version: 66.06
glider: 187
mission: 2
dive: 473
start: 9 23 110 20 35 9
data:
$ID,187
$MISSION,2
$DIVE,473
$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,-33266.785
$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,28
$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
$GPS1,202830,4750.413,-12513.532,41,1.5,47,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-76.6
$GPS2,203502,4750.335,-12513.573,12,1.8,12,18.7
$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,75.7,24978,-13.9,-6.111
$D_GRID,312
$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,-112.4,0.0,0.0,0,73,0.00,0.00,-58.15,0.000,2,0.000,0.000,132,2071,2928,0,0,0,0,0,0
$GC,75,-0.45,-112.4,3.3,-2.3,11,108,10.57,2.03,-15.20,0.000,4,0.240,0.074,2692,3306,3610,0,0,0,0,0,0
$GC,236,-0.45,-112.4,30.7,-12.0,41,243,0.00,1.95,0.00,0.000,6,0.000,0.050,2691,2079,3613,0,0,0,0,0,0
$GC,563,-0.45,-112.4,70.1,-11.5,102,569,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2074,3615,0,0,0,0,0,0
$GC,892,-0.45,-112.4,105.2,-9.1,159,896,0.00,2.03,0.00,0.000,4,0.000,0.064,2683,3306,3616,0,0,0,0,0,0
$GC,1000,-0.45,-112.4,114.4,-8.3,169,1003,0.00,1.95,0.00,0.000,6,0.000,0.050,2683,2074,3615,0,0,0,0,0,0
$GC,1320,-0.45,-112.4,144.3,-9.8,200,1323,0.00,2.03,0.00,0.000,4,0.000,0.064,2674,3310,3615,0,0,0,0,0,0
$GC,1400,-0.45,-112.4,152.4,-10.5,207,1406,0.08,1.92,0.00,0.000,6,0.120,0.050,2702,2088,3615,0,0,0,0,0,0
$GC,1716,-0.45,-112.4,178.3,-7.7,238,1719,0.00,2.00,0.00,0.000,4,0.000,0.066,2702,3306,3615,0,0,0,0,0,0
$GC,1763,-0.47,-112.4,181.9,-7.4,242,1768,0.00,1.90,0.00,0.000,6,0.000,0.051,2702,2102,3615,0,0,0,0,0,0
$GC,2078,-0.47,-112.4,204.7,-6.8,273,2082,0.00,1.98,0.00,0.000,4,0.000,0.065,2695,3306,3614,0,0,0,0,0,0
$GC,2126,-0.49,-112.4,208.2,-7.1,277,2133,0.00,1.88,0.00,0.000,6,0.000,0.051,2696,2116,3614,0,0,0,0,0,0
$GC,2441,-0.49,-112.4,231.0,-6.9,308,2445,0.00,1.95,0.00,0.000,4,0.000,0.065,2695,3306,3614,0,0,0,0,0,0
$GC,2485,-0.50,-112.4,234.0,-7.1,312,2488,0.00,1.88,0.00,0.000,6,0.000,0.051,2694,2114,3614,0,0,0,0,0,0
$GC,2805,-0.50,-112.4,257.7,-8.0,343,2809,0.00,1.98,0.00,0.000,4,0.000,0.067,2690,3310,3614,0,0,0,0,0,0
$GC,2870,-0.51,-112.4,262.2,-7.1,349,2873,0.00,1.85,0.00,0.000,6,0.000,0.051,2691,2126,3613,0,0,0,0,0,0
$GC,3189,-0.51,-112.4,286.7,-8.1,380,3193,0.00,1.95,0.00,0.000,4,0.000,0.066,2684,3308,3613,0,0,0,0,0,0
$GC,3237,-0.52,-112.4,290.6,-8.1,384,3244,0.00,1.85,0.00,0.000,6,0.000,0.051,2684,2138,3613,0,0,0,0,0,0
$STATE,3490,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3490,begin apogee
$GC,3496,-0.14,0.0,312.1,8.4,409,3587,0.38,0.00,88.85,0.781,6,0.116,0.000,2806,1994,3149,0,0,0,0,0,0
$STATE,3587,end apogee,CONTROL_FINISHED_OK
$STATE,3587,begin climb
$GC,3590,0.45,112.4,315.4,0.0,418,3687,0.55,2.05,90.05,0.753,4,0.081,0.060,3008,778,2690,0,0,0,0,0,0
$GC,3746,0.46,164.4,312.0,4.2,433,3797,0.00,1.98,43.22,0.738,6,0.000,0.054,3008,2001,2478,0,0,0,0,0,0
$GC,4106,0.45,164.4,288.0,7.1,468,4109,0.00,2.03,0.00,0.000,4,0.000,0.064,3008,3226,2472,0,0,0,0,0,0
$GC,4214,0.43,164.4,279.3,8.9,478,4217,0.00,1.92,0.00,0.000,6,0.000,0.053,3014,2019,2472,0,0,0,0,0,0
