version: 66.06
glider: 187
mission: 2
dive: 402
start: 9 3 110 14 33 4
data:
$ID,187
$MISSION,2
$DIVE,402
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,3
$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,-31946.809
$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,2855
$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,32
$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
$GPS1,142751,4751.344,-12509.531,43,2.1,62,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-76.9
$GPS2,143258,4751.276,-12509.526,15,2.1,34,18.7
$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,217.9,168784,-13.9,-6.111
$D_GRID,198
$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,-57.42,0.000,2,0.000,0.000,132,2081,2950,0,0,0,0,0,0
$GC,74,-0.45,-112.4,3.1,-2.2,11,108,10.43,2.00,-14.90,0.000,4,0.239,0.080,2695,3292,3611,0,0,0,0,0,0
$GC,252,-0.44,-112.4,28.9,-12.7,44,257,0.00,1.92,0.00,0.000,6,0.000,0.051,2695,2076,3613,0,0,0,0,0,0
$GC,577,-0.44,-112.4,67.6,-9.5,105,583,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2071,3614,0,0,0,0,0,0
$GC,903,-0.44,-112.4,98.1,-8.2,166,910,0.00,2.03,0.00,0.000,4,0.000,0.065,2693,3311,3614,0,0,0,0,0,0
$GC,957,-0.44,-112.4,103.1,-9.9,174,961,0.00,1.95,0.00,0.000,6,0.000,0.051,2693,2070,3615,0,0,0,0,0,0
$GC,1278,-0.44,-112.4,132.6,-8.8,205,1282,0.00,2.00,0.00,0.000,4,0.000,0.066,2689,3295,3615,0,0,0,0,0,0
$GC,1357,-0.44,-112.4,139.5,-8.4,212,1363,0.00,1.90,0.00,0.000,6,0.000,0.051,2689,2080,3614,0,0,0,0,0,0
$GC,1673,-0.44,-112.4,168.0,-8.4,243,1673,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2079,3614,0,0,0,0,0,0
$GC,1984,-0.44,-112.4,193.6,-8.9,273,1985,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2079,3614,0,0,0,0,0,0
$STATE,2033,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2033,begin apogee
$GC,2038,-0.14,0.0,198.2,8.8,278,2127,0.38,0.00,87.43,0.703,6,0.118,0.000,2811,1984,3151,0,0,0,0,0,0
$STATE,2128,end apogee,CONTROL_FINISHED_OK
$STATE,2128,begin climb
$GC,2129,0.45,112.4,201.6,0.0,287,2225,0.52,2.00,88.70,0.677,4,0.081,0.058,3000,778,2690,0,0,0,0,0,0
$GC,2256,0.45,138.6,199.3,5.2,299,2281,0.00,2.00,21.75,0.650,6,0.000,0.054,3000,1997,2584,0,0,0,0,0,0
$GC,2593,0.43,138.6,178.8,6.3,331,2596,0.00,2.00,0.00,0.000,4,0.000,0.064,3000,3231,2580,0,0,0,0,0,0
$GC,2693,0.41,138.6,171.4,7.5,340,2699,0.00,1.95,0.00,0.000,6,0.000,0.051,3007,2016,2580,0,0,0,0,0,0
$GC,3008,0.39,138.6,150.0,6.5,371,3009,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2016,2579,0,0,0,0,0,0
$GC,3320,0.38,145.1,130.1,5.9,401,3330,0.00,1.95,5.90,0.562,4,0.000,0.062,3007,3233,2558,0,0,0,0,0,0
$GC,3399,0.35,145.1,124.8,6.9,408,3405,0.12,1.95,0.00,0.000,6,0.131,0.052,2973,2005,2557,0,0,0,0,0,0
$GC,3714,0.37,172.9,108.9,5.1,439,3746,0.00,2.03,23.27,0.647,4,0.000,0.064,2973,3231,2443,0,0,0,0,0,0
$GC,3810,0.37,172.9,103.4,6.1,448,3813,0.00,1.92,0.00,0.000,6,0.000,0.054,2973,2009,2441,0,0,0,0,0,0
$GC,4134,0.38,194.5,84.9,5.3,502,4156,0.00,0.00,18.27,0.627,6,0.000,0.000,2973,2008,2355,0,0,0,0,0,0
$GC,4478,0.41,220.5,66.8,5.2,566,4506,0.00,2.00,21.20,0.621,4,0.000,0.065,2973,3225,2250,0,0,0,0,0,0
$GC,4588,0.44,242.4,61.1,5.3,586,4610,0.00,1.92,18.70,0.604,6,0.000,0.054,2973,2026,2161,0,0,0,0,0,0
$GC,4932,0.49,281.8,45.9,4.7,650,4971,0.12,2.08,31.92,0.607,4,0.094,0.064,3034,760,2001,0,0,0,0,0,0
$GC,5030,0.51,281.8,39.1,6.8,668,5036,0.00,2.03,0.00,0.000,6,0.000,0.055,3034,2020,1998,0,0,0,0,0,0
$GC,5357,0.55,334.1,18.0,4.2,729,5407,0.00,2.03,41.80,0.591,4,0.000,0.063,3034,3234,1785,0,0,0,0,0,0
$GC,5440,0.60,371.6,14.2,4.7,744,5480,0.00,1.95,30.52,0.572,6,0.000,0.052,3034,2026,1633,0,0,0,0,0,0
$STATE,5601,end climb,SURFACE_DEPTH_REACHED
$STATE,5601,begin surface coast
$FINISH,0.9,1.023456
$STATE,5639,end surface coast,CONTROL_FINISHED_OK
$STATE,5639,begin surface
$SM_CCo,5713,0.00,0.000,0,0,1624,374.33
$SM_GC,2.04,7.80,0.00,0.00,0.048,0.000,0.000,143,2074,1624,-8.39,-0.03,374.33
$IRIDIUM_FIX,4735.69,-12512.13,281199,131300
$TT8_MAMPS,0.052923
$HUMID,40.15
$INTERNAL_PRESSURE,9.01087
$TCM_TEMP,15.10
$XPDR_PINGS,0
$24V_AH,24.4,42.002
$10V_AH,10.2,38.577
$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,19.375,39.800,389.475,0.000,0.000,30.993,34.170,127.049,0.000,0.000,35.202,0.000,3299.721,379.029,1990.310,338.286,0.000,1073.159,0.000,1717.486,0.000,0.533,0.000
$DEVICE_MAMPS,238.537,129.623,703.339,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,532.452,586.638,1245.784,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298604
$DATA_FILE_SIZE,41355,781
$CAP_FILE_SIZE,79246,0
$CFSIZE,260165632,232407040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.085, 36.4,1
$GPS,030910,160931,4751.089,-12510.168,57,0.9,57,18.7