version: 66.06
glider: 187
mission: 2
dive: 691
start: 10 17 110 1 24 49
data:
$ID,187
$MISSION,2
$DIVE,691
$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,-38590.059
$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,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,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
$GPS1,011736,4742.392,-12556.885,50,0.8,50,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-75.5
$GPS2,012443,4742.346,-12556.871,15,0.8,15,18.7
$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,6.8,1852,-28.3,-11.000
$D_GRID,1000
$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,11,begin dive
$GC,13,-0.83,-72.2,0.0,0.0,0,66,0.00,0.00,-51.50,0.000,2,0.000,0.000,132,2070,2908,0,0,0,0,0,0
$GC,70,-0.88,-157.0,3.0,-2.4,10,109,9.90,2.03,-20.12,0.000,4,0.230,0.072,2563,837,3794,0,0,0,0,0,0
$GC,183,-0.88,-157.0,33.7,-26.0,31,189,0.00,2.00,0.00,0.000,6,0.000,0.058,2555,2078,3795,0,0,0,0,0,0
$GC,514,-0.90,-157.0,102.2,-20.3,92,517,0.00,2.03,0.00,0.000,4,0.000,0.065,2546,3315,3797,0,0,0,0,0,0
$GC,626,-0.93,-157.0,124.2,-18.6,102,632,0.00,1.95,0.00,0.000,6,0.000,0.049,2546,2078,3798,0,0,0,0,0,0
$GC,942,-0.94,-157.0,184.6,-19.0,133,945,0.00,2.00,0.00,0.000,4,0.000,0.064,2537,3312,3798,0,0,0,0,0,0
$GC,1028,-0.97,-157.0,200.6,-18.7,141,1030,0.00,1.90,0.00,0.000,6,0.000,0.050,2536,2092,3798,0,0,0,0,0,0
$GC,1349,-0.99,-157.0,261.0,-18.8,172,1352,0.00,2.00,0.00,0.000,4,0.000,0.064,2528,3322,3798,0,0,0,0,0,0
$GC,1434,-1.01,-157.0,276.7,-18.4,180,1437,0.00,1.88,0.00,0.000,6,0.000,0.051,2527,2108,3798,0,0,0,0,0,0
$GC,1756,-1.03,-157.0,337.6,-19.3,211,1758,0.00,1.95,0.00,0.000,4,0.000,0.066,2518,3317,3798,0,0,0,0,0,0
$GC,1809,-1.04,-157.0,348.0,-18.7,216,1812,0.00,1.88,0.00,0.000,6,0.000,0.051,2519,2117,3798,0,0,0,0,0,0
$GC,2131,-1.06,-157.0,410.1,-18.9,247,2134,0.00,1.92,0.00,0.000,4,0.000,0.065,2510,3311,3797,0,0,0,0,0,0
$GC,2188,-1.07,-157.0,421.6,-18.7,252,2196,0.00,1.85,0.00,0.000,6,0.000,0.051,2510,2143,3797,0,0,0,0,0,0
$GC,2506,-1.07,-157.0,482.0,-18.9,283,2506,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2141,3797,0,0,0,0,0,0
$GC,2815,-1.09,-157.0,540.2,-18.3,313,2818,0.00,1.92,0.00,0.000,4,0.000,0.067,2501,3315,3796,0,0,0,0,0,0
$GC,2906,-1.10,-157.0,556.8,-17.7,321,2911,0.00,1.85,0.00,0.000,6,0.000,0.052,2501,2149,3796,0,0,0,0,0,0
$GC,3230,-1.10,-157.0,617.7,-18.8,347,3230,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2148,3795,0,0,0,0,0,0
$GC,3532,-1.10,-157.0,674.5,-18.4,357,3538,0.00,1.92,0.00,0.000,4,0.000,0.067,2492,3302,3795,0,0,0,0,0,0
$GC,3596,-1.11,-157.0,686.1,-17.5,359,3599,0.00,1.83,0.00,0.000,6,0.000,0.052,2492,2155,3795,0,0,0,0,0,0
$GC,3934,-1.11,-157.0,749.0,-18.5,370,3934,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2154,3794,0,0,0,0,0,0
$GC,4235,-1.11,-157.0,806.0,-18.7,380,4238,0.00,1.92,0.00,0.000,4,0.000,0.069,2483,3308,3793,0,0,0,0,0,0
$GC,4299,-1.12,-157.0,818.1,-18.4,382,4303,0.00,1.83,0.00,0.000,6,0.000,0.053,2483,2165,3792,0,0,0,0,0,0
