version: 66.06
glider: 187
mission: 2
dive: 317
start: 8 30 110 18 23 19
data:
$ID,187
$MISSION,2
$DIVE,317
$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,-29840.004
$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,25
$R_STBD_OVSHOOT,31
$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
$GPS1,181758,4750.573,-12512.599,10,4.6,29,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-77.2
$GPS2,182314,4750.550,-12512.605,17,1.1,17,18.7
$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,49.2,23767,-13.9,-6.111
$D_GRID,283
$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,11,begin dive
$GC,12,-0.45,-112.4,0.0,0.0,0,68,0.00,0.00,-53.58,0.000,2,0.000,0.000,134,2082,2937,0,0,0,0,0,0
$GC,70,-0.45,-112.4,3.2,-1.9,10,103,10.35,2.00,-16.27,0.000,4,0.241,0.079,2674,3306,3611,0,0,0,0,0,0
$GC,344,-0.44,-112.4,48.1,-13.8,61,350,0.00,1.95,0.00,0.000,6,0.000,0.050,2674,2067,3613,0,0,0,0,0,0
$GC,671,-0.42,-112.4,96.2,-13.6,122,676,0.00,2.03,0.00,0.000,4,0.000,0.067,2665,3303,3614,0,0,0,0,0,0
$GC,718,-0.42,-112.4,103.0,-13.7,129,726,0.08,1.92,0.00,0.000,6,0.126,0.051,2692,2076,3614,0,0,0,0,0,0
$GC,1034,-0.42,-112.4,136.5,-9.0,160,1037,0.00,1.92,0.00,0.000,4,0.000,0.055,2692,837,3614,0,0,0,0,0,0
$GC,1070,-0.42,-112.4,140.2,-9.7,163,1076,0.00,1.95,0.00,0.000,6,0.000,0.055,2691,2072,3614,0,0,0,0,0,0
$GC,1386,-0.42,-112.4,169.8,-9.4,194,1390,0.00,2.00,0.00,0.000,4,0.000,0.066,2683,3313,3614,0,0,0,0,0,0
$GC,1440,-0.42,-112.4,175.0,-10.0,199,1443,0.00,1.92,0.00,0.000,6,0.000,0.051,2683,2079,3614,0,0,0,0,0,0
$GC,1760,-0.42,-112.4,208.7,-10.9,230,1760,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2078,3614,0,0,0,0,0,0
$GC,2071,-0.42,-112.4,241.9,-10.7,260,2074,0.00,2.00,0.00,0.000,4,0.000,0.067,2674,3327,3614,0,0,0,0,0,0
$GC,2102,-0.42,-112.4,245.4,-10.7,263,2106,0.00,1.92,0.00,0.000,6,0.000,0.052,2674,2093,3614,0,0,0,0,0,0
$GC,2423,-0.42,-112.4,279.6,-10.6,294,2424,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2093,3614,0,0,0,0,0,0
$STATE,2463,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2463,begin apogee
$GC,2467,-0.14,0.0,283.9,10.5,298,2557,0.35,0.00,88.05,0.765,6,0.123,0.000,2786,1981,3150,0,0,0,0,0,0
$STATE,2558,end apogee,CONTROL_FINISHED_OK
$STATE,2558,begin climb
$GC,2559,0.45,112.4,288.3,0.0,307,2656,0.55,2.00,89.57,0.739,4,0.092,0.059,2979,769,2690,0,0,0,0,0,0
$GC,2692,0.49,182.8,286.9,3.5,319,2753,0.00,2.03,57.53,0.728,6,0.000,0.054,2979,1998,2404,0,0,0,0,0,0
$GC,3070,0.49,184.9,266.0,6.0,356,3074,0.00,2.03,0.00,0.000,4,0.000,0.064,2980,3237,2398,0,0,0,0,0,0
$GC,3171,0.49,184.9,259.1,7.1,365,3178,0.00,1.95,0.00,0.000,6,0.000,0.052,2985,2017,2397,0,0,0,0,0,0
$GC,3486,0.49,184.9,238.5,6.3,396,3487,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2017,2397,0,0,0,0,0,0
$GC,3798,0.49,190.3,219.4,5.9,426,3809,0.00,1.95,6.15,0.613,4,0.000,0.064,2985,3237,2375,0,0,0,0,0,0
