version: 66.06
glider: 187
mission: 2
dive: 252
start: 8 12 110 1 33 37
data:
$ID,187
$MISSION,2
$DIVE,252
$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,-28652.818
$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,24
$R_STBD_OVSHOOT,20
$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
$GPS1,012804,4748.534,-12512.949,14,4.5,34,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-76.2
$GPS2,013332,4748.468,-12512.938,14,1.5,14,18.7
$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,224.4,162306,-13.9,-6.111
$D_GRID,511
$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,-112.4,0.0,0.0,0,78,0.00,0.00,-64.10,0.000,2,0.000,0.000,133,2048,3025,0,0,0,0,0,0
$GC,80,-0.45,-112.4,3.0,-2.6,12,109,10.60,2.03,-12.95,0.000,4,0.253,0.079,2673,3317,3610,0,0,0,0,0,0
$GC,209,-0.43,-112.4,26.7,-13.7,36,216,0.00,1.98,0.00,0.000,6,0.000,0.051,2672,2074,3613,0,0,0,0,0,0
$GC,536,-0.40,-112.4,72.7,-14.1,97,542,0.12,1.95,0.00,0.000,4,0.160,0.059,2706,842,3614,0,0,0,0,0,0
$GC,584,-0.40,-112.4,78.9,-12.6,106,590,0.00,1.95,0.00,0.000,6,0.000,0.058,2705,2068,3614,0,0,0,0,0,0
$GC,905,-0.40,-112.4,111.6,-7.4,153,909,0.00,2.00,0.00,0.000,4,0.000,0.068,2703,3303,3615,0,0,0,0,0,0
$GC,990,-0.40,-112.4,118.4,-8.2,161,994,0.00,1.95,0.00,0.000,6,0.000,0.051,2704,2066,3615,0,0,0,0,0,0
$GC,1311,-0.40,-112.4,143.7,-7.1,192,1311,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2064,3615,0,0,0,0,0,0
$GC,1622,-0.40,-112.4,171.1,-9.6,222,1626,0.00,2.03,0.00,0.000,4,0.000,0.070,2700,3307,3616,0,0,0,0,0,0
$GC,1647,-0.40,-112.4,173.7,-9.5,224,1654,0.00,1.95,0.00,0.000,6,0.000,0.052,2700,2068,3616,0,0,0,0,0,0
$GC,1963,-0.40,-112.4,197.7,-6.7,255,1967,0.00,2.00,0.00,0.000,4,0.000,0.069,2700,3302,3615,0,0,0,0,0,0
$GC,2000,-0.41,-112.4,200.3,-7.3,258,2007,0.00,1.90,0.00,0.000,6,0.000,0.052,2700,2084,3615,0,0,0,0,0,0
$GC,2316,-0.41,-112.4,225.2,-8.3,289,2320,0.00,2.00,0.00,0.000,4,0.000,0.069,2700,3315,3615,0,0,0,0,0,0
$GC,2358,-0.42,-112.4,228.7,-8.3,293,2362,0.00,1.90,0.00,0.000,6,0.000,0.052,2700,2091,3615,0,0,0,0,0,0
$GC,2679,-0.42,-112.4,258.1,-9.2,324,2679,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2091,3615,0,0,0,0,0,0
$GC,2990,-0.42,-112.4,283.9,-7.4,354,2991,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2091,3615,0,0,0,0,0,0
$GC,3301,-0.42,-112.4,307.1,-7.6,384,3304,0.00,1.98,0.00,0.000,4,0.000,0.071,2700,3306,3614,0,0,0,0,0,0
$GC,3390,-0.43,-112.4,314.1,-7.2,392,3396,0.00,1.90,0.00,0.000,6,0.000,0.053,2700,2085,3614,0,0,0,0,0,0
$GC,3705,-0.43,-112.4,339.4,-7.9,423,3706,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2084,3614,0,0,0,0,0,0
$GC,4017,-0.43,-112.4,363.2,-7.4,453,4020,0.00,1.98,0.00,0.000,4,0.000,0.071,2700,3306,3613,0,0,0,0,0,0
$GC,4097,-0.45,-112.4,369.0,-6.9,460,4102,0.00,1.90,0.00,0.000,6,0.000,0.054,2700,2084,3613,0,0,0,0,0,0
$GC,4411,-0.45,-112.4,392.1,-6.9,491,4416,0.00,1.98,0.00,0.000,4,0.000,0.070,2700,3303,3613,0,0,0,0,0,0
