version: 66.06
glider: 187
mission: 2
dive: 249
start: 8 11 110 17 58 50
data:
$ID,187
$MISSION,2
$DIVE,249
$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,-28603.789
$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,26
$R_STBD_OVSHOOT,33
$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
$GPS1,175352,4750.411,-12510.199,15,5.5,34,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-77.0
$GPS2,175844,4750.408,-12510.159,13,1.6,13,18.7
$SPEED_LIMITS,0.106,0.196
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$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,207.2,167221,-13.9,-6.111
$D_GRID,268
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.45,-112.4,0.0,0.0,0,83,0.00,0.00,-68.40,0.000,2,0.000,0.000,133,2091,3191,0,0,0,0,0,0
$GC,85,-0.45,-112.4,3.6,-3.4,13,108,10.55,1.98,-8.75,0.000,4,0.254,0.075,2673,3307,3611,0,0,0,0,0,0
$GC,178,-0.43,-112.4,24.0,-14.5,30,183,0.00,1.95,0.00,0.000,6,0.000,0.051,2673,2077,3614,0,0,0,0,0,0
$GC,504,-0.41,-112.4,68.5,-13.8,91,510,0.10,2.00,0.00,0.000,4,0.172,0.067,2692,3302,3616,0,0,0,0,0,0
$GC,584,-0.41,-112.4,77.4,-10.8,106,590,0.00,1.92,0.00,0.000,6,0.000,0.051,2692,2072,3616,0,0,0,0,0,0
$GC,911,-0.41,-112.4,109.9,-9.1,158,915,0.00,2.00,0.00,0.000,4,0.000,0.068,2686,3302,3616,0,0,0,0,0,0
$GC,970,-0.41,-112.4,115.4,-9.8,163,976,0.00,1.88,0.00,0.000,6,0.000,0.051,2686,2099,3616,0,0,0,0,0,0
$GC,1285,-0.41,-112.4,143.9,-9.3,194,1286,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2097,3616,0,0,0,0,0,0
$GC,1596,-0.41,-112.4,172.2,-8.8,224,1600,0.00,1.95,0.00,0.000,4,0.000,0.069,2680,3299,3616,0,0,0,0,0,0
$GC,1622,-0.41,-112.4,174.5,-8.7,226,1628,0.00,1.85,0.00,0.000,6,0.000,0.052,2679,2110,3616,0,0,0,0,0,0
$GC,1937,-0.41,-112.4,206.7,-10.6,257,1938,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2110,3616,0,0,0,0,0,0
$GC,2248,-0.41,-112.4,237.3,-10.2,287,2249,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2110,3616,0,0,0,0,0,0
$GC,2559,-0.41,-112.4,266.0,-9.3,317,2560,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2110,3616,0,0,0,0,0,0
$STATE,2588,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2588,begin apogee
$GC,2591,-0.14,0.0,268.7,8.8,320,2682,0.35,0.00,88.55,0.749,6,0.125,0.000,2792,1984,3150,0,0,0,0,0,0
$STATE,2682,end apogee,CONTROL_FINISHED_OK
$STATE,2682,begin climb
$GC,2684,0.45,112.4,271.8,0.0,329,2780,0.57,2.00,89.80,0.723,4,0.091,0.060,2986,768,2690,0,0,0,0,0,0
$GC,2801,0.47,161.8,268.4,4.3,340,2845,0.00,2.00,40.72,0.704,6,0.000,0.058,2986,2002,2490,0,0,0,0,0,0
$GC,3155,0.47,161.8,242.7,7.0,374,3160,0.00,2.05,0.00,0.000,4,0.000,0.067,2986,3234,2484,0,0,0,0,0,0
