version: 66.06
glider: 187
mission: 2
dive: 678
start: 10 14 110 17 51 31
data:
$ID,187
$MISSION,2
$DIVE,678
$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,300
$T_MISSION,480
$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,200
$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,-38369.699
$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,26
$R_STBD_OVSHOOT,37
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,350
$ALTIM_PING_DELTA,25
$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
$GPS1,174206,4752.656,-12536.376,35,1.2,36,18.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-73.6
$GPS2,175125,4752.675,-12536.291,13,1.4,24,18.8
$SPEED_LIMITS,0.191,0.307
$TGT_NAME,PATCH
$TGT_LATLONG,4743.200,-12556.100
$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,208.1,30282,-17.4,-11.000
$D_GRID,642
$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,13,-0.60,-195.5,0.0,0.0,0,83,0.00,0.00,-68.32,0.000,2,0.000,0.000,126,2093,2902,0,0,0,0,0,0
$GC,86,-0.60,-195.5,3.0,-4.1,13,126,10.23,1.95,-23.85,0.000,4,0.229,0.074,2644,3309,3949,0,0,0,0,0,0
$GC,158,-0.60,-195.5,17.6,-18.1,26,164,0.00,1.98,0.00,0.000,6,0.000,0.050,2644,2068,3950,0,0,0,0,0,0
$GC,485,-0.60,-195.5,72.1,-13.3,87,491,0.00,2.03,0.00,0.000,4,0.000,0.064,2636,3292,3951,0,0,0,0,0,0
$GC,517,-0.60,-195.5,75.9,-11.8,93,523,0.00,1.92,0.00,0.000,6,0.000,0.049,2636,2075,3951,0,0,0,0,0,0
$GC,845,-0.60,-195.5,112.3,-13.7,146,849,0.00,2.00,0.00,0.000,4,0.000,0.063,2628,3294,3951,0,0,0,0,0,0
$GC,882,-0.62,-195.5,117.3,-13.0,149,888,0.00,1.92,0.00,0.000,6,0.000,0.048,2627,2070,3952,0,0,0,0,0,0
$GC,1198,-0.62,-195.5,157.9,-12.3,180,1201,0.00,2.00,0.00,0.000,4,0.000,0.064,2622,3290,3952,0,0,0,0,0,0
$GC,1262,-0.64,-195.5,165.4,-10.7,186,1265,0.00,1.90,0.00,0.000,6,0.000,0.050,2622,2080,3952,0,0,0,0,0,0
$GC,1584,-0.64,-195.5,206.2,-13.3,217,1587,0.00,1.98,0.00,0.000,4,0.000,0.064,2617,3299,3952,0,0,0,0,0,0
$GC,1616,-0.65,-195.5,210.4,-12.7,220,1619,0.00,1.90,0.00,0.000,6,0.000,0.051,2616,2080,3952,0,0,0,0,0,0
$GC,1936,-0.65,-195.5,253.0,-11.8,251,1937,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2076,3951,0,0,0,0,0,0
$GC,2248,-0.65,-195.5,289.9,-12.8,281,2251,0.00,1.98,0.00,0.000,4,0.000,0.065,2608,3296,3951,0,0,0,0,0,0
$GC,2317,-0.66,-195.5,299.6,-14.0,287,2322,0.12,1.88,0.00,0.000,6,0.142,0.051,2644,2094,3951,0,0,0,0,0,0
$GC,2633,-0.68,-195.5,334.6,-10.0,318,2634,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2093,3950,0,0,0,0,0,0
$GC,2942,-0.70,-195.5,363.1,-9.0,348,2946,0.00,1.98,0.00,0.000,4,0.000,0.066,2638,3291,3949,0,0,0,0,0,0
