version: 66.06
glider: 187
mission: 2
dive: 475
start: 9 24 110 1 11 58
data:
$ID,187
$MISSION,2
$DIVE,475
$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,-33316.719
$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,29
$R_STBD_OVSHOOT,23
$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
$GPS1,010637,4750.873,-12511.853,69,1.0,70,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-75.1
$GPS2,011151,4750.880,-12511.908,14,2.0,14,18.7
$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,77.5,22707,-13.9,-6.111
$D_GRID,220
$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,-112.4,0.0,0.0,0,75,0.00,0.00,-61.15,0.000,2,0.000,0.000,132,2082,2998,0,0,0,0,0,0
$GC,78,-0.45,-112.4,3.6,-2.8,11,106,10.35,1.95,-13.05,0.000,4,0.233,0.076,2696,3313,3609,0,0,0,0,0,0
$GC,250,-0.44,-112.4,31.6,-11.0,43,256,0.00,1.95,0.00,0.000,6,0.000,0.048,2696,2078,3612,0,0,0,0,0,0
$GC,576,-0.44,-112.4,69.3,-11.2,104,582,0.00,2.03,0.00,0.000,4,0.000,0.063,2688,3310,3613,0,0,0,0,0,0
$GC,705,-0.44,-112.4,82.5,-9.6,128,711,0.00,1.95,0.00,0.000,6,0.000,0.049,2688,2074,3613,0,0,0,0,0,0
$GC,1026,-0.44,-112.4,110.8,-8.8,177,1030,0.00,1.92,0.00,0.000,4,0.000,0.055,2688,849,3614,0,0,0,0,0,0
$GC,1059,-0.44,-112.4,113.6,-9.3,180,1062,0.00,1.98,0.00,0.000,6,0.000,0.054,2682,2094,3613,0,0,0,0,0,0
$GC,1380,-0.44,-112.4,142.5,-9.0,211,1383,0.00,1.95,0.00,0.000,4,0.000,0.064,2673,3309,3613,0,0,0,0,0,0
$GC,1427,-0.44,-112.4,146.9,-9.0,215,1433,0.10,1.90,0.00,0.000,6,0.118,0.049,2709,2097,3613,0,0,0,0,0,0
$GC,1743,-0.46,-112.4,169.6,-7.3,246,1747,0.00,1.98,0.00,0.000,4,0.000,0.058,2709,846,3613,0,0,0,0,0,0
$GC,1769,-0.47,-112.4,171.6,-7.4,248,1774,0.00,1.98,0.00,0.000,6,0.000,0.056,2709,2093,3613,0,0,0,0,0,0
$GC,2084,-0.48,-112.4,192.5,-6.7,279,2088,0.00,1.98,0.00,0.000,4,0.000,0.065,2709,3304,3613,0,0,0,0,0,0
$GC,2138,-0.50,-112.4,195.9,-6.7,284,2141,0.00,1.90,0.00,0.000,6,0.000,0.050,2708,2093,3612,0,0,0,0,0,0
$GC,2458,-0.51,-112.4,217.5,-6.7,315,2462,0.00,1.98,0.00,0.000,4,0.000,0.065,2704,3304,3612,0,0,0,0,0,0
$GC,2491,-0.53,-112.4,219.5,-6.5,318,2494,0.00,1.88,0.00,0.000,6,0.000,0.050,2703,2104,3611,0,0,0,0,0,0
$STATE,2499,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2499,begin apogee
$GC,2504,-0.14,0.0,220.3,6.8,319,2594,0.32,0.00,88.03,0.714,6,0.112,0.000,2810,1994,3150,0,0,0,0,0,0
$STATE,2594,end apogee,CONTROL_FINISHED_OK
$STATE,2594,begin climb
$GC,2596,0.45,112.4,222.5,0.0,328,2692,0.52,2.05,89.03,0.690,4,0.080,0.059,3003,777,2690,0,0,0,0,0,0
$GC,2719,0.47,161.5,220.5,4.3,340,2763,0.00,1.98,40.28,0.674,6,0.000,0.053,3003,2011,2491,0,0,0,0,0,0
