version: 66.06
glider: 187
mission: 2
dive: 316
start: 8 30 110 16 12 6
data:
$ID,187
$MISSION,2
$DIVE,316
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,3
$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,-29821.773
$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,27
$R_STBD_OVSHOOT,26
$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
$GPS1,160606,4750.512,-12513.482,40,1.1,47,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-77.9
$GPS2,161201,4750.494,-12513.500,14,1.5,25,18.7
$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,75.8,24737,-13.9,-6.111
$D_GRID,312
$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,-0.45,-112.4,0.0,0.0,0,77,0.00,0.00,-62.65,0.000,2,0.000,0.000,134,2049,3035,0,0,0,0,0,0
$GC,79,-0.45,-112.4,3.4,-2.2,12,108,10.40,2.03,-12.98,0.000,4,0.242,0.078,2671,3314,3609,0,0,0,0,0,0
$GC,257,-0.43,-112.4,34.6,-12.6,45,262,0.00,1.95,0.00,0.000,6,0.000,0.050,2671,2074,3612,0,0,0,0,0,0
$GC,583,-0.40,-112.4,78.4,-12.3,106,590,0.12,2.00,0.00,0.000,4,0.155,0.065,2699,3300,3613,0,0,0,0,0,0
$GC,606,-0.38,-112.4,80.9,-11.8,110,613,0.00,1.92,0.00,0.000,6,0.000,0.051,2698,2074,3613,0,0,0,0,0,0
$GC,933,-0.38,-112.4,114.6,-10.6,159,937,0.00,1.92,0.00,0.000,4,0.000,0.057,2698,840,3614,0,0,0,0,0,0
$GC,959,-0.38,-112.4,117.7,-11.4,161,965,0.00,1.98,0.00,0.000,6,0.000,0.056,2693,2079,3614,0,0,0,0,0,0
$GC,1275,-0.38,-112.4,149.5,-9.6,192,1276,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2079,3614,0,0,0,0,0,0
$GC,1586,-0.38,-112.4,179.7,-9.4,222,1589,0.00,1.95,0.00,0.000,4,0.000,0.067,2684,3314,3614,0,0,0,0,0,0
$GC,1639,-0.38,-112.4,184.8,-9.4,227,1643,0.00,1.95,0.00,0.000,6,0.000,0.052,2684,2066,3614,0,0,0,0,0,0
$GC,1959,-0.38,-112.4,216.0,-9.4,258,1963,0.00,2.03,0.00,0.000,4,0.000,0.067,2675,3313,3614,0,0,0,0,0,0
$GC,2003,-0.38,-112.4,220.1,-10.0,262,2006,0.08,1.92,0.00,0.000,6,0.127,0.052,2703,2082,3614,0,0,0,0,0,0
$GC,2322,-0.38,-112.4,246.7,-8.1,293,2323,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2082,3614,0,0,0,0,0,0
$GC,2634,-0.38,-112.4,269.6,-7.6,323,2637,0.00,2.00,0.00,0.000,4,0.000,0.068,2697,3314,3614,0,0,0,0,0,0
$GC,2687,-0.40,-112.4,273.6,-7.4,328,2690,0.00,1.90,0.00,0.000,6,0.000,0.054,2697,2078,3613,0,0,0,0,0,0
$GC,3007,-0.40,-112.4,299.7,-8.7,359,3011,0.00,1.92,0.00,0.000,4,0.000,0.060,2697,848,3613,0,0,0,0,0,0
$GC,3033,-0.40,-112.4,302.2,-9.6,361,3039,0.00,1.98,0.00,0.000,6,0.000,0.058,2695,2100,3613,0,0,0,0,0,0
$STATE,3140,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3140,begin apogee
$GC,3144,-0.14,0.0,312.0,9.2,372,3235,0.30,0.00,88.50,0.785,6,0.122,0.000,2792,1996,3150,0,0,0,0,0,0
$STATE,3235,end apogee,CONTROL_FINISHED_OK
$STATE,3236,begin climb
$GC,3237,0.45,112.4,316.0,0.0,381,3335,0.52,2.05,90.25,0.758,4,0.090,0.061,2973,778,2690,0,0,0,0,0,0
$GC,3372,0.50,194.7,314.8,3.1,394,3444,0.00,2.00,67.35,0.748,6,0.000,0.056,2973,2007,2356,0,0,0,0,0,0
$GC,3753,0.52,218.1,295.9,5.3,431,3776,0.00,2.05,19.33,0.725,4,0.000,0.065,2973,3231,2261,0,0,0,0,0,0
