version: 66.06
glider: 187
mission: 2
dive: 6
start: 7 16 110 22 20 56
data:
$ID,187
$MISSION,2
$DIVE,6
$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,-23956.922
$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,2850
$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
$PITCH_ADJ_DBAND,0
$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,38
$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
$GPS1,221725,4757.005,-12457.894,62,1.1,62,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-75.4
$GPS2,222050,4757.000,-12457.841,17,1.1,17,18.8
$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,246.2,186950,-17.7,-11.111
$D_GRID,89
$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,-171.1,0.0,0.0,0,92,0.00,0.00,-78.57,0.000,2,0.000,0.000,132,2113,3235,0,0,0,0,0,0
$GC,93,-0.80,-171.1,3.4,-9.7,15,121,9.98,1.95,-11.77,0.000,4,0.248,0.077,2580,3323,3851,0,0,0,0,0,0
$GC,131,-0.80,-171.1,18.1,-36.6,22,137,0.00,1.92,0.00,0.000,6,0.000,0.049,2580,2103,3852,0,0,0,0,0,0
$GC,457,-0.80,-171.1,80.6,-16.6,83,463,0.00,1.95,0.00,0.000,4,0.000,0.055,2580,863,3853,0,0,0,0,0,0
$STATE,504,end dive,TARGET_DEPTH_EXCEEDED
$STATE,504,begin apogee
$GC,508,-0.17,0.0,89.3,18.4,92,646,0.68,0.00,131.85,0.612,6,0.142,0.000,2787,2000,3149,0,0,0,0,0,0
$STATE,647,end apogee,CONTROL_FINISHED_OK
$STATE,647,begin climb
$GC,648,0.80,171.1,96.6,0.0,118,787,0.93,0.00,134.98,0.594,6,0.090,0.000,3100,2001,2451,0,0,0,0,0,0
$GC,1107,0.85,215.9,56.4,9.2,203,1146,0.00,2.05,35.70,0.582,4,0.000,0.061,3100,3237,2269,0,0,0,0,0,0
$GC,1386,0.85,215.9,25.3,11.8,255,1392,0.00,1.98,0.00,0.000,6,0.000,0.051,3109,1989,2263,0,0,0,0,0,0
$GC,1712,1.05,377.7,4.5,4.0,316,1741,0.22,0.00,27.45,0.573,2,0.077,0.000,3201,1986,2124,0,0,0,0,0,0
$STATE,1742,end climb,SURFACE_DEPTH_REACHED
$STATE,1742,begin surface coast
$FINISH,0.1,1.010851
$STATE,1788,end surface coast,CONTROL_FINISHED_OK
$STATE,1788,begin surface
$SM_CCo,1800,89.65,0.079,0,0,1314,450.13
$SM_GC,1.06,0.00,0.00,89.65,0.000,0.000,0.079,137,2110,1314,-8.46,0.28,450.13
$IRIDIUM_FIX,4738.89,-12455.31,101099,212133
$TT8_MAMPS,0.05369
$HUMID,38.69
$INTERNAL_PRESSURE,9.02063
$TCM_TEMP,16.70
$XPDR_PINGS,0
$24V_AH,24.3,3.185
$10V_AH,10.4,1.872
$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,20.050,11.825,329.975,89.650,0.000,22.079,37.863,82.957,0.000,0.000,17.628,0.000,663.766,365.963,881.271,185.047,0.000,739.015,0.000,765.702,0.000,0.534,0.000
$DEVICE_MAMPS,247.741,83.603,612.066,79.001,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,220.980,236.682,694.806,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298632
$DATA_FILE_SIZE,16019,330
$CAP_FILE_SIZE,34850,0
$CFSIZE,260165632,256712704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.203,119.5,1
$GPS,160710,225256,4756.810,-12457.831,14,1.2,14,18.8