version: 66.06
glider: 187
mission: 2
dive: 87
start: 7 22 110 6 59 56
data:
$ID,187
$MISSION,2
$DIVE,87
$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,-25104.805
$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,28
$R_STBD_OVSHOOT,33
$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
$GPS1,065601,4724.684,-12604.206,21,1.2,26,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-74.0
$GPS2,065950,4724.668,-12604.228,15,1.7,15,18.6
$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,221.8,83961,-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,-112.4,0.0,0.0,0,69,0.00,0.00,-55.90,0.000,2,0.000,0.000,132,2078,3044,0,0,0,0,0,0
$GC,70,-0.74,-112.4,3.0,-2.6,10,99,10.10,1.95,-12.85,0.000,4,0.248,0.077,2590,3301,3609,0,0,0,0,0,0
$GC,173,-0.48,-112.4,34.3,-32.0,29,180,0.30,1.95,0.00,0.000,6,0.163,0.051,2681,2075,3611,0,0,0,0,0,0
$GC,499,-0.38,-112.4,86.1,-13.4,90,506,0.12,1.95,0.00,0.000,4,0.167,0.057,2717,838,3612,0,0,0,0,0,0
$GC,547,-0.33,-112.4,91.9,-11.9,99,555,0.00,1.95,0.00,0.000,6,0.000,0.056,2712,2068,3612,0,0,0,0,0,0
$STATE,623,end dive,TARGET_DEPTH_EXCEEDED
$STATE,623,begin apogee
$GC,626,-0.22,0.0,100.3,10.9,113,715,0.20,0.00,87.12,0.604,6,0.137,0.000,2773,1979,3150,0,0,0,0,0,0
$STATE,716,end apogee,CONTROL_FINISHED_OK
$STATE,716,begin climb
$GC,717,0.74,112.4,106.6,0.0,122,810,0.95,2.08,88.40,0.588,4,0.103,0.060,3081,3235,2690,0,0,0,0,0,0
$GC,942,0.60,155.7,103.0,4.5,143,983,0.17,2.00,34.88,0.582,6,0.172,0.051,3039,2007,2514,0,0,0,0,0,0
$GC,1304,0.60,204.7,86.9,4.3,204,1348,0.00,0.00,39.28,0.589,6,0.000,0.000,3039,2007,2314,0,0,0,0,0,0
$GC,1668,0.58,207.6,65.8,6.0,272,1674,0.00,2.00,0.00,0.000,4,0.000,0.064,3039,3229,2309,0,0,0,0,0,0
$GC,1860,0.53,207.6,53.2,6.5,308,1866,0.00,1.95,0.00,0.000,6,0.000,0.053,3042,1995,2307,0,0,0,0,0,0
$GC,2186,0.67,316.5,36.2,2.1,369,2281,0.00,2.08,86.80,0.577,4,0.000,0.064,3042,3229,1856,0,0,0,0,0,0
$GC,2307,0.81,356.3,31.5,4.7,391,2347,0.15,2.00,32.47,0.551,6,0.051,0.054,3118,2003,1695,0,0,0,0,0,0
$STATE,2612,end climb,SURFACE_DEPTH_REACHED
$STATE,2613,begin surface coast
$FINISH,0.7,1.002990
$STATE,2645,end surface coast,CONTROL_FINISHED_OK
$STATE,2645,begin surface
$SM_CCo,2717,0.00,0.000,0,0,1683,359.86
$SM_GC,1.59,7.95,0.00,0.00,0.045,0.000,0.000,150,2089,1683,-8.36,0.40,359.86
$IRIDIUM_FIX,4710.21,-12654.11,161099,060623
$TT8_MAMPS,0.052156
$HUMID,37.36
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,18.00
$XPDR_PINGS,0
$24V_AH,24.4,11.194
$10V_AH,10.4,6.565
$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,19.950,20.150,368.950,0.000,0.000,23.522,32.014,109.459,0.000,0.000,16.001,0.000,1163.248,347.923,1210.833,220.419,0.000,784.027,0.000,1055.275,0.000,0.535,0.000
$DEVICE_MAMPS,247.741,101.244,603.629,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,305.418,325.368,903.011,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298620
$DATA_FILE_SIZE,25487,454
$CAP_FILE_SIZE,47865,0
$CFSIZE,260165632,253358080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.034,230.2,1
$GPS,220710,074558,4724.496,-12604.614,10,3.7,29,18.6