version: 66.06
glider: 187
mission: 2
dive: 472
start: 9 23 110 16 50 48
data:
$ID,187
$MISSION,2
$DIVE,472
$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,-33253.43
$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,21
$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
$GPS1,164332,4749.304,-12515.044,44,1.8,45,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-74.4
$GPS2,165043,4749.271,-12514.938,12,1.3,17,18.7
$SPEED_LIMITS,0.106,0.196
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$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,57.4,27498,-13.9,-6.111
$D_GRID,450
$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,-112.4,0.0,0.0,0,67,0.00,0.00,-52.65,0.000,2,0.000,0.000,131,2082,2853,0,0,0,0,0,0
$GC,70,-0.45,-112.4,3.0,-1.9,10,103,10.43,1.98,-18.62,0.000,4,0.233,0.076,2692,3314,3609,0,0,0,0,0,0
$GC,300,-0.45,-112.4,39.3,-10.9,53,306,0.00,1.95,0.00,0.000,6,0.000,0.048,2691,2074,3612,0,0,0,0,0,0
$GC,628,-0.44,-112.4,74.3,-11.2,114,633,0.00,1.95,0.00,0.000,4,0.000,0.056,2691,845,3614,0,0,0,0,0,0
$GC,670,-0.44,-112.4,79.1,-11.3,122,676,0.00,1.98,0.00,0.000,6,0.000,0.055,2685,2086,3614,0,0,0,0,0,0
$GC,997,-0.44,-112.4,110.9,-9.4,173,1001,0.00,2.00,0.00,0.000,4,0.000,0.064,2675,3310,3614,0,0,0,0,0,0
$GC,1061,-0.44,-112.4,117.0,-9.3,179,1065,0.10,1.92,0.00,0.000,6,0.117,0.049,2710,2092,3614,0,0,0,0,0,0
$GC,1382,-0.44,-112.4,141.0,-7.3,210,1386,0.00,2.00,0.00,0.000,4,0.000,0.066,2706,3305,3614,0,0,0,0,0,0
$GC,1419,-0.46,-112.4,143.6,-7.3,213,1426,0.00,1.90,0.00,0.000,6,0.000,0.050,2706,2102,3614,0,0,0,0,0,0
$GC,1735,-0.46,-112.4,165.5,-6.6,244,1738,0.00,2.00,0.00,0.000,4,0.000,0.058,2706,842,3614,0,0,0,0,0,0
$GC,1793,-0.46,-112.4,169.6,-6.9,249,1800,0.00,2.00,0.00,0.000,6,0.000,0.056,2704,2100,3613,0,0,0,0,0,0
$GC,2110,-0.46,-112.4,191.3,-7.3,280,2113,0.00,1.95,0.00,0.000,4,0.000,0.058,2704,843,3613,0,0,0,0,0,0
$GC,2173,-0.46,-112.4,196.3,-8.0,286,2177,0.00,2.00,0.00,0.000,6,0.000,0.056,2704,2102,3613,0,0,0,0,0,0
$GC,2493,-0.46,-112.4,220.6,-7.2,317,2497,0.00,1.98,0.00,0.000,4,0.000,0.066,2704,3312,3612,0,0,0,0,0,0
$GC,2530,-0.48,-112.4,223.1,-6.5,320,2537,0.00,1.92,0.00,0.000,6,0.000,0.051,2704,2095,3612,0,0,0,0,0,0
$GC,2846,-0.48,-112.4,246.5,-7.8,351,2847,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2095,3612,0,0,0,0,0,0
$GC,3157,-0.48,-112.4,270.1,-7.4,381,3158,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2095,3611,0,0,0,0,0,0
$GC,3468,-0.48,-112.4,290.6,-6.6,411,3471,0.00,1.98,0.00,0.000,4,0.000,0.067,2704,3322,3610,0,0,0,0,0,0
$GC,3499,-0.49,-112.4,292.7,-6.1,414,3503,0.00,1.92,0.00,0.000,6,0.000,0.052,2704,2100,3610,0,0,0,0,0,0
$GC,3822,-0.50,-112.4,314.8,-7.1,445,3823,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2100,3610,0,0,0,0,0,0
$GC,4132,-0.52,-112.4,337.3,-7.4,475,4133,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2100,3610,0,0,0,0,0,0