$GC,4434,-0.46,-112.4,393.6,-7.3,493,4437,0.00,1.90,0.00,0.000,6,0.000,0.054,2700,2087,3613,0,0,0,0,0,0
$GC,4753,-0.46,-112.4,416.4,-7.2,524,4758,0.00,1.98,0.00,0.000,4,0.000,0.071,2700,3301,3613,0,0,0,0,0,0
$GC,4779,-0.47,-112.4,418.3,-7.4,526,4786,0.00,1.90,0.00,0.000,6,0.000,0.054,2699,2091,3613,0,0,0,0,0,0
$GC,5095,-0.47,-112.4,442.0,-7.2,557,5099,0.00,1.98,0.00,0.000,4,0.000,0.071,2699,3307,3613,0,0,0,0,0,0
$GC,5132,-0.49,-112.4,444.8,-7.0,560,5138,0.00,1.90,0.00,0.000,6,0.000,0.054,2699,2086,3613,0,0,0,0,0,0
$GC,5448,-0.49,-112.4,466.2,-6.8,591,5452,0.00,2.00,0.00,0.000,4,0.000,0.071,2696,3313,3613,0,0,0,0,0,0
$GC,5523,-0.50,-112.4,471.4,-6.7,598,5526,0.00,1.90,0.00,0.000,6,0.000,0.054,2696,2096,3613,0,0,0,0,0,0
$GC,5843,-0.50,-112.4,494.2,-7.3,629,5843,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2096,3613,0,0,0,0,0,0
$STATE,6069,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6069,begin apogee
$GC,6073,-0.14,0.0,511.5,7.7,651,6165,0.28,0.00,90.25,0.914,6,0.127,0.000,2785,1986,3150,0,0,0,0,0,0
$STATE,6165,end apogee,CONTROL_FINISHED_OK
$STATE,6166,begin climb
$GC,6167,0.45,112.4,515.1,0.0,660,6266,0.57,2.03,92.68,0.882,4,0.093,0.061,2986,776,2690,0,0,0,0,0,0
$GC,6297,0.45,142.3,512.0,5.0,672,6328,0.00,2.05,25.70,0.846,6,0.000,0.058,2986,2004,2569,0,0,0,0,0,0
$GC,6637,0.44,142.3,490.9,6.7,705,6641,0.00,2.05,0.00,0.000,4,0.000,0.068,2986,3232,2565,0,0,0,0,0,0
$GC,6690,0.41,142.3,487.1,7.4,710,6694,0.00,2.00,0.00,0.000,6,0.000,0.057,2989,1997,2564,0,0,0,0,0,0
$GC,7011,0.40,142.3,465.9,6.8,741,7015,0.00,2.05,0.00,0.000,4,0.000,0.069,2988,3231,2564,0,0,0,0,0,0
$GC,7059,0.37,142.3,462.4,8.0,745,7065,0.12,1.98,0.00,0.000,6,0.135,0.057,2956,1999,2564,0,0,0,0,0,0
$GC,7374,0.39,177.0,446.8,4.8,776,7409,0.00,2.10,29.10,0.853,4,0.000,0.069,2955,3243,2427,0,0,0,0,0,0
$GC,7458,0.40,184.1,442.2,5.9,784,7469,0.00,2.00,7.32,0.728,6,0.000,0.057,2958,2011,2398,0,0,0,0,0,0
$GC,7778,0.40,184.1,422.2,7.1,815,7779,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2011,2395,0,0,0,0,0,0
$GC,8089,0.40,184.1,401.8,6.6,845,8092,0.00,2.00,0.00,0.000,4,0.000,0.070,2958,3243,2395,0,0,0,0,0,0
$GC,8125,0.40,184.1,399.2,7.1,848,8131,0.00,1.98,0.00,0.000,6,0.000,0.057,2959,2016,2395,0,0,0,0,0,0
$GC,8441,0.40,193.0,380.1,5.8,879,8453,0.00,0.00,8.45,0.759,6,0.000,0.000,2960,2015,2362,0,0,0,0,0,0
$GC,8762,0.43,240.6,363.4,4.4,910,8806,0.00,2.05,39.72,0.816,4,0.000,0.070,2960,3234,2169,0,0,0,0,0,0
$GC,8845,0.44,259.5,359.3,5.4,918,8867,0.00,1.98,16.67,0.774,6,0.000,0.057,2960,2023,2091,0,0,0,0,0,0
$GC,9175,0.48,294.6,345.6,4.8,950,9208,0.00,2.10,29.85,0.792,4,0.000,0.066,2960,764,1948,0,0,0,0,0,0
$GC,9233,0.54,335.4,342.9,4.6,955,9274,0.10,2.05,35.03,0.779,6,0.057,0.058,3015,2018,1782,0,0,0,0,0,0
$GC,9590,0.54,335.4,310.3,9.6,990,9594,0.00,2.05,0.00,0.000,4,0.000,0.067,3020,759,1774,0,0,0,0,0,0
