version: 66.06
glider: 187
mission: 2
dive: 676
start: 10 14 110 13 28 20
data:
$ID,187
$MISSION,2
$DIVE,676
$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,300
$T_MISSION,480
$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,200
$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,-38312.117
$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,24
$R_STBD_OVSHOOT,32
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,350
$ALTIM_PING_DELTA,25
$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
$GPS1,131836,4753.914,-12533.312,39,0.9,44,18.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-72.4
$GPS2,132814,4753.943,-12533.312,19,0.9,19,18.8
$SPEED_LIMITS,0.191,0.307
$TGT_NAME,PATCH
$TGT_LATLONG,4743.200,-12556.100
$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,202.5,34670,-17.4,-11.000
$D_GRID,343
$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,13,-0.60,-195.5,0.0,0.0,0,104,0.00,0.00,-88.88,0.000,2,0.000,0.000,131,2080,2932,0,0,0,0,0,0
$GC,106,-0.60,-195.5,3.1,-4.8,17,146,10.18,1.98,-22.95,0.000,4,0.229,0.075,2647,3310,3947,0,0,0,0,0,0
$GC,252,-0.61,-195.5,28.3,-11.2,44,258,0.00,1.95,0.00,0.000,6,0.000,0.047,2647,2076,3949,0,0,0,0,0,0
$GC,579,-0.61,-195.5,74.6,-12.7,105,584,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2072,3950,0,0,0,0,0,0
$GC,907,-0.63,-195.5,112.6,-10.7,156,910,0.00,2.00,0.00,0.000,4,0.000,0.061,2639,3314,3950,0,0,0,0,0,0
$GC,950,-0.65,-195.5,117.2,-10.4,160,953,0.00,1.92,0.00,0.000,6,0.000,0.048,2638,2074,3950,0,0,0,0,0,0
$GC,1270,-0.66,-195.5,155.4,-11.7,191,1273,0.00,2.00,0.00,0.000,4,0.000,0.063,2630,3295,3950,0,0,0,0,0,0
$GC,1350,-0.68,-195.5,164.2,-10.7,198,1356,0.00,1.90,0.00,0.000,6,0.000,0.049,2631,2082,3950,0,0,0,0,0,0
$GC,1668,-0.68,-195.5,201.3,-11.3,229,1670,0.00,1.95,0.00,0.000,4,0.000,0.064,2622,3302,3950,0,0,0,0,0,0
$GC,1715,-0.70,-195.5,207.0,-10.6,233,1720,0.00,1.90,0.00,0.000,6,0.000,0.048,2622,2093,3950,0,0,0,0,0,0
$GC,2030,-0.70,-195.5,245.2,-12.0,264,2031,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2092,3949,0,0,0,0,0,0
$GC,2342,-0.70,-195.5,281.4,-12.0,294,2345,0.00,1.98,0.00,0.000,4,0.000,0.066,2614,3312,3949,0,0,0,0,0,0
$GC,2386,-0.72,-195.5,286.6,-11.7,298,2389,0.00,1.88,0.00,0.000,6,0.000,0.051,2614,2094,3949,0,0,0,0,0,0
$GC,2706,-0.72,-195.5,330.7,-13.6,329,2707,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2094,3948,0,0,0,0,0,0
$STATE,2797,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2797,begin apogee
$GC,2803,-0.14,0.0,343.4,14.0,338,2962,0.60,0.00,156.02,0.798,6,0.115,0.000,2811,1981,3150,0,0,0,0,0,0
$STATE,2964,end apogee,CONTROL_FINISHED_OK
$STATE,2964,begin climb
$GC,2966,0.60,195.5,353.6,0.0,354,3136,0.65,2.08,160.23,0.772,4,0.054,0.057,3066,782,2352,0,0,0,0,0,0
