version: 66.06
glider: 187
mission: 2
dive: 569
start: 9 28 110 9 2 50
data:
$ID,187
$MISSION,2
$DIVE,569
$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,-35785.621
$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,26
$R_STBD_OVSHOOT,23
$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
$GPS1,085808,4753.573,-12507.251,35,2.0,35,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-78.5
$GPS2,090244,4753.541,-12507.208,12,1.4,12,18.7
$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,225.5,173574,-13.9,-6.111
$D_GRID,138
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.45,-112.4,0.0,0.0,0,74,0.00,0.00,-58.88,0.000,2,0.000,0.000,131,2072,3109,0,0,0,0,0,0
$GC,76,-0.45,-112.4,3.5,-2.8,11,105,10.40,2.03,-10.45,0.000,4,0.235,0.077,2692,3312,3612,0,0,0,0,0,0
$GC,121,-0.29,-112.4,17.2,-29.8,19,127,0.20,1.98,0.00,0.000,6,0.122,0.050,2772,2074,3613,0,0,0,0,0,0
$GC,448,-0.32,-112.4,41.0,-6.2,80,454,0.00,2.03,0.00,0.000,4,0.000,0.064,2772,3305,3615,0,0,0,0,0,0
$GC,491,-0.36,-112.4,44.1,-6.9,88,497,0.00,1.95,0.00,0.000,6,0.000,0.049,2772,2070,3615,0,0,0,0,0,0
$GC,818,-0.44,-112.4,65.8,-7.9,149,824,0.17,2.03,0.00,0.000,4,0.094,0.064,2706,3312,3615,0,0,0,0,0,0
$GC,905,-0.47,-112.4,72.4,-6.9,165,912,0.00,1.98,0.00,0.000,6,0.000,0.048,2706,2054,3615,0,0,0,0,0,0
$GC,1233,-0.50,-112.4,94.4,-6.4,226,1239,0.00,2.05,0.00,0.000,4,0.000,0.064,2706,3306,3615,0,0,0,0,0,0
$GC,1255,-0.53,-112.4,95.8,-5.7,230,1261,0.00,2.15,0.00,0.000,6,0.000,0.050,2706,1940,3615,0,0,0,0,0,0
$GC,1578,-0.56,-112.4,119.3,-7.3,267,1581,0.00,2.20,0.00,0.000,4,0.000,0.065,2706,3316,3615,0,0,0,0,0,0
$GC,1636,-0.57,-112.4,123.7,-7.6,272,1640,0.08,1.95,0.00,0.000,6,0.058,0.050,2651,2069,3615,0,0,0,0,0,0
$STATE,1779,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1779,begin apogee
$GC,1785,-0.14,0.0,138.4,10.2,286,1875,0.47,0.00,88.10,0.657,6,0.117,0.000,2805,1992,3150,0,0,0,0,0,0
$STATE,1876,end apogee,CONTROL_FINISHED_OK
$STATE,1876,begin climb
$GC,1878,0.45,112.4,141.7,0.0,295,1973,0.55,2.03,88.80,0.634,4,0.081,0.058,3004,765,2690,0,0,0,0,0,0
$GC,1999,0.49,189.3,140.7,3.3,307,2067,0.00,2.03,61.83,0.625,6,0.000,0.052,3004,2005,2377,0,0,0,0,0,0
$GC,2376,0.49,193.8,118.0,5.9,344,2387,0.00,2.00,4.40,0.456,4,0.000,0.061,3004,3229,2358,0,0,0,0,0,0
$GC,2430,0.49,193.8,114.6,6.9,349,2433,0.00,1.92,0.00,0.000,6,0.000,0.051,3011,2010,2357,0,0,0,0,0,0
$GC,2749,0.49,193.8,93.6,6.4,388,2754,0.00,2.00,0.00,0.000,4,0.000,0.062,3011,3227,2357,0,0,0,0,0,0
$GC,2775,0.49,193.8,91.8,6.3,393,2782,0.00,1.95,0.00,0.000,6,0.000,0.051,3013,2006,2357,0,0,0,0,0,0
$GC,3103,0.49,193.8,70.1,6.7,454,3109,0.00,2.00,0.00,0.000,4,0.000,0.063,3013,3226,2357,0,0,0,0,0,0
$GC,3157,0.49,193.8,66.3,7.0,464,3163,0.00,1.92,0.00,0.000,6,0.000,0.052,3013,2014,2356,0,0,0,0,0,0
$GC,3483,0.50,218.1,52.2,5.2,525,3511,0.00,2.00,20.35,0.601,4,0.000,0.063,3013,3237,2259,0,0,0,0,0,0
$GC,3586,0.50,218.1,46.1,6.4,544,3592,0.00,1.95,0.00,0.000,6,0.000,0.051,3013,2016,2257,0,0,0,0,0,0
$GC,3914,0.56,281.7,32.4,3.8,605,3969,0.00,0.00,50.88,0.595,6,0.000,0.000,3013,2016,2000,0,0,0,0,0,0
$GC,4290,0.65,331.8,12.8,4.3,675,4334,0.15,2.00,39.65,0.574,4,0.087,0.059,3081,761,1797,0,0,0,0,0,0
$GC,4409,0.67,341.8,6.6,5.7,697,4422,0.00,2.03,9.52,0.522,6,0.000,0.053,3081,2026,1755,0,0,0,0,0,0
$STATE,4468,end climb,SURFACE_DEPTH_REACHED
$STATE,4468,begin surface coast
$FINISH,1.0,1.012932
$STATE,4526,end surface coast,CONTROL_FINISHED_OK
$STATE,4526,begin surface
$SM_CCo,4541,7.43,0.090,1,0,1723,350.04
$SM_GC,2.66,0.00,0.00,7.43,0.000,0.000,0.090,147,2082,1723,-8.46,0.20,350.04
$IRIDIUM_FIX,4735.69,-12505.04,231299,070749
$TT8_MAMPS,0.052923
$HUMID,41.65
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,16.50
$XPDR_PINGS,0
$24V_AH,24.3,59.080
$10V_AH,10.1,57.067
$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,19.850,44.325,363.525,7.425,0.000,22.735,30.840,119.562,0.000,0.000,12.631,0.000,2238.598,388.733,1853.779,336.987,0.000,1009.100,0.000,1621.082,0.000,0.533,0.000
$DEVICE_MAMPS,234.702,123.487,657.319,89.739,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,510.314,472.881,1333.983,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298612
$DATA_FILE_SIZE,38048,719
$CAP_FILE_SIZE,73240,0
$CFSIZE,260165632,220635136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.195, 80.2,1
$GPS,280910,102007,4753.585,-12507.450,63,0.9,63,18.7