version: 66.06
glider: 187
mission: 2
dive: 518
start: 9 26 110 1 0 55
data:
$ID,187
$MISSION,2
$DIVE,518
$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,-34506.551
$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,32
$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
$GPS1,005407,4758.076,-12458.732,21,1.0,31,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-72.3
$GPS2,010050,4758.158,-12458.758,35,1.0,35,18.8
$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,201.3,187221,-13.9,-6.111
$D_GRID,91
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.45,-112.4,0.0,0.0,0,74,0.00,0.00,-58.20,0.000,2,0.000,0.000,131,2083,3098,0,0,0,0,0,0
$GC,77,-0.45,-112.4,3.5,-3.1,10,105,10.50,2.00,-10.55,0.000,4,0.238,0.070,2703,839,3612,0,0,0,0,0,0
$GC,187,-0.43,-112.4,26.9,-13.0,30,192,0.00,1.95,0.00,0.000,6,0.000,0.054,2700,2062,3614,0,0,0,0,0,0
$GC,513,-0.43,-112.4,57.5,-7.0,91,519,0.00,2.03,0.00,0.000,4,0.000,0.064,2690,3310,3615,0,0,0,0,0,0
$GC,529,-0.43,-112.4,58.7,-7.2,94,535,0.00,1.92,0.00,0.000,6,0.000,0.049,2690,2084,3615,0,0,0,0,0,0
$GC,856,-0.43,-112.4,85.5,-7.9,155,862,0.00,1.98,0.00,0.000,4,0.000,0.056,2690,839,3616,0,0,0,0,0,0
$GC,894,-0.43,-112.4,88.7,-8.5,162,900,0.00,1.95,0.00,0.000,6,0.000,0.054,2690,2071,3616,0,0,0,0,0,0
$STATE,924,end dive,TARGET_DEPTH_EXCEEDED
$STATE,924,begin apogee
$GC,929,-0.14,0.0,91.2,8.0,168,1022,0.32,0.00,86.70,0.614,6,0.117,0.000,2802,1997,3149,0,0,0,0,0,0
$STATE,1023,end apogee,CONTROL_FINISHED_OK
$STATE,1023,begin climb
$GC,1026,0.45,112.4,94.4,0.0,185,1120,0.55,0.00,86.88,0.597,6,0.081,0.000,2996,1997,2690,0,0,0,0,0,0
$GC,1442,0.47,159.6,79.8,4.4,262,1486,0.00,2.00,36.92,0.594,4,0.000,0.059,2996,3236,2498,0,0,0,0,0,0
$GC,1620,0.46,159.6,68.5,6.8,295,1625,0.00,1.95,0.00,0.000,6,0.000,0.050,3003,2019,2496,0,0,0,0,0,0
$GC,1947,0.48,186.8,48.3,5.1,356,1974,0.00,1.98,22.23,0.584,4,0.000,0.061,3003,3244,2387,0,0,0,0,0,0
$GC,2066,0.49,203.8,41.5,5.5,378,2088,0.00,1.95,14.45,0.562,6,0.000,0.051,3004,2023,2319,0,0,0,0,0,0
$GC,2410,0.53,251.4,23.0,4.4,442,2455,0.00,2.00,38.22,0.580,4,0.000,0.058,3004,766,2124,0,0,0,0,0,0
$GC,2695,0.62,298.5,13.4,4.4,495,2739,0.10,1.95,37.40,0.571,6,0.072,0.054,3052,1995,1931,0,0,0,0,0,0
$STATE,2966,end climb,SURFACE_DEPTH_REACHED
$STATE,2966,begin surface coast
$FINISH,0.8,1.022097
$STATE,3025,end surface coast,CONTROL_FINISHED_OK
$STATE,3025,begin surface
$SM_CCo,3041,26.52,0.421,1,0,1723,350.04
$SM_GC,1.67,0.00,0.00,26.52,0.000,0.000,0.421,133,2085,1723,-8.51,0.28,350.04
$IRIDIUM_FIX,4748.51,-12750.80,211299,000029
$TT8_MAMPS,0.052923
$HUMID,41.10
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,15.80
$XPDR_PINGS,0
$24V_AH,24.5,55.164
$10V_AH,10.2,53.408
$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,19.125,23.875,322.800,26.525,0.000,25.200,46.314,204.448,0.000,0.000,35.498,0.000,1258.930,311.892,1479.150,415.434,0.000,830.927,0.000,1284.519,0.000,0.534,0.000
$DEVICE_MAMPS,237.770,105.846,613.600,421.083,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,399.331,363.851,1173.742,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298676
$DATA_FILE_SIZE,28683,557
$CAP_FILE_SIZE,54488,0
$CFSIZE,260165632,222621696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.048, 81.0,1
$GPS,260910,015308,4758.018,-12459.026,41,1.2,41,18.8