version: 66.06
glider: 187
mission: 2
dive: 34
start: 7 17 110 14 14 2
data:
$ID,187
$MISSION,2
$DIVE,34
$D_SURF,3
$D_FLARE,3
$D_TGT,200
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,4
$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,54
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,0
$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,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,2
$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,-24353.617
$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,24
$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,26
$R_STBD_OVSHOOT,33
$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
$GPS1,140932,4751.014,-12500.234,36,1.3,36,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-78.0
$GPS2,141356,4750.978,-12500.205,13,2.0,13,18.7
$SPEED_LIMITS,0.214,0.317
$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,219.3,178347,-18.1,-12.346
$D_GRID,103
$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,-0.99,-195.5,0.0,0.0,0,77,0.00,0.00,-63.75,0.000,2,0.000,0.000,134,2119,3312,0,0,0,0,0,0
$GC,78,-0.99,-195.5,3.9,-10.7,12,105,10.00,1.90,-11.32,0.000,4,0.255,0.071,2516,3330,3949,0,0,0,0,0,0
$GC,130,-0.60,-195.5,24.2,-28.0,22,137,0.47,1.98,0.00,0.000,6,0.156,0.051,2657,2097,3950,0,0,0,0,0,0
$GC,457,-0.65,-195.5,69.3,-11.7,83,463,0.00,2.03,0.00,0.000,4,0.000,0.067,2650,3328,3950,0,0,0,0,0,0
$GC,532,-0.79,-195.5,77.7,-11.3,97,538,0.12,1.92,0.00,0.000,6,0.054,0.051,2581,2100,3951,0,0,0,0,0,0
$STATE,685,end dive,TARGET_DEPTH_EXCEEDED
$STATE,685,begin apogee
$GC,688,-0.21,0.0,104.5,17.9,124,842,0.62,0.00,151.80,0.626,6,0.141,0.000,2776,1988,3150,0,0,0,0,0,0
$STATE,843,end apogee,CONTROL_FINISHED_OK
$STATE,843,begin climb
$GC,844,0.99,195.5,112.1,0.0,139,1006,1.17,2.08,155.52,0.601,4,0.092,0.056,3173,769,2352,0,0,0,0,0,0
$GC,1107,0.60,195.5,81.9,16.9,174,1113,0.43,2.00,0.00,0.000,6,0.161,0.052,3049,1993,2348,0,0,0,0,0,0
$GC,1434,0.68,295.3,50.9,8.1,235,1521,0.00,2.10,78.75,0.584,4,0.000,0.061,3048,3233,1944,0,0,0,0,0,0
$GC,1563,0.79,388.0,40.5,8.4,260,1647,0.12,2.00,74.80,0.567,6,0.054,0.052,3118,2011,1566,0,0,0,0,0,0
$STATE,1880,end climb,FINISH_DEPTH_REACHED
$STATE,1880,begin subsurface finish
$FINISH1,4.6,1.023934,-46
$GC,1883,-0.06,-46.4,4.6,-9.2,320,1940,0.85,2.00,-51.05,0.000,4,0.114,0.077,2839,756,3341,0,0,0,0,0,0
$FINISH2,5.5
$STATE,1940,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1940,begin surface
$IRIDIUM_FIX,4735.69,-12456.11,111099,131324
$TT8_MAMPS,0.052156
$HUMID,37.12
$INTERNAL_PRESSURE,9.15736
$TCM_TEMP,15.40
$XPDR_PINGS,0
$24V_AH,24.1,5.380
$10V_AH,10.4,2.979
$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,13.800,18.150,460.875,0.000,0.000,28.536,32.739,142.429,0.000,0.000,14.101,0.000,658.885,422.812,871.018,251.665,0.000,819.987,0.000,762.306,0.000,0.534,0.000
$DEVICE_MAMPS,254.644,87.438,625.872,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,220.372,247.428,650.057,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298596
$DATA_FILE_SIZE,16046,331
$CAP_FILE_SIZE,38136,0
$CFSIZE,260165632,255950848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170710,141356,4750.978,-12500.205,13,2.0,13,18.7