$GC,4636,-1.12,-157.0,882.8,-19.3,393,4639,0.00,1.90,0.00,0.000,4,0.000,0.069,2474,3319,3792,0,0,0,0,0,0
$GC,4694,-1.12,-157.0,894.4,-18.9,394,4699,0.00,1.83,0.00,0.000,6,0.000,0.054,2474,2162,3792,0,0,0,0,0,0
$GC,5005,-1.12,-157.0,952.4,-18.3,405,5008,0.00,1.92,0.00,0.000,4,0.000,0.070,2466,3313,3792,0,0,0,0,0,0
$GC,5046,-1.12,-157.0,960.6,-18.6,406,5050,0.00,1.83,0.00,0.000,6,0.000,0.056,2466,2176,3792,0,0,0,0,0,0
$STATE,5217,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5217,begin apogee
$GC,5223,-0.14,0.0,994.0,19.3,412,5365,1.15,0.00,139.30,1.226,6,0.148,0.000,2807,2004,3150,0,0,0,0,0,0
$STATE,5366,end apogee,CONTROL_FINISHED_OK
$STATE,5366,begin climb
$GC,5368,0.88,157.0,998.2,0.0,416,5524,0.93,0.00,146.70,1.187,6,0.055,0.000,3138,2004,2507,0,0,0,0,0,0
$GC,5824,0.86,157.0,935.8,18.1,431,5827,0.00,2.05,0.00,0.000,4,0.000,0.067,3138,3232,2502,0,0,0,0,0,0
$GC,5861,0.83,157.0,928.8,19.8,432,5864,0.00,2.00,0.00,0.000,6,0.000,0.057,3148,2016,2501,0,0,0,0,0,0
$GC,6192,0.81,157.0,866.6,18.6,443,6196,0.12,1.98,0.00,0.000,4,0.202,0.065,3118,3234,2501,0,0,0,0,0,0
$GC,6266,0.79,157.0,852.8,17.7,445,6269,0.00,1.98,0.00,0.000,6,0.000,0.055,3125,2013,2500,0,0,0,0,0,0
$GC,6586,0.78,157.0,798.5,16.9,456,6589,0.00,1.98,0.00,0.000,4,0.000,0.066,3126,3236,2499,0,0,0,0,0,0
$GC,6687,0.76,157.0,780.3,18.0,459,6690,0.10,1.95,0.00,0.000,6,0.182,0.055,3106,2027,2498,0,0,0,0,0,0
$GC,7017,0.76,157.0,730.4,14.7,470,7021,0.00,1.98,0.00,0.000,4,0.000,0.066,3106,3232,2498,0,0,0,0,0,0
$GC,7064,0.76,157.0,722.8,15.9,471,7068,0.00,1.92,0.00,0.000,6,0.000,0.055,3113,2036,2498,0,0,0,0,0,0
$GC,7384,0.76,157.0,673.9,15.6,482,7387,0.00,1.95,0.00,0.000,4,0.000,0.066,3113,3228,2498,0,0,0,0,0,0
$GC,7411,0.75,157.0,669.7,16.0,482,7416,0.00,1.88,0.00,0.000,6,0.000,0.056,3122,2044,2497,0,0,0,0,0,0
$GC,7719,0.73,157.0,621.8,15.2,493,7722,0.00,1.95,0.00,0.000,4,0.000,0.066,3122,3238,2497,0,0,0,0,0,0
$GC,7756,0.72,157.0,615.9,16.9,494,7759,0.12,1.90,0.00,0.000,6,0.172,0.054,3094,2056,2497,0,0,0,0,0,0
$GC,8073,0.72,157.0,574.2,13.0,517,8074,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2056,2497,0,0,0,0,0,0
$GC,8383,0.72,157.0,534.6,12.5,547,8386,0.00,1.88,0.00,0.000,4,0.000,0.065,3094,3236,2497,0,0,0,0,0,0
$GC,8404,0.72,157.0,531.5,13.4,549,8407,0.00,1.88,0.00,0.000,6,0.000,0.054,3101,2049,2496,0,0,0,0,0,0
$GC,8725,0.72,157.0,490.1,12.7,580,8728,0.00,1.90,0.00,0.000,4,0.000,0.065,3101,3235,2496,0,0,0,0,0,0
$GC,8782,0.72,157.0,482.6,13.2,585,8789,0.00,1.85,0.00,0.000,6,0.000,0.054,3110,2079,2496,0,0,0,0,0,0
$GC,9099,0.72,157.0,443.5,12.0,616,9102,0.00,1.88,0.00,0.000,4,0.000,0.065,3109,3241,2496,0,0,0,0,0,0
$GC,9119,0.72,157.0,440.9,13.0,618,9123,0.10,1.85,0.00,0.000,6,0.163,0.054,3089,2088,2496,0,0,0,0,0,0
$GC,9441,0.72,157.0,405.4,11.1,649,9444,0.00,1.85,0.00,0.000,4,0.000,0.065,3089,3237,2495,0,0,0,0,0,0
