version: 66.06
glider: 187
mission: 2
dive: 407
start: 9 4 110 2 19 32
data:
$ID,187
$MISSION,2
$DIVE,407
$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,-32037.898
$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,25
$R_STBD_OVSHOOT,26
$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
$GPS1,021030,4748.976,-12514.931,63,1.4,69,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-79.3
$GPS2,021925,4748.928,-12514.935,10,1.4,15,18.7
$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,191.5,160690,-13.9,-6.111
$D_GRID,525
$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,-112.4,0.0,0.0,0,72,0.00,0.00,-57.88,0.000,2,0.000,0.000,132,2045,3085,0,0,0,0,0,0
$GC,74,-0.45,-112.4,3.5,-2.9,11,102,10.43,2.10,-11.10,0.000,4,0.237,0.080,2695,3314,3612,0,0,0,0,0,0
$GC,107,-0.22,-112.4,14.3,-25.9,17,113,0.25,2.00,0.00,0.000,6,0.130,0.053,2775,2070,3613,0,0,0,0,0,0
$GC,434,-0.24,-112.4,37.7,-6.1,78,440,0.00,1.95,0.00,0.000,4,0.000,0.058,2776,846,3615,0,0,0,0,0,0
$GC,526,-0.26,-112.4,43.5,-6.4,95,531,0.00,1.95,0.00,0.000,6,0.000,0.055,2776,2072,3616,0,0,0,0,0,0
$GC,853,-0.33,-112.4,66.1,-6.3,156,859,0.00,1.95,0.00,0.000,4,0.000,0.059,2776,847,3616,0,0,0,0,0,0
$GC,1099,-0.42,-112.4,85.3,-7.6,202,1105,0.12,2.03,0.00,0.000,6,0.072,0.054,2720,2128,3616,0,0,0,0,0,0
$GC,1427,-0.45,-112.4,106.4,-6.0,254,1428,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2128,3616,0,0,0,0,0,0
$GC,1738,-0.48,-112.4,124.1,-6.0,284,1741,0.00,1.92,0.00,0.000,4,0.000,0.067,2720,3314,3616,0,0,0,0,0,0
$GC,1866,-0.50,-112.4,132.9,-7.3,296,1869,0.00,1.67,0.00,0.000,6,0.000,0.050,2720,2220,3616,0,0,0,0,0,0
$GC,2186,-0.53,-112.4,157.4,-7.7,327,2190,0.10,2.20,0.00,0.000,4,0.108,0.058,2666,833,3616,0,0,0,0,0,0
$GC,2224,-0.52,-112.4,160.9,-9.5,330,2231,0.00,2.10,0.00,0.000,6,0.000,0.058,2663,2157,3616,0,0,0,0,0,0
$GC,2539,-0.50,-112.4,192.4,-9.9,361,2542,0.00,1.88,0.00,0.000,4,0.000,0.067,2659,3310,3616,0,0,0,0,0,0
$GC,2597,-0.49,-112.4,197.6,-8.1,366,2605,0.10,1.80,0.00,0.000,6,0.117,0.051,2694,2161,3615,0,0,0,0,0,0
$GC,2914,-0.49,-112.4,219.1,-6.9,397,2915,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2161,3615,0,0,0,0,0,0
$GC,3225,-0.49,-112.4,242.5,-8.2,427,3226,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2161,3615,0,0,0,0,0,0
$GC,3535,-0.49,-112.4,270.1,-9.7,457,3538,0.00,2.03,0.00,0.000,4,0.000,0.059,2694,842,3614,0,0,0,0,0,0
$GC,3555,-0.49,-112.4,272.1,-9.3,459,3559,0.00,2.10,0.00,0.000,6,0.000,0.058,2692,2164,3614,0,0,0,0,0,0
$GC,3876,-0.49,-112.4,300.0,-7.9,490,3879,0.00,1.85,0.00,0.000,4,0.000,0.067,2684,3303,3613,0,0,0,0,0,0
$GC,3908,-0.49,-112.4,302.4,-7.5,493,3911,0.00,1.80,0.00,0.000,6,0.000,0.052,2683,2155,3613,0,0,0,0,0,0
$GC,4228,-0.49,-112.4,327.2,-7.3,524,4229,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2154,3613,0,0,0,0,0,0
$GC,4540,-0.49,-112.4,349.4,-7.2,554,4540,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2154,3612,0,0,0,0,0,0
