version: 66.06
glider: 187
mission: 2
dive: 250
start: 8 11 110 20 0 44
data:
$ID,187
$MISSION,2
$DIVE,250
$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,-28620.66
$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
$GPS1,195536,4750.063,-12511.129,36,1.1,36,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-77.7
$GPS2,200038,4750.049,-12511.085,15,1.3,15,18.7
$SPEED_LIMITS,0.106,0.196
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$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,197.8,165880,-13.9,-6.111
$D_GRID,316
$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,12,-0.45,-112.4,0.0,0.0,0,77,0.00,0.00,-62.67,0.000,2,0.000,0.000,133,2090,3180,0,0,0,0,0,0
$GC,79,-0.45,-112.4,3.6,-3.2,12,102,10.50,2.00,-9.12,0.000,4,0.250,0.076,2673,3311,3611,0,0,0,0,0,0
$GC,193,-0.43,-112.4,25.8,-14.7,33,199,0.00,1.98,0.00,0.000,6,0.000,0.051,2672,2068,3613,0,0,0,0,0,0
$GC,519,-0.41,-112.4,69.9,-12.7,94,526,0.00,2.03,0.00,0.000,4,0.000,0.068,2666,3302,3615,0,0,0,0,0,0
$GC,671,-0.40,-112.4,87.8,-11.7,122,677,0.10,1.92,0.00,0.000,6,0.127,0.051,2701,2078,3615,0,0,0,0,0,0
$GC,991,-0.40,-112.4,112.8,-8.0,167,995,0.00,2.00,0.00,0.000,4,0.000,0.067,2700,3300,3616,0,0,0,0,0,0
$GC,1038,-0.40,-112.4,116.6,-7.9,171,1046,0.00,1.92,0.00,0.000,6,0.000,0.051,2699,2077,3616,0,0,0,0,0,0
$GC,1355,-0.40,-112.4,144.8,-8.8,202,1356,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2077,3616,0,0,0,0,0,0
$GC,1666,-0.40,-112.4,171.3,-8.5,232,1669,0.00,1.98,0.00,0.000,4,0.000,0.068,2695,3305,3616,0,0,0,0,0,0
$GC,1691,-0.40,-112.4,173.6,-8.5,234,1699,0.00,1.90,0.00,0.000,6,0.000,0.052,2695,2095,3616,0,0,0,0,0,0
$GC,2007,-0.40,-112.4,198.6,-7.8,265,2008,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2095,3616,0,0,0,0,0,0
$GC,2319,-0.40,-112.4,221.6,-7.6,295,2322,0.00,1.95,0.00,0.000,4,0.000,0.071,2695,3308,3616,0,0,0,0,0,0
$GC,2344,-0.40,-112.4,223.6,-7.9,297,2351,0.00,1.88,0.00,0.000,6,0.000,0.053,2695,2099,3615,0,0,0,0,0,0
$GC,2660,-0.40,-112.4,248.9,-8.0,328,2663,0.00,1.95,0.00,0.000,4,0.000,0.061,2695,846,3616,0,0,0,0,0,0
$GC,2685,-0.40,-112.4,251.1,-8.4,330,2694,0.00,1.98,0.00,0.000,6,0.000,0.060,2695,2086,3615,0,0,0,0,0,0
$GC,3002,-0.40,-112.4,277.1,-8.1,361,3005,0.00,1.98,0.00,0.000,4,0.000,0.071,2695,3308,3615,0,0,0,0,0,0
$GC,3059,-0.41,-112.4,281.9,-8.0,366,3067,0.00,1.88,0.00,0.000,6,0.000,0.052,2695,2097,3615,0,0,0,0,0,0
$GC,3376,-0.41,-112.4,308.7,-8.4,397,3376,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2098,3615,0,0,0,0,0,0
$STATE,3467,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3467,begin apogee
$GC,3471,-0.14,0.0,316.8,8.7,406,3563,0.30,0.00,88.85,0.785,6,0.125,0.000,2791,1987,3150,0,0,0,0,0,0
$STATE,3563,end apogee,CONTROL_FINISHED_OK
$STATE,3563,begin climb
$GC,3565,0.45,112.4,320.5,0.0,415,3661,0.55,2.00,90.68,0.758,4,0.092,0.060,2986,771,2689,0,0,0,0,0,0
$GC,3682,0.47,166.8,318.5,4.1,427,3733,0.00,2.05,45.17,0.740,6,0.000,0.058,2986,2003,2469,0,0,0,0,0,0
$GC,4042,0.47,166.8,294.6,7.1,462,4047,0.00,2.05,0.00,0.000,4,0.000,0.068,2986,3231,2462,0,0,0,0,0,0
$GC,4150,0.46,166.8,285.7,8.3,472,4153,0.00,1.95,0.00,0.000,6,0.000,0.056,2986,2021,2462,0,0,0,0,0,0