$GC,3841,0.49,190.3,216.5,6.7,430,3844,0.00,1.92,0.00,0.000,6,0.000,0.054,2985,2025,2374,0,0,0,0,0,0
$GC,4161,0.49,190.3,196.5,6.4,461,4165,0.00,1.95,0.00,0.000,4,0.000,0.064,2985,3237,2374,0,0,0,0,0,0
$GC,4209,0.49,190.3,193.4,6.5,465,4216,0.00,1.90,0.00,0.000,6,0.000,0.053,2986,2032,2374,0,0,0,0,0,0
$GC,4526,0.50,201.5,174.7,5.7,496,4540,0.00,1.90,11.10,0.668,4,0.000,0.063,2985,3235,2327,0,0,0,0,0,0
$GC,4561,0.50,201.5,172.4,6.4,499,4564,0.00,1.90,0.00,0.000,6,0.000,0.054,2986,2035,2326,0,0,0,0,0,0
$GC,4881,0.50,205.2,153.2,6.0,530,4886,0.00,0.00,4.35,0.518,6,0.000,0.000,2986,2035,2312,0,0,0,0,0,0
$GC,5191,0.51,219.2,135.0,5.6,560,5208,0.00,2.05,13.00,0.656,4,0.000,0.062,2986,762,2255,0,0,0,0,0,0
$GC,5244,0.52,225.3,132.1,5.9,564,5253,0.00,2.00,6.38,0.576,6,0.000,0.056,2986,2025,2231,0,0,0,0,0,0
$GC,5570,0.52,225.3,110.9,7.8,596,5574,0.00,2.00,0.00,0.000,4,0.000,0.063,2986,771,2229,0,0,0,0,0,0
$GC,5585,0.54,225.3,109.9,7.3,597,5594,0.00,1.98,0.00,0.000,6,0.000,0.057,2986,2019,2229,0,0,0,0,0,0
$GC,5907,0.56,244.7,89.7,5.4,644,5930,0.00,0.00,16.80,0.641,6,0.000,0.000,2986,2019,2151,0,0,0,0,0,0
$GC,6251,0.60,246.9,71.0,6.0,708,6257,0.12,2.03,0.00,0.000,4,0.098,0.064,3046,762,2148,0,0,0,0,0,0
$GC,6358,0.60,246.9,62.9,8.4,728,6364,0.00,1.98,0.00,0.000,6,0.000,0.057,3047,2012,2148,0,0,0,0,0,0
$GC,6684,0.60,246.9,33.0,8.4,789,6691,0.00,2.00,0.00,0.000,4,0.000,0.064,3053,767,2148,0,0,0,0,0,0
$GC,6733,0.60,246.9,29.6,7.0,798,6739,0.08,1.95,0.00,0.000,6,0.135,0.056,3028,2005,2147,0,0,0,0,0,0
$GC,7060,0.64,290.2,12.9,4.5,859,7104,0.00,2.00,36.45,0.605,4,0.000,0.064,3028,3231,1965,0,0,0,0,0,0
$GC,7158,0.68,336.3,8.9,4.4,877,7202,0.00,1.98,37.08,0.587,6,0.000,0.054,3028,1995,1779,0,0,0,0,0,0
$STATE,7323,end climb,SURFACE_DEPTH_REACHED
$STATE,7323,begin surface coast
$FINISH,1.2,1.023134
$STATE,7398,end surface coast,CONTROL_FINISHED_OK
$STATE,7398,begin surface
$SM_CCo,7412,12.57,0.254,1,0,1723,350.04
$SM_GC,2.70,0.00,0.00,12.57,0.000,0.000,0.254,150,2081,1723,-8.40,0.17,350.04
$IRIDIUM_FIX,4735.69,-12505.04,241199,161644
$TT8_MAMPS,0.05369
$HUMID,39.52
$INTERNAL_PRESSURE,9.02063
$TCM_TEMP,16.30
$XPDR_PINGS,0
$24V_AH,24.3,35.860
$10V_AH,10.2,32.762
$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,19.250,59.375,366.450,12.575,0.000,27.270,30.386,160.525,0.000,0.000,17.600,0.000,4706.415,412.809,2245.557,365.619,0.000,1201.342,0.000,1938.025,0.000,0.533,0.000
$DEVICE_MAMPS,240.838,96.642,764.699,253.877,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,631.090,702.167,1257.695,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298596
$DATA_FILE_SIZE,50667,922
$CAP_FILE_SIZE,95431,0
$CFSIZE,260165632,235642880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.110,289.2,1
$GPS,300810,202900,4750.971,-12512.088,92,1.4,93,18.7