$GC,4850,-0.49,-112.4,371.6,-7.4,584,4851,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2154,3612,0,0,0,0,0,0
$GC,5161,-0.49,-112.4,394.4,-7.1,614,5161,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2154,3612,0,0,0,0,0,0
$GC,5471,-0.49,-112.4,416.4,-7.2,644,5471,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2154,3611,0,0,0,0,0,0
$GC,5781,-0.49,-112.4,438.5,-6.9,674,5782,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2154,3611,0,0,0,0,0,0
$GC,6091,-0.49,-112.4,461.4,-7.6,704,6094,0.00,1.90,0.00,0.000,4,0.000,0.070,2676,3306,3610,0,0,0,0,0,0
$GC,6133,-0.49,-112.4,464.7,-7.5,708,6137,0.00,1.80,0.00,0.000,6,0.000,0.053,2676,2160,3610,0,0,0,0,0,0
$GC,6454,-0.49,-112.4,487.5,-7.6,739,6458,0.00,1.90,0.00,0.000,4,0.000,0.071,2668,3310,3610,0,0,0,0,0,0
$GC,6480,-0.49,-112.4,489.7,-8.7,741,6488,0.00,1.80,0.00,0.000,6,0.000,0.055,2668,2172,3610,0,0,0,0,0,0
$GC,6796,-0.49,-112.4,514.5,-7.7,772,6797,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2172,3610,0,0,0,0,0,0
$STATE,6928,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6928,begin apogee
$GC,6933,-0.14,0.0,525.2,8.3,785,7025,0.43,0.00,90.28,0.927,6,0.121,0.000,2804,1984,3150,0,0,0,0,0,0
$STATE,7026,end apogee,CONTROL_FINISHED_OK
$STATE,7026,begin climb
$GC,7028,0.45,112.4,528.4,0.0,794,7127,0.55,2.05,92.97,0.896,4,0.077,0.061,3007,771,2690,0,0,0,0,0,0
$GC,7206,0.44,131.9,524.7,5.4,810,7227,0.00,2.03,17.10,0.841,6,0.000,0.056,3007,1996,2612,0,0,0,0,0,0
$GC,7537,0.41,131.9,502.9,6.4,842,7541,0.00,2.05,0.00,0.000,4,0.000,0.065,3007,3234,2608,0,0,0,0,0,0
$GC,7708,0.37,131.9,490.0,7.5,858,7713,0.10,1.95,0.00,0.000,6,0.146,0.054,2982,2024,2607,0,0,0,0,0,0
$GC,8030,0.35,131.9,470.8,6.3,889,8033,0.00,1.98,0.00,0.000,4,0.000,0.066,2982,3234,2606,0,0,0,0,0,0
$GC,8094,0.33,131.9,466.4,6.8,895,8097,0.00,1.95,0.00,0.000,6,0.000,0.056,2986,2021,2606,0,0,0,0,0,0
$GC,8414,0.32,145.9,447.6,5.6,926,8429,0.00,1.98,11.90,0.821,4,0.000,0.066,2986,3240,2555,0,0,0,0,0,0
$GC,8482,0.29,145.9,443.2,6.7,932,8486,0.10,1.95,0.00,0.000,6,0.131,0.055,2954,2029,2553,0,0,0,0,0,0
$GC,8803,0.33,207.6,429.8,3.8,963,8856,0.00,0.00,51.90,0.859,6,0.000,0.000,2954,2030,2303,0,0,0,0,0,0
$GC,9164,0.36,227.1,412.1,5.4,998,9186,0.00,2.03,16.67,0.814,4,0.000,0.064,2954,767,2223,0,0,0,0,0,0
$GC,9218,0.38,234.4,409.1,5.8,1003,9230,0.00,2.03,7.47,0.719,6,0.000,0.058,2954,2034,2194,0,0,0,0,0,0
$GC,9547,0.42,262.7,391.3,5.1,1035,9578,0.10,2.00,24.23,0.818,4,0.110,0.067,2999,3233,2079,0,0,0,0,0,0
$GC,9621,0.42,262.7,385.7,8.5,1042,9624,0.00,1.98,0.00,0.000,6,0.000,0.057,3000,2009,2075,0,0,0,0,0,0
$GC,9941,0.42,262.7,357.2,9.3,1073,9941,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2009,2073,0,0,0,0,0,0
$GC,10252,0.42,262.7,328.4,9.2,1103,10253,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2008,2072,0,0,0,0,0,0
$GC,10563,0.42,262.7,301.0,9.0,1133,10566,0.00,2.00,0.00,0.000,4,0.000,0.067,3000,3248,2071,0,0,0,0,0,0
