version: 66.06
glider: 187
mission: 2
dive: 149
start: 8 7 110 14 24 18
data:
$ID,187
$MISSION,2
$DIVE,149
$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,1000
$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,-26431.008
$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,2835
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,36
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,2
$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,29
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$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,0.00060000003
$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
$GPS1,141831,4750.260,-12514.159,57,1.1,57,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-77.1
$GPS2,142413,4750.262,-12514.110,12,1.1,17,18.7
$SPEED_LIMITS,0.106,0.196
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$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,53.3,25604,-13.9,-6.111
$D_GRID,343
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,13,-0.45,-112.4,0.0,0.0,0,73,0.00,0.00,-58.08,0.000,2,0.000,0.000,135,2088,3034,0,0,0,0,0,0
$GC,74,-0.45,-112.4,3.1,-2.0,11,103,10.48,1.95,-13.45,0.000,4,0.251,0.077,2674,3309,3609,0,0,0,0,0,0
$GC,343,-0.43,-112.4,48.1,-14.5,61,349,0.00,1.95,0.00,0.000,6,0.000,0.051,2673,2073,3612,0,0,0,0,0,0
$GC,669,-0.41,-112.4,91.0,-12.0,122,676,0.00,2.03,0.00,0.000,4,0.000,0.069,2665,3309,3614,0,0,0,0,0,0
$GC,718,-0.40,-112.4,97.1,-12.4,131,724,0.10,1.95,0.00,0.000,6,0.126,0.052,2699,2068,3614,0,0,0,0,0,0
$GC,1034,-0.40,-112.4,128.6,-9.5,164,1035,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2067,3614,0,0,0,0,0,0
$GC,1345,-0.40,-112.4,155.2,-8.1,194,1349,0.00,2.00,0.00,0.000,4,0.000,0.069,2693,3296,3614,0,0,0,0,0,0
$GC,1419,-0.40,-112.4,161.3,-8.6,201,1423,0.00,1.92,0.00,0.000,6,0.000,0.052,2694,2072,3614,0,0,0,0,0,0
$GC,1740,-0.40,-112.4,188.4,-8.3,232,1744,0.00,2.00,0.00,0.000,4,0.000,0.071,2691,3301,3614,0,0,0,0,0,0
$GC,1777,-0.40,-112.4,191.6,-8.9,235,1783,0.00,1.90,0.00,0.000,6,0.000,0.053,2691,2093,3615,0,0,0,0,0,0
$GC,2092,-0.40,-112.4,219.0,-8.7,266,2097,0.00,2.00,0.00,0.000,4,0.000,0.060,2691,836,3614,0,0,0,0,0,0
$GC,2119,-0.40,-112.4,221.2,-8.7,268,2125,0.00,1.98,0.00,0.000,6,0.000,0.058,2690,2094,3614,0,0,0,0,0,0
$GC,2434,-0.40,-112.4,247.9,-7.8,299,2438,0.00,1.98,0.00,0.000,4,0.000,0.070,2691,3313,3614,0,0,0,0,0,0
$GC,2488,-0.40,-112.4,251.9,-7.2,304,2492,0.00,1.88,0.00,0.000,6,0.000,0.052,2691,2103,3614,0,0,0,0,0,0
$GC,2808,-0.40,-112.4,276.7,-8.1,335,2809,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2103,3614,0,0,0,0,0,0
$GC,3119,-0.40,-112.4,301.1,-7.6,365,3123,0.00,1.95,0.00,0.000,4,0.000,0.071,2690,3308,3614,0,0,0,0,0,0
$GC,3161,-0.40,-112.4,304.3,-7.8,369,3165,0.00,1.88,0.00,0.000,6,0.000,0.054,2690,2099,3614,0,0,0,0,0,0
$GC,3482,-0.40,-112.4,328.0,-7.3,400,3486,0.00,1.95,0.00,0.000,4,0.000,0.071,2690,3305,3614,0,0,0,0,0,0
$GC,3514,-0.40,-112.4,330.3,-6.9,403,3518,0.00,1.85,0.00,0.000,6,0.000,0.054,2690,2118,3614,0,0,0,0,0,0
$STATE,3688,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3688,begin apogee
$GC,3691,-0.14,0.0,343.6,7.5,420,3782,0.30,0.00,88.88,0.805,6,0.126,0.000,2788,1994,3150,0,0,0,0,0,0
$STATE,3783,end apogee,CONTROL_FINISHED_OK
$STATE,3783,begin climb
$GC,3784,0.45,112.4,347.4,0.0,429,3880,0.55,2.03,90.35,0.778,4,0.092,0.063,2983,768,2690,0,0,0,0,0,0
$GC,3917,0.47,159.1,344.2,4.4,441,3959,0.00,2.05,38.72,0.759,6,0.000,0.058,2983,2002,2501,0,0,0,0,0,0
$GC,4269,0.46,163.0,323.7,6.0,475,4279,0.00,2.03,4.10,0.528,4,0.000,0.068,2983,3224,2485,0,0,0,0,0,0
