version: 66.06
glider: 187
mission: 2
dive: 403
start: 9 3 110 16 14 32
data:
$ID,187
$MISSION,2
$DIVE,403
$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,-31967.266
$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,28
$R_STBD_OVSHOOT,25
$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
$GPS1,160931,4751.089,-12510.168,57,0.9,57,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-76.3
$GPS2,161426,4751.041,-12510.170,18,0.9,18,18.7
$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,208.8,167866,-13.9,-6.111
$D_GRID,229
$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,13,-0.45,-112.4,0.0,0.0,0,72,0.00,0.00,-58.08,0.000,2,0.000,0.000,132,2072,2987,0,0,0,0,0,0
$GC,75,-0.45,-112.4,3.5,-3.1,11,103,10.40,1.98,-13.52,0.000,4,0.238,0.077,2696,3310,3609,0,0,0,0,0,0
$GC,306,-0.45,-112.4,37.9,-11.1,54,312,0.00,1.98,0.00,0.000,6,0.000,0.051,2696,2068,3612,0,0,0,0,0,0
$GC,633,-0.45,-112.4,73.3,-9.3,115,639,0.00,2.05,0.00,0.000,4,0.000,0.066,2688,3314,3613,0,0,0,0,0,0
$GC,671,-0.45,-112.4,76.7,-9.2,122,676,0.00,1.95,0.00,0.000,6,0.000,0.051,2688,2081,3613,0,0,0,0,0,0
$GC,999,-0.45,-112.4,107.9,-9.5,176,999,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2079,3613,0,0,0,0,0,0
$GC,1311,-0.45,-112.4,137.8,-9.1,206,1314,0.00,2.00,0.00,0.000,4,0.000,0.066,2680,3320,3613,0,0,0,0,0,0
$GC,1405,-0.45,-112.4,146.8,-9.1,215,1409,0.00,1.92,0.00,0.000,6,0.000,0.051,2679,2095,3613,0,0,0,0,0,0
$GC,1726,-0.45,-112.4,177.2,-9.0,246,1727,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2095,3613,0,0,0,0,0,0
$GC,2038,-0.45,-112.4,205.8,-9.3,276,2038,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2094,3613,0,0,0,0,0,0
$STATE,2294,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2294,begin apogee
$GC,2299,-0.14,0.0,229.7,8.8,301,2389,0.40,0.00,87.57,0.726,6,0.120,0.000,2808,1981,3150,0,0,0,0,0,0
$STATE,2389,end apogee,CONTROL_FINISHED_OK
$STATE,2389,begin climb
$GC,2391,0.45,112.4,233.1,0.0,310,2485,0.55,0.00,89.18,0.700,6,0.085,0.000,2999,1981,2690,0,0,0,0,0,0
$GC,2795,0.44,125.2,217.4,5.6,349,2809,0.00,2.03,10.75,0.647,4,0.000,0.061,2998,3237,2640,0,0,0,0,0,0
$GC,2846,0.41,125.2,214.1,6.6,353,2853,0.00,1.98,0.00,0.000,6,0.000,0.051,3006,2013,2639,0,0,0,0,0,0
$GC,3162,0.39,125.2,193.5,6.6,384,3165,0.00,2.00,0.00,0.000,4,0.000,0.062,3014,771,2638,0,0,0,0,0,0
$GC,3215,0.37,125.2,190.0,6.2,389,3219,0.10,1.98,0.00,0.000,6,0.133,0.055,2982,2016,2637,0,0,0,0,0,0
$GC,3536,0.39,153.7,172.8,5.1,420,3566,0.00,2.03,23.42,0.680,4,0.000,0.064,2982,3240,2522,0,0,0,0,0,0
$GC,3642,0.38,154.3,166.6,6.1,430,3645,0.00,1.98,0.00,0.000,6,0.000,0.053,2986,2009,2521,0,0,0,0,0,0
$GC,3961,0.38,160.0,147.7,5.9,461,3974,0.00,1.95,6.47,0.586,4,0.000,0.063,2986,3235,2496,0,0,0,0,0,0
$GC,4026,0.37,160.0,143.5,6.9,467,4030,0.00,1.92,0.00,0.000,6,0.000,0.054,2990,2030,2495,0,0,0,0,0,0
$GC,4346,0.37,160.0,122.7,6.5,498,4351,0.00,1.98,0.00,0.000,4,0.000,0.064,2990,3236,2495,0,0,0,0,0,0
$GC,4400,0.35,160.0,119.1,7.1,503,4404,0.00,1.92,0.00,0.000,6,0.000,0.052,2997,2020,2495,0,0,0,0,0,0
$GC,4720,0.38,206.4,100.7,4.4,534,4764,0.00,2.00,37.50,0.652,4,0.000,0.065,2997,3232,2307,0,0,0,0,0,0
$GC,4785,0.39,227.1,97.2,5.4,544,4808,0.00,1.92,17.62,0.617,6,0.000,0.053,3000,2031,2224,0,0,0,0,0,0
$GC,5129,0.39,227.1,74.1,6.3,608,5135,0.00,1.98,0.00,0.000,4,0.000,0.065,3000,3227,2218,0,0,0,0,0,0
$GC,5167,0.40,232.5,71.8,5.9,615,5179,0.00,1.90,4.78,0.496,6,0.000,0.053,3000,2038,2203,0,0,0,0,0,0
$GC,5501,0.43,232.5,52.6,6.8,677,5508,0.00,1.95,0.00,0.000,4,0.000,0.066,3000,3226,2201,0,0,0,0,0,0
$GC,5636,0.44,262.4,45.0,5.0,702,5669,0.00,1.98,25.17,0.612,6,0.000,0.053,3000,1981,2078,0,0,0,0,0,0
$GC,5990,0.49,265.8,26.4,6.0,768,5996,0.00,2.05,0.00,0.000,4,0.000,0.065,3000,3228,2074,0,0,0,0,0,0
$GC,6109,0.54,301.1,20.5,4.8,790,6147,0.00,1.92,31.08,0.596,6,0.000,0.052,2999,2009,1922,0,0,0,0,0,0
$STATE,6445,end climb,SURFACE_DEPTH_REACHED
$STATE,6445,begin surface coast
$FINISH,0.9,1.003018
$STATE,6503,end surface coast,CONTROL_FINISHED_OK
$STATE,6503,begin surface
$SM_CCo,6517,31.67,0.463,1,0,1722,350.04
$SM_GC,2.22,0.00,0.00,31.67,0.000,0.000,0.463,140,2084,1722,-8.48,0.25,350.04
$IRIDIUM_FIX,4732.49,-12512.13,281199,141416
$TT8_MAMPS,0.05369
$HUMID,39.28
$INTERNAL_PRESSURE,9.02063
$TCM_TEMP,15.90
$XPDR_PINGS,0
$24V_AH,24.3,42.081
$10V_AH,10.2,38.665
$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,19.025,47.575,333.550,31.675,0.000,24.954,31.284,136.205,0.000,0.000,19.827,0.000,3950.890,385.968,2143.079,356.653,0.000,1117.850,0.000,1863.832,0.000,0.534,0.000
$DEVICE_MAMPS,237.770,110.448,726.349,463.268,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,591.476,654.980,1302.351,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298612
$DATA_FILE_SIZE,47649,864
$CAP_FILE_SIZE,86314,0
$CFSIZE,260165632,232341504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$CURRENT,0.143, 12.5,1
$GPS,030910,180438,4750.815,-12510.980,21,1.3,33,18.7