$GC,3860,0.52,218.1,289.0,6.8,441,3864,0.00,1.95,0.00,0.000,6,0.000,0.054,2973,2020,2258,0,0,0,0,0,0
$GC,4181,0.53,234.2,271.1,5.5,472,4202,0.00,2.05,13.90,0.711,4,0.000,0.064,2973,759,2195,0,0,0,0,0,0
$GC,4227,0.56,253.0,268.5,5.4,476,4248,0.08,2.00,17.12,0.709,6,0.067,0.057,3020,2004,2118,0,0,0,0,0,0
$GC,4558,0.56,253.0,239.4,9.2,508,4562,0.00,2.03,0.00,0.000,4,0.000,0.065,3020,3240,2112,0,0,0,0,0,0
$GC,4611,0.55,253.0,233.7,10.9,513,4615,0.00,1.98,0.00,0.000,6,0.000,0.054,3025,2004,2110,0,0,0,0,0,0
$GC,4933,0.53,253.0,200.7,9.9,544,4936,0.00,1.92,0.00,0.000,4,0.000,0.064,3031,763,2110,0,0,0,0,0,0
$GC,4965,0.53,253.0,197.4,9.8,547,4968,0.00,1.95,0.00,0.000,6,0.000,0.056,3031,2011,2110,0,0,0,0,0,0
$GC,5284,0.52,253.0,164.0,10.6,578,5288,0.00,1.95,0.00,0.000,4,0.000,0.064,3031,3226,2110,0,0,0,0,0,0
$GC,5306,0.50,253.0,161.5,12.0,580,5310,0.15,1.90,0.00,0.000,6,0.153,0.055,2996,2007,2109,0,0,0,0,0,0
$GC,5626,0.50,253.0,131.0,10.9,611,5630,0.00,1.98,0.00,0.000,4,0.000,0.064,3000,760,2110,0,0,0,0,0,0
$GC,5669,0.51,253.0,126.4,10.9,615,5673,0.00,1.98,0.00,0.000,6,0.000,0.057,3000,2011,2110,0,0,0,0,0,0
$GC,5987,0.51,253.0,92.0,11.3,652,5992,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2011,2109,0,0,0,0,0,0
$GC,6313,0.53,277.9,67.8,5.2,713,6340,0.00,1.98,20.00,0.634,4,0.000,0.066,3000,3226,2015,0,0,0,0,0,0
$GC,6373,0.55,292.8,64.5,5.6,724,6390,0.00,1.95,13.25,0.607,6,0.000,0.055,3000,2000,1956,0,0,0,0,0,0
$GC,6711,0.58,305.0,47.8,5.7,787,6727,0.00,1.95,11.23,0.600,4,0.000,0.062,3000,760,1905,0,0,0,0,0,0
$GC,6748,0.61,305.0,45.4,6.2,794,6755,0.00,1.98,0.00,0.000,6,0.000,0.056,3000,2007,1904,0,0,0,0,0,0
$GC,7076,0.68,321.7,24.9,5.5,855,7098,0.15,2.00,14.50,0.595,4,0.095,0.065,3059,3232,1837,0,0,0,0,0,0
$GC,7188,0.68,321.7,17.0,8.3,876,7196,0.00,1.90,0.00,0.000,6,0.000,0.054,3059,2030,1835,0,0,0,0,0,0
$STATE,7402,end climb,SURFACE_DEPTH_REACHED
$STATE,7402,begin surface coast
$FINISH,1.1,1.017251
$STATE,7461,end surface coast,CONTROL_FINISHED_OK
$STATE,7461,begin surface
$SM_CCo,7475,23.05,0.426,1,0,1723,350.04
$SM_GC,2.06,0.00,0.00,23.05,0.000,0.000,0.426,140,2083,1723,-8.42,0.23,350.04
$IRIDIUM_FIX,4732.49,-12512.90,241199,131315
$TT8_MAMPS,0.05369
$HUMID,39.64
$INTERNAL_PRESSURE,9.01087
$TCM_TEMP,15.20
$XPDR_PINGS,0
$24V_AH,24.2,35.774
$10V_AH,10.2,32.673
$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,19.575,67.200,355.425,23.050,0.000,27.174,38.111,175.090,0.000,0.000,25.549,0.000,4748.965,415.031,2276.183,396.753,0.000,1214.280,0.000,1954.782,0.000,0.533,0.000
$DEVICE_MAMPS,242.372,128.856,785.408,426.452,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,635.133,718.047,1258.202,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298628
$DATA_FILE_SIZE,50690,927
$CAP_FILE_SIZE,99706,0
$CFSIZE,260165632,235692032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.048,305.0,1
$GPS,300810,181758,4750.573,-12512.599,10,4.6,29,18.7