version: 66.06
glider: 187
mission: 2
dive: 406
start: 9 3 110 22 48 49
data:
$ID,187
$MISSION,2
$DIVE,406
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,3
$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,-32021.355
$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,2855
$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,27
$R_STBD_OVSHOOT,30
$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
$GPS1,224306,4749.631,-12513.183,67,1.2,79,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-77.0
$GPS2,224844,4749.621,-12513.167,13,1.4,13,18.7
$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,207.9,163257,-13.9,-6.111
$D_GRID,418
$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,13,-0.45,-112.4,0.0,0.0,0,72,0.00,0.00,-57.33,0.000,2,0.000,0.000,132,2077,3053,0,0,0,0,0,0
$GC,74,-0.45,-112.4,3.3,-2.7,11,103,10.45,2.00,-12.02,0.000,4,0.239,0.074,2693,3302,3611,0,0,0,0,0,0
$GC,139,-0.41,-112.4,18.6,-18.6,23,145,0.00,1.95,0.00,0.000,6,0.000,0.050,2692,2074,3612,0,0,0,0,0,0
$GC,466,-0.40,-112.4,59.0,-12.2,84,472,0.12,2.03,0.00,0.000,4,0.158,0.065,2721,3308,3614,0,0,0,0,0,0
$GC,562,-0.40,-112.4,67.4,-8.3,102,569,0.00,1.92,0.00,0.000,6,0.000,0.050,2721,2082,3614,0,0,0,0,0,0
$GC,890,-0.40,-112.4,93.4,-6.2,163,896,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2081,3615,0,0,0,0,0,0
$GC,1208,-0.40,-112.4,115.6,-7.3,204,1212,0.00,2.00,0.00,0.000,4,0.000,0.066,2719,3309,3615,0,0,0,0,0,0
$GC,1288,-0.42,-112.4,121.5,-7.5,211,1294,0.00,1.90,0.00,0.000,6,0.000,0.050,2719,2094,3615,0,0,0,0,0,0
$GC,1603,-0.43,-112.4,143.6,-7.2,242,1607,0.00,1.95,0.00,0.000,4,0.000,0.066,2717,3302,3615,0,0,0,0,0,0
$GC,1631,-0.45,-112.4,145.6,-7.8,244,1636,0.00,1.88,0.00,0.000,6,0.000,0.051,2717,2101,3615,0,0,0,0,0,0
$GC,1945,-0.46,-112.4,168.8,-7.0,275,1946,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2101,3615,0,0,0,0,0,0
$GC,2257,-0.47,-112.4,191.5,-7.6,305,2258,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2100,3615,0,0,0,0,0,0
$GC,2567,-0.48,-112.4,214.9,-7.1,335,2568,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2101,3614,0,0,0,0,0,0
$GC,2878,-0.50,-112.4,235.9,-6.4,365,2879,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2101,3614,0,0,0,0,0,0
$GC,3188,-0.51,-112.4,253.3,-5.5,395,3189,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2101,3613,0,0,0,0,0,0
$GC,3499,-0.53,-112.4,272.1,-6.2,425,3500,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2101,3613,0,0,0,0,0,0
$GC,3809,-0.54,-112.4,293.2,-6.7,455,3813,0.10,1.95,0.00,0.000,4,0.112,0.069,2664,3312,3612,0,0,0,0,0,0
$GC,3845,-0.54,-112.4,296.6,-9.9,458,3853,0.00,1.90,0.00,0.000,6,0.000,0.052,2664,2099,3612,0,0,0,0,0,0
$GC,4161,-0.53,-112.4,326.0,-8.7,489,4162,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2099,3612,0,0,0,0,0,0
$GC,4473,-0.52,-112.4,352.5,-8.0,519,4474,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2099,3612,0,0,0,0,0,0
$GC,4783,-0.51,-112.4,377.0,-8.0,549,4787,0.00,1.98,0.00,0.000,4,0.000,0.069,2655,3302,3611,0,0,0,0,0,0
$GC,4814,-0.51,-112.4,379.6,-8.7,552,4818,0.08,1.88,0.00,0.000,6,0.119,0.053,2683,2108,3611,0,0,0,0,0,0
$GC,5136,-0.51,-112.4,402.5,-7.6,583,5136,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2108,3611,0,0,0,0,0,0
$STATE,5329,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5329,begin apogee
$GC,5334,-0.14,0.0,418.1,8.4,602,5425,0.38,0.00,89.18,0.856,6,0.119,0.000,2807,1982,3150,0,0,0,0,0,0
$STATE,5425,end apogee,CONTROL_FINISHED_OK
$STATE,5425,begin climb
$GC,5427,0.45,112.4,421.3,0.0,611,5526,0.55,2.05,91.53,0.825,4,0.079,0.061,3007,780,2690,0,0,0,0,0,0
$GC,5562,0.45,157.4,419.5,4.5,624,5604,0.00,2.00,37.80,0.805,6,0.000,0.055,3007,1989,2508,0,0,0,0,0,0
$GC,5913,0.43,157.4,394.6,6.9,658,5917,0.00,2.05,0.00,0.000,4,0.000,0.065,3007,3225,2502,0,0,0,0,0,0
