version: 66.06
glider: 187
mission: 2
dive: 157
start: 8 8 110 3 12 50
data:
$ID,187
$MISSION,2
$DIVE,157
$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,-26611.082
$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,24
$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
$GPS1,030830,4752.426,-12508.633,38,1.3,44,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-74.2
$GPS2,031244,4752.388,-12508.637,11,1.8,11,18.7
$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,35.4,17784,-13.9,-6.111
$D_GRID,145
$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,-112.4,0.0,0.0,0,78,0.00,0.00,-64.12,0.000,2,0.000,0.000,133,2080,3158,0,0,0,0,0,0
$GC,79,-0.45,-112.4,3.5,-3.4,12,108,10.35,2.00,-10.10,0.000,4,0.248,0.072,2679,823,3612,0,0,0,0,0,0
$GC,214,-0.43,-112.4,28.4,-13.7,37,220,0.00,1.98,0.00,0.000,6,0.000,0.057,2672,2065,3614,0,0,0,0,0,0
$GC,540,-0.40,-112.4,72.2,-12.2,98,546,0.12,0.00,0.00,0.000,6,0.162,0.000,2706,2065,3615,0,0,0,0,0,0
$GC,866,-0.40,-112.4,100.4,-9.4,159,866,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2065,3617,0,0,0,0,0,0
$GC,1175,-0.40,-112.4,129.3,-8.3,189,1180,0.00,1.92,0.00,0.000,4,0.000,0.059,2706,835,3617,0,0,0,0,0,0
$GC,1244,-0.40,-112.4,134.8,-7.5,195,1252,0.00,1.98,0.00,0.000,6,0.000,0.058,2706,2077,3616,0,0,0,0,0,0
$STATE,1393,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1393,begin apogee
$GC,1396,-0.14,0.0,145.7,7.2,210,1486,0.25,0.00,87.55,0.663,6,0.123,0.000,2787,1989,3150,0,0,0,0,0,0
$STATE,1487,end apogee,CONTROL_FINISHED_OK
$STATE,1487,begin climb
$GC,1488,0.45,112.4,148.7,0.0,219,1582,0.55,2.05,88.00,0.640,4,0.087,0.061,2984,775,2690,0,0,0,0,0,0
$GC,1607,0.46,143.4,145.3,5.0,230,1638,0.00,2.05,25.55,0.618,6,0.000,0.056,2984,2019,2565,0,0,0,0,0,0
$GC,1954,0.46,143.4,121.7,6.6,264,1958,0.00,1.98,0.00,0.000,4,0.000,0.065,2984,3233,2561,0,0,0,0,0,0
$GC,2013,0.45,143.4,117.3,7.5,269,2019,0.00,1.92,0.00,0.000,6,0.000,0.053,2986,2022,2561,0,0,0,0,0,0
$GC,2330,0.45,143.4,96.8,6.2,304,2336,0.00,2.03,0.00,0.000,4,0.000,0.063,2986,763,2560,0,0,0,0,0,0
$GC,2432,0.47,176.9,91.7,4.9,323,2466,0.00,1.98,27.02,0.625,6,0.000,0.057,2986,2013,2427,0,0,0,0,0,0
$GC,2786,0.49,219.3,73.6,4.6,389,2825,0.00,2.00,33.97,0.617,4,0.000,0.063,2986,764,2255,0,0,0,0,0,0
$GC,2835,0.52,266.1,71.5,4.4,398,2880,0.00,1.98,37.80,0.601,6,0.000,0.058,2986,1989,2063,0,0,0,0,0,0
$GC,3200,0.56,287.9,56.3,5.3,466,3223,0.00,2.00,17.92,0.594,4,0.000,0.064,2986,3232,1975,0,0,0,0,0,0
$GC,3259,0.58,287.9,52.5,7.2,477,3266,0.08,1.98,0.00,0.000,6,0.060,0.054,3036,2002,1973,0,0,0,0,0,0
$GC,3586,0.58,287.9,29.2,6.2,538,3592,0.00,1.98,0.00,0.000,4,0.000,0.065,3036,771,1971,0,0,0,0,0,0
$GC,3613,0.60,287.9,27.5,6.2,543,3620,0.00,1.95,0.00,0.000,6,0.000,0.058,3037,1998,1971,0,0,0,0,0,0
$GC,3940,0.63,315.2,11.1,5.1,604,3968,0.00,2.00,22.20,0.584,4,0.000,0.065,3036,3227,1863,0,0,0,0,0,0
$STATE,4078,end climb,SURFACE_DEPTH_REACHED
$STATE,4078,begin surface coast
$FINISH,1.0,1.024540
$STATE,4105,end surface coast,CONTROL_FINISHED_OK
$STATE,4105,begin surface
$SM_CCo,4119,25.77,0.432,1,0,1721,350.29
$SM_GC,2.22,0.00,0.00,25.77,0.000,0.000,0.432,145,2065,1721,-8.41,-0.23,350.29
$IRIDIUM_FIX,4735.69,-12513.98,021199,020249
$TT8_MAMPS,0.05369
$HUMID,38.54
$INTERNAL_PRESSURE,9.02063
$TCM_TEMP,16.30
$XPDR_PINGS,0
$24V_AH,24.4,20.086
$10V_AH,10.3,16.324
$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,19.100,35.725,340.025,25.775,0.000,30.240,30.107,124.987,0.000,0.000,11.476,0.000,2122.208,377.838,1627.160,270.683,0.000,945.533,0.000,1425.355,0.000,0.533,0.000
$DEVICE_MAMPS,247.741,98.176,663.455,431.821,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,432.961,470.245,1143.803,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298600
$DATA_FILE_SIZE,34868,635
$CAP_FILE_SIZE,64272,0
$CFSIZE,260165632,246497280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.036,340.4,1
$GPS,080810,042232,4752.711,-12508.223,9,1.0,16,18.7