$GC,10615,0.42,262.7,295.9,9.4,1138,10619,0.00,1.95,0.00,0.000,6,0.000,0.057,3000,2032,2071,0,0,0,0,0,0
$GC,10935,0.42,262.7,268.4,8.7,1169,10936,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2032,2071,0,0,0,0,0,0
$GC,11247,0.42,262.7,242.1,8.5,1199,11250,0.00,1.92,0.00,0.000,4,0.000,0.065,3000,3238,2071,0,0,0,0,0,0
$GC,11283,0.42,262.7,238.6,9.6,1202,11290,0.00,1.90,0.00,0.000,6,0.000,0.055,3000,2045,2070,0,0,0,0,0,0
$GC,11598,0.42,262.7,210.9,8.8,1233,11599,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2045,2070,0,0,0,0,0,0
$GC,11911,0.42,262.7,183.7,8.4,1263,11911,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2045,2070,0,0,0,0,0,0
$GC,12221,0.42,262.7,158.6,7.9,1293,12224,0.00,1.90,0.00,0.000,4,0.000,0.067,3001,3233,2070,0,0,0,0,0,0
$GC,12273,0.42,262.7,154.2,7.7,1298,12277,0.00,1.88,0.00,0.000,6,0.000,0.056,3000,2051,2069,0,0,0,0,0,0
$GC,12593,0.42,262.7,129.0,8.3,1329,12594,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2050,2070,0,0,0,0,0,0
$GC,12905,0.42,262.7,106.7,6.9,1359,12908,0.00,1.90,0.00,0.000,4,0.000,0.067,3000,3226,2070,0,0,0,0,0,0
$GC,12947,0.42,262.7,103.2,8.8,1363,12950,0.00,1.88,0.00,0.000,6,0.000,0.056,3001,2042,2069,0,0,0,0,0,0
$GC,13272,0.42,265.5,80.2,6.0,1420,13278,0.00,2.05,0.00,0.000,4,0.000,0.066,3001,766,2069,0,0,0,0,0,0
$GC,13326,0.45,277.6,77.1,5.7,1430,13344,0.00,2.03,12.30,0.629,6,0.000,0.058,3000,2047,2018,0,0,0,0,0,0
$GC,13666,0.48,300.6,58.6,5.3,1493,13693,0.00,1.95,19.95,0.624,4,0.000,0.067,3001,3237,1923,0,0,0,0,0,0
$GC,13747,0.50,305.5,54.1,5.9,1508,13759,0.00,1.90,5.43,0.518,6,0.000,0.054,3001,2048,1904,0,0,0,0,0,0
$GC,14080,0.55,327.9,36.2,5.3,1570,14104,0.10,2.05,19.17,0.605,4,0.111,0.061,3043,753,1813,0,0,0,0,0,0
$GC,14131,0.60,327.9,32.6,6.9,1579,14136,0.00,2.08,0.00,0.000,6,0.000,0.058,3043,2049,1812,0,0,0,0,0,0
$GC,14458,0.67,369.2,13.1,4.6,1640,14497,0.00,1.90,33.70,0.592,4,0.000,0.064,3043,3233,1644,0,0,0,0,0,0
$STATE,14618,end climb,SURFACE_DEPTH_REACHED
$STATE,14618,begin surface coast
$FINISH,1.2,1.023883
$STATE,14661,end surface coast,CONTROL_FINISHED_OK
$STATE,14661,begin surface
$SM_CCo,14737,0.00,0.000,0,0,1634,371.63
$SM_GC,2.45,7.78,0.00,0.00,0.046,0.000,0.000,134,2059,1634,-8.41,-0.48,371.63
$IRIDIUM_FIX,4735.69,-12516.60,291199,020221
$TT8_MAMPS,0.052923
$HUMID,39.56
$INTERNAL_PRESSURE,9.0011
$TCM_TEMP,15.90
$XPDR_PINGS,0
$24V_AH,23.9,42.449
$10V_AH,10.1,39.129
$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,20.150,94.125,403.075,0.000,0.000,58.144,113.600,182.227,0.000,0.000,15.911,0.000,10262.427,446.876,3907.510,629.736,0.000,1772.816,0.000,3374.440,0.000,0.533,0.000
$DEVICE_MAMPS,237.003,79.768,927.303,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1157.177,1338.462,1953.234,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298604
$DATA_FILE_SIZE,94899,1678
$CAP_FILE_SIZE,166283,0
$CFSIZE,260165632,231972864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.085,332.6,1
$GPS,040910,062624,4747.950,-12515.926,57,1.4,57,18.7