version: 66.06
glider: 187
mission: 2
dive: 474
start: 9 23 110 23 3 51
data:
$ID,187
$MISSION,2
$DIVE,474
$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,-33300.812
$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,28
$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
$GPS1,225746,4750.763,-12512.518,13,5.3,33,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-75.6
$GPS2,230346,4750.720,-12512.592,13,6.5,32,18.7
$SPEED_LIMITS,0.106,0.196
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$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,81.4,23571,-13.9,-6.111
$D_GRID,250
$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,11,begin dive
$GC,13,-0.45,-112.4,0.0,0.0,0,74,0.00,0.00,-59.92,0.000,2,0.000,0.000,131,2088,3010,0,0,0,0,0,0
$GC,77,-0.45,-112.4,3.5,-2.2,10,105,10.40,1.95,-12.73,0.000,4,0.235,0.077,2691,3307,3610,0,0,0,0,0,0
$GC,255,-0.45,-112.4,36.0,-11.0,43,261,0.00,1.95,0.00,0.000,6,0.000,0.049,2691,2074,3613,0,0,0,0,0,0
$GC,581,-0.44,-112.4,70.1,-9.1,104,588,0.00,2.03,0.00,0.000,4,0.000,0.064,2683,3305,3614,0,0,0,0,0,0
$GC,711,-0.44,-112.4,82.2,-9.2,128,717,0.00,1.95,0.00,0.000,6,0.000,0.049,2683,2068,3615,0,0,0,0,0,0
$GC,1038,-0.44,-112.4,114.0,-8.8,176,1042,0.00,1.92,0.00,0.000,4,0.000,0.057,2683,847,3615,0,0,0,0,0,0
$GC,1102,-0.44,-112.4,120.1,-9.5,182,1106,0.08,1.95,0.00,0.000,6,0.127,0.054,2704,2077,3615,0,0,0,0,0,0
$GC,1423,-0.44,-112.4,144.1,-7.5,213,1426,0.00,2.00,0.00,0.000,4,0.000,0.064,2698,3308,3615,0,0,0,0,0,0
$GC,1491,-0.46,-112.4,149.4,-7.3,219,1498,0.00,1.92,0.00,0.000,6,0.000,0.049,2697,2082,3615,0,0,0,0,0,0
$GC,1809,-0.46,-112.4,174.6,-8.3,250,1809,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2082,3615,0,0,0,0,0,0
$GC,2119,-0.46,-112.4,198.3,-7.2,280,2122,0.00,2.00,0.00,0.000,4,0.000,0.065,2692,3318,3614,0,0,0,0,0,0
$GC,2183,-0.47,-112.4,203.2,-7.4,286,2186,0.00,1.90,0.00,0.000,6,0.000,0.051,2691,2078,3614,0,0,0,0,0,0
$GC,2503,-0.47,-112.4,228.2,-8.0,317,2507,0.00,2.03,0.00,0.000,4,0.000,0.066,2689,3310,3613,0,0,0,0,0,0
$GC,2545,-0.48,-112.4,231.3,-7.3,321,2549,0.00,1.92,0.00,0.000,6,0.000,0.051,2689,2086,3613,0,0,0,0,0,0
$STATE,2814,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2814,begin apogee
$GC,2819,-0.14,0.0,250.7,7.3,347,2909,0.38,0.00,88.22,0.736,6,0.114,0.000,2811,1993,3150,0,0,0,0,0,0
$STATE,2909,end apogee,CONTROL_FINISHED_OK
$STATE,2909,begin climb
$GC,2911,0.45,112.4,252.9,0.0,356,3008,0.52,2.08,89.32,0.712,4,0.078,0.059,3006,771,2690,0,0,0,0,0,0
$GC,3098,0.45,145.6,248.2,4.9,373,3129,0.00,2.00,27.52,0.690,6,0.000,0.053,3006,1998,2555,0,0,0,0,0,0
$GC,3440,0.44,145.6,225.8,7.0,406,3443,0.00,2.00,0.00,0.000,4,0.000,0.063,3006,3229,2551,0,0,0,0,0,0
$GC,3595,0.42,145.6,214.4,7.5,420,3601,0.00,1.92,0.00,0.000,6,0.000,0.051,3013,2025,2551,0,0,0,0,0,0