$GC,3214,0.46,161.8,238.4,7.6,379,3220,0.00,1.98,0.00,0.000,6,0.000,0.055,2986,2010,2484,0,0,0,0,0,0
$GC,3529,0.48,196.6,219.9,4.8,410,3561,0.00,0.00,28.52,0.702,6,0.000,0.000,2986,2009,2348,0,0,0,0,0,0
$GC,3870,0.48,196.6,198.7,7.1,443,3874,0.00,2.03,0.00,0.000,4,0.000,0.068,2986,3231,2343,0,0,0,0,0,0
$GC,3917,0.48,196.6,194.6,8.8,447,3925,0.00,1.98,0.00,0.000,6,0.000,0.056,2986,2003,2342,0,0,0,0,0,0
$GC,4234,0.48,196.6,170.9,7.3,478,4235,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2003,2342,0,0,0,0,0,0
$GC,4545,0.48,196.6,146.5,7.9,508,4546,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2003,2342,0,0,0,0,0,0
$GC,4856,0.49,216.4,127.4,5.4,538,4876,0.00,1.98,16.40,0.660,4,0.000,0.067,2986,3239,2266,0,0,0,0,0,0
$GC,4918,0.49,216.4,123.4,6.7,544,4921,0.00,1.95,0.00,0.000,6,0.000,0.056,2986,2012,2264,0,0,0,0,0,0
$GC,5238,0.49,219.5,101.3,6.0,575,5242,0.00,0.00,3.53,0.439,6,0.000,0.000,2986,2010,2255,0,0,0,0,0,0
$GC,5558,0.49,219.5,81.3,6.4,632,5566,0.00,2.00,0.00,0.000,4,0.000,0.068,2986,3234,2255,0,0,0,0,0,0
$GC,5672,0.49,219.5,72.8,7.9,653,5678,0.00,1.92,0.00,0.000,6,0.000,0.056,2986,2013,2254,0,0,0,0,0,0
$GC,5998,0.54,282.5,57.8,3.8,714,6053,0.00,2.00,50.53,0.625,4,0.000,0.064,2986,760,1999,0,0,0,0,0,0
$GC,6081,0.58,301.5,53.7,5.4,729,6104,0.08,2.03,16.48,0.590,6,0.063,0.058,3035,2013,1920,0,0,0,0,0,0
$GC,6424,0.58,301.5,28.6,7.9,793,6430,0.00,2.00,0.00,0.000,4,0.000,0.068,3035,3233,1914,0,0,0,0,0,0
$GC,6519,0.58,301.5,20.7,8.2,811,6526,0.00,1.92,0.00,0.000,6,0.000,0.055,3037,2025,1913,0,0,0,0,0,0
$STATE,6839,end climb,SURFACE_DEPTH_REACHED
$STATE,6839,begin surface coast
$FINISH,0.7,1.024298
$STATE,6903,end surface coast,CONTROL_FINISHED_OK
$STATE,6903,begin surface
$SM_CCo,6916,30.55,0.461,1,0,1722,350.04
$SM_GC,2.11,0.00,0.00,30.55,0.000,0.000,0.461,138,2091,1722,-8.42,0.45,350.04
$IRIDIUM_FIX,4732.49,-12507.66,051199,161631
$TT8_MAMPS,0.05369
$HUMID,39.60
$INTERNAL_PRESSURE,9.01087
$TCM_TEMP,16.10
$XPDR_PINGS,0
$24V_AH,24.4,26.507
$10V_AH,10.2,22.037
$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,19.375,43.625,334.525,30.550,0.000,28.279,32.372,146.203,0.000,0.000,13.977,0.000,4381.208,403.664,2115.412,332.011,0.000,1125.436,0.000,1833.193,0.000,0.533,0.000
$DEVICE_MAMPS,253.877,111.215,749.359,460.967,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,606.029,678.979,1253.597,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298612
$DATA_FILE_SIZE,47589,883
$CAP_FILE_SIZE,86461,0
$CFSIZE,260165632,243138560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.073,352.2,1
$GPS,110810,195536,4750.063,-12511.129,36,1.1,36,18.7