$GC,4533,0.41,164.4,254.4,7.9,509,4538,0.00,1.98,0.00,0.000,4,0.000,0.064,3014,3229,2471,0,0,0,0,0,0
$GC,4577,0.39,164.4,250.6,8.9,513,4580,0.12,1.95,0.00,0.000,6,0.130,0.053,2981,2008,2470,0,0,0,0,0,0
$GC,4897,0.41,199.0,232.4,4.8,544,4929,0.00,1.98,27.67,0.721,4,0.000,0.062,2981,3232,2338,0,0,0,0,0,0
$GC,4977,0.41,199.0,227.6,6.8,551,4982,0.00,1.92,0.00,0.000,6,0.000,0.054,2984,2021,2335,0,0,0,0,0,0
$GC,5291,0.41,199.0,206.8,6.6,582,5292,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2020,2333,0,0,0,0,0,0
$GC,5603,0.41,199.0,187.2,6.2,612,5606,0.00,2.00,0.00,0.000,4,0.000,0.065,2984,3252,2332,0,0,0,0,0,0
$GC,5634,0.41,199.0,185.1,7.1,615,5638,0.00,1.95,0.00,0.000,6,0.000,0.054,2986,2039,2332,0,0,0,0,0,0
$GC,5955,0.41,209.2,166.2,5.7,646,5965,0.00,0.00,8.75,0.642,6,0.000,0.000,2986,2039,2296,0,0,0,0,0,0
$GC,6275,0.43,238.5,148.0,5.0,677,6307,0.00,2.08,24.90,0.674,4,0.000,0.063,2986,763,2176,0,0,0,0,0,0
$GC,6328,0.48,292.4,145.6,4.1,682,6378,0.00,2.03,44.15,0.667,6,0.000,0.056,2986,2040,1957,0,0,0,0,0,0
$GC,6688,0.50,292.4,125.4,6.3,717,6692,0.00,2.10,0.00,0.000,4,0.000,0.063,2986,763,1951,0,0,0,0,0,0
$GC,6709,0.53,292.4,124.0,6.7,719,6713,0.08,2.03,0.00,0.000,6,0.060,0.055,3033,2026,1950,0,0,0,0,0,0
$GC,7027,0.53,292.4,97.7,8.0,752,7032,0.00,1.95,0.00,0.000,4,0.000,0.063,3033,3231,1948,0,0,0,0,0,0
$GC,7058,0.53,292.4,94.9,8.4,758,7064,0.00,1.92,0.00,0.000,6,0.000,0.054,3038,2027,1948,0,0,0,0,0,0
$GC,7385,0.53,292.4,66.3,8.1,819,7391,0.00,2.03,0.00,0.000,4,0.000,0.063,3040,764,1947,0,0,0,0,0,0
$GC,7433,0.54,292.4,62.4,8.1,828,7439,0.00,2.00,0.00,0.000,6,0.000,0.055,3040,2026,1947,0,0,0,0,0,0
$GC,7759,0.55,312.5,40.9,5.4,889,7782,0.00,1.95,16.05,0.607,4,0.000,0.064,3040,3230,1875,0,0,0,0,0,0
$GC,7846,0.55,312.5,34.5,8.2,905,7852,0.00,1.90,0.00,0.000,6,0.000,0.053,3040,2039,1873,0,0,0,0,0,0
$GC,8172,0.61,374.5,17.7,3.8,966,8227,0.00,2.05,49.45,0.597,4,0.000,0.060,3041,756,1623,0,0,0,0,0,0
$STATE,8391,end climb,SURFACE_DEPTH_REACHED
$STATE,8391,begin surface coast
$FINISH,1.3,1.013966
$STATE,8429,end surface coast,CONTROL_FINISHED_OK
$STATE,8429,begin surface
$SM_CCo,8505,0.00,0.000,0,0,1612,377.03
$SM_GC,2.15,7.72,0.00,0.00,0.044,0.000,0.000,145,2088,1612,-8.39,0.37,377.03
$IRIDIUM_FIX,4729.30,-12512.90,181299,161646
$TT8_MAMPS,0.052156
$HUMID,40.19
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,16.40
$XPDR_PINGS,0
$24V_AH,24.1,51.700
$10V_AH,10.1,50.228
$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,19.500,75.225,393.100,0.000,0.000,25.131,30.454,203.501,0.000,0.000,12.727,0.000,5494.596,423.038,2472.341,477.070,0.000,1308.647,0.000,2137.446,0.000,0.533,0.000
$DEVICE_MAMPS,240.071,75.933,780.806,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,730.013,678.439,1302.698,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298580
$DATA_FILE_SIZE,56974,1014
$CAP_FILE_SIZE,107442,0
$CFSIZE,260165632,224321536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.160,340.4,1
$GPS,230910,225746,4750.763,-12512.518,13,5.3,33,18.7