version: 66.06
glider: 187
mission: 2
dive: 404
start: 9 3 110 18 10 8
data:
$ID,187
$MISSION,2
$DIVE,404
$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,-31991.844
$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,31
$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
$GPS1,180438,4750.815,-12510.980,21,1.3,33,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-74.4
$GPS2,181001,4750.767,-12511.032,17,1.6,22,18.7
$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,187.2,166681,-13.9,-6.111
$D_GRID,253
$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,-58.35,0.000,2,0.000,0.000,132,2082,3084,0,0,0,0,0,0
$GC,74,-0.45,-112.4,3.6,-3.1,11,103,10.48,2.00,-11.15,0.000,4,0.240,0.083,2694,3292,3611,0,0,0,0,0,0
$GC,343,-0.45,-112.4,42.6,-10.9,61,349,0.00,1.92,0.00,0.000,6,0.000,0.050,2694,2074,3614,0,0,0,0,0,0
$GC,668,-0.45,-112.4,75.3,-9.6,122,675,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2071,3615,0,0,0,0,0,0
$GC,993,-0.45,-112.4,104.0,-9.4,179,997,0.00,2.00,0.00,0.000,4,0.000,0.064,2686,3303,3615,0,0,0,0,0,0
$GC,1089,-0.45,-112.4,112.8,-8.7,188,1093,0.00,1.92,0.00,0.000,6,0.000,0.050,2686,2074,3615,0,0,0,0,0,0
$GC,1409,-0.45,-112.4,141.9,-8.2,219,1410,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2074,3615,0,0,0,0,0,0
$GC,1721,-0.45,-112.4,168.4,-8.3,249,1724,0.00,1.98,0.00,0.000,4,0.000,0.065,2679,3301,3615,0,0,0,0,0,0
$GC,1837,-0.45,-112.4,178.1,-8.4,260,1842,0.00,1.92,0.00,0.000,6,0.000,0.050,2678,2075,3615,0,0,0,0,0,0
$GC,2158,-0.45,-112.4,206.1,-8.3,291,2162,0.00,2.00,0.00,0.000,4,0.000,0.065,2671,3298,3615,0,0,0,0,0,0
$GC,2233,-0.45,-112.4,212.5,-9.0,298,2237,0.10,1.90,0.00,0.000,6,0.121,0.051,2706,2082,3614,0,0,0,0,0,0
$GC,2553,-0.45,-112.4,234.0,-6.5,329,2558,0.00,1.98,0.00,0.000,4,0.000,0.066,2704,3292,3614,0,0,0,0,0,0
$GC,2618,-0.47,-112.4,238.2,-6.7,335,2621,0.00,1.88,0.00,0.000,6,0.000,0.051,2704,2093,3614,0,0,0,0,0,0
$STATE,2833,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2833,begin apogee
$GC,2838,-0.14,0.0,253.4,7.1,356,2928,0.32,0.00,88.25,0.742,6,0.116,0.000,2810,1982,3150,0,0,0,0,0,0
$STATE,2928,end apogee,CONTROL_FINISHED_OK
$STATE,2928,begin climb
$GC,2930,0.45,112.4,255.9,0.0,365,3026,0.52,2.05,89.45,0.716,4,0.080,0.058,3005,775,2690,0,0,0,0,0,0
$GC,3083,0.45,149.0,252.6,4.8,379,3121,0.00,2.00,30.17,0.697,6,0.000,0.054,3005,1997,2542,0,0,0,0,0,0
$GC,3429,0.43,149.0,227.9,7.8,413,3433,0.00,2.03,0.00,0.000,4,0.000,0.064,3005,3225,2537,0,0,0,0,0,0
$GC,3665,0.41,149.0,208.0,7.9,435,3668,0.00,1.90,0.00,0.000,6,0.000,0.052,3011,2034,2536,0,0,0,0,0,0
$GC,3986,0.39,149.0,183.4,7.5,466,3989,0.00,1.95,0.00,0.000,4,0.000,0.064,3012,3228,2536,0,0,0,0,0,0
