version: 66.06
glider: 187
mission: 2
dive: 215
start: 8 10 110 6 53 20
data:
$ID,187
$MISSION,2
$DIVE,215
$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,-27834.025
$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,26
$R_STBD_OVSHOOT,33
$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
$GPS1,064838,4756.427,-12457.582,12,1.7,12,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-77.0
$GPS2,065314,4756.415,-12457.567,13,1.7,13,18.7
$SPEED_LIMITS,0.106,0.196
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$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,221.7,186627,-13.9,-6.111
$D_GRID,85
$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,-0.45,-112.4,0.0,0.0,0,76,0.00,0.00,-62.90,0.000,2,0.000,0.000,133,2080,3200,0,0,0,0,0,0
$GC,78,-0.45,-112.4,3.8,-3.6,12,101,10.62,1.95,-8.50,0.000,4,0.256,0.076,2672,3312,3610,0,0,0,0,0,0
$GC,261,-0.43,-112.4,37.1,-13.1,46,268,0.00,1.95,0.00,0.000,6,0.000,0.051,2672,2072,3612,0,0,0,0,0,0
$GC,588,-0.41,-112.4,74.3,-10.9,107,594,0.10,0.00,0.00,0.000,6,0.164,0.000,2698,2069,3613,0,0,0,0,0,0
$STATE,704,end dive,TARGET_DEPTH_EXCEEDED
$STATE,704,begin apogee
$GC,708,-0.14,0.0,85.1,9.3,129,801,0.25,0.00,86.28,0.614,6,0.129,0.000,2784,1992,3150,0,0,0,0,0,0
$STATE,802,end apogee,CONTROL_FINISHED_OK
$STATE,802,begin climb
$GC,803,0.45,112.4,90.1,0.0,146,897,0.57,0.00,87.47,0.596,6,0.096,0.000,2976,1992,2690,0,0,0,0,0,0
$GC,1217,0.50,188.2,74.8,3.3,223,1284,0.00,2.03,59.40,0.595,4,0.000,0.064,2976,3223,2380,0,0,0,0,0,0
$GC,1502,0.50,196.0,64.0,5.8,276,1514,0.00,1.92,6.82,0.518,6,0.000,0.054,2977,2022,2351,0,0,0,0,0,0
$GC,1835,0.55,241.7,43.8,4.4,338,1875,0.10,0.00,37.08,0.586,6,0.107,0.000,3028,2021,2163,0,0,0,0,0,0
$GC,2195,0.62,352.2,21.9,2.1,405,2288,0.00,2.03,86.25,0.574,4,0.000,0.066,3029,3219,1713,0,0,0,0,0,0
$GC,2326,0.66,393.9,16.7,4.6,429,2365,0.00,1.95,33.85,0.552,6,0.000,0.053,3029,2019,1543,0,0,0,0,0,0
$STATE,2518,end climb,SURFACE_DEPTH_REACHED
$STATE,2518,begin surface coast
$FINISH,0.8,1.001661
$STATE,2567,end surface coast,CONTROL_FINISHED_OK
$STATE,2567,begin surface
$SM_CCo,2640,0.00,0.000,0,0,1531,396.90
$SM_GC,1.76,7.68,0.00,0.00,0.039,0.000,0.000,146,2071,1531,-8.33,-0.11,396.90
$IRIDIUM_FIX,4738.89,-12501.63,041199,060651
$TT8_MAMPS,0.052923
$HUMID,37.79
$INTERNAL_PRESSURE,9.01087
$TCM_TEMP,16.20
$XPDR_PINGS,0
$24V_AH,24.5,24.126
$10V_AH,10.3,19.789
$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,19.325,12.000,397.150,0.000,0.000,38.299,30.999,135.260,0.000,0.000,13.505,0.000,1083.813,308.962,1241.137,277.108,0.000,790.656,0.000,1096.531,0.000,0.535,0.000
$DEVICE_MAMPS,256.178,123.487,613.600,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,318.840,345.599,997.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298624
$DATA_FILE_SIZE,25524,474
$CAP_FILE_SIZE,46071,0
$CFSIZE,260165632,244494336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.136, 78.6,1
$GPS,100810,073806,4756.317,-12457.676,14,1.6,30,18.7