$GC,4443,-0.53,-112.4,358.7,-6.3,505,4446,0.00,1.95,0.00,0.000,4,0.000,0.067,2704,3310,3610,0,0,0,0,0,0
$GC,4485,-0.55,-112.4,361.7,-6.5,509,4489,0.00,1.90,0.00,0.000,6,0.000,0.053,2704,2110,3609,0,0,0,0,0,0
$GC,4806,-0.56,-112.4,382.5,-6.6,540,4806,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2111,3609,0,0,0,0,0,0
$GC,5117,-0.57,-112.4,404.8,-6.7,570,5121,0.10,1.98,0.00,0.000,4,0.109,0.069,2650,3306,3608,0,0,0,0,0,0
$GC,5192,-0.57,-112.4,411.5,-8.8,577,5195,0.00,1.85,0.00,0.000,6,0.000,0.053,2649,2109,3608,0,0,0,0,0,0
$GC,5512,-0.56,-112.4,443.3,-10.0,608,5516,0.00,2.00,0.00,0.000,4,0.000,0.059,2650,848,3608,0,0,0,0,0,0
$GC,5571,-0.55,-112.4,449.0,-9.1,613,5576,0.10,2.03,0.00,0.000,6,0.128,0.058,2677,2112,3608,0,0,0,0,0,0
$STATE,5584,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5584,begin apogee
$GC,5588,-0.14,0.0,450.4,9.0,615,5680,0.40,0.00,89.75,0.873,6,0.116,0.000,2809,1995,3150,0,0,0,0,0,0
$STATE,5681,end apogee,CONTROL_FINISHED_OK
$STATE,5681,begin climb
$GC,5683,0.45,112.4,451.9,0.0,624,5777,0.52,0.00,92.25,0.844,6,0.068,0.000,3002,1995,2691,0,0,0,0,0,0
$GC,6083,0.44,133.3,435.0,5.3,663,6106,0.00,2.05,17.67,0.803,4,0.000,0.064,3002,3239,2605,0,0,0,0,0,0
$GC,6182,0.41,133.3,428.2,8.1,672,6185,0.00,2.00,0.00,0.000,6,0.000,0.053,3010,2013,2603,0,0,0,0,0,0
$GC,6502,0.39,133.3,405.7,7.6,703,6505,0.00,2.00,0.00,0.000,4,0.000,0.064,3010,3234,2602,0,0,0,0,0,0
$GC,6567,0.36,133.3,401.0,7.3,709,6570,0.17,1.92,0.00,0.000,6,0.153,0.054,2969,2023,2602,0,0,0,0,0,0
$GC,6883,0.37,156.4,384.7,5.3,739,6906,0.00,1.98,19.65,0.803,4,0.000,0.066,2969,3241,2512,0,0,0,0,0,0
$GC,6945,0.37,156.4,380.9,6.3,745,6948,0.00,1.92,0.00,0.000,6,0.000,0.054,2972,2034,2510,0,0,0,0,0,0
$GC,7266,0.38,164.8,362.0,5.8,776,7278,0.00,2.00,8.15,0.723,4,0.000,0.066,2973,3237,2478,0,0,0,0,0,0
$GC,7303,0.38,164.8,359.6,6.4,779,7309,0.00,1.92,0.00,0.000,6,0.000,0.054,2973,2042,2477,0,0,0,0,0,0
$GC,7620,0.38,165.9,340.7,6.1,810,7622,0.00,1.95,0.00,0.000,4,0.000,0.067,2973,3234,2477,0,0,0,0,0,0
$GC,7639,0.38,165.9,339.4,6.3,812,7644,0.00,1.90,0.00,0.000,6,0.000,0.054,2973,2053,2476,0,0,0,0,0,0
$GC,7960,0.38,170.3,319.7,6.0,843,7972,0.00,1.92,6.05,0.661,4,0.000,0.067,2973,3230,2455,0,0,0,0,0,0
$GC,7982,0.38,172.0,318.4,6.0,845,7986,0.00,1.88,0.00,0.000,6,0.000,0.054,2973,2057,2455,0,0,0,0,0,0
$GC,8303,0.38,172.0,298.6,6.1,876,8304,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2057,2454,0,0,0,0,0,0
$GC,8615,0.38,172.0,278.9,6.1,906,8618,0.00,1.95,0.00,0.000,4,0.000,0.067,2972,3233,2454,0,0,0,0,0,0
$GC,8640,0.38,176.1,277.3,6.0,908,8649,0.00,1.88,6.57,0.663,6,0.000,0.054,2973,2062,2430,0,0,0,0,0,0
$GC,8967,0.39,185.0,258.4,5.8,940,8981,0.00,1.95,8.65,0.693,4,0.000,0.066,2973,3240,2395,0,0,0,0,0,0
$GC,9008,0.39,185.0,255.6,7.3,944,9012,0.00,1.88,0.00,0.000,6,0.000,0.055,2973,2073,2394,0,0,0,0,0,0
$GC,9329,0.39,187.0,235.8,6.0,975,9333,0.00,2.12,0.00,0.000,4,0.000,0.064,2973,766,2394,0,0,0,0,0,0