$GC,9505,0.72,157.0,397.8,12.6,655,9508,0.00,1.83,0.00,0.000,6,0.000,0.054,3095,2097,2496,0,0,0,0,0,0
$GC,9825,0.72,157.0,360.9,12.1,686,9826,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2097,2496,0,0,0,0,0,0
$GC,10137,0.72,157.0,324.2,11.5,716,10140,0.00,1.85,0.00,0.000,4,0.000,0.064,3095,3246,2496,0,0,0,0,0,0
$GC,10174,0.72,157.0,319.5,12.9,719,10179,0.00,1.80,0.00,0.000,6,0.000,0.054,3104,2103,2496,0,0,0,0,0,0
$GC,10489,0.72,157.0,281.4,11.3,750,10492,0.00,1.85,0.00,0.000,4,0.000,0.064,3104,3233,2496,0,0,0,0,0,0
$GC,10516,0.72,157.0,278.2,12.6,752,10522,0.00,1.77,0.00,0.000,6,0.000,0.054,3112,2122,2496,0,0,0,0,0,0
$GC,10831,0.72,157.0,240.9,11.5,783,10835,0.00,1.83,0.00,0.000,4,0.000,0.065,3112,3239,2496,0,0,0,0,0,0
$GC,10846,0.72,157.0,239.0,11.5,784,10853,0.10,1.77,0.00,0.000,6,0.164,0.054,3091,2134,2496,0,0,0,0,0,0
$GC,11162,0.74,170.3,207.5,9.6,815,11176,0.00,1.80,10.80,0.692,4,0.000,0.063,3091,3236,2454,0,0,0,0,0,0
$GC,11226,0.74,170.9,201.0,10.9,820,11231,0.00,1.75,0.00,0.000,6,0.000,0.053,3097,2125,2452,0,0,0,0,0,0
$GC,11541,0.76,182.9,169.3,9.8,851,11557,0.00,2.22,12.05,0.676,4,0.000,0.061,3107,763,2403,0,0,0,0,0,0
$GC,11610,0.78,182.9,161.8,11.1,857,11614,0.00,2.15,0.00,0.000,6,0.000,0.057,3107,2135,2402,0,0,0,0,0,0
$GC,11925,0.79,182.9,126.1,11.3,887,11929,0.00,1.77,0.00,0.000,4,0.000,0.064,3108,3232,2402,0,0,0,0,0,0
$GC,11980,0.79,182.9,119.9,11.5,892,11983,0.00,1.73,0.00,0.000,6,0.000,0.053,3116,2122,2401,0,0,0,0,0,0
$GC,12300,0.80,188.0,86.5,10.5,935,12312,0.00,0.00,5.72,0.553,6,0.000,0.000,3116,2122,2382,0,0,0,0,0,0
$GC,12635,0.85,232.1,59.6,6.5,997,12678,0.00,1.85,36.92,0.633,4,0.000,0.063,3116,3240,2203,0,0,0,0,0,0
$GC,12730,0.88,237.2,51.6,10.5,1014,12741,0.00,1.77,5.45,0.506,6,0.000,0.054,3124,2142,2183,0,0,0,0,0,0
$GC,13063,0.97,317.2,24.3,2.8,1076,13136,0.12,0.00,65.32,0.603,6,0.100,0.000,3180,2139,1855,0,0,0,0,0,0
$STATE,13284,end climb,SURFACE_DEPTH_REACHED
$STATE,13284,begin surface coast
$FINISH,1.2,1.012917
$STATE,13305,end surface coast,CONTROL_FINISHED_OK
$STATE,13305,begin surface
$SM_CCo,13322,22.45,0.409,1,0,1723,350.04
$SM_GC,1.76,0.00,0.00,22.45,0.000,0.000,0.409,130,2071,1723,-8.52,-0.11,350.04
$IRIDIUM_FIX,4726.11,-12557.17,100100,212152
$TT8_MAMPS,0.05369
$HUMID,43.69
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,16.40
$XPDR_PINGS,0
$24V_AH,22.0,74.453
$10V_AH,9.3,71.161
$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,20.800,106.800,422.275,22.450,0.000,22.679,34.490,219.191,6.500,0.000,15.213,0.000,9752.082,511.751,2843.529,641.625,0.000,1570.247,0.000,2406.861,0.000,55.224,0.000
$DEVICE_MAMPS,230.100,108.914,1226.433,408.811,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,774.439,886.363,1104.682,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298388
$DATA_FILE_SIZE,63310,1121
$CAP_FILE_SIZE,147582,0
$CFSIZE,260165632,211480576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.027,176.4,1
$GPS,171010,050854,4743.764,-12555.650,73,1.1,73,18.8