version: 66.06
glider: 187
mission: 2
dive: 251
start: 8 11 110 22 33 42
data:
$ID,187
$MISSION,2
$DIVE,251
$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,-28638.018
$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,34
$R_STBD_OVSHOOT,24
$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
$GPS1,222755,4749.680,-12511.903,71,0.9,91,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-77.0
$GPS2,223337,4749.629,-12511.877,11,1.2,16,18.7
$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,196.3,164615,-13.9,-6.111
$D_GRID,368
$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,-112.4,0.0,0.0,0,75,0.00,0.00,-60.78,0.000,2,0.000,0.000,133,2062,3148,0,0,0,0,0,0
$GC,77,-0.45,-112.4,3.5,-3.4,11,105,10.50,2.08,-9.85,0.000,4,0.249,0.081,2674,3317,3612,0,0,0,0,0,0
$GC,201,-0.43,-112.4,26.1,-14.7,34,208,0.00,1.98,0.00,0.000,6,0.000,0.053,2674,2078,3614,0,0,0,0,0,0
$GC,528,-0.41,-112.4,69.8,-10.8,95,534,0.00,2.03,0.00,0.000,4,0.000,0.068,2670,3312,3616,0,0,0,0,0,0
$GC,555,-0.39,-112.4,72.7,-10.7,100,561,0.10,1.95,0.00,0.000,6,0.131,0.052,2704,2072,3616,0,0,0,0,0,0
$GC,884,-0.39,-112.4,106.0,-9.1,156,885,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2071,3617,0,0,0,0,0,0
$GC,1196,-0.39,-112.4,134.8,-8.6,186,1199,0.00,1.98,0.00,0.000,4,0.000,0.069,2701,3310,3617,0,0,0,0,0,0
$GC,1253,-0.39,-112.4,139.6,-8.2,191,1259,0.00,1.98,0.00,0.000,6,0.000,0.052,2701,2057,3617,0,0,0,0,0,0
$GC,1568,-0.39,-112.4,165.6,-8.5,222,1573,0.00,2.03,0.00,0.000,4,0.000,0.068,2700,3313,3617,0,0,0,0,0,0
$GC,1600,-0.39,-112.4,168.2,-8.4,225,1605,0.00,1.95,0.00,0.000,6,0.000,0.053,2700,2067,3617,0,0,0,0,0,0
$GC,1922,-0.39,-112.4,195.6,-8.5,256,1925,0.00,2.00,0.00,0.000,4,0.000,0.070,2700,3310,3617,0,0,0,0,0,0
$GC,1947,-0.39,-112.4,197.8,-8.2,258,1956,0.00,1.95,0.00,0.000,6,0.000,0.053,2700,2073,3617,0,0,0,0,0,0
$GC,2264,-0.39,-112.4,223.1,-8.4,289,2267,0.00,2.00,0.00,0.000,4,0.000,0.070,2700,3315,3617,0,0,0,0,0,0
$GC,2305,-0.40,-112.4,226.6,-8.6,293,2310,0.00,1.92,0.00,0.000,6,0.000,0.054,2700,2082,3617,0,0,0,0,0,0
$GC,2626,-0.40,-112.4,250.9,-7.0,324,2627,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2081,3618,0,0,0,0,0,0
$GC,2937,-0.40,-112.4,271.4,-6.9,354,2938,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2081,3618,0,0,0,0,0,0
$GC,3248,-0.40,-112.4,295.5,-8.1,384,3252,0.00,1.98,0.00,0.000,4,0.000,0.071,2700,3313,3618,0,0,0,0,0,0
$GC,3300,-0.42,-112.4,299.7,-7.5,389,3304,0.00,1.92,0.00,0.000,6,0.000,0.054,2700,2078,3618,0,0,0,0,0,0
$GC,3621,-0.42,-112.4,326.1,-8.1,420,3625,0.00,1.98,0.00,0.000,4,0.000,0.069,2700,3310,3618,0,0,0,0,0,0
$GC,3647,-0.43,-112.4,328.4,-8.3,422,3655,0.00,1.90,0.00,0.000,6,0.000,0.054,2700,2088,3618,0,0,0,0,0,0
$GC,3963,-0.43,-112.4,354.2,-8.7,453,3968,0.00,1.95,0.00,0.000,4,0.000,0.071,2700,3306,3619,0,0,0,0,0,0
$GC,4000,-0.44,-112.4,357.2,-8.5,456,4007,0.00,1.90,0.00,0.000,6,0.000,0.054,2700,2086,3619,0,0,0,0,0,0
$STATE,4129,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4129,begin apogee
$GC,4132,-0.14,0.0,368.3,8.5,469,4225,0.28,0.00,90.18,0.818,6,0.127,0.000,2788,1994,3150,0,0,0,0,0,0
$STATE,4225,end apogee,CONTROL_FINISHED_OK
$STATE,4225,begin climb
$GC,4227,0.45,112.4,372.8,0.0,478,4321,0.55,0.00,91.00,0.790,6,0.092,0.000,2975,1994,2691,0,0,0,0,0,0
$GC,4629,0.47,153.3,358.0,4.6,517,4669,0.00,2.10,33.53,0.778,4,0.000,0.068,2975,3233,2523,0,0,0,0,0,0