$GC,3180,0.59,207.4,347.5,10.6,374,3195,0.00,2.00,11.00,0.676,6,0.000,0.051,3066,1998,2304,0,0,0,0,0,0
$GC,3505,0.57,207.4,307.9,13.4,405,3509,0.00,2.03,0.00,0.000,4,0.000,0.062,3066,3232,2300,0,0,0,0,0,0
$GC,3613,0.54,207.4,293.6,13.5,415,3616,0.15,1.95,0.00,0.000,6,0.159,0.051,3034,2015,2298,0,0,0,0,0,0
$GC,3933,0.55,226.6,260.7,10.3,446,3955,0.00,1.98,16.62,0.708,4,0.000,0.061,3035,3242,2225,0,0,0,0,0,0
$GC,3981,0.55,226.6,255.6,11.4,450,3987,0.00,1.95,0.00,0.000,6,0.000,0.051,3040,2027,2223,0,0,0,0,0,0
$GC,4297,0.56,241.6,221.8,10.4,481,4317,0.00,2.05,13.52,0.683,4,0.000,0.062,3043,767,2164,0,0,0,0,0,0
$GC,4343,0.56,245.9,217.0,10.8,485,4352,0.00,2.00,5.43,0.558,6,0.000,0.054,3043,2023,2146,0,0,0,0,0,0
$GC,4670,0.59,296.2,184.7,9.1,517,4716,0.00,1.95,41.92,0.696,4,0.000,0.061,3043,3232,1941,0,0,0,0,0,0
$GC,4772,0.61,317.3,174.9,10.2,526,4795,0.00,1.95,18.40,0.661,6,0.000,0.052,3050,2013,1855,0,0,0,0,0,0
$GC,5113,0.63,350.4,141.6,9.8,559,5144,0.00,2.08,27.88,0.662,4,0.000,0.062,3055,759,1720,0,0,0,0,0,0
$GC,5187,0.65,365.3,133.9,10.4,566,5209,0.00,1.98,13.10,0.622,6,0.000,0.054,3055,2019,1662,0,0,0,0,0,0
$GC,5520,0.66,366.0,97.4,11.0,600,5525,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2021,1656,0,0,0,0,0,0
$GC,5847,0.70,402.0,65.7,9.6,661,5886,0.00,2.00,30.35,0.624,4,0.000,0.062,3055,3233,1509,0,0,0,0,0,0
$GC,5918,0.76,451.8,59.2,9.1,674,5967,0.08,1.98,41.17,0.613,6,0.061,0.054,3104,2016,1307,0,0,0,0,0,0
$GC,6288,0.82,506.9,23.4,8.9,743,6337,0.00,2.03,44.12,0.594,4,0.000,0.061,3108,760,1082,0,0,0,0,0,0
$GC,6439,0.91,586.8,10.8,8.0,771,6510,0.08,1.98,64.95,0.577,6,0.062,0.054,3154,1995,756,0,0,0,0,0,0
$STATE,6516,end climb,SURFACE_DEPTH_REACHED
$STATE,6516,begin surface coast
$FINISH,1.1,1.024070
$STATE,6540,end surface coast,CONTROL_FINISHED_OK
$STATE,6540,begin surface
$SM_CCo,6617,0.00,0.000,0,0,750,588.72
$SM_GC,1.85,8.12,0.00,0.00,0.044,0.000,0.000,138,2084,750,-8.40,0.25,588.72
$IRIDIUM_FIX,4735.69,-12537.11,080100,131322
$TT8_MAMPS,0.052156
$HUMID,43.03
$INTERNAL_PRESSURE,8.9718
$TCM_TEMP,15.40
$XPDR_PINGS,0
$24V_AH,23.4,71.980
$10V_AH,9.8,69.527
$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,19.850,51.675,644.725,0.000,0.000,54.157,70.757,255.984,0.000,0.000,20.078,0.000,4017.521,584.485,1958.244,617.460,0.000,1379.846,0.000,1691.788,0.000,0.994,0.000
$DEVICE_MAMPS,229.333,97.409,798.447,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,562.243,522.819,1030.216,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298416
$DATA_FILE_SIZE,44416,790
$CAP_FILE_SIZE,92448,0
$CFSIZE,260165632,212721664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.057,  9.2,1
$GPS,141010,151908,4753.480,-12534.442,12,1.3,12,18.8