$GC,3007,-0.73,-195.5,368.5,-9.0,354,3010,0.00,1.88,0.00,0.000,6,0.000,0.051,2638,2087,3949,0,0,0,0,0,0
$GC,3328,-0.75,-195.5,399.5,-9.5,385,3333,0.00,1.98,0.00,0.000,4,0.000,0.067,2635,3299,3948,0,0,0,0,0,0
$GC,3376,-0.78,-195.5,404.0,-9.7,389,3381,0.00,1.88,0.00,0.000,6,0.000,0.052,2635,2099,3948,0,0,0,0,0,0
$GC,3691,-0.80,-195.5,435.9,-10.4,420,3692,0.12,0.00,0.00,0.000,6,0.097,0.000,2575,2098,3948,0,0,0,0,0,0
$GC,4001,-0.80,-195.5,479.5,-14.6,450,4005,0.00,1.95,0.00,0.000,4,0.000,0.067,2566,3294,3947,0,0,0,0,0,0
$GC,4077,-0.80,-195.5,490.8,-15.1,457,4081,0.12,1.85,0.00,0.000,6,0.153,0.053,2599,2114,3947,0,0,0,0,0,0
$GC,4397,-0.80,-195.5,532.2,-12.3,488,4401,0.00,1.92,0.00,0.000,4,0.000,0.067,2593,3290,3947,0,0,0,0,0,0
$GC,4441,-0.81,-195.5,537.3,-11.3,492,4444,0.00,1.85,0.00,0.000,6,0.000,0.054,2593,2124,3947,0,0,0,0,0,0
$GC,4762,-0.81,-195.5,580.0,-13.7,523,4762,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2123,3946,0,0,0,0,0,0
$GC,5091,-0.81,-195.5,625.1,-13.7,543,5094,0.00,1.90,0.00,0.000,4,0.000,0.067,2585,3302,3945,0,0,0,0,0,0
$GC,5128,-0.81,-195.5,630.8,-13.9,544,5132,0.00,1.88,0.00,0.000,6,0.000,0.052,2584,2118,3945,0,0,0,0,0,0
$STATE,5213,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5213,begin apogee
$GC,5219,-0.14,0.0,643.2,14.5,547,5384,0.70,0.00,163.20,1.007,6,0.123,0.000,2810,1993,3150,0,0,0,0,0,0
$STATE,5385,end apogee,CONTROL_FINISHED_OK
$STATE,5385,begin climb
$GC,5387,0.60,195.5,651.7,0.0,552,5563,0.68,2.15,169.93,0.970,4,0.061,0.058,3060,776,2352,0,0,0,0,0,0
$GC,5696,0.58,195.5,631.7,11.5,561,5700,0.00,2.03,0.00,0.000,6,0.000,0.053,3060,1994,2347,0,0,0,0,0,0
$GC,6009,0.55,195.5,593.5,12.0,574,6011,0.00,2.03,0.00,0.000,4,0.000,0.064,3060,3237,2345,0,0,0,0,0,0
$GC,6061,0.52,195.5,586.6,13.0,579,6065,0.12,1.98,0.00,0.000,6,0.146,0.054,3029,2013,2343,0,0,0,0,0,0
$GC,6384,0.51,195.5,552.5,11.2,610,6385,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2013,2344,0,0,0,0,0,0
$GC,6695,0.53,236.4,520.5,9.5,640,6736,0.00,2.05,34.05,0.910,4,0.000,0.064,3029,3234,2185,0,0,0,0,0,0
$GC,6779,0.53,236.4,511.6,11.9,648,6782,0.00,1.98,0.00,0.000,6,0.000,0.055,3035,2006,2182,0,0,0,0,0,0
$GC,7100,0.53,240.0,476.6,10.9,679,7108,0.00,0.00,3.97,0.591,6,0.000,0.000,3035,2006,2171,0,0,0,0,0,0
$GC,7418,0.53,240.0,439.5,11.8,710,7422,0.00,2.03,0.00,0.000,4,0.000,0.065,3035,3232,2170,0,0,0,0,0,0
$GC,7466,0.52,240.0,433.4,13.7,714,7473,0.00,1.98,0.00,0.000,6,0.000,0.055,3042,2005,2169,0,0,0,0,0,0
$GC,7783,0.52,240.0,395.2,11.5,745,7786,0.00,2.00,0.00,0.000,4,0.000,0.065,3051,757,2169,0,0,0,0,0,0
$GC,7835,0.52,240.0,388.7,12.1,750,7839,0.00,1.98,0.00,0.000,6,0.000,0.056,3051,2004,2169,0,0,0,0,0,0
