version: 66.06
glider: 187
mission: 2
dive: 405
start: 9 3 110 20 14 32
data:
$ID,187
$MISSION,2
$DIVE,405
$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,-32007.029
$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,24
$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
$GPS1,200907,4750.173,-12511.770,57,1.2,57,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-77.0
$GPS2,201426,4750.157,-12511.801,14,1.4,14,18.7
$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,209.9,165243,-13.9,-6.111
$D_GRID,312
$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,-58.75,0.000,2,0.000,0.000,132,2069,3085,0,0,0,0,0,0
$GC,75,-0.45,-112.4,3.4,-2.9,11,103,10.38,2.03,-11.20,0.000,4,0.238,0.083,2696,3303,3612,0,0,0,0,0,0
$GC,344,-0.44,-112.4,41.0,-10.7,61,349,0.00,1.95,0.00,0.000,6,0.000,0.050,2696,2064,3615,0,0,0,0,0,0
$GC,669,-0.44,-112.4,76.4,-10.6,122,676,0.00,2.05,0.00,0.000,4,0.000,0.066,2689,3313,3616,0,0,0,0,0,0
$GC,762,-0.44,-112.4,86.5,-10.8,139,768,0.00,1.92,0.00,0.000,6,0.000,0.049,2689,2081,3616,0,0,0,0,0,0
$GC,1087,-0.44,-112.4,116.5,-8.1,183,1088,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2078,3617,0,0,0,0,0,0
$GC,1398,-0.44,-112.4,144.7,-9.0,213,1399,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2078,3617,0,0,0,0,0,0
$GC,1709,-0.44,-112.4,172.0,-9.1,243,1712,0.00,1.98,0.00,0.000,4,0.000,0.066,2681,3322,3617,0,0,0,0,0,0
$GC,1783,-0.44,-112.4,179.0,-9.4,250,1786,0.05,1.92,0.00,0.000,6,0.129,0.051,2709,2092,3616,0,0,0,0,0,0
$GC,2103,-0.45,-112.4,205.1,-8.7,281,2107,0.00,1.95,0.00,0.000,4,0.000,0.067,2709,3306,3616,0,0,0,0,0,0
$GC,2145,-0.47,-112.4,208.7,-8.8,285,2149,0.00,1.90,0.00,0.000,6,0.000,0.051,2708,2093,3616,0,0,0,0,0,0
$GC,2467,-0.48,-112.4,234.1,-7.4,316,2468,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2093,3616,0,0,0,0,0,0
$GC,2778,-0.49,-112.4,255.2,-6.8,346,2781,0.00,1.98,0.00,0.000,4,0.000,0.067,2705,3320,3616,0,0,0,0,0,0
$GC,2798,-0.51,-112.4,256.8,-7.3,348,2802,0.00,1.92,0.00,0.000,6,0.000,0.052,2705,2093,3616,0,0,0,0,0,0
$GC,3120,-0.51,-112.4,280.7,-7.4,379,3121,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2093,3616,0,0,0,0,0,0
$GC,3432,-0.52,-112.4,305.0,-7.7,409,3435,0.00,1.98,0.00,0.000,4,0.000,0.068,2704,3317,3615,0,0,0,0,0,0
$GC,3484,-0.54,-112.4,309.2,-7.4,414,3488,0.00,1.90,0.00,0.000,6,0.000,0.051,2704,2104,3615,0,0,0,0,0,0
$STATE,3524,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3524,begin apogee
$GC,3528,-0.14,0.0,312.4,7.7,418,3619,0.32,0.00,88.82,0.782,6,0.117,0.000,2811,1994,3150,0,0,0,0,0,0
$STATE,3620,end apogee,CONTROL_FINISHED_OK
$STATE,3620,begin climb
$GC,3622,0.45,112.4,315.6,0.0,427,3720,0.52,2.08,90.12,0.755,4,0.078,0.059,3006,775,2690,0,0,0,0,0,0
$GC,3748,0.45,153.2,314.4,4.6,439,3789,0.00,2.00,34.10,0.732,6,0.000,0.054,3005,2003,2523,0,0,0,0,0,0
$GC,4097,0.43,153.2,287.2,8.2,473,4101,0.00,2.03,0.00,0.000,4,0.000,0.064,3006,3227,2519,0,0,0,0,0,0
$GC,4249,0.41,153.2,273.4,9.1,487,4252,0.00,1.92,0.00,0.000,6,0.000,0.053,3013,2013,2518,0,0,0,0,0,0
