version: 66.06
glider: 187
mission: 2
dive: 360
start: 9 1 110 18 25 4
data:
$ID,187
$MISSION,2
$DIVE,360
$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,-30890.174
$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,2855
$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,38
$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
$GPS1,181715,4756.652,-12459.289,34,3.2,53,18.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-77.9
$GPS2,182458,4756.686,-12459.388,15,2.5,34,18.8
$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,41.3,3833,-13.9,-6.111
$D_GRID,89
$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,-112.4,0.0,0.0,0,72,0.00,0.00,-58.47,0.000,2,0.000,0.000,132,2089,3102,0,0,0,0,0,0
$GC,74,-0.45,-112.4,3.5,-2.7,11,103,10.38,1.98,-11.40,0.000,4,0.239,0.075,2692,3305,3611,0,0,0,0,0,0
$GC,332,-0.44,-112.4,36.8,-10.2,59,338,0.00,1.95,0.00,0.000,6,0.000,0.048,2691,2062,3614,0,0,0,0,0,0
$GC,658,-0.44,-112.4,70.0,-10.7,120,664,0.00,2.00,0.00,0.000,4,0.000,0.065,2684,3291,3614,0,0,0,0,0,0
$GC,733,-0.44,-112.4,78.0,-10.3,134,739,0.00,1.88,0.00,0.000,6,0.000,0.050,2684,2091,3614,0,0,0,0,0,0
$STATE,844,end dive,TARGET_DEPTH_EXCEEDED
$STATE,844,begin apogee
$GC,848,-0.14,0.0,89.4,10.3,155,939,0.35,0.00,86.03,0.617,6,0.123,0.000,2801,1996,3150,0,0,0,0,0,0
$STATE,941,end apogee,CONTROL_FINISHED_OK
$STATE,941,begin climb
$GC,942,0.45,112.4,93.3,0.0,172,1038,0.57,2.03,87.12,0.597,4,0.085,0.059,3009,781,2690,0,0,0,0,0,0
$GC,1075,0.47,178.1,91.3,3.7,196,1135,0.00,1.98,52.50,0.588,6,0.000,0.053,3009,1994,2422,0,0,0,0,0,0
$GC,1455,0.47,178.1,66.5,7.0,267,1461,0.00,2.03,0.00,0.000,4,0.000,0.063,3009,3234,2417,0,0,0,0,0,0
$GC,1487,0.46,178.1,64.0,7.4,273,1494,0.00,1.98,0.00,0.000,6,0.000,0.052,3011,1998,2416,0,0,0,0,0,0
$GC,1815,0.47,187.8,40.5,5.8,334,1826,0.00,2.00,8.02,0.537,4,0.000,0.061,3019,759,2383,0,0,0,0,0,0
$GC,1831,0.47,194.6,39.6,5.9,337,1844,0.00,1.92,7.25,0.507,6,0.000,0.057,3019,1971,2355,0,0,0,0,0,0
$GC,2165,0.51,261.4,19.2,3.7,399,2227,0.00,1.98,52.33,0.577,4,0.000,0.061,3019,770,2082,0,0,0,0,0,0
$GC,2238,0.57,315.1,16.5,4.1,412,2288,0.00,2.00,43.58,0.560,6,0.000,0.054,3019,2012,1863,0,0,0,0,0,0
$STATE,2483,end climb,SURFACE_DEPTH_REACHED
$STATE,2483,begin surface coast
$FINISH,1.2,1.004432
$STATE,2533,end surface coast,CONTROL_FINISHED_OK
$STATE,2533,begin surface
$SM_CCo,2547,22.12,0.393,1,0,1721,350.04
$SM_GC,1.88,0.00,0.00,22.12,0.000,0.000,0.393,144,2078,1721,-8.47,0.08,350.04
$IRIDIUM_FIX,4738.89,-12459.78,261199,181833
$TT8_MAMPS,0.052923
$HUMID,38.26
$INTERNAL_PRESSURE,9.01087
$TCM_TEMP,15.80
$XPDR_PINGS,0
$24V_AH,24.5,38.994
$10V_AH,10.2,35.662
$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,18.925,23.925,336.825,22.125,0.000,61.267,110.014,124.166,0.000,0.000,36.841,0.000,1072.619,311.362,1253.884,392.828,0.000,779.444,0.000,1081.784,0.000,0.534,0.000
$DEVICE_MAMPS,239.304,111.215,616.668,392.704,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,314.608,345.631,982.820,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298620
$DATA_FILE_SIZE,25501,467
$CAP_FILE_SIZE,48829,0
$CFSIZE,260165632,234049536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$CURRENT,0.072,171.3,1
$GPS,010910,190856,4756.771,-12459.161,20,4.3,39,18.8