$GC,9616,0.54,335.4,307.5,9.1,992,9623,0.00,2.05,0.00,0.000,6,0.000,0.058,3020,2021,1774,0,0,0,0,0,0
$GC,9932,0.54,335.4,275.3,10.8,1023,9937,0.00,1.95,0.00,0.000,4,0.000,0.067,3020,3227,1773,0,0,0,0,0,0
$GC,9958,0.54,335.4,272.4,11.6,1025,9964,0.00,1.98,0.00,0.000,6,0.000,0.057,3022,2005,1772,0,0,0,0,0,0
$GC,10274,0.54,335.4,237.5,10.9,1056,10278,0.00,2.00,0.00,0.000,4,0.000,0.067,3023,759,1772,0,0,0,0,0,0
$GC,10337,0.54,335.4,231.0,10.4,1062,10342,0.00,1.98,0.00,0.000,6,0.000,0.059,3023,2007,1772,0,0,0,0,0,0
$GC,10659,0.54,335.4,195.2,10.8,1093,10663,0.00,1.98,0.00,0.000,4,0.000,0.068,3024,3237,1772,0,0,0,0,0,0
$GC,10684,0.54,335.4,192.3,11.1,1095,10693,0.00,1.98,0.00,0.000,6,0.000,0.058,3024,2007,1771,0,0,0,0,0,0
$GC,11001,0.54,335.4,161.4,10.1,1126,11005,0.00,1.98,0.00,0.000,4,0.000,0.067,3023,765,1771,0,0,0,0,0,0
$GC,11058,0.54,335.4,155.8,10.0,1131,11067,0.00,1.98,0.00,0.000,6,0.000,0.059,3024,2005,1772,0,0,0,0,0,0
$GC,11375,0.54,335.4,124.1,10.1,1162,11376,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2006,1771,0,0,0,0,0,0
$GC,11688,0.54,335.4,91.5,9.7,1200,11693,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2006,1771,0,0,0,0,0,0
$GC,12013,0.54,335.4,61.8,8.1,1261,12019,0.00,1.98,0.00,0.000,4,0.000,0.069,3024,3235,1771,0,0,0,0,0,0
$GC,12045,0.54,335.4,59.4,7.6,1267,12052,0.00,1.95,0.00,0.000,6,0.000,0.058,3024,2006,1771,0,0,0,0,0,0
$GC,12374,0.56,349.6,37.8,5.6,1328,12390,0.00,1.95,11.38,0.606,4,0.000,0.065,3024,758,1723,0,0,0,0,0,0
$GC,12432,0.61,371.7,34.6,5.3,1339,12456,0.00,1.98,18.88,0.604,6,0.000,0.059,3024,2008,1634,0,0,0,0,0,0
$GC,12776,0.65,397.7,15.9,5.2,1403,12805,0.00,2.00,21.50,0.595,4,0.000,0.067,3024,3230,1527,0,0,0,0,0,0
$GC,12847,0.69,397.7,11.3,6.8,1416,12854,0.00,1.95,0.00,0.000,6,0.000,0.055,3024,2004,1523,0,0,0,0,0,0
$STATE,12969,end climb,SURFACE_DEPTH_REACHED
$STATE,12969,begin surface coast
$FINISH,0.9,1.012470
$STATE,13018,end surface coast,CONTROL_FINISHED_OK
$STATE,13018,begin surface
$SM_CCo,13091,0.00,0.000,0,0,1519,399.84
$SM_GC,1.63,7.62,0.00,0.00,0.044,0.000,0.000,146,2090,1519,-8.33,0.45,399.84
$IRIDIUM_FIX,4732.49,-12507.66,051199,222217
$TT8_MAMPS,0.052156
$HUMID,39.56
$INTERNAL_PRESSURE,8.99133
$TCM_TEMP,16.20
$XPDR_PINGS,0
$24V_AH,24.1,26.804
$10V_AH,10.2,22.370
$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,19.425,107.275,426.525,0.000,0.000,27.096,38.096,167.114,0.000,0.000,14.172,0.000,9071.211,513.482,3365.242,447.894,0.000,1719.688,0.000,2900.922,0.000,0.533,0.000
$DEVICE_MAMPS,253.110,100.477,914.264,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,997.985,1172.140,1579.391,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298588
$DATA_FILE_SIZE,82219,1448
$CAP_FILE_SIZE,152213,0
$CFSIZE,260165632,242855936
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.012,290.6,1
$GPS,120810,051237,4747.781,-12515.635,32,1.0,32,18.7