$GC,4038,0.36,149.0,179.3,8.1,471,4042,0.12,1.92,0.00,0.000,6,0.134,0.053,2978,2017,2536,0,0,0,0,0,0
$GC,4360,0.38,180.8,162.7,4.9,502,4391,0.00,1.98,25.83,0.682,4,0.000,0.064,2978,3241,2411,0,0,0,0,0,0
$GC,4439,0.38,180.8,157.7,6.7,509,4444,0.00,1.95,0.00,0.000,6,0.000,0.053,2980,2024,2408,0,0,0,0,0,0
$GC,4753,0.41,220.8,141.3,4.6,540,4789,0.00,1.98,32.33,0.667,4,0.000,0.063,2980,3240,2249,0,0,0,0,0,0
$GC,4829,0.41,228.6,137.6,5.8,547,4841,0.00,1.92,7.45,0.580,6,0.000,0.054,2982,2035,2217,0,0,0,0,0,0
$GC,5157,0.41,228.6,116.6,6.6,579,5162,0.00,2.05,0.00,0.000,4,0.000,0.063,2983,771,2214,0,0,0,0,0,0
$GC,5206,0.43,228.6,113.4,7.1,583,5211,0.00,2.03,0.00,0.000,6,0.000,0.057,2982,2039,2213,0,0,0,0,0,0
$GC,5526,0.45,252.8,94.6,5.2,623,5553,0.00,1.95,20.17,0.640,4,0.000,0.066,2982,3229,2116,0,0,0,0,0,0
$GC,5590,0.48,263.2,91.1,5.7,635,5606,0.00,1.90,9.55,0.591,6,0.000,0.054,2983,2045,2075,0,0,0,0,0,0
$GC,5928,0.51,286.0,71.5,5.3,698,5957,0.10,2.08,19.35,0.621,4,0.109,0.062,3037,768,1983,0,0,0,0,0,0
$GC,5973,0.51,290.0,68.9,6.0,706,5985,0.00,2.05,4.97,0.487,6,0.000,0.056,3036,2047,1966,0,0,0,0,0,0
$GC,6307,0.53,320.7,44.7,5.0,768,6340,0.00,1.95,25.58,0.607,4,0.000,0.065,3036,3227,1841,0,0,0,0,0,0
$GC,6382,0.53,320.7,39.8,7.1,782,6389,0.00,1.90,0.00,0.000,6,0.000,0.054,3037,2044,1839,0,0,0,0,0,0
$GC,6710,0.55,322.5,16.7,6.0,843,6715,0.00,2.05,0.00,0.000,4,0.000,0.061,3037,760,1836,0,0,0,0,0,0
$GC,6757,0.57,322.5,13.7,6.5,852,6764,0.00,2.03,0.00,0.000,6,0.000,0.055,3037,2038,1836,0,0,0,0,0,0
$STATE,6959,end climb,SURFACE_DEPTH_REACHED
$STATE,6959,begin surface coast
$FINISH,0.9,1.015220
$STATE,7024,end surface coast,CONTROL_FINISHED_OK
$STATE,7024,begin surface
$SM_CCo,7038,19.15,0.384,1,0,1722,350.04
$SM_GC,2.04,0.00,0.00,19.15,0.000,0.000,0.384,137,2069,1722,-8.49,-0.17,350.04
$IRIDIUM_FIX,4735.69,-12505.04,281199,161654
$TT8_MAMPS,0.052156
$HUMID,40.15
$INTERNAL_PRESSURE,9.01087
$TCM_TEMP,16.00
$XPDR_PINGS,0
$24V_AH,24.3,42.163
$10V_AH,10.2,38.755
$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,19.350,59.325,353.100,19.150,0.000,29.406,32.439,148.486,0.000,0.000,23.950,0.000,4306.084,404.289,2278.835,383.855,0.000,1198.204,0.000,1971.452,0.000,0.534,0.000
$DEVICE_MAMPS,240.071,233.168,741.689,384.267,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,617.598,690.641,1293.354,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298604
$DATA_FILE_SIZE,50807,902
$CAP_FILE_SIZE,94972,0
$CFSIZE,260165632,232275968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.025,320.1,1
$GPS,030910,200907,4750.173,-12511.770,57,1.2,57,18.7