version: 66.06
glider: 187
mission: 2
dive: 148
start: 8 7 110 11 7 54
data:
$ID,187
$MISSION,2
$DIVE,148
$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,540
$T_MISSION,600
$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,115
$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,-26412.814
$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,2835
$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,25
$R_STBD_OVSHOOT,31
$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,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
$GPS1,110107,4749.378,-12515.869,29,0.8,29,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-77.2
$GPS2,110749,4749.377,-12515.811,11,1.7,11,18.7
$SPEED_LIMITS,0.106,0.196
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$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,43.9,28269,-13.9,-6.111
$D_GRID,462
$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,-0.45,-112.4,0.0,0.0,0,83,0.00,0.00,-68.70,0.000,2,0.000,0.000,135,2094,3092,0,0,0,0,0,0
$GC,84,-0.45,-112.4,3.3,-2.4,13,113,10.52,1.92,-11.93,0.000,4,0.251,0.080,2675,3304,3609,0,0,0,0,0,0
$GC,352,-0.43,-112.4,45.8,-13.2,63,359,0.00,1.95,0.00,0.000,6,0.000,0.051,2674,2071,3612,0,0,0,0,0,0
$GC,679,-0.41,-112.4,90.1,-12.8,124,686,0.00,1.92,0.00,0.000,4,0.000,0.058,2674,843,3613,0,0,0,0,0,0
$GC,701,-0.38,-112.4,92.7,-12.4,128,707,0.10,1.92,0.00,0.000,6,0.131,0.057,2702,2061,3613,0,0,0,0,0,0
$GC,1018,-0.38,-112.4,122.3,-9.4,165,1023,0.00,2.05,0.00,0.000,4,0.000,0.067,2698,3330,3614,0,0,0,0,0,0
$GC,1125,-0.38,-112.4,131.7,-8.9,175,1130,0.00,1.95,0.00,0.000,6,0.000,0.051,2698,2082,3614,0,0,0,0,0,0
$GC,1445,-0.38,-112.4,160.1,-8.3,206,1450,0.00,1.98,0.00,0.000,4,0.000,0.058,2698,841,3614,0,0,0,0,0,0
$GC,1488,-0.38,-112.4,164.0,-8.7,210,1493,0.00,2.00,0.00,0.000,6,0.000,0.057,2693,2100,3614,0,0,0,0,0,0
$GC,1810,-0.38,-112.4,191.1,-8.4,241,1813,0.00,1.95,0.00,0.000,4,0.000,0.067,2691,3304,3615,0,0,0,0,0,0
$GC,1878,-0.38,-112.4,197.0,-8.7,247,1885,0.00,1.90,0.00,0.000,6,0.000,0.051,2691,2093,3614,0,0,0,0,0,0
$GC,2193,-0.38,-112.4,223.7,-8.4,278,2194,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2093,3614,0,0,0,0,0,0
$GC,2504,-0.38,-112.4,251.0,-8.8,308,2505,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2093,3614,0,0,0,0,0,0
$GC,2815,-0.38,-112.4,277.1,-8.8,338,2819,0.00,1.98,0.00,0.000,4,0.000,0.071,2691,3306,3614,0,0,0,0,0,0
$GC,2841,-0.38,-112.4,279.5,-9.4,340,2847,0.00,1.90,0.00,0.000,6,0.000,0.054,2691,2097,3614,0,0,0,0,0,0
$GC,3156,-0.38,-112.4,307.5,-9.1,371,3157,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2097,3614,0,0,0,0,0,0