$GC,4812,0.45,153.3,345.9,6.9,534,4820,0.00,1.98,0.00,0.000,6,0.000,0.055,2981,2014,2520,0,0,0,0,0,0
$GC,5129,0.45,153.3,325.8,6.4,565,5132,0.00,1.98,0.00,0.000,4,0.000,0.065,2986,764,2519,0,0,0,0,0,0
$GC,5160,0.45,153.3,323.6,6.4,568,5163,0.00,2.00,0.00,0.000,6,0.000,0.060,2986,2011,2519,0,0,0,0,0,0
$GC,5480,0.44,153.3,301.2,7.3,599,5484,0.00,2.00,0.00,0.000,4,0.000,0.069,2986,3231,2519,0,0,0,0,0,0
$GC,5571,0.43,153.3,294.0,8.2,607,5577,0.00,1.92,0.00,0.000,6,0.000,0.056,2986,2018,2518,0,0,0,0,0,0
$GC,5886,0.42,153.3,272.9,6.2,638,5890,0.00,1.98,0.00,0.000,4,0.000,0.068,2986,3226,2518,0,0,0,0,0,0
$GC,5928,0.40,153.3,269.9,6.9,642,5933,0.00,1.90,0.00,0.000,6,0.000,0.057,2986,2024,2518,0,0,0,0,0,0
$GC,6250,0.40,153.3,249.3,6.3,673,6251,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2022,2518,0,0,0,0,0,0
$GC,6561,0.40,153.3,227.8,7.6,703,6562,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2022,2518,0,0,0,0,0,0
$GC,6872,0.39,153.3,207.0,6.1,733,6875,0.00,1.95,0.00,0.000,4,0.000,0.069,2986,3235,2518,0,0,0,0,0,0
$GC,6983,0.37,153.3,199.4,7.4,743,6989,0.08,1.90,0.00,0.000,6,0.136,0.056,2961,2033,2518,0,0,0,0,0,0
$GC,7298,0.37,157.1,182.4,6.0,774,7302,0.00,0.00,3.60,0.482,6,0.000,0.000,2961,2031,2509,0,0,0,0,0,0
$GC,7608,0.38,165.2,163.6,5.8,804,7620,0.00,0.00,8.32,0.650,6,0.000,0.000,2961,2031,2476,0,0,0,0,0,0
$GC,7930,0.38,175.7,145.7,5.7,835,7941,0.00,0.00,10.12,0.653,6,0.000,0.000,2960,2031,2433,0,0,0,0,0,0
$GC,8249,0.42,215.7,128.5,4.6,866,8284,0.00,0.00,33.03,0.671,6,0.000,0.000,2961,2031,2270,0,0,0,0,0,0
$GC,8590,0.45,237.0,110.9,5.3,899,8612,0.00,1.95,18.12,0.647,4,0.000,0.066,2961,3232,2181,0,0,0,0,0,0
$GC,8643,0.47,237.0,108.0,6.4,904,8647,0.00,1.90,0.00,0.000,6,0.000,0.056,2961,2050,2179,0,0,0,0,0,0
$GC,8964,0.55,330.7,95.4,2.7,947,9041,0.15,0.00,74.72,0.640,6,0.087,0.000,3025,2049,1801,0,0,0,0,0,0
$GC,9362,0.56,330.7,59.8,9.8,1021,9368,0.00,2.08,0.00,0.000,4,0.000,0.067,3026,766,1792,0,0,0,0,0,0
$GC,9421,0.59,330.7,55.5,6.9,1032,9426,0.00,2.05,0.00,0.000,6,0.000,0.059,3026,2047,1792,0,0,0,0,0,0
$GC,9747,0.62,347.9,35.9,5.5,1093,9764,0.00,0.00,13.73,0.593,6,0.000,0.000,3026,2047,1730,0,0,0,0,0,0
$GC,10086,0.66,369.8,15.9,5.3,1156,10108,0.00,2.05,18.25,0.589,4,0.000,0.065,3026,757,1640,0,0,0,0,0,0
$GC,10134,0.71,391.8,13.2,5.3,1165,10158,0.08,2.08,19.17,0.574,6,0.068,0.059,3072,2048,1551,0,0,0,0,0,0
$STATE,10290,end climb,SURFACE_DEPTH_REACHED
$STATE,10290,begin surface coast
$FINISH,0.9,1.024009
$STATE,10338,end surface coast,CONTROL_FINISHED_OK
$STATE,10338,begin surface
$SM_CCo,10411,0.00,0.000,0,0,1542,394.44
$SM_GC,1.56,7.80,0.00,0.00,0.043,0.000,0.000,142,2051,1542,-8.34,-0.68,394.44
$IRIDIUM_FIX,4732.49,-12500.57,051199,202050
$TT8_MAMPS,0.052923
$HUMID,39.84
$INTERNAL_PRESSURE,9.0011
$TCM_TEMP,16.40
$XPDR_PINGS,0
$24V_AH,24.2,26.692
$10V_AH,10.3,22.246
$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,19.525,67.375,413.775,0.000,0.000,28.621,34.055,182.290,0.000,0.000,16.727,0.000,7024.275,451.423,2835.158,423.889,0.000,1443.243,0.000,2456.110,0.000,0.533,0.000
$DEVICE_MAMPS,249.275,98.176,817.622,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,827.482,931.459,1447.924,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298604
$DATA_FILE_SIZE,66460,1203
$CAP_FILE_SIZE,121561,0
$CFSIZE,260165632,242970624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.024,129.1,1
$GPS,120810,012804,4748.534,-12512.949,14,4.5,34,18.7