version: 66.06
glider: 187
mission: 2
dive: 86
start: 7 22 110 6 10 20
data:
$ID,187
$MISSION,2
$DIVE,86
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$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,540
$T_MISSION,600
$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,115
$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,-25088.172
$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,2845
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$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,28
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$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,0.0012300001
$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
$GPS1,060636,4724.844,-12603.732,30,1.3,34,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-74.1
$GPS2,061014,4724.820,-12603.753,11,1.8,11,18.6
$SPEED_LIMITS,0.106,0.196
$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,229.0,84617,-13.9,-6.111
$D_GRID,100
$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,-0.74,-112.4,0.0,0.0,0,75,0.00,0.00,-61.72,0.000,2,0.000,0.000,132,2078,3136,0,0,0,0,0,0
$GC,76,-0.74,-112.4,3.3,-2.9,11,104,10.10,2.00,-10.15,0.000,4,0.248,0.077,2589,3305,3611,0,0,0,0,0,0
$GC,194,-0.47,-112.4,41.8,-30.3,33,202,0.32,1.95,0.00,0.000,6,0.150,0.050,2688,2074,3614,0,0,0,0,0,0
$GC,522,-0.38,-112.4,87.6,-12.5,94,528,0.10,2.03,0.00,0.000,4,0.181,0.067,2709,3307,3615,0,0,0,0,0,0
$GC,570,-0.34,-112.4,93.2,-11.3,103,577,0.00,1.92,0.00,0.000,6,0.000,0.050,2709,2077,3616,0,0,0,0,0,0
$STATE,634,end dive,TARGET_DEPTH_EXCEEDED
$STATE,634,begin apogee
$GC,637,-0.22,0.0,100.4,11.8,115,727,0.20,0.00,87.70,0.605,6,0.140,0.000,2769,1980,3150,0,0,0,0,0,0
$STATE,727,end apogee,CONTROL_FINISHED_OK
$STATE,727,begin climb
$GC,728,0.74,112.4,107.0,0.0,124,824,0.95,1.98,88.28,0.588,4,0.105,0.058,3088,773,2690,0,0,0,0,0,0
$GC,902,0.64,164.1,104.0,4.2,140,952,0.15,2.03,41.83,0.582,6,0.170,0.053,3045,2007,2479,0,0,0,0,0,0
$GC,1269,0.62,201.6,87.1,4.7,200,1303,0.00,2.05,30.15,0.584,4,0.000,0.064,3045,3230,2327,0,0,0,0,0,0
$GC,1356,0.55,201.6,81.6,7.1,216,1362,0.00,1.98,0.00,0.000,6,0.000,0.052,3050,2007,2324,0,0,0,0,0,0
$GC,1682,0.50,201.6,57.4,6.4,277,1689,0.15,2.00,0.00,0.000,4,0.153,0.063,3013,763,2323,0,0,0,0,0,0
$GC,1715,0.53,221.1,55.7,5.4,283,1738,0.00,1.95,16.25,0.568,6,0.000,0.056,3013,1991,2248,0,0,0,0,0,0
$GC,2059,0.61,260.7,39.5,4.7,347,2098,0.00,2.05,31.77,0.576,4,0.000,0.066,3013,3234,2086,0,0,0,0,0,0
$GC,2140,0.72,306.0,35.8,4.5,362,2185,0.15,2.00,37.15,0.565,6,0.049,0.054,3090,1990,1901,0,0,0,0,0,0
$GC,2505,0.70,306.0,10.8,9.5,430,2511,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,1991,1894,0,0,0,0,0,0
$STATE,2615,end climb,SURFACE_DEPTH_REACHED
$STATE,2615,begin surface coast
$FINISH,0.6,1.023214
$STATE,2653,end surface coast,CONTROL_FINISHED_OK
$STATE,2653,begin surface
$SM_CCo,2666,28.30,0.425,1,0,1722,350.04
$SM_GC,1.94,0.00,0.00,28.30,0.000,0.000,0.425,137,2079,1722,-8.46,0.14,350.04
$IRIDIUM_FIX,4710.21,-12607.02,161099,050556
$TT8_MAMPS,0.052923
$HUMID,36.69
$INTERNAL_PRESSURE,9.08899
$TCM_TEMP,17.90
$XPDR_PINGS,0
$24V_AH,24.3,11.124
$10V_AH,10.3,6.510
$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,20.025,24.175,333.125,28.300,0.000,22.802,32.820,102.630,0.000,0.000,11.480,0.000,1108.806,367.498,1221.658,216.607,0.000,806.313,0.000,1065.856,0.000,0.535,0.000
$DEVICE_MAMPS,247.741,102.778,605.163,424.918,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,309.352,330.215,913.528,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298620
$DATA_FILE_SIZE,25540,458
$CAP_FILE_SIZE,50700,0
$CFSIZE,260165632,253390848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.044,222.1,1
$GPS,220710,065601,4724.684,-12604.206,21,1.2,26,18.6