$GC,3467,-0.38,-112.4,336.7,-9.3,401,3471,0.00,1.98,0.00,0.000,4,0.000,0.061,2691,845,3614,0,0,0,0,0,0
$GC,3521,-0.38,-112.4,342.0,-10.5,406,3524,0.00,1.98,0.00,0.000,6,0.000,0.060,2691,2103,3614,0,0,0,0,0,0
$GC,3840,-0.38,-112.4,372.5,-9.5,437,3845,0.00,1.98,0.00,0.000,4,0.000,0.071,2689,3319,3614,0,0,0,0,0,0
$GC,3895,-0.38,-112.4,377.6,-9.3,442,3898,0.00,1.90,0.00,0.000,6,0.000,0.054,2689,2099,3614,0,0,0,0,0,0
$GC,4214,-0.38,-112.4,405.8,-8.3,473,4215,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2099,3614,0,0,0,0,0,0
$GC,4525,-0.38,-112.4,433.1,-8.3,503,4529,0.00,1.98,0.00,0.000,4,0.000,0.072,2685,3314,3614,0,0,0,0,0,0
$GC,4611,-0.38,-112.4,439.1,-6.0,511,4615,0.00,1.85,0.00,0.000,6,0.000,0.054,2685,2118,3614,0,0,0,0,0,0
$STATE,4920,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4920,begin apogee
$GC,4924,-0.14,0.0,462.8,9.0,541,5016,0.32,0.00,90.32,0.882,6,0.123,0.000,2790,1994,3150,0,0,0,0,0,0
$STATE,5016,end apogee,CONTROL_FINISHED_OK
$STATE,5017,begin climb
$GC,5018,0.45,112.4,466.0,0.0,550,5116,0.55,2.10,91.88,0.852,4,0.090,0.066,2977,3235,2690,0,0,0,0,0,0
$GC,5147,0.45,147.2,462.8,4.8,562,5182,0.00,2.05,29.65,0.825,6,0.000,0.055,2984,2000,2550,0,0,0,0,0,0
$GC,5498,0.43,147.2,438.2,7.9,596,5502,0.00,2.05,0.00,0.000,4,0.000,0.070,2984,3226,2545,0,0,0,0,0,0
$GC,5520,0.41,147.2,436.4,8.5,598,5523,0.00,1.98,0.00,0.000,6,0.000,0.057,2986,2009,2545,0,0,0,0,0,0
$GC,5839,0.39,147.2,413.9,6.7,629,5844,0.00,2.03,0.00,0.000,4,0.000,0.070,2986,3232,2545,0,0,0,0,0,0
$GC,5919,0.37,147.2,407.9,7.4,636,5927,0.12,1.98,0.00,0.000,6,0.163,0.056,2955,2007,2544,0,0,0,0,0,0
$GC,6235,0.38,170.6,390.9,5.3,667,6261,0.00,2.08,19.73,0.813,4,0.000,0.071,2954,3241,2453,0,0,0,0,0,0
$GC,6341,0.39,180.2,385.4,5.8,677,6356,0.00,1.92,9.23,0.746,6,0.000,0.055,2955,2042,2415,0,0,0,0,0,0
$GC,6672,0.40,199.1,368.0,5.4,709,6693,0.00,0.00,17.10,0.795,6,0.000,0.000,2955,2041,2337,0,0,0,0,0,0
$GC,7003,0.41,221.0,349.3,5.3,741,7027,0.00,2.03,18.83,0.786,4,0.000,0.071,2955,3239,2249,0,0,0,0,0,0
$GC,7033,0.44,252.2,347.6,5.0,744,7064,0.00,1.92,27.27,0.781,6,0.000,0.058,2955,2050,2121,0,0,0,0,0,0
$GC,7374,0.48,273.8,328.8,5.3,777,7396,0.10,2.12,18.00,0.769,4,0.112,0.067,3007,767,2033,0,0,0,0,0,0
$GC,7426,0.48,273.8,325.1,7.7,782,7430,0.00,2.10,0.00,0.000,6,0.000,0.060,3007,2047,2032,0,0,0,0,0,0
$GC,7746,0.48,273.8,298.2,8.6,813,7751,0.00,1.98,0.00,0.000,4,0.000,0.070,3007,3236,2028,0,0,0,0,0,0
$GC,7767,0.48,273.8,296.1,10.2,815,7772,0.00,1.95,0.00,0.000,6,0.000,0.057,3012,2030,2028,0,0,0,0,0,0
$GC,8088,0.48,273.8,267.0,9.3,846,8093,0.00,2.05,0.00,0.000,4,0.000,0.066,3014,758,2028,0,0,0,0,0,0
$GC,8141,0.48,273.8,262.1,9.1,851,8146,0.00,2.05,0.00,0.000,6,0.000,0.058,3014,2037,2028,0,0,0,0,0,0
