version: 66.06
glider: 187
mission: 2
dive: 92
start: 7 22 110 11 12 15
data:
$ID,187
$MISSION,2
$DIVE,92
$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,-25274.211
$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,39
$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
$GPS1,110758,4724.090,-12605.090,9,4.8,28,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-72.0
$GPS2,111210,4724.074,-12605.055,14,4.6,33,18.6
$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,256.7,82487,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,12,-0.74,-112.4,0.0,0.0,0,71,0.00,0.00,-57.28,0.000,2,0.000,0.000,132,2089,3108,0,0,0,0,0,0
$GC,73,-0.74,-112.4,3.2,-3.3,10,101,9.95,1.95,-10.55,0.000,4,0.245,0.076,2589,3298,3611,0,0,0,0,0,0
$GC,148,-0.46,-112.4,28.2,-31.9,24,155,0.32,1.92,0.00,0.000,6,0.155,0.051,2688,2080,3613,0,0,0,0,0,0
$GC,475,-0.38,-112.4,77.9,-14.3,85,482,0.10,1.98,0.00,0.000,4,0.178,0.063,2710,3300,3614,0,0,0,0,0,0
$GC,502,-0.33,-112.4,81.5,-13.3,90,509,0.00,1.92,0.00,0.000,6,0.000,0.049,2710,2063,3614,0,0,0,0,0,0
$STATE,663,end dive,TARGET_DEPTH_EXCEEDED
$STATE,663,begin apogee
$GC,666,-0.22,0.0,100.1,11.3,120,755,0.20,0.00,86.93,0.602,6,0.137,0.000,2770,1983,3150,0,0,0,0,0,0
$STATE,755,end apogee,CONTROL_FINISHED_OK
$STATE,755,begin climb
$GC,756,0.74,112.4,106.1,0.0,129,849,0.95,2.03,87.68,0.585,4,0.102,0.058,3089,777,2690,0,0,0,0,0,0
$GC,934,0.64,168.2,102.4,4.1,146,987,0.10,1.95,44.60,0.579,6,0.152,0.051,3058,1987,2463,0,0,0,0,0,0
$GC,1305,0.57,180.2,81.3,5.7,210,1322,0.00,2.03,10.50,0.548,4,0.000,0.064,3058,3229,2414,0,0,0,0,0,0
$GC,1444,0.48,180.2,71.8,6.8,236,1451,0.17,1.92,0.00,0.000,6,0.127,0.051,3005,2011,2411,0,0,0,0,0,0
$GC,1772,0.57,238.1,59.0,4.0,297,1823,0.00,1.98,45.67,0.585,4,0.000,0.061,3006,3233,2178,0,0,0,0,0,0
$GC,1934,0.62,256.2,50.5,5.4,327,1953,0.10,1.95,15.00,0.556,6,0.056,0.052,3063,2008,2105,0,0,0,0,0,0
$GC,2273,0.66,286.4,26.2,5.0,390,2306,0.00,2.03,24.60,0.564,4,0.000,0.062,3066,767,1981,0,0,0,0,0,0
$GC,2326,0.70,312.1,23.4,5.2,400,2355,0.00,1.98,21.77,0.549,6,0.000,0.055,3066,2004,1876,0,0,0,0,0,0
$STATE,2663,end climb,SURFACE_DEPTH_REACHED
$STATE,2663,begin surface coast
$FINISH,0.8,1.024032
$STATE,2711,end surface coast,CONTROL_FINISHED_OK
$STATE,2711,begin surface
$SM_CCo,2723,22.42,0.387,1,0,1722,350.04
$SM_GC,1.65,0.00,0.00,22.42,0.000,0.000,0.387,135,2096,1722,-8.47,0.59,350.04
$IRIDIUM_FIX,4707.04,-12558.14,161099,101036
$TT8_MAMPS,0.052923
$HUMID,37.28
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,18.10
$XPDR_PINGS,0
$24V_AH,24.5,11.539
$10V_AH,10.4,6.844
$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,19.625,23.850,336.750,22.425,0.000,30.798,32.097,105.909,0.000,0.000,34.099,0.000,1134.224,356.185,1275.779,233.270,0.000,798.073,0.000,1098.465,0.000,0.535,0.000
$DEVICE_MAMPS,245.440,105.846,602.095,387.335,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,320.526,343.721,949.466,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298596
$DATA_FILE_SIZE,25378,472
$CAP_FILE_SIZE,50891,0
$CFSIZE,260165632,253190144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.132,129.9,1
$GPS,220710,115852,4723.899,-12605.233,10,4.1,29,18.6