version: 66.06
glider: 187
mission: 2
dive: 4
start: 7 16 110 21 6 32
data:
$ID,187
$MISSION,2
$DIVE,4
$D_SURF,3
$D_FLARE,3
$D_TGT,200
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,60
$T_MISSION,75
$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,100
$T_WATCHDOG,10
$RELAUNCH,-7
$APOGEE_PITCH,-5
$MAX_BUOY,175
$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,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$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,450
$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,-23902.201
$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,2842
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,236
$ROLL_MAX,3800
$ROLL_DEG,35
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,3150
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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
$GPS1,210302,4757.328,-12457.792,15,1.5,15,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-71.8
$GPS2,210626,4757.327,-12457.748,15,1.5,15,18.8
$SPEED_LIMITS,0.192,0.289
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,1000.000
$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,216.7,187389,-17.7,-11.111
$D_GRID,88
$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,11,-0.80,-171.1,0.0,0.0,0,124,0.00,0.00,-110.32,0.000,2,0.000,0.000,132,2025,3243,0,0,0,0,0,0
$GC,125,-0.80,-171.1,3.2,-7.7,20,153,9.90,2.12,-11.85,0.000,4,0.245,0.075,2569,3343,3851,0,0,0,0,0,0
$GC,249,-0.60,-171.1,39.6,-19.3,43,255,0.22,1.95,0.00,0.000,6,0.150,0.048,2638,2099,3853,0,0,0,0,0,0
$GC,575,-0.64,-171.1,85.5,-13.6,104,580,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2096,3853,0,0,0,0,0,0
$STATE,594,end dive,TARGET_DEPTH_EXCEEDED
$STATE,594,begin apogee
$GC,597,-0.17,0.0,88.0,12.4,108,737,0.43,0.00,131.57,0.607,6,0.127,0.000,2781,1982,3150,0,0,0,0,0,0
$STATE,737,end apogee,CONTROL_FINISHED_OK
$STATE,737,begin climb
$GC,738,0.80,171.1,94.1,0.0,134,880,0.93,1.98,134.75,0.589,4,0.094,0.054,3099,767,2453,0,0,0,0,0,0
$GC,895,0.55,171.1,86.0,11.7,163,902,0.25,2.03,0.00,0.000,6,0.146,0.053,3024,2007,2451,0,0,0,0,0,0
$GC,1221,0.67,273.9,60.3,6.6,224,1310,0.10,2.05,80.62,0.584,4,0.112,0.063,3066,3232,2031,0,0,0,0,0,0
$GC,1336,0.65,281.8,49.1,10.8,245,1349,0.00,1.98,7.32,0.493,6,0.000,0.051,3073,2013,2001,0,0,0,0,0,0
$GC,1670,0.73,343.8,18.2,8.4,307,1724,0.00,2.00,49.42,0.571,4,0.000,0.059,3081,764,1747,0,0,0,0,0,0
$GC,1771,1.03,445.5,10.7,6.7,326,1845,0.22,1.98,68.62,0.556,2,0.052,0.055,3182,1998,1391,0,0,0,0,0,0
$STATE,1845,end climb,SURFACE_DEPTH_REACHED
$STATE,1845,begin surface coast
$FINISH,0.2,1.003684
$STATE,1865,end surface coast,CONTROL_FINISHED_OK
$STATE,1865,begin surface
$SM_CCo,1877,14.75,0.282,1,0,1314,450.13
$SM_GC,1.09,0.00,0.00,14.75,0.000,0.000,0.282,140,2117,1314,-8.44,0.48,450.13
$IRIDIUM_FIX,4735.69,-12511.36,101099,202053
$TT8_MAMPS,0.05369
$HUMID,38.85
$INTERNAL_PRESSURE,9.02063
$TCM_TEMP,16.40
$XPDR_PINGS,0
$24V_AH,24.4,3.037
$10V_AH,10.4,1.782
$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,20.325,16.400,472.325,14.750,0.000,31.049,29.472,85.718,0.000,0.000,15.837,0.000,594.751,403.830,911.710,191.256,0.000,848.350,0.000,797.469,0.000,0.535,0.000
$DEVICE_MAMPS,245.440,85.137,606.697,282.256,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,226.694,242.835,720.852,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298624
$DATA_FILE_SIZE,19212,343
$CAP_FILE_SIZE,39644,0
$CFSIZE,260165632,256761856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.154,138.7,1
$GPS,160710,213851,4757.113,-12457.875,6,2.4,25,18.8