version: 66.06
glider: 187
mission: 2
dive: 585
start: 9 29 110 13 54 48
data:
$ID,187
$MISSION,2
$DIVE,585
$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,-36187.02
$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,32
$R_STBD_OVSHOOT,25
$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
$GPS1,133928,4749.909,-12515.677,32,2.3,51,18.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-74.0
$GPS2,135443,4749.901,-12515.553,13,2.0,13,18.7
$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,224.7,161073,-13.9,-6.111
$D_GRID,469
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.45,-112.4,0.0,0.0,0,75,0.00,0.00,-58.17,0.000,2,0.000,0.000,131,2056,3054,0,0,0,0,0,0
$GC,78,-0.45,-112.4,3.2,-2.6,11,106,10.62,2.03,-11.98,0.000,4,0.236,0.074,2696,3316,3609,0,0,0,0,0,0
$GC,245,-0.45,-112.4,27.1,-8.7,42,252,0.00,1.98,0.00,0.000,6,0.000,0.048,2695,2070,3612,0,0,0,0,0,0
$GC,573,-0.47,-112.4,53.6,-7.5,103,578,0.00,2.03,0.00,0.000,4,0.000,0.064,2695,3305,3613,0,0,0,0,0,0
$GC,637,-0.47,-112.4,59.1,-8.8,115,643,0.00,2.05,0.00,0.000,6,0.000,0.048,2695,2007,3613,0,0,0,0,0,0
$GC,964,-0.47,-112.4,90.9,-8.8,176,970,0.00,2.15,0.00,0.000,4,0.000,0.064,2686,3314,3614,0,0,0,0,0,0
$GC,1012,-0.47,-112.4,95.1,-8.8,185,1018,0.00,2.05,0.00,0.000,6,0.000,0.048,2686,2009,3614,0,0,0,0,0,0
$GC,1329,-0.47,-112.4,124.7,-10.3,221,1333,0.00,2.12,0.00,0.000,4,0.000,0.062,2678,3306,3614,0,0,0,0,0,0
$GC,1388,-0.47,-112.4,130.5,-9.7,226,1394,0.00,2.03,0.00,0.000,6,0.000,0.048,2677,2017,3613,0,0,0,0,0,0
$GC,1703,-0.47,-112.4,157.6,-8.0,257,1707,0.00,2.12,0.00,0.000,4,0.000,0.064,2669,3315,3613,0,0,0,0,0,0
$GC,1794,-0.47,-112.4,164.3,-7.2,265,1800,0.08,2.03,0.00,0.000,6,0.120,0.048,2697,2027,3613,0,0,0,0,0,0
$GC,2109,-0.47,-112.4,184.3,-5.9,296,2113,0.00,2.10,0.00,0.000,4,0.000,0.064,2691,3308,3612,0,0,0,0,0,0
$GC,2164,-0.48,-112.4,187.6,-5.9,301,2166,0.00,2.00,0.00,0.000,6,0.000,0.050,2691,2024,3612,0,0,0,0,0,0
$GC,2483,-0.48,-112.4,207.6,-6.4,332,2487,0.00,2.08,0.00,0.000,4,0.000,0.063,2685,3306,3612,0,0,0,0,0,0
$GC,2553,-0.48,-112.4,212.0,-6.5,338,2559,0.00,2.00,0.00,0.000,6,0.000,0.050,2685,2035,3611,0,0,0,0,0,0
$GC,2868,-0.48,-112.4,234.4,-7.0,369,2872,0.00,2.10,0.00,0.000,4,0.000,0.066,2678,3309,3611,0,0,0,0,0,0
$GC,2911,-0.48,-112.4,237.4,-7.4,373,2914,0.00,1.98,0.00,0.000,6,0.000,0.051,2677,2041,3610,0,0,0,0,0,0
$GC,3232,-0.48,-112.4,260.6,-7.4,404,3235,0.00,2.08,0.00,0.000,4,0.000,0.066,2670,3317,3610,0,0,0,0,0,0
$GC,3279,-0.48,-112.4,264.4,-8.2,408,3286,0.00,2.00,0.00,0.000,6,0.000,0.051,2670,2053,3609,0,0,0,0,0,0
$GC,3595,-0.48,-112.4,291.3,-8.5,439,3596,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2053,3609,0,0,0,0,0,0
$GC,3908,-0.48,-112.4,319.0,-8.8,469,3911,0.00,2.03,0.00,0.000,4,0.000,0.066,2662,3312,3608,0,0,0,0,0,0
$GC,3955,-0.48,-112.4,323.6,-9.4,473,3960,0.10,2.00,0.00,0.000,6,0.114,0.051,2697,2052,3608,0,0,0,0,0,0