$GC,8462,0.48,273.8,228.9,10.8,882,8463,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2037,2028,0,0,0,0,0,0
$GC,8774,0.48,273.8,195.9,10.4,912,8777,0.00,1.95,0.00,0.000,4,0.000,0.068,3014,3238,2028,0,0,0,0,0,0
$GC,8788,0.48,273.8,194.0,11.2,913,8795,0.00,1.95,0.00,0.000,6,0.000,0.058,3014,2020,2028,0,0,0,0,0,0
$GC,9104,0.48,273.8,160.0,9.8,944,9108,0.00,2.00,0.00,0.000,4,0.000,0.067,3021,770,2027,0,0,0,0,0,0
$GC,9130,0.48,273.8,157.6,10.0,946,9137,0.12,2.00,0.00,0.000,6,0.150,0.059,2987,2026,2028,0,0,0,0,0,0
$GC,9446,0.49,273.8,131.3,8.5,977,9450,0.00,1.92,0.00,0.000,4,0.000,0.068,2986,3230,2028,0,0,0,0,0,0
$GC,9500,0.50,273.8,126.9,7.4,982,9503,0.00,1.88,0.00,0.000,6,0.000,0.057,2987,2040,2027,0,0,0,0,0,0
$GC,9820,0.52,285.8,106.9,5.7,1013,9834,0.00,2.05,10.50,0.645,4,0.000,0.067,2987,759,1984,0,0,0,0,0,0
$GC,9862,0.56,300.3,104.6,5.6,1017,9878,0.00,2.03,13.35,0.640,6,0.000,0.058,2987,2038,1925,0,0,0,0,0,0
$GC,10196,0.58,302.6,84.2,6.0,1071,10203,0.10,1.95,0.00,0.000,4,0.110,0.070,3034,3236,1921,0,0,0,0,0,0
$GC,10240,0.58,302.6,80.2,9.2,1079,10247,0.00,1.88,0.00,0.000,6,0.000,0.057,3037,2054,1921,0,0,0,0,0,0
$GC,10567,0.58,302.6,51.8,7.7,1140,10573,0.00,2.05,0.00,0.000,4,0.000,0.064,3041,766,1921,0,0,0,0,0,0
$GC,10652,0.58,302.6,44.6,8.5,1156,10659,0.00,2.00,0.00,0.000,6,0.000,0.059,3041,2037,1921,0,0,0,0,0,0
$GC,10979,0.58,302.6,20.8,7.4,1217,10985,0.00,2.05,0.00,0.000,4,0.000,0.066,3041,757,1920,0,0,0,0,0,0
$GC,11021,0.59,302.6,17.5,7.6,1225,11028,0.00,2.00,0.00,0.000,6,0.000,0.058,3041,2034,1920,0,0,0,0,0,0
$STATE,11239,end climb,SURFACE_DEPTH_REACHED
$STATE,11239,begin surface coast
$FINISH,1.1,1.013287
$STATE,11299,end surface coast,CONTROL_FINISHED_OK
$STATE,11299,begin surface
$SM_CCo,11311,40.65,0.490,2,0,1722,350.04
$SM_GC,1.63,0.00,0.00,40.65,0.000,0.000,0.490,142,2088,1722,-8.41,0.34,350.04
$IRIDIUM_FIX,4732.49,-12426.72,011199,060659
$TT8_MAMPS,0.051389
$HUMID,38.38
$INTERNAL_PRESSURE,9.01087
$TCM_TEMP,15.50
$XPDR_PINGS,0
$24V_AH,24.2,19.370
$10V_AH,10.2,15.645
$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,19.600,95.400,345.850,40.650,0.000,24.187,47.823,228.118,0.000,0.000,11.289,0.000,7765.651,498.537,3012.262,458.673,0.000,1553.459,0.000,2595.913,0.000,0.534,0.000
$DEVICE_MAMPS,250.809,128.089,882.050,490.113,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,879.921,1014.810,1447.723,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298608
$DATA_FILE_SIZE,72662,1277
$CAP_FILE_SIZE,135792,0
$CFSIZE,260165632,246829056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.054,323.3,1
$GPS,070810,141831,4750.260,-12514.159,57,1.1,57,18.7