$GC,8157,0.51,240.0,348.9,12.2,781,8160,0.12,1.98,0.00,0.000,4,0.166,0.064,3017,3234,2169,0,0,0,0,0,0
$GC,8231,0.51,240.0,340.0,11.6,788,8234,0.00,1.95,0.00,0.000,6,0.000,0.054,3022,2012,2168,0,0,0,0,0,0
$GC,8552,0.53,278.1,306.5,9.6,819,8586,0.00,0.00,32.92,0.797,6,0.000,0.000,3022,2012,2016,0,0,0,0,0,0
$GC,8892,0.58,361.8,278.4,7.8,852,8965,0.00,0.00,69.80,0.773,6,0.000,0.000,3022,2012,1675,0,0,0,0,0,0
$GC,9275,0.62,388.1,244.4,10.0,889,9305,0.00,2.03,22.00,0.731,4,0.000,0.062,3028,763,1567,0,0,0,0,0,0
$GC,9342,0.66,405.8,237.8,10.3,895,9363,0.12,1.98,16.45,0.706,6,0.094,0.056,3086,2001,1495,0,0,0,0,0,0
$GC,9672,0.66,405.8,190.4,14.0,927,9673,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2003,1487,0,0,0,0,0,0
$GC,9985,0.66,405.8,146.9,14.7,957,9988,0.00,1.98,0.00,0.000,4,0.000,0.065,3094,765,1486,0,0,0,0,0,0
$GC,10028,0.66,405.8,140.7,14.0,961,10031,0.00,1.92,0.00,0.000,6,0.000,0.056,3094,1993,1486,0,0,0,0,0,0
$GC,10344,0.66,405.8,97.3,13.2,993,10350,0.00,2.00,0.00,0.000,4,0.000,0.064,3094,3230,1485,0,0,0,0,0,0
$GC,10393,0.66,405.8,90.4,13.5,1002,10399,0.10,2.00,0.00,0.000,6,0.129,0.055,3067,1985,1484,0,0,0,0,0,0
$GC,10721,0.71,456.3,53.0,9.1,1063,10770,0.00,2.08,41.12,0.630,4,0.000,0.064,3067,3229,1288,0,0,0,0,0,0
$GC,10794,0.77,508.3,46.9,9.0,1076,10843,0.00,2.00,43.42,0.613,6,0.000,0.055,3068,1999,1076,0,0,0,0,0,0
$GC,11164,0.87,590.8,19.4,7.9,1145,11235,0.17,2.00,66.18,0.597,4,0.077,0.061,3149,764,739,0,0,0,0,0,0
$GC,11249,1.03,660.6,11.9,8.4,1160,11310,0.08,2.00,54.20,0.576,6,0.088,0.058,3184,1985,469,0,0,0,0,0,0
$STATE,11334,end climb,SURFACE_DEPTH_REACHED
$STATE,11334,begin surface coast
$FINISH,1.2,1.009517
$STATE,11361,end surface coast,CONTROL_FINISHED_OK
$STATE,11361,begin surface
$SM_CCo,11438,0.00,0.000,0,0,463,658.88
$SM_GC,1.89,8.23,0.00,0.00,0.044,0.000,0.000,145,2089,463,-8.40,0.40,658.88
$IRIDIUM_FIX,4732.49,-12535.24,080100,171751
$TT8_MAMPS,0.05369
$HUMID,42.32
$INTERNAL_PRESSURE,8.92297
$TCM_TEMP,16.00
$XPDR_PINGS,0
$24V_AH,22.6,72.300
$10V_AH,9.8,69.721
$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,20.925,86.875,717.250,0.000,0.000,53.229,117.958,180.907,3.000,0.000,24.575,0.000,7746.494,686.037,2870.675,671.794,0.000,1778.506,0.000,2445.626,0.000,25.271,0.000
$DEVICE_MAMPS,229.333,92.040,1007.071,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,850.531,785.998,1266.407,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298368
$DATA_FILE_SIZE,66483,1181
$CAP_FILE_SIZE,136404,0
$CFSIZE,260165632,212541440
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.101,280.2,1
$GPS,141010,210307,4751.525,-12539.640,39,1.0,39,18.8