$GC,4270,-0.48,-112.4,347.4,-7.2,504,4274,0.00,2.05,0.00,0.000,4,0.000,0.066,2692,3313,3608,0,0,0,0,0,0
$GC,4307,-0.50,-112.4,350.3,-7.9,507,4313,0.00,1.98,0.00,0.000,6,0.000,0.051,2692,2058,3607,0,0,0,0,0,0
$GC,4623,-0.50,-112.4,374.0,-7.0,538,4626,0.00,2.03,0.00,0.000,4,0.000,0.067,2691,3316,3607,0,0,0,0,0,0
$GC,4655,-0.51,-112.4,376.3,-7.3,541,4658,0.00,1.98,0.00,0.000,6,0.000,0.053,2691,2055,3607,0,0,0,0,0,0
$GC,4975,-0.51,-112.4,399.2,-6.7,572,4976,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2053,3607,0,0,0,0,0,0
$GC,5287,-0.51,-112.4,422.3,-7.6,602,5290,0.00,2.03,0.00,0.000,4,0.000,0.067,2691,3309,3606,0,0,0,0,0,0
$GC,5341,-0.53,-112.4,426.3,-7.7,607,5344,0.00,1.98,0.00,0.000,6,0.000,0.051,2691,2059,3606,0,0,0,0,0,0
$GC,5660,-0.53,-112.4,449.9,-7.7,638,5661,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2058,3606,0,0,0,0,0,0
$STATE,5917,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5917,begin apogee
$GC,5923,-0.14,0.0,469.7,7.6,663,6020,0.35,0.00,90.75,0.884,6,0.116,0.000,2805,1998,3150,0,0,0,0,0,0
$STATE,6021,end apogee,CONTROL_FINISHED_OK
$STATE,6021,begin climb
$GC,6023,0.45,112.4,473.7,0.0,673,6124,0.55,2.08,93.22,0.861,4,0.076,0.059,3010,780,2690,0,0,0,0,0,0
$GC,6274,0.43,112.4,466.0,6.7,696,6280,0.00,1.98,0.00,0.000,6,0.000,0.053,3011,1995,2686,0,0,0,0,0,0
$GC,6589,0.41,120.1,447.1,5.8,727,6600,0.00,2.05,6.97,0.716,4,0.000,0.063,3010,3234,2660,0,0,0,0,0,0
$GC,6750,0.38,120.1,436.3,7.0,742,6753,0.15,1.92,0.00,0.000,6,0.159,0.052,2979,2019,2659,0,0,0,0,0,0
$GC,7065,0.40,156.2,421.4,4.8,772,7100,0.00,1.98,30.70,0.836,4,0.000,0.063,2979,3230,2513,0,0,0,0,0,0
$GC,7155,0.39,156.2,416.3,7.1,780,7158,0.00,1.95,0.00,0.000,6,0.000,0.053,2981,2014,2511,0,0,0,0,0,0
$GC,7476,0.39,156.2,394.2,6.8,811,7477,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2013,2509,0,0,0,0,0,0
$GC,7789,0.39,156.2,373.3,6.4,841,7792,0.00,2.00,0.00,0.000,4,0.000,0.065,2981,3239,2508,0,0,0,0,0,0
$GC,7873,0.38,156.2,366.7,7.9,849,7877,0.00,1.95,0.00,0.000,6,0.000,0.053,2987,2021,2507,0,0,0,0,0,0
$GC,8195,0.38,156.2,345.4,6.5,880,8196,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2021,2507,0,0,0,0,0,0
$GC,8507,0.38,156.9,326.5,6.1,910,8510,0.00,1.98,0.00,0.000,4,0.000,0.065,2987,3234,2507,0,0,0,0,0,0
$GC,8576,0.37,156.9,321.6,7.1,916,8581,0.00,1.90,0.00,0.000,6,0.000,0.054,2990,2027,2508,0,0,0,0,0,0
$GC,8890,0.37,156.9,301.5,7.1,947,8894,0.00,1.98,0.00,0.000,4,0.000,0.064,2990,3231,2507,0,0,0,0,0,0
$GC,8977,0.35,156.9,295.0,7.9,955,8980,0.00,1.90,0.00,0.000,6,0.000,0.054,2996,2040,2507,0,0,0,0,0,0
$GC,9297,0.35,156.9,273.0,6.9,986,9298,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2040,2507,0,0,0,0,0,0
$GC,9609,0.35,156.9,252.6,6.4,1016,9612,0.00,1.95,0.00,0.000,4,0.000,0.065,2996,3238,2507,0,0,0,0,0,0
