version: 66.06
glider: 187
mission: 2
dive: 152
start: 8 7 110 20 38 32
data:
$ID,187
$MISSION,2
$DIVE,152
$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,-26518.869
$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,28
$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
$GPS1,203355,4751.677,-12511.104,56,1.7,56,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-76.9
$GPS2,203826,4751.660,-12511.090,15,1.1,15,18.7
$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,64.5,21051,-13.9,-6.111
$D_GRID,175
$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,12,-0.45,-112.4,0.0,0.0,0,72,0.00,0.00,-58.42,0.000,2,0.000,0.000,135,2079,3056,0,0,0,0,0,0
$GC,74,-0.45,-112.4,3.2,-2.3,11,102,10.52,1.95,-12.82,0.000,4,0.252,0.074,2681,839,3609,0,0,0,0,0,0
$GC,117,-0.29,-112.4,14.3,-24.0,19,123,0.17,1.98,0.00,0.000,6,0.120,0.059,2734,2068,3611,0,0,0,0,0,0
$GC,443,-0.29,-112.4,49.2,-9.2,80,449,0.00,1.95,0.00,0.000,4,0.000,0.059,2734,838,3612,0,0,0,0,0,0
$GC,566,-0.30,-112.4,60.3,-8.7,103,572,0.00,2.00,0.00,0.000,6,0.000,0.058,2733,2100,3612,0,0,0,0,0,0
$GC,892,-0.31,-112.4,86.6,-9.0,164,899,0.00,1.92,0.00,0.000,4,0.000,0.067,2732,3309,3613,0,0,0,0,0,0
$GC,947,-0.33,-112.4,91.4,-8.9,174,954,0.00,1.90,0.00,0.000,6,0.000,0.051,2732,2093,3613,0,0,0,0,0,0
$GC,1266,-0.34,-112.4,116.6,-7.1,214,1267,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2093,3614,0,0,0,0,0,0
$GC,1578,-0.36,-112.4,139.8,-8.1,244,1578,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2093,3614,0,0,0,0,0,0
$GC,1888,-0.38,-112.4,162.6,-6.5,274,1891,0.00,1.92,0.00,0.000,4,0.000,0.059,2732,841,3613,0,0,0,0,0,0
$GC,1912,-0.40,-112.4,164.5,-7.2,276,1920,0.00,2.03,0.00,0.000,6,0.000,0.058,2732,2115,3613,0,0,0,0,0,0
$STATE,2092,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2092,begin apogee
$GC,2095,-0.14,0.0,175.4,5.4,294,2187,0.17,0.00,87.25,0.690,6,0.125,0.000,2788,1996,3149,0,0,0,0,0,0
$STATE,2188,end apogee,CONTROL_FINISHED_OK
$STATE,2188,begin climb
$GC,2189,0.45,112.4,178.3,0.0,303,2285,0.55,2.08,88.43,0.664,4,0.093,0.061,2980,771,2689,0,0,0,0,0,0
$GC,2323,0.49,170.5,175.0,4.0,316,2375,0.00,2.03,47.10,0.651,6,0.000,0.056,2980,2004,2453,0,0,0,0,0,0
$GC,2684,0.49,177.4,154.8,5.9,351,2696,0.00,2.03,6.32,0.553,4,0.000,0.067,2980,3231,2425,0,0,0,0,0,0
$GC,2785,0.49,177.4,147.9,7.5,360,2792,0.00,1.92,0.00,0.000,6,0.000,0.054,2983,2024,2424,0,0,0,0,0,0
$GC,3101,0.49,177.4,127.3,6.9,391,3105,0.00,2.03,0.00,0.000,4,0.000,0.064,2986,770,2424,0,0,0,0,0,0
$GC,3143,0.49,177.4,124.3,7.4,395,3148,0.00,2.00,0.00,0.000,6,0.000,0.058,2986,2017,2424,0,0,0,0,0,0
$GC,3464,0.49,177.4,102.4,6.5,426,3468,0.00,1.98,0.00,0.000,4,0.000,0.067,2986,3238,2423,0,0,0,0,0,0
$GC,3684,0.52,220.8,90.6,4.5,463,3722,0.00,1.88,35.12,0.637,6,0.000,0.054,2986,2049,2249,0,0,0,0,0,0
$GC,4043,0.56,262.9,73.2,4.6,530,4082,0.00,2.05,33.50,0.623,4,0.000,0.062,2986,767,2077,0,0,0,0,0,0
$GC,4108,0.61,317.4,70.5,4.1,542,4159,0.10,2.05,44.58,0.609,6,0.058,0.059,3042,2038,1855,0,0,0,0,0,0
$GC,4479,0.61,317.4,41.1,8.1,611,4485,0.00,1.95,0.00,0.000,4,0.000,0.067,3042,3236,1847,0,0,0,0,0,0
$GC,4543,0.61,317.4,35.7,8.7,623,4549,0.00,1.85,0.00,0.000,6,0.000,0.054,3042,2075,1846,0,0,0,0,0,0
$GC,4870,0.63,317.4,14.0,6.6,684,4875,0.00,2.08,0.00,0.000,4,0.000,0.063,3041,768,1845,0,0,0,0,0,0
$GC,4934,0.66,323.7,10.0,5.9,696,4945,0.00,2.03,4.55,0.466,6,0.000,0.058,3042,2044,1832,0,0,0,0,0,0
$STATE,5056,end climb,SURFACE_DEPTH_REACHED
$STATE,5056,begin surface coast
$FINISH,0.9,1.024268
$STATE,5114,end surface coast,CONTROL_FINISHED_OK
$STATE,5114,begin surface
$SM_CCo,5127,23.27,0.421,1,0,1723,350.04
$SM_GC,2.11,0.00,0.00,23.27,0.000,0.000,0.421,139,2089,1723,-8.42,0.40,350.04
$IRIDIUM_FIX,4732.49,-12514.75,011199,191929
$TT8_MAMPS,0.052923
$HUMID,39.40
$INTERNAL_PRESSURE,9.0304
$TCM_TEMP,16.50
$XPDR_PINGS,0
$24V_AH,24.4,19.707
$10V_AH,10.3,15.986
$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,19.250,43.800,346.850,23.275,0.000,27.609,33.976,134.767,0.000,0.000,15.600,0.000,2906.064,389.191,1834.308,289.249,0.000,1027.825,0.000,1594.150,0.000,0.534,0.000
$DEVICE_MAMPS,252.343,159.536,689.533,421.083,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,498.595,546.314,1202.451,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298628
$DATA_FILE_SIZE,41263,730
$CAP_FILE_SIZE,74485,0
$CFSIZE,260165632,246685696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.026,  3.6,1
$GPS,070810,220513,4751.847,-12510.456,12,1.4,29,18.7