version: 66.06
glider: 187
mission: 2
dive: 38
start: 7 17 110 16 36 12
data:
$ID,187
$MISSION,2
$DIVE,38
$D_SURF,3
$D_FLARE,3
$D_TGT,200
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,4
$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,54
$T_MISSION,75
$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,100
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,270
$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,2
$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,-24418.006
$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,2850
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,236
$ROLL_MAX,3800
$ROLL_DEG,35
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,3150
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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
$GPS1,163121,4750.307,-12500.535,32,3.8,51,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-75.8
$GPS2,163606,4750.265,-12500.536,15,0.9,31,18.7
$SPEED_LIMITS,0.214,0.317
$TGT_NAME,HEADING
$TGT_LATLONG,4750.265,-12516.625
$TGT_RADIUS,1852.000
$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,251.3,20000,-18.1,-12.346
$D_GRID,106
$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,11,-0.99,-195.5,0.0,0.0,0,77,0.00,0.00,-63.85,0.000,2,0.000,0.000,132,2109,3239,0,0,0,0,0,0
$GC,78,-0.99,-195.5,3.6,-9.8,12,105,9.88,2.00,-13.40,0.000,4,0.253,0.076,2517,3335,3950,0,0,0,0,0,0
$GC,125,-0.56,-195.5,20.3,-29.9,21,132,0.47,1.98,0.00,0.000,6,0.158,0.051,2660,2097,3951,0,0,0,0,0,0
$GC,452,-0.56,-195.5,68.8,-12.9,82,458,0.00,2.00,0.00,0.000,4,0.000,0.067,2653,3317,3952,0,0,0,0,0,0
$GC,473,-0.61,-195.5,71.4,-12.0,86,480,0.00,1.92,0.00,0.000,6,0.000,0.049,2652,2091,3951,0,0,0,0,0,0
$STATE,749,end dive,TARGET_DEPTH_EXCEEDED
$STATE,749,begin apogee
$GC,752,-0.21,0.0,106.4,12.4,133,906,0.40,0.00,151.77,0.628,6,0.129,0.000,2780,1991,3150,0,0,0,0,0,0
$STATE,906,end apogee,CONTROL_FINISHED_OK
$STATE,907,begin climb
$GC,908,0.99,195.5,114.2,0.0,148,1070,1.15,2.12,155.12,0.606,4,0.087,0.059,3164,3223,2352,0,0,0,0,0,0
$GC,1309,0.52,195.5,63.4,17.1,205,1316,0.50,1.95,0.00,0.000,6,0.166,0.051,3025,2012,2346,0,0,0,0,0,0
$GC,1636,0.72,328.6,40.3,6.7,266,1750,0.17,2.05,104.38,0.581,4,0.080,0.062,3100,3218,1809,0,0,0,0,0,0
$GC,1781,0.69,352.8,26.0,11.3,294,1808,0.10,2.00,20.60,0.548,6,0.137,0.054,3076,2006,1710,0,0,0,0,0,0
$STATE,2004,end climb,FINISH_DEPTH_REACHED
$STATE,2004,begin subsurface finish
$FINISH1,4.7,1.023898,-45
$GC,2007,-0.05,-44.6,4.7,-7.0,336,2058,0.70,0.00,-45.67,0.000,6,0.104,0.000,2840,2003,3328,0,0,0,0,0,0
$FINISH2,5.8
$STATE,2058,end subsurface finish,CONTROL_FINISHED_OK
$STATE,2059,begin surface
$IRIDIUM_FIX,4732.49,-12503.20,111099,151545
$TT8_MAMPS,0.052156
$HUMID,37.28
$INTERNAL_PRESSURE,9.16712
$TCM_TEMP,16.20
$XPDR_PINGS,0
$24V_AH,24.1,5.701
$10V_AH,10.4,3.141
$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,13.375,16.150,431.875,0.000,0.000,30.725,31.002,144.544,0.000,0.000,32.054,0.000,748.891,403.039,935.255,256.090,0.000,799.809,0.000,803.000,0.000,0.533,0.000
$DEVICE_MAMPS,253.110,92.807,628.173,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,231.762,253.354,670.990,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298608
$DATA_FILE_SIZE,19177,346
$CAP_FILE_SIZE,39140,0
$CFSIZE,260165632,255836160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170710,163606,4750.265,-12500.536,15,0.9,31,18.7