$GC,9651,0.34,156.9,249.6,7.0,1020,9655,0.10,1.90,0.00,0.000,6,0.135,0.053,2969,2047,2506,0,0,0,0,0,0
$GC,9973,0.36,203.2,234.0,4.4,1051,10013,0.00,0.00,38.60,0.741,6,0.000,0.000,2969,2045,2321,0,0,0,0,0,0
$GC,10323,0.40,242.1,217.6,4.7,1085,10357,0.00,0.00,32.58,0.721,6,0.000,0.000,2969,2045,2162,0,0,0,0,0,0
$GC,10663,0.45,289.4,201.7,4.4,1118,10706,0.00,2.12,39.20,0.709,4,0.000,0.063,2969,765,1970,0,0,0,0,0,0
$GC,10739,0.51,324.2,198.1,4.8,1125,10774,0.15,2.08,29.75,0.691,6,0.085,0.056,3032,2059,1827,0,0,0,0,0,0
$GC,11092,0.51,324.2,167.5,9.0,1159,11096,0.00,2.10,0.00,0.000,4,0.000,0.064,3034,760,1820,0,0,0,0,0,0
$GC,11134,0.51,324.2,163.8,8.4,1162,11139,0.00,2.05,0.00,0.000,6,0.000,0.054,3034,2039,1820,0,0,0,0,0,0
$GC,11449,0.51,324.2,134.1,8.9,1193,11453,0.00,2.05,0.00,0.000,4,0.000,0.062,3040,771,1818,0,0,0,0,0,0
$GC,11492,0.51,324.2,130.7,8.1,1197,11496,0.00,2.00,0.00,0.000,6,0.000,0.054,3040,2025,1818,0,0,0,0,0,0
$GC,11815,0.53,324.2,106.0,8.0,1228,11817,0.00,2.00,0.00,0.000,4,0.000,0.061,3041,762,1818,0,0,0,0,0,0
$GC,11883,0.56,324.2,100.2,8.3,1234,11888,0.00,1.83,0.00,0.000,6,0.000,0.054,3041,1916,1818,0,0,0,0,0,0
$GC,12210,0.59,324.2,75.1,6.8,1295,12216,0.00,2.12,0.00,0.000,4,0.000,0.064,3041,3230,1817,0,0,0,0,0,0
$GC,12302,0.60,324.2,68.8,6.6,1312,12308,0.00,1.95,0.00,0.000,6,0.000,0.053,3041,2007,1817,0,0,0,0,0,0
$GC,12631,0.64,324.2,43.9,7.3,1373,12637,0.00,1.98,0.00,0.000,4,0.000,0.064,3040,774,1817,0,0,0,0,0,0
$GC,12878,0.71,324.2,27.4,6.2,1419,12884,0.10,1.85,0.00,0.000,6,0.068,0.056,3092,1939,1817,0,0,0,0,0,0
$GC,13206,0.73,324.2,6.3,6.2,1480,13211,0.00,1.88,0.00,0.000,4,0.000,0.063,3093,771,1817,0,0,0,0,0,0
$GC,13233,0.75,324.2,4.7,6.1,1485,13239,0.00,2.03,0.00,0.000,6,0.000,0.055,3093,2048,1817,0,0,0,0,0,0
$STATE,13269,end climb,SURFACE_DEPTH_REACHED
$STATE,13269,begin surface coast
$FINISH,1.1,1.024255
$STATE,13340,end surface coast,CONTROL_FINISHED_OK
$STATE,13340,begin surface
$SM_CCo,13354,20.23,0.403,1,0,1723,350.04
$SM_GC,1.67,0.00,0.00,20.23,0.000,0.000,0.403,137,2050,1723,-8.50,-0.71,350.04
$IRIDIUM_FIX,4729.30,-12517.37,241299,131344
$TT8_MAMPS,0.052923
$HUMID,41.73
$INTERNAL_PRESSURE,9.0304
$TCM_TEMP,15.80
$XPDR_PINGS,0
$24V_AH,23.7,60.455
$10V_AH,10.0,58.503
$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,20.000,108.550,361.775,20.225,0.000,71.242,108.291,437.940,0.000,0.000,13.175,0.000,9212.739,469.346,3588.911,994.938,0.000,1698.582,0.000,3096.637,0.000,0.535,0.000
$DEVICE_MAMPS,236.236,124.254,884.351,402.675,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1082.605,997.404,1711.062,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298628
$DATA_FILE_SIZE,81986,1505
$CAP_FILE_SIZE,164520,0
$CFSIZE,260165632,219721728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.140, 98.0,1
$GPS,290910,173927,4749.200,-12516.230,57,3.7,76,18.7