,0,0,0,0,0
$GC,5335,-0.86,-195.5,806.9,-13.1,451,5339,0.08,1.90,0.00,0.000,6,0.067,0.056,2558,2035,3947,0,0,0,0,0,0
$GC,5670,-0.82,-195.5,860.9,-15.5,462,5674,0.00,1.95,0.00,0.000,4,0.000,0.071,2550,3230,3946,0,0,0,0,0,0
$GC,5717,-0.78,-195.5,868.4,-16.2,463,5722,0.17,1.88,0.00,0.000,6,0.160,0.056,2597,2039,3945,0,0,0,0,0,0
$GC,6037,-0.78,-195.5,906.0,-11.4,474,6041,0.00,1.92,0.00,0.000,4,0.000,0.072,2594,3224,3945,0,0,0,0,0,0
$GC,6106,-0.81,-195.5,913.7,-11.3,476,6111,0.00,1.85,0.00,0.000,6,0.000,0.056,2594,2049,3945,0,0,0,0,0,0
$GC,6436,-0.81,-195.5,950.1,-10.5,487,6440,0.00,1.90,0.00,0.000,4,0.000,0.073,2591,3235,3945,0,0,0,0,0,0
$GC,6500,-0.84,-195.5,956.9,-10.3,489,6504,0.00,1.88,0.00,0.000,6,0.000,0.057,2591,2039,3944,0,0,0,0,0,0
$GC,6835,-1.08,-195.5,975.5,-0.1,500,6837,0.25,0.00,0.00,0.000,6,0.077,0.000,2492,2036,3944,0,0,0,0,0,0
$STATE,7077,end dive,NO_VERTICAL_VELOCITY
$STATE,7077,begin apogee
$GC,7079,-0.22,0.0,975.5,0.0,508,7250,0.80,0.00,168.60,1.210,6,0.079,0.000,2782,1996,3150,0,0,0,0,0,0
$STATE,7251,end apogee,CONTROL_FINISHED_OK
$STATE,7251,begin climb
$GC,7252,1.02,195.5,975.3,0.0,513,7435,1.20,2.22,175.18,1.169,4,0.073,0.068,3181,3227,2353,0,0,0,0,0,0
$GC,7568,0.74,195.5,915.7,27.5,524,7573,0.35,2.08,0.00,0.000,6,0.196,0.058,3099,2004,2345,0,0,0,0,0,0
$GC,7903,0.59,195.5,854.0,17.3,535,7908,0.20,2.05,0.00,0.000,4,0.182,0.069,3045,3227,2345,0,0,0,0,0,0
$GC,7983,0.49,195.5,842.3,14.4,537,7988,0.15,2.03,0.00,0.000,6,0.183,0.058,3010,2000,2344,0,0,0,0,0,0
$GC,8302,0.52,242.7,808.9,10.2,548,8347,0.00,2.12,40.83,1.083,4,0.000,0.070,3010,3232,2160,0,0,0,0,0,0
$GC,8374,0.51,242.7,800.8,12.4,550,8379,0.00,2.08,0.00,0.000,6,0.000,0.058,3015,2004,2157,0,0,0,0,0,0
$GC,8699,0.50,251.9,762.2,11.8,561,8713,0.00,2.10,8.85,0.945,4,0.000,0.069,3024,753,2122,0,0,0,0,0,0
$GC,8750,0.53,273.4,756.3,11.3,562,8776,0.00,2.08,20.80,1.022,6,0.000,0.058,3024,2013,2035,0,0,0,0,0,0
$GC,9096,0.53,273.4,714.4,12.5,574,9100,0.00,2.03,0.00,0.000,4,0.000,0.069,3025,3224,2030,0,0,0,0,0,0
$GC,9143,0.51,273.4,708.2,12.7,575,9148,0.00,2.00,0.00,0.000,6,0.000,0.058,3028,2000,2029,0,0,0,0,0,0
$GC,9463,0.49,273.4,666.3,13.1,586,9467,0.00,2.03,0.00,0.000,4,0.000,0.069,3036,764,2030,0,0,0,0,0,0
$GC,9504,0.49,273.4,660.9,12.5,587,9509,0.00,2.03,0.00,0.000,6,0.000,0.059,3036,2015,2030,0,0,0,0,0,0
$GC,9829,0.47,273.4,618.2,13.2,598,9834,0.12,2.00,0.00,0.000,4,0.165,0.069,3003,3234,2030,0,0,0,0,0,0
$GC,9872,0.50,277.0,613.0,12.1,599,9881,0.00,2.00,3.92,0.659,6,0.000,0.058,3005,1995,2020,0,0,0,0,0,0
$GC,10189,0.61,341.7,582.2,9.5,621,10253,0.12,2.15,56.85,0.966,4,0.100,0.074,3060,3232,1756,0,0,0,0,0,0
$GC,10352,0.59,341.7,561.1,13.9,636,10360,0.00,2.08,0.00,0.000,6,0.000,0.055,3067,1979,1750,0,0,0,0,0,0
$GC,10669,0.56,341.7,515.8,14.7,667,10673,0.15,1.98,0.00,0.000,4,0.167,0.068,3032,766,1748,0,0,0,0,0,0
$GC,10855,0.59,341.7,492.8,12.3,684,10862,0.00,1.95,0.00,0.000,6,0.000,0.058,3032,1973,1748,0,0,0,0,0,0
