version: 66.06
glider: 187
mission: 2
dive: 180
start: 8 9 110 2 29 50
data:
$ID,187
$MISSION,2
$DIVE,180
$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,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,-27086.414
$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,2835
$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,28
$R_STBD_OVSHOOT,29
$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
$GPS1,022508,4755.274,-12501.613,33,1.8,33,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-75.4
$GPS2,022944,4755.249,-12501.577,13,1.9,13,18.8
$SPEED_LIMITS,0.106,0.196
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$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,1.0,7628,-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,12,-0.45,-112.4,0.0,0.0,0,77,0.00,0.00,-63.40,0.000,2,0.000,0.000,134,2087,3184,0,0,0,0,0,0
$GC,79,-0.45,-112.4,3.4,-2.8,12,102,10.52,2.03,-9.27,0.000,4,0.251,0.073,2678,837,3611,0,0,0,0,0,0
$GC,240,-0.43,-112.4,34.4,-15.7,42,247,0.00,1.98,0.00,0.000,6,0.000,0.058,2673,2072,3613,0,0,0,0,0,0
$GC,567,-0.41,-112.4,70.9,-10.2,103,574,0.10,2.00,0.00,0.000,4,0.168,0.067,2692,3311,3615,0,0,0,0,0,0
$GC,723,-0.41,-112.4,83.9,-7.7,132,729,0.00,1.92,0.00,0.000,6,0.000,0.051,2692,2085,3615,0,0,0,0,0,0
$STATE,909,end dive,TARGET_DEPTH_EXCEEDED
$STATE,909,begin apogee
$GC,912,-0.14,0.0,100.2,8.8,167,1003,0.30,0.00,86.90,0.628,6,0.123,0.000,2788,1991,3150,0,0,0,0,0,0
$STATE,1003,end apogee,CONTROL_FINISHED_OK
$STATE,1003,begin climb
$GC,1005,0.45,112.4,104.6,0.0,176,1098,0.55,2.05,87.75,0.607,4,0.091,0.061,2981,777,2690,0,0,0,0,0,0
$GC,1151,0.51,205.1,102.9,2.7,190,1228,0.00,2.00,73.20,0.601,6,0.000,0.056,2981,2002,2313,0,0,0,0,0,0
$GC,1549,0.52,205.1,77.3,6.7,257,1555,0.00,2.00,0.00,0.000,4,0.000,0.066,2982,3231,2306,0,0,0,0,0,0
$GC,1640,0.52,205.1,69.9,8.8,274,1646,0.00,1.92,0.00,0.000,6,0.000,0.054,2983,2024,2306,0,0,0,0,0,0
$GC,1966,0.62,339.9,56.9,1.2,335,2078,0.15,2.05,105.32,0.597,4,0.085,0.062,3055,770,1763,0,0,0,0,0,0
$GC,2098,0.66,419.3,52.4,3.2,359,2171,0.00,2.08,63.55,0.577,6,0.000,0.057,3055,2035,1439,0,0,0,0,0,0
$GC,2492,0.68,419.3,20.8,6.5,432,2498,0.00,2.05,0.00,0.000,4,0.000,0.065,3055,769,1429,0,0,0,0,0,0
$GC,2540,0.71,419.3,17.1,7.3,441,2546,0.00,1.98,0.00,0.000,6,0.000,0.057,3055,2005,1429,0,0,0,0,0,0
$STATE,2779,end climb,SURFACE_DEPTH_REACHED
$STATE,2779,begin surface coast
$FINISH,0.8,1.024376
$STATE,2827,end surface coast,CONTROL_FINISHED_OK
$STATE,2827,begin surface
$SM_CCo,2900,0.00,0.000,0,0,1423,423.39
$SM_GC,1.51,7.70,0.00,0.00,0.041,0.000,0.000,141,2079,1423,-8.35,0.11,423.39
$IRIDIUM_FIX,4738.89,-12504.26,031199,010128
$TT8_MAMPS,0.050622
$HUMID,39.32
$INTERNAL_PRESSURE,9.02063
$TCM_TEMP,16.40
$XPDR_PINGS,0
$24V_AH,24.5,21.725
$10V_AH,10.3,17.781
$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,19.325,24.275,416.725,0.000,0.000,34.417,52.051,117.601,0.000,0.000,13.264,0.000,1199.603,373.857,1316.743,280.012,0.000,857.017,0.000,1158.457,0.000,0.534,0.000
$DEVICE_MAMPS,250.809,108.914,628.173,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,335.088,364.078,999.620,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298608
$DATA_FILE_SIZE,25464,495
$CAP_FILE_SIZE,50604,0
$CFSIZE,260165632,245661696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.092,138.8,1
$GPS,090810,031858,4755.378,-12501.298,13,2.8,32,18.8