$GC,3080,0.46,165.3,197.0,6.0,375,3091,0.00,2.03,3.75,0.444,4,0.000,0.063,3003,3235,2475,0,0,0,0,0,0
$GC,3235,0.44,165.3,185.7,7.1,389,3242,0.00,1.92,0.00,0.000,6,0.000,0.051,3010,2032,2474,0,0,0,0,0,0
$GC,3550,0.43,165.3,164.9,6.2,420,3554,0.00,1.95,0.00,0.000,4,0.000,0.061,3010,3225,2474,0,0,0,0,0,0
$GC,3587,0.41,165.3,162.1,7.1,423,3594,0.00,1.92,0.00,0.000,6,0.000,0.052,3016,2020,2473,0,0,0,0,0,0
$GC,3904,0.39,165.7,141.2,6.1,454,3907,0.12,1.98,0.00,0.000,4,0.160,0.063,2982,3242,2473,0,0,0,0,0,0
$GC,3935,0.41,190.5,139.5,5.2,457,3960,0.00,1.92,21.27,0.654,6,0.000,0.052,2986,2030,2373,0,0,0,0,0,0
$GC,4270,0.42,211.1,121.3,5.4,489,4292,0.00,2.00,17.42,0.640,4,0.000,0.059,2986,757,2289,0,0,0,0,0,0
$GC,4335,0.46,241.4,118.2,5.0,495,4366,0.00,2.00,25.60,0.638,6,0.000,0.053,2986,2032,2165,0,0,0,0,0,0
$GC,4675,0.50,294.4,102.4,4.2,528,4721,0.00,1.95,42.62,0.637,4,0.000,0.061,2986,3236,1948,0,0,0,0,0,0
$GC,4776,0.53,302.6,97.5,5.8,541,4788,0.08,1.92,7.50,0.551,6,0.064,0.051,3032,2045,1916,0,0,0,0,0,0
$GC,5110,0.53,302.6,68.7,8.7,603,5116,0.00,2.08,0.00,0.000,4,0.000,0.061,3036,770,1912,0,0,0,0,0,0
$GC,5180,0.54,302.6,62.9,8.0,616,5186,0.00,2.00,0.00,0.000,6,0.000,0.055,3036,2027,1913,0,0,0,0,0,0
$GC,5506,0.55,302.6,38.8,6.5,677,5513,0.00,2.03,0.00,0.000,4,0.000,0.062,3036,766,1911,0,0,0,0,0,0
$GC,5534,0.57,302.6,36.9,6.6,682,5540,0.00,1.95,0.00,0.000,6,0.000,0.054,3037,1996,1911,0,0,0,0,0,0
$GC,5861,0.59,318.1,16.0,5.5,743,5879,0.00,2.03,13.00,0.581,4,0.000,0.063,3036,3234,1852,0,0,0,0,0,0
$GC,5996,0.64,357.5,9.1,4.7,768,6035,0.00,1.92,32.35,0.584,6,0.000,0.052,3036,2023,1691,0,0,0,0,0,0
$STATE,6140,end climb,SURFACE_DEPTH_REACHED
$STATE,6140,begin surface coast
$FINISH,1.1,1.010918
$STATE,6210,end surface coast,CONTROL_FINISHED_OK
$STATE,6210,begin surface
$SM_CCo,6285,0.00,0.000,0,0,1682,359.86
$SM_GC,2.25,7.68,0.00,0.00,0.043,0.000,0.000,143,2076,1682,-8.39,0.06,359.86
$IRIDIUM_FIX,4735.69,-12509.51,181299,232329
$TT8_MAMPS,0.052923
$HUMID,40.70
$INTERNAL_PRESSURE,9.0304
$TCM_TEMP,15.50
$XPDR_PINGS,0
$24V_AH,24.3,51.873
$10V_AH,10.1,50.403
$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,19.175,63.150,380.850,0.000,0.000,25.858,32.533,146.452,0.000,0.000,15.278,0.000,3761.349,400.842,2034.692,383.422,0.000,1123.167,0.000,1758.858,0.000,0.534,0.000
$DEVICE_MAMPS,233.168,126.555,714.077,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,581.816,535.934,1186.722,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298628
$DATA_FILE_SIZE,44342,808
$CAP_FILE_SIZE,89951,0
$CFSIZE,260165632,224239616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.111,314.9,1
$GPS,240910,025734,4751.034,-12511.386,13,2.1,32,18.7