$GC,11171,0.61,341.7,453.4,12.4,715,11175,0.00,1.95,0.00,0.000,4,0.000,0.069,3037,765,1748,0,0,0,0,0,0
$GC,11235,0.67,358.7,445.8,11.5,721,11256,0.00,1.90,14.77,0.855,6,0.000,0.059,3037,1955,1686,0,0,0,0,0,0
$GC,11565,0.69,358.7,404.4,13.2,753,11570,0.10,1.95,0.00,0.000,4,0.115,0.069,3086,760,1683,0,0,0,0,0,0
$GC,11608,0.67,358.7,397.8,16.1,757,11612,0.00,1.90,0.00,0.000,6,0.000,0.057,3086,1955,1682,0,0,0,0,0,0
$GC,11928,0.63,358.7,343.5,16.7,788,11933,0.12,2.08,0.00,0.000,4,0.175,0.067,3054,3234,1682,0,0,0,0,0,0
$GC,11975,0.63,358.7,336.4,13.8,792,11983,0.00,2.08,0.00,0.000,6,0.000,0.059,3057,1950,1682,0,0,0,0,0,0
$GC,12292,0.63,358.7,290.6,14.7,823,12296,0.00,1.90,0.00,0.000,4,0.000,0.070,3063,756,1682,0,0,0,0,0,0
$GC,12350,0.65,358.7,282.4,12.9,828,12357,0.00,1.90,0.00,0.000,6,0.000,0.057,3064,1951,1682,0,0,0,0,0,0
$GC,12666,0.65,358.7,235.5,15.4,859,12666,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,1952,1682,0,0,0,0,0,0
$GC,12977,0.65,358.7,192.2,13.4,889,12980,0.00,2.05,0.00,0.000,4,0.000,0.067,3064,3236,1682,0,0,0,0,0,0
$GC,13012,0.65,358.7,187.0,14.2,892,13019,0.00,2.08,0.00,0.000,6,0.000,0.059,3068,1942,1682,0,0,0,0,0,0
$GC,13328,0.65,358.7,144.1,14.0,923,13332,0.00,1.92,0.00,0.000,4,0.000,0.070,3074,754,1682,0,0,0,0,0,0
$GC,13370,0.65,358.7,138.3,13.4,927,13375,0.00,1.90,0.00,0.000,6,0.000,0.057,3073,1955,1682,0,0,0,0,0,0
$GC,13688,0.65,363.6,92.7,12.0,962,13700,0.00,2.05,5.07,0.562,4,0.000,0.067,3073,3230,1667,0,0,0,0,0,0
$GC,13768,0.65,363.6,82.4,12.3,977,13776,0.00,2.03,0.00,0.000,6,0.000,0.058,3076,1950,1666,0,0,0,0,0,0
$GC,14096,0.77,420.8,48.5,9.8,1038,14145,0.00,0.00,47.35,0.636,6,0.000,0.000,3077,1950,1434,0,0,0,0,0,0
$GC,14465,1.02,543.7,17.1,7.1,1107,14558,0.28,0.00,90.28,0.594,2,0.068,0.000,3190,1950,973,0,0,0,0,0,0
$STATE,14559,end climb,SURFACE_DEPTH_REACHED
$STATE,14559,begin surface coast
$FINISH,0.6,1.023950
$STATE,14573,end surface coast,CONTROL_FINISHED_OK
$STATE,14574,begin surface
$SM_CCo,14646,0.00,0.000,0,0,966,535.98
$SM_GC,1.39,8.43,0.00,0.00,0.047,0.000,0.000,146,2001,966,-8.39,0.03,535.98
$IRIDIUM_FIX,4726.11,-12511.06,121099,222203
$TT8_MAMPS,0.05369
$HUMID,38.69
$INTERNAL_PRESSURE,8.9425
$TCM_TEMP,16.20
$XPDR_PINGS,0
$24V_AH,23.2,9.213
$10V_AH,10.3,4.912
$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,23.000,130.375,632.500,0.000,0.000,32.521,34.952,153.424,0.000,0.000,13.647,0.000,10930.117,724.097,2916.223,357.795,0.000,1888.825,0.000,2472.584,0.000,0.534,0.000
$DEVICE_MAMPS,253.877,161.837,1209.559,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,775.479,927.184,999.192,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298612
$DATA_FILE_SIZE,63215,1127
$CAP_FILE_SIZE,159028,0
$CFSIZE,260165632,254464000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.011,300.2,1
$GPS,190710,095937,4740.326,-12523.883,37,1.1,37,18.7