$GC,4469,0.46,166.8,261.2,7.7,503,4474,0.00,2.00,0.00,0.000,4,0.000,0.064,2986,768,2461,0,0,0,0,0,0
$GC,4507,0.46,166.8,258.4,7.5,506,4514,0.00,1.98,0.00,0.000,6,0.000,0.059,2986,2006,2462,0,0,0,0,0,0
$GC,4822,0.46,166.8,237.1,6.3,537,4826,0.00,2.00,0.00,0.000,4,0.000,0.068,2986,3233,2462,0,0,0,0,0,0
$GC,4924,0.44,166.8,229.3,8.3,546,4931,0.00,1.95,0.00,0.000,6,0.000,0.056,2986,2007,2461,0,0,0,0,0,0
$GC,5239,0.44,166.8,209.3,6.4,577,5240,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2007,2461,0,0,0,0,0,0
$GC,5551,0.44,166.8,189.6,6.7,607,5554,0.00,1.92,0.00,0.000,4,0.000,0.068,2986,3234,2461,0,0,0,0,0,0
$GC,5602,0.43,166.8,185.6,8.0,612,5607,0.00,1.92,0.00,0.000,6,0.000,0.057,2986,2018,2461,0,0,0,0,0,0
$GC,5924,0.43,166.8,163.6,6.8,643,5925,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2016,2461,0,0,0,0,0,0
$GC,6235,0.43,166.8,142.6,6.4,673,6238,0.00,1.92,0.00,0.000,4,0.000,0.069,2986,3242,2461,0,0,0,0,0,0
$GC,6287,0.42,166.8,138.8,7.4,678,6291,0.00,1.92,0.00,0.000,6,0.000,0.056,2986,2019,2461,0,0,0,0,0,0
$GC,6609,0.42,166.8,118.0,7.0,709,6609,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2019,2461,0,0,0,0,0,0
$GC,6920,0.44,196.4,99.6,5.0,739,6947,0.00,1.95,23.33,0.655,4,0.000,0.067,2986,3234,2349,0,0,0,0,0,0
$GC,7011,0.44,196.4,94.0,6.7,756,7017,0.00,1.92,0.00,0.000,6,0.000,0.057,2986,2027,2347,0,0,0,0,0,0
$GC,7337,0.45,215.0,75.3,5.4,817,7360,0.00,1.98,15.85,0.630,4,0.000,0.067,2986,3232,2272,0,0,0,0,0,0
$GC,7402,0.45,217.3,71.5,6.0,829,7408,0.00,1.90,0.00,0.000,6,0.000,0.057,2986,2041,2271,0,0,0,0,0,0
$GC,7729,0.47,228.1,51.9,5.7,890,7746,0.00,2.05,11.52,0.607,4,0.000,0.064,2986,763,2219,0,0,0,0,0,0
$GC,7783,0.52,272.6,49.3,4.5,900,7827,0.00,2.05,36.42,0.614,6,0.000,0.059,2987,2049,2037,0,0,0,0,0,0
$GC,8147,0.60,326.4,33.3,4.1,968,8197,0.12,2.12,43.03,0.599,4,0.101,0.065,3041,764,1818,0,0,0,0,0,0
$GC,8255,0.64,326.4,27.3,6.3,988,8261,0.00,2.05,0.00,0.000,6,0.000,0.058,3041,2033,1815,0,0,0,0,0,0
$GC,8582,0.69,336.0,6.5,5.8,1049,8595,0.00,2.00,8.10,0.542,4,0.000,0.067,3040,3241,1779,0,0,0,0,0,0
$STATE,8641,end climb,SURFACE_DEPTH_REACHED
$STATE,8641,begin surface coast
$FINISH,0.8,1.023940
$STATE,8690,end surface coast,CONTROL_FINISHED_OK
$STATE,8690,begin surface
$SM_CCo,8705,13.25,0.273,1,0,1722,350.04
$SM_GC,2.45,0.00,0.00,13.25,0.000,0.000,0.273,146,2063,1722,-8.40,-0.34,350.04
$IRIDIUM_FIX,4732.49,-12457.94,051199,181811
$TT8_MAMPS,0.05369
$HUMID,38.50
$INTERNAL_PRESSURE,9.0011
$TCM_TEMP,15.00
$XPDR_PINGS,0
$24V_AH,24.3,26.594
$10V_AH,10.2,22.137
$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,19.250,71.050,362.950,13.250,0.000,28.005,32.350,153.970,0.000,0.000,16.242,0.000,5662.651,433.892,2551.565,364.611,0.000,1323.567,0.000,2205.964,0.000,0.534,0.000
$DEVICE_MAMPS,250.042,90.506,785.408,273.052,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,734.351,824.648,1422.848,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298604
$DATA_FILE_SIZE,60166,1069
$CAP_FILE_SIZE,107865,0
$CFSIZE,260165632,243052544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.100, 11.2,1
$GPS,110810,222755,4749.680,-12511.903,71,0.9,91,18.7