$GC,9361,0.41,197.4,234.0,5.7,978,9376,0.00,2.08,11.90,0.706,6,0.000,0.057,2973,2066,2344,0,0,0,0,0,0
$GC,9688,0.42,197.9,214.7,6.1,1009,9691,0.00,1.88,0.00,0.000,4,0.000,0.066,2974,3235,2341,0,0,0,0,0,0
$GC,9723,0.42,197.9,212.3,6.7,1012,9731,0.00,1.85,0.00,0.000,6,0.000,0.054,2973,2078,2341,0,0,0,0,0,0
$GC,10039,0.45,224.6,194.8,5.1,1043,10064,0.00,0.00,23.00,0.709,6,0.000,0.000,2973,2077,2234,0,0,0,0,0,0
$GC,10371,0.49,278.3,179.2,4.1,1075,10422,0.12,2.17,44.08,0.700,4,0.098,0.063,3038,763,2015,0,0,0,0,0,0
$GC,10434,0.49,278.3,175.0,8.0,1081,10437,0.00,2.12,0.00,0.000,6,0.000,0.056,3037,2085,2013,0,0,0,0,0,0
$GC,10750,0.49,278.3,148.8,8.8,1111,10753,0.00,1.90,0.00,0.000,4,0.000,0.065,3037,3234,2008,0,0,0,0,0,0
$GC,10775,0.48,278.3,146.2,9.9,1113,10782,0.08,1.85,0.00,0.000,6,0.132,0.054,3015,2088,2007,0,0,0,0,0,0
$GC,11091,0.48,278.3,123.0,7.7,1144,11094,0.00,2.10,0.00,0.000,4,0.000,0.062,3021,760,2007,0,0,0,0,0,0
$GC,11139,0.48,278.3,119.5,8.5,1148,11145,0.00,2.08,0.00,0.000,6,0.000,0.055,3021,2064,2006,0,0,0,0,0,0
$GC,11457,0.51,278.3,94.8,8.2,1185,11463,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2063,2006,0,0,0,0,0,0
$GC,11784,0.54,278.3,72.3,6.7,1246,11789,0.00,1.90,0.00,0.000,4,0.000,0.064,3021,3238,2006,0,0,0,0,0,0
$GC,11859,0.54,278.3,66.9,7.0,1260,11866,0.00,1.70,0.00,0.000,6,0.000,0.052,3023,2167,2006,0,0,0,0,0,0
$GC,12189,0.57,289.9,45.2,5.7,1321,12205,0.00,2.25,9.25,0.588,4,0.000,0.062,3023,766,1968,0,0,0,0,0,0
$GC,12297,0.63,331.6,39.8,4.6,1341,12342,0.08,2.03,34.78,0.612,6,0.064,0.056,3071,2039,1797,0,0,0,0,0,0
$GC,12663,0.67,351.7,13.8,5.4,1409,12687,0.00,1.90,16.70,0.587,4,0.000,0.063,3072,3232,1714,0,0,0,0,0,0
$GC,12697,0.72,381.5,12.1,5.0,1415,12731,0.00,1.80,25.05,0.579,6,0.000,0.054,3072,2112,1592,0,0,0,0,0,0
$STATE,12874,end climb,SURFACE_DEPTH_REACHED
$STATE,12874,begin surface coast
$FINISH,1.2,1.005217
$STATE,12922,end surface coast,CONTROL_FINISHED_OK
$STATE,12922,begin surface
$SM_CCo,12997,0.00,0.000,0,0,1582,384.39
$SM_GC,2.06,7.82,0.00,0.00,0.044,0.000,0.000,140,2071,1582,-8.39,-0.11,384.39
$IRIDIUM_FIX,4729.30,-12512.90,181299,121206
$TT8_MAMPS,0.05369
$HUMID,41.41
$INTERNAL_PRESSURE,9.02063
$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,23.9,51.606
$10V_AH,10.1,50.131
$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,19.925,106.175,413.500,0.000,0.000,27.643,31.081,221.767,0.000,0.000,17.410,0.000,8891.370,475.928,3411.639,613.193,0.000,1677.209,0.000,2953.146,0.000,0.533,0.000
$DEVICE_MAMPS,233.168,156.468,872.846,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1047.894,998.036,1650.089,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298628
$DATA_FILE_SIZE,82106,1457
$CAP_FILE_SIZE,155059,0
$CFSIZE,260165632,224333824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.127,338.1,1
$GPS,230910,202830,4750.413,-12513.532,41,1.5,47,18.7