$GC,3910,0.40,145.6,193.6,6.4,451,3913,0.00,1.95,0.00,0.000,4,0.000,0.063,3014,3233,2550,0,0,0,0,0,0
$GC,3947,0.37,145.6,191.0,7.5,454,3952,0.12,1.95,0.00,0.000,6,0.131,0.052,2979,2010,2550,0,0,0,0,0,0
$GC,4262,0.38,166.5,174.6,5.3,485,4284,0.00,1.95,17.20,0.671,4,0.000,0.062,2979,3232,2470,0,0,0,0,0,0
$GC,4337,0.38,166.5,169.7,7.1,492,4340,0.00,1.92,0.00,0.000,6,0.000,0.052,2983,2028,2468,0,0,0,0,0,0
$GC,4658,0.38,166.5,148.0,6.8,523,4661,0.00,2.00,0.00,0.000,4,0.000,0.062,2986,761,2467,0,0,0,0,0,0
$GC,4679,0.39,171.8,146.8,5.9,525,4690,0.00,2.00,5.35,0.547,6,0.000,0.056,2986,2022,2450,0,0,0,0,0,0
$GC,4999,0.39,173.1,126.4,6.1,556,5003,0.00,1.98,0.00,0.000,4,0.000,0.064,2986,3230,2449,0,0,0,0,0,0
$GC,5084,0.39,173.1,120.7,6.5,564,5088,0.00,1.90,0.00,0.000,6,0.000,0.052,2986,2035,2448,0,0,0,0,0,0
$GC,5406,0.41,214.5,103.0,4.6,595,5446,0.00,1.95,35.12,0.650,4,0.000,0.062,2986,3237,2275,0,0,0,0,0,0
$GC,5472,0.42,233.1,99.8,5.4,601,5495,0.00,1.92,16.20,0.616,6,0.000,0.053,2986,2043,2197,0,0,0,0,0,0
$GC,5817,0.46,271.6,82.8,4.7,665,5856,0.00,2.12,30.73,0.627,4,0.000,0.061,2985,757,2042,0,0,0,0,0,0
$GC,5906,0.53,329.0,79.0,4.0,681,5961,0.08,2.05,47.10,0.617,6,0.060,0.054,3031,2031,1807,0,0,0,0,0,0
$GC,6282,0.56,352.9,58.2,5.2,751,6304,0.00,2.00,19.08,0.598,4,0.000,0.062,3031,3237,1710,0,0,0,0,0,0
$GC,6337,0.58,360.7,55.0,5.8,761,6348,0.00,1.95,7.50,0.533,6,0.000,0.053,3031,2035,1679,0,0,0,0,0,0
$GC,6670,0.62,379.2,34.8,5.4,823,6692,0.00,1.98,15.80,0.584,4,0.000,0.064,3031,3226,1603,0,0,0,0,0,0
$GC,6713,0.65,385.9,32.2,5.9,831,6725,0.00,1.90,7.15,0.519,6,0.000,0.053,3032,2043,1576,0,0,0,0,0,0
$GC,7048,0.73,385.9,12.2,7.9,893,7054,0.17,2.08,0.00,0.000,4,0.100,0.061,3097,761,1571,0,0,0,0,0,0
$STATE,7165,end climb,SURFACE_DEPTH_REACHED
$STATE,7165,begin surface coast
$FINISH,1.3,1.012954
$STATE,7202,end surface coast,CONTROL_FINISHED_OK
$STATE,7202,begin surface
$SM_CCo,7278,0.00,0.000,0,0,1567,388.31
$SM_GC,2.05,7.75,0.00,0.00,0.039,0.000,0.000,141,2082,1567,-8.40,0.23,388.31
$IRIDIUM_FIX,4732.49,-12512.13,181299,202030
$TT8_MAMPS,0.052156
$HUMID,39.99
$INTERNAL_PRESSURE,9.0304
$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,24.2,51.790
$10V_AH,10.1,50.321
$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,19.500,67.375,406.300,0.000,0.000,24.522,32.884,168.042,0.000,0.000,33.398,0.000,4441.849,409.846,2326.712,437.774,0.000,1227.239,0.000,2011.551,0.000,0.534,0.000
$DEVICE_MAMPS,234.702,96.642,736.320,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,661.988,610.293,1325.591,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298588
$DATA_FILE_SIZE,50636,922
$CAP_FILE_SIZE,98271,0
$CFSIZE,260165632,224276480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.132,334.0,1
$GPS,240910,010637,4750.873,-12511.853,69,1.0,70,18.7