version: 66.06
glider: 187
mission: 2
dive: 580
start: 9 29 110 0 55 55
data:
$ID,187
$MISSION,2
$DIVE,580
$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,-36026.988
$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,30
$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
$GPS1,004857,4752.334,-12511.485,11,1.6,18,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-75.7
$GPS2,005549,4752.272,-12511.532,15,1.0,20,18.7
$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,192.0,167753,-13.9,-6.111
$D_GRID,188
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,14,-0.45,-112.4,0.0,0.0,0,67,0.00,0.00,-52.08,0.000,2,0.000,0.000,132,2066,2944,0,0,0,0,0,0
$GC,70,-0.45,-112.4,3.1,-2.5,10,104,10.45,2.08,-14.82,0.000,4,0.234,0.076,2694,3315,3611,0,0,0,0,0,0
$GC,307,-0.45,-112.4,34.8,-9.9,54,314,0.00,1.98,0.00,0.000,6,0.000,0.049,2694,2072,3613,0,0,0,0,0,0
$GC,634,-0.45,-112.4,71.1,-10.3,115,641,0.00,2.03,0.00,0.000,4,0.000,0.063,2686,3306,3614,0,0,0,0,0,0
$GC,727,-0.45,-112.4,80.3,-9.7,132,732,0.00,1.92,0.00,0.000,6,0.000,0.049,2686,2087,3615,0,0,0,0,0,0
$GC,1049,-0.45,-112.4,110.1,-8.4,182,1052,0.00,1.95,0.00,0.000,4,0.000,0.057,2686,847,3614,0,0,0,0,0,0
$GC,1113,-0.45,-112.4,115.2,-8.1,188,1116,0.00,1.95,0.00,0.000,6,0.000,0.053,2679,2082,3614,0,0,0,0,0,0
$GC,1433,-0.45,-112.4,142.3,-8.4,219,1437,0.00,2.00,0.00,0.000,4,0.000,0.064,2670,3314,3615,0,0,0,0,0,0
$GC,1454,-0.45,-112.4,144.2,-9.0,221,1458,0.10,1.95,0.00,0.000,6,0.114,0.050,2706,2075,3614,0,0,0,0,0,0
$GC,1776,-0.45,-112.4,167.4,-7.3,252,1777,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2075,3614,0,0,0,0,0,0
$STATE,2086,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2086,begin apogee
$GC,2090,-0.14,0.0,188.4,7.1,282,2181,0.30,0.00,88.35,0.695,6,0.113,0.000,2807,1995,3150,0,0,0,0,0,0
$STATE,2181,end apogee,CONTROL_FINISHED_OK
$STATE,2181,begin climb
$GC,2184,0.45,112.4,192.0,0.0,291,2281,0.52,2.03,88.95,0.673,4,0.075,0.058,3006,773,2690,0,0,0,0,0,0
$GC,2350,0.47,166.7,191.0,4.1,306,2399,0.00,2.00,44.20,0.660,6,0.000,0.052,3005,2001,2470,0,0,0,0,0,0
$GC,2716,0.47,166.7,167.7,6.8,342,2720,0.00,2.00,0.00,0.000,4,0.000,0.061,3005,3230,2464,0,0,0,0,0,0
$GC,2868,0.45,166.7,156.2,8.1,356,2871,0.00,1.88,0.00,0.000,6,0.000,0.051,3013,2028,2463,0,0,0,0,0,0
$GC,3188,0.45,169.4,135.7,6.0,387,3189,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2028,2463,0,0,0,0,0,0
$GC,3500,0.44,172.3,115.9,6.0,417,3512,0.00,1.95,5.05,0.516,4,0.000,0.063,3013,3226,2447,0,0,0,0,0,0
$GC,3597,0.42,172.3,109.1,6.7,426,3600,0.00,1.90,0.00,0.000,6,0.000,0.052,3014,2016,2446,0,0,0,0,0,0
$GC,3918,0.42,172.3,88.4,6.6,473,3924,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2015,2446,0,0,0,0,0,0
$GC,4245,0.43,186.4,72.4,5.6,534,4261,0.00,0.00,12.82,0.607,6,0.000,0.000,3014,2015,2390,0,0,0,0,0,0
$GC,4582,0.45,223.1,56.1,4.8,597,4616,0.00,2.03,30.38,0.616,4,0.000,0.063,3013,3233,2239,0,0,0,0,0,0
$GC,4692,0.45,223.1,49.4,6.7,617,4699,0.00,1.92,0.00,0.000,6,0.000,0.051,3014,2034,2234,0,0,0,0,0,0
$GC,5020,0.47,238.7,33.4,5.5,678,5037,0.00,2.00,13.10,0.582,4,0.000,0.064,3013,3239,2176,0,0,0,0,0,0
$GC,5156,0.52,290.7,27.0,4.2,703,5205,0.00,1.90,42.17,0.592,6,0.000,0.051,3013,2051,1964,0,0,0,0,0,0
$GC,5527,0.61,342.9,12.2,4.2,772,5576,0.12,2.10,41.85,0.578,4,0.100,0.061,3066,767,1751,0,0,0,0,0,0
$STATE,5691,end climb,SURFACE_DEPTH_REACHED
$STATE,5691,begin surface coast
$FINISH,1.0,1.023951
$STATE,5755,end surface coast,CONTROL_FINISHED_OK
$STATE,5756,begin surface
$SM_CCo,5773,4.97,0.089,0,0,1723,350.04
$SM_GC,2.94,0.00,0.00,4.97,0.000,0.000,0.089,144,2077,1723,-8.47,0.06,350.04
$IRIDIUM_FIX,4735.69,-12516.60,231299,232345
$TT8_MAMPS,0.052923
$HUMID,41.61
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,16.40
$XPDR_PINGS,0
$24V_AH,24.2,59.945
$10V_AH,10.0,57.936
$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,19.275,39.775,366.875,4.975,0.000,28.769,36.140,232.203,0.000,0.000,21.025,0.000,3266.966,355.761,2072.529,481.553,0.000,1058.952,0.000,1809.735,0.000,0.534,0.000
$DEVICE_MAMPS,233.935,107.380,694.902,88.972,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,578.905,536.755,1340.801,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298668
$DATA_FILE_SIZE,44425,815
$CAP_FILE_SIZE,79510,0
$CFSIZE,260165632,220155904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.110, 49.6,1
$GPS,290910,023324,4751.925,-12511.922,51,1.4,51,18.7