version: 66.06
glider: 187
mission: 2
dive: 90
start: 7 22 110 9 31 46
data:
$ID,187
$MISSION,2
$DIVE,90
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$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,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,100
$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,-25203.961
$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,2845
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$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,23
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$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,0.0012300001
$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
$GPS1,092140,4724.393,-12604.924,12,2.7,31,18.6
$_CALLS,3
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-67.4
$GPS2,093140,4724.393,-12604.868,34,1.8,42,18.6
$SPEED_LIMITS,0.106,0.196
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,1000.000
$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,224.9,83005,-13.9,-6.111
$D_GRID,100
$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,-0.74,-112.4,0.0,0.0,0,81,0.00,0.00,-67.70,0.000,2,0.000,0.000,131,2044,3330,0,0,0,0,0,0
$GC,83,-0.74,-112.4,3.7,-4.1,12,106,9.85,2.03,-5.57,0.000,4,0.242,0.073,2588,3314,3612,0,0,0,0,0,0
$GC,185,-0.49,-112.4,41.0,-32.1,31,192,0.28,1.95,0.00,0.000,6,0.152,0.051,2686,2077,3614,0,0,0,0,0,0
$GC,511,-0.42,-112.4,88.9,-13.3,92,518,0.00,2.00,0.00,0.000,4,0.000,0.063,2678,3314,3615,0,0,0,0,0,0
$GC,565,-0.36,-112.4,96.2,-13.6,102,572,0.12,1.92,0.00,0.000,6,0.123,0.049,2722,2081,3615,0,0,0,0,0,0
$STATE,602,end dive,TARGET_DEPTH_EXCEEDED
$STATE,602,begin apogee
$GC,605,-0.22,0.0,100.4,11.7,109,695,0.15,0.00,86.95,0.597,6,0.144,0.000,2770,1981,3149,0,0,0,0,0,0
$STATE,695,end apogee,CONTROL_FINISHED_OK
$STATE,695,begin climb
$GC,696,0.74,112.4,106.7,0.0,118,789,0.95,1.98,87.68,0.580,4,0.102,0.055,3088,773,2691,0,0,0,0,0,0
$GC,868,0.66,177.3,104.1,3.7,134,928,0.00,2.00,51.92,0.576,6,0.000,0.051,3088,2008,2426,0,0,0,0,0,0
$GC,1246,0.54,177.3,75.6,7.1,198,1252,0.22,1.98,0.00,0.000,4,0.153,0.062,3023,3226,2421,0,0,0,0,0,0
$GC,1482,0.54,208.3,63.3,5.0,242,1510,0.00,1.90,24.62,0.571,6,0.000,0.051,3027,2021,2299,0,0,0,0,0,0
$GC,1830,0.58,237.2,45.4,5.1,307,1859,0.00,2.00,23.40,0.567,4,0.000,0.060,3027,753,2181,0,0,0,0,0,0
$GC,1890,0.65,265.3,42.3,5.1,318,1918,0.00,1.98,22.98,0.556,6,0.000,0.054,3027,1995,2067,0,0,0,0,0,0
$GC,2239,0.79,331.1,27.3,3.7,383,2296,0.20,2.00,51.88,0.562,4,0.073,0.061,3123,757,1799,0,0,0,0,0,0
$GC,2332,0.75,331.1,19.8,9.2,400,2339,0.10,2.00,0.00,0.000,6,0.129,0.054,3090,2004,1796,0,0,0,0,0,0
$STATE,2524,end climb,SURFACE_DEPTH_REACHED
$STATE,2524,begin surface coast
$FINISH,0.7,1.024118
$STATE,2556,end surface coast,CONTROL_FINISHED_OK
$STATE,2556,begin surface
$SM_CCo,2568,15.38,0.298,1,0,1723,350.04
$SM_GC,1.54,0.00,0.00,15.38,0.000,0.000,0.298,145,2091,1723,-8.43,0.45,350.04
$IRIDIUM_FIX,4707.04,-12609.59,161099,090919
$TT8_MAMPS,0.052156
$HUMID,37.00
$INTERNAL_PRESSURE,9.11829
$TCM_TEMP,18.40
$XPDR_PINGS,0
$24V_AH,24.5,11.408
$10V_AH,10.4,6.728
$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,19.725,23.975,349.425,15.375,0.000,86.695,192.876,111.003,0.000,0.000,43.153,0.000,1162.059,364.249,1202.008,459.344,0.000,783.694,0.000,1029.511,0.000,0.538,0.000
$DEVICE_MAMPS,241.605,102.778,596.726,298.363,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,298.140,320.276,882.294,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298604
$DATA_FILE_SIZE,22327,442
$CAP_FILE_SIZE,50074,0
$CFSIZE,260165632,253263872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.100,100.1,1
$GPS,220710,101540,4724.253,-12605.018,9,3.0,28,18.6