version: 66.06
glider: 187
mission: 2
dive: 365
start: 9 1 110 22 39 55
data:
$ID,187
$MISSION,2
$DIVE,365
$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,-31024.617
$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,28
$R_STBD_OVSHOOT,37
$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
$GPS1,223513,4757.598,-12458.476,19,2.0,29,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-77.3
$GPS2,223949,4757.598,-12458.385,15,2.0,32,18.8
$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,193.0,187014,-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,11,begin dive
$GC,12,-0.45,-112.4,0.0,0.0,0,73,0.00,0.00,-58.85,0.000,2,0.000,0.000,133,2090,3132,0,0,0,0,0,0
$GC,75,-0.45,-112.4,3.7,-2.8,11,103,10.40,1.98,-10.18,0.000,4,0.241,0.077,2692,3299,3611,0,0,0,0,0,0
$GC,344,-0.44,-112.4,36.7,-9.9,61,350,0.00,1.92,0.00,0.000,6,0.000,0.050,2693,2071,3613,0,0,0,0,0,0
$GC,671,-0.43,-112.4,68.9,-8.9,122,677,0.00,1.95,0.00,0.000,4,0.000,0.056,2692,841,3614,0,0,0,0,0,0
$GC,810,-0.43,-112.4,81.3,-8.3,148,816,0.00,2.03,0.00,0.000,6,0.000,0.055,2691,2127,3614,0,0,0,0,0,0
$STATE,905,end dive,TARGET_DEPTH_EXCEEDED
$STATE,905,begin apogee
$GC,909,-0.14,0.0,89.1,8.0,166,1002,0.32,0.00,86.22,0.610,6,0.122,0.000,2801,1989,3150,0,0,0,0,0,0
$STATE,1003,end apogee,CONTROL_FINISHED_OK
$STATE,1004,begin climb
$GC,1005,0.45,112.4,92.7,0.0,183,1098,0.57,2.05,87.15,0.593,4,0.084,0.057,3010,765,2690,0,0,0,0,0,0
$GC,1308,0.46,154.4,83.2,4.6,238,1346,0.00,1.95,33.40,0.584,6,0.000,0.054,3010,1985,2519,0,0,0,0,0,0
$GC,1667,0.45,169.8,64.1,5.5,305,1684,0.00,2.00,13.27,0.567,4,0.000,0.061,3010,3237,2456,0,0,0,0,0,0
$GC,1817,0.44,169.8,52.9,8.0,333,1824,0.00,1.95,0.00,0.000,6,0.000,0.051,3013,2009,2454,0,0,0,0,0,0
$GC,2145,0.46,207.6,33.4,4.7,394,2183,0.00,2.03,30.33,0.580,4,0.000,0.062,3014,3238,2301,0,0,0,0,0,0
$GC,2273,0.47,220.7,26.6,5.6,418,2290,0.00,1.90,11.50,0.547,6,0.000,0.051,3013,2044,2249,0,0,0,0,0,0
$GC,2611,0.52,280.3,11.1,3.9,481,2667,0.00,2.10,47.10,0.568,4,0.000,0.061,3013,760,2006,0,0,0,0,0,0
$GC,2694,0.59,346.5,8.0,3.7,496,2756,0.00,2.05,52.90,0.555,6,0.000,0.054,3013,2038,1736,0,0,0,0,0,0
$STATE,2813,end climb,SURFACE_DEPTH_REACHED
$STATE,2813,begin surface coast
$FINISH,1.0,1.010564
$STATE,2883,end surface coast,CONTROL_FINISHED_OK
$STATE,2883,begin surface
$SM_CCo,2897,0.00,0.000,0,0,1722,350.04
$SM_GC,2.45,0.00,0.00,0.00,0.000,0.000,0.000,144,2076,1722,-8.47,0.03,350.04
$IRIDIUM_FIX,4738.89,-12457.15,261199,212113
$TT8_MAMPS,0.052923
$HUMID,39.17
$INTERNAL_PRESSURE,9.0304
$TCM_TEMP,15.70
$XPDR_PINGS,0
$24V_AH,24.5,39.331
$10V_AH,10.3,35.976
$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,18.925,24.125,361.875,0.000,0.000,33.884,31.801,112.707,0.000,0.000,32.257,0.000,1180.694,301.777,1407.277,278.572,0.000,816.051,0.000,1225.380,0.000,0.534,0.000
$DEVICE_MAMPS,240.838,226.265,609.765,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,357.965,396.033,1118.286,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298596
$DATA_FILE_SIZE,28625,531
$CAP_FILE_SIZE,51740,0
$CFSIZE,260165632,233865216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.102, 13.4,1
$GPS,010910,233000,4757.579,-12458.396,90,1.7,90,18.8