version: 66.06
glider: 187
mission: 2
dive: 536
start: 9 26 110 19 29 30
data:
$ID,187
$MISSION,2
$DIVE,536
$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,-34951.113
$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,25
$R_STBD_OVSHOOT,22
$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
$GPS1,191919,4756.736,-12501.679,80,1.3,92,18.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-76.5
$GPS2,192925,4756.787,-12501.562,13,1.7,13,18.8
$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,219.6,182863,-13.9,-6.111
$D_GRID,103
$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,15,-0.45,-112.4,0.0,0.0,0,74,0.00,0.00,-57.40,0.000,2,0.000,0.000,131,2075,3074,0,0,0,0,0,0
$GC,77,-0.45,-112.4,3.2,-2.7,11,105,10.40,0.00,-11.68,0.000,6,0.234,0.000,2698,2076,3611,0,0,0,0,0,0
$GC,426,-0.45,-112.4,50.3,-9.2,76,431,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2076,3613,0,0,0,0,0,0
$GC,752,-0.45,-112.4,79.0,-8.0,137,758,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2076,3614,0,0,0,0,0,0
$STATE,1043,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1043,begin apogee
$GC,1047,-0.14,0.0,103.5,8.4,188,1137,0.32,0.00,87.15,0.626,6,0.114,0.000,2807,1981,3150,0,0,0,0,0,0
$STATE,1138,end apogee,CONTROL_FINISHED_OK
$STATE,1138,begin climb
$GC,1140,0.45,112.4,106.7,0.0,197,1236,0.55,1.95,87.30,0.605,4,0.081,0.055,3010,780,2691,0,0,0,0,0,0
$GC,1322,0.48,181.8,103.5,3.6,214,1384,0.00,1.95,55.62,0.599,6,0.000,0.051,3010,2008,2407,0,0,0,0,0,0
$GC,1703,0.48,181.8,76.6,7.8,278,1709,0.00,2.00,0.00,0.000,4,0.000,0.061,3010,3228,2402,0,0,0,0,0,0
$GC,1902,0.48,181.8,63.0,6.7,315,1907,0.00,1.90,0.00,0.000,6,0.000,0.050,3013,2034,2401,0,0,0,0,0,0
$GC,2229,0.49,203.1,44.4,5.3,376,2251,0.00,1.95,16.92,0.581,4,0.000,0.058,3013,3235,2321,0,0,0,0,0,0
$GC,2432,0.49,203.1,30.0,6.9,414,2438,0.00,1.90,0.00,0.000,6,0.000,0.051,3014,2038,2317,0,0,0,0,0,0
$GC,2759,0.59,322.7,19.0,1.7,475,2864,0.00,2.03,93.28,0.581,4,0.000,0.062,3014,3232,1832,0,0,0,0,0,0
$STATE,3086,end climb,SURFACE_DEPTH_REACHED
$STATE,3086,begin surface coast
$FINISH,0.8,1.022920
$STATE,3145,end surface coast,CONTROL_FINISHED_OK
$STATE,3145,begin surface
$SM_CCo,3162,17.05,0.334,1,0,1722,350.04
$SM_GC,2.20,0.00,0.00,17.05,0.000,0.000,0.334,136,2063,1722,-8.50,-0.34,350.04
$IRIDIUM_FIX,4738.89,-12459.78,211299,191948
$TT8_MAMPS,0.052923
$HUMID,40.90
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,16.50
$XPDR_PINGS,0
$24V_AH,24.4,56.571
$10V_AH,10.1,54.673
$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,18.875,15.675,340.275,17.050,0.000,55.104,67.581,309.745,0.000,0.000,13.154,0.000,1407.429,340.324,1454.422,577.383,0.000,830.357,0.000,1287.833,0.000,0.534,0.000
$DEVICE_MAMPS,233.935,92.807,625.872,334.412,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,380.179,359.416,1098.023,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298736
$DATA_FILE_SIZE,28629,547
$CAP_FILE_SIZE,55404,0
$CFSIZE,260165632,221949952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.123,  2.2,1
$GPS,260910,202416,4756.660,-12501.685,62,3.7,81,18.8