$GC,4411,0.44,163.0,312.5,7.4,488,4417,0.00,1.95,0.00,0.000,6,0.000,0.054,2986,2021,2484,0,0,0,0,0,0
$GC,4727,0.43,163.0,290.2,7.0,519,4731,0.00,2.00,0.00,0.000,4,0.000,0.068,2986,3233,2483,0,0,0,0,0,0
$GC,4791,0.41,163.0,285.0,8.3,525,4795,0.00,1.92,0.00,0.000,6,0.000,0.056,2986,2025,2483,0,0,0,0,0,0
$GC,5112,0.40,163.0,261.9,6.7,556,5115,0.00,1.98,0.00,0.000,4,0.000,0.069,2986,3233,2483,0,0,0,0,0,0
$GC,5191,0.38,163.0,255.9,7.5,563,5197,0.00,1.88,0.00,0.000,6,0.000,0.055,2986,2048,2483,0,0,0,0,0,0
$GC,5506,0.37,163.0,235.7,6.9,594,5508,0.12,0.00,0.00,0.000,6,0.159,0.000,2952,2046,2483,0,0,0,0,0,0
$GC,5817,0.39,186.9,219.5,5.2,624,5842,0.00,1.95,20.55,0.724,4,0.000,0.071,2952,3226,2386,0,0,0,0,0,0
$GC,5901,0.39,186.9,214.5,6.7,632,5905,0.00,1.90,0.00,0.000,6,0.000,0.055,2953,2043,2384,0,0,0,0,0,0
$GC,6222,0.40,198.8,196.7,5.7,663,6234,0.00,0.00,10.68,0.681,6,0.000,0.000,2954,2043,2339,0,0,0,0,0,0
$GC,6543,0.42,204.8,177.8,5.9,694,6555,0.00,1.90,6.38,0.614,4,0.000,0.068,2953,3233,2314,0,0,0,0,0,0
$GC,6575,0.44,204.8,175.7,6.8,697,6579,0.00,1.85,0.00,0.000,6,0.000,0.057,2953,2071,2313,0,0,0,0,0,0
$GC,6895,0.45,204.8,155.5,6.6,728,6900,0.00,2.10,0.00,0.000,4,0.000,0.065,2955,763,2313,0,0,0,0,0,0
$GC,6953,0.48,204.8,152.0,6.3,733,6960,0.08,2.08,0.00,0.000,6,0.067,0.059,3001,2062,2314,0,0,0,0,0,0
$GC,7269,0.48,204.8,125.5,8.3,764,7273,0.00,1.92,0.00,0.000,4,0.000,0.068,3002,3239,2313,0,0,0,0,0,0
$GC,7327,0.46,204.8,120.3,9.0,769,7334,0.00,1.88,0.00,0.000,6,0.000,0.055,3007,2058,2313,0,0,0,0,0,0
$GC,7645,0.46,204.8,97.5,7.1,803,7651,0.00,2.05,0.00,0.000,4,0.000,0.066,3013,771,2313,0,0,0,0,0,0
$GC,7671,0.46,204.8,95.8,6.7,808,7678,0.00,2.05,0.00,0.000,6,0.000,0.059,3014,2076,2313,0,0,0,0,0,0
$GC,7998,0.47,208.2,73.3,6.0,869,8010,0.00,2.10,4.45,0.511,4,0.000,0.066,3019,764,2300,0,0,0,0,0,0
$GC,8052,0.47,212.7,70.0,5.9,879,8064,0.08,2.08,5.65,0.550,6,0.129,0.060,2992,2074,2281,0,0,0,0,0,0
$GC,8385,0.51,259.0,55.3,4.4,941,8430,0.00,1.90,37.45,0.630,4,0.000,0.068,2992,3230,2092,0,0,0,0,0,0
$GC,8509,0.52,259.0,47.2,7.4,964,8515,0.00,1.80,0.00,0.000,6,0.000,0.055,2992,2104,2089,0,0,0,0,0,0
$GC,8836,0.63,350.7,31.2,2.8,1025,8915,0.12,1.88,72.62,0.606,4,0.100,0.066,3049,3238,1718,0,0,0,0,0,0
$GC,8941,0.64,350.7,25.5,6.5,1044,8947,0.00,1.90,0.00,0.000,6,0.000,0.055,3050,2073,1715,0,0,0,0,0,0
$GC,9268,0.68,378.7,5.8,5.1,1105,9296,0.00,2.12,21.70,0.578,4,0.000,0.065,3050,772,1605,0,0,0,0,0,0
$STATE,9320,end climb,SURFACE_DEPTH_REACHED
$STATE,9320,begin surface coast
$FINISH,0.9,1.001607
$STATE,9385,end surface coast,CONTROL_FINISHED_OK
$STATE,9385,begin surface
$SM_CCo,9459,0.00,0.000,0,0,1598,380.71
$SM_GC,1.79,7.78,0.00,0.00,0.043,0.000,0.000,146,2078,1598,-8.34,0.08,380.71
$IRIDIUM_FIX,4732.49,-12510.28,011199,111148
$TT8_MAMPS,0.052156
$HUMID,38.73
$INTERNAL_PRESSURE,9.0011
$TCM_TEMP,16.40
$XPDR_PINGS,0
$24V_AH,24.3,19.465
$10V_AH,10.3,15.750
$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,19.600,82.725,401.525,0.000,0.000,30.710,32.273,184.803,0.000,0.000,17.562,0.000,6228.749,446.672,2720.867,383.117,0.000,1412.000,0.000,2346.141,0.000,0.534,0.000
$DEVICE_MAMPS,250.809,84.370,805.350,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,773.487,873.093,1442.864,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298564
$DATA_FILE_SIZE,63282,1127
$CAP_FILE_SIZE,118800,0
$CFSIZE,260165632,246779904
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.127,341.3,1
$GPS,070810,170245,4751.109,-12513.043,12,3.4,32,18.7