$GC,4569,0.39,153.2,248.3,7.3,518,4570,0.12,0.00,0.00,0.000,6,0.164,0.000,2980,2012,2518,0,0,0,0,0,0
$GC,4879,0.41,183.4,231.6,5.0,548,4911,0.00,2.05,24.15,0.717,4,0.000,0.065,2980,3240,2401,0,0,0,0,0,0
$GC,5007,0.41,183.4,223.4,6.7,560,5010,0.00,1.98,0.00,0.000,6,0.000,0.053,2983,2009,2399,0,0,0,0,0,0
$GC,5327,0.41,183.4,202.7,6.6,591,5328,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2009,2398,0,0,0,0,0,0
$GC,5639,0.41,183.4,181.3,6.5,621,5642,0.00,1.98,0.00,0.000,4,0.000,0.065,2983,3242,2398,0,0,0,0,0,0
$GC,5718,0.41,183.4,175.5,7.3,628,5724,0.00,1.92,0.00,0.000,6,0.000,0.053,2986,2023,2397,0,0,0,0,0,0
$GC,6033,0.41,183.4,153.9,7.6,659,6034,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2022,2397,0,0,0,0,0,0
$GC,6345,0.41,191.5,134.1,5.8,689,6355,0.00,2.00,7.40,0.616,4,0.000,0.065,2986,3240,2369,0,0,0,0,0,0
$GC,6463,0.41,193.5,126.8,6.0,700,6466,0.00,1.90,0.00,0.000,6,0.000,0.054,2986,2025,2367,0,0,0,0,0,0
$GC,6783,0.41,197.4,107.6,6.0,731,6794,0.00,2.00,6.43,0.582,4,0.000,0.061,2986,756,2344,0,0,0,0,0,0
$GC,6837,0.43,208.3,104.6,5.7,736,6850,0.00,1.98,10.18,0.621,6,0.000,0.057,2986,2020,2300,0,0,0,0,0,0
$GC,7171,0.44,208.3,83.5,6.6,791,7176,0.00,1.98,0.00,0.000,4,0.000,0.066,2986,3229,2298,0,0,0,0,0,0
$GC,7246,0.44,208.3,78.3,6.9,805,7251,0.00,1.90,0.00,0.000,6,0.000,0.054,2986,2032,2297,0,0,0,0,0,0
$GC,7572,0.46,211.1,62.8,6.0,866,7578,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2032,2297,0,0,0,0,0,0
$GC,7899,0.52,281.6,47.2,3.5,927,7959,0.10,0.00,58.22,0.617,6,0.111,0.000,3034,2031,2001,0,0,0,0,0,0
$GC,8279,0.53,283.2,22.8,6.1,998,8286,0.00,1.98,0.00,0.000,4,0.000,0.065,3034,3223,1993,0,0,0,0,0,0
$GC,8339,0.54,283.2,18.9,6.7,1009,8345,0.00,1.92,0.00,0.000,6,0.000,0.054,3036,2025,1992,0,0,0,0,0,0
$GC,8666,0.61,356.8,3.9,3.4,1070,8695,0.00,0.00,27.42,0.583,2,0.000,0.000,3036,2025,1858,0,0,0,0,0,0
$STATE,8695,end climb,SURFACE_DEPTH_REACHED
$STATE,8696,begin surface coast
$FINISH,1.0,1.024019
$STATE,8785,end surface coast,CONTROL_FINISHED_OK
$STATE,8785,begin surface
$SM_CCo,8800,16.60,0.081,0,0,1722,350.04
$SM_GC,2.86,0.00,0.00,16.60,0.000,0.000,0.081,144,2076,1722,-8.47,0.03,350.04
$IRIDIUM_FIX,4732.49,-12505.04,281199,181807
$TT8_MAMPS,0.052923
$HUMID,40.78
$INTERNAL_PRESSURE,9.0304
$TCM_TEMP,16.50
$XPDR_PINGS,0
$24V_AH,24.2,42.246
$10V_AH,10.2,38.859
$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,19.200,55.300,346.850,16.600,0.000,27.664,32.906,155.205,0.000,0.000,14.557,0.000,5666.382,383.963,2660.807,408.947,0.000,1283.505,0.000,2316.428,0.000,0.535,0.000
$DEVICE_MAMPS,237.770,125.021,782.340,80.535,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,749.923,831.894,1486.874,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298596
$DATA_FILE_SIZE,60120,1092
$CAP_FILE_SIZE,107771,0
$CFSIZE,260165632,232202240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.031,319.4,1
$GPS,030910,224306,4749.631,-12513.183,67,1.2,79,18.7