$GC,5998,0.40,157.4,387.1,8.7,666,6002,0.00,1.95,0.00,0.000,6,0.000,0.054,3014,2016,2502,0,0,0,0,0,0
$GC,6319,0.38,157.4,362.2,7.1,697,6321,0.12,0.00,0.00,0.000,6,0.166,0.000,2982,2014,2501,0,0,0,0,0,0
$GC,6630,0.39,171.8,345.3,5.6,727,6649,0.00,2.03,12.12,0.762,4,0.000,0.065,2981,3236,2449,0,0,0,0,0,0
$GC,6680,0.38,171.8,342.2,6.9,732,6684,0.00,1.98,0.00,0.000,6,0.000,0.055,2985,2007,2447,0,0,0,0,0,0
$GC,7002,0.38,171.8,320.4,7.5,763,7002,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2007,2446,0,0,0,0,0,0
$GC,7313,0.38,171.8,297.3,7.4,793,7316,0.00,1.98,0.00,0.000,4,0.000,0.067,2985,3233,2445,0,0,0,0,0,0
$GC,7377,0.36,171.8,292.1,8.2,799,7380,0.00,1.92,0.00,0.000,6,0.000,0.055,2986,2011,2445,0,0,0,0,0,0
$GC,7696,0.36,171.8,269.6,7.1,830,7697,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2011,2445,0,0,0,0,0,0
$GC,8008,0.36,171.8,247.4,7.0,860,8011,0.00,1.98,0.00,0.000,4,0.000,0.067,2986,3232,2445,0,0,0,0,0,0
$GC,8049,0.35,171.8,243.9,8.9,864,8053,0.00,1.92,0.00,0.000,6,0.000,0.055,2986,2023,2445,0,0,0,0,0,0
$GC,8371,0.35,171.8,220.3,7.3,895,8372,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2024,2444,0,0,0,0,0,0
$GC,8682,0.35,171.8,199.5,6.3,925,8683,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2024,2444,0,0,0,0,0,0
$GC,8993,0.35,171.8,179.5,6.4,955,8994,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2024,2444,0,0,0,0,0,0
$GC,9304,0.37,205.4,162.1,4.9,985,9335,0.00,2.00,27.48,0.699,4,0.000,0.066,2986,3233,2312,0,0,0,0,0,0
$GC,9361,0.37,205.6,158.8,6.1,990,9368,0.00,1.92,0.00,0.000,6,0.000,0.055,2986,2030,2309,0,0,0,0,0,0
$GC,9677,0.37,205.6,139.1,6.8,1021,9680,0.00,2.03,0.00,0.000,4,0.000,0.064,2986,764,2307,0,0,0,0,0,0
$GC,9724,0.37,205.6,135.9,6.7,1025,9729,0.00,2.00,0.00,0.000,6,0.000,0.058,2987,2023,2307,0,0,0,0,0,0
$GC,10039,0.37,205.6,114.5,7.0,1056,10044,0.00,1.98,0.00,0.000,4,0.000,0.066,2986,3232,2306,0,0,0,0,0,0
$GC,10103,0.37,205.6,109.6,7.4,1062,10107,0.00,1.92,0.00,0.000,6,0.000,0.055,2986,2022,2306,0,0,0,0,0,0
$GC,10425,0.37,205.6,88.8,6.4,1108,10430,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2022,2306,0,0,0,0,0,0
$GC,10751,0.37,206.9,70.3,6.1,1169,10756,0.00,1.98,0.00,0.000,4,0.000,0.067,2986,3226,2305,0,0,0,0,0,0
$GC,10820,0.37,206.9,65.8,6.5,1182,10827,0.00,1.90,0.00,0.000,6,0.000,0.055,2987,2028,2305,0,0,0,0,0,0
$GC,11149,0.45,306.3,51.6,2.5,1243,11238,0.00,2.03,79.10,0.623,4,0.000,0.067,2986,3229,1899,0,0,0,0,0,0
$GC,11292,0.51,339.5,46.5,4.9,1269,11326,0.00,1.92,27.12,0.594,6,0.000,0.054,2987,2047,1764,0,0,0,0,0,0
$GC,11647,0.59,339.5,19.4,8.9,1335,11653,0.17,0.00,0.00,0.000,6,0.104,0.000,3050,2047,1757,0,0,0,0,0,0
$STATE,11923,end climb,SURFACE_DEPTH_REACHED
$STATE,11923,begin surface coast
$FINISH,0.9,1.003283
$STATE,11984,end surface coast,CONTROL_FINISHED_OK
$STATE,11984,begin surface
$SM_CCo,11997,10.48,0.172,1,0,1722,350.04
$SM_GC,3.13,0.00,0.00,10.48,0.000,0.000,0.172,137,2046,1722,-8.49,-0.85,350.04
$IRIDIUM_FIX,4729.30,-12519.98,281199,202036
$TT8_MAMPS,0.052923
$HUMID,39.44
$INTERNAL_PRESSURE,9.02063
$TCM_TEMP,15.70
$XPDR_PINGS,0
$24V_AH,24.1,42.338
$10V_AH,10.2,38.983
$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,19.725,63.025,364.325,10.475,0.000,27.167,32.175,170.006,0.000,0.000,13.695,0.000,8204.094,411.433,3222.858,493.243,0.000,1517.065,0.000,2815.459,0.000,0.533,0.000
$DEVICE_MAMPS,239.304,82.836,855.972,171.808,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,962.138,1107.182,1686.223,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298588
$DATA_FILE_SIZE,75725,1398
$CAP_FILE_SIZE,133521,0
$CFSIZE,260165632,232099840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.108,  4.2,1
$GPS,040910,021030,4748.976,-12514.931,63,1.4,69,18.7