version: 66.06
glider: 187
mission: 2
dive: 571
start: 9 28 110 11 39 33
data:
$ID,187
$MISSION,2
$DIVE,571
$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,-35816.211
$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,35
$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
$GPS1,113432,4753.750,-12507.789,19,1.6,19,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-77.1
$GPS2,113926,4753.725,-12507.823,11,1.9,11,18.8
$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,225.5,173133,-13.9,-6.111
$D_GRID,143
$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,-57.78,0.000,2,0.000,0.000,132,2087,3065,0,0,0,0,0,0
$GC,74,-0.45,-112.4,3.4,-2.5,11,102,10.35,2.00,-11.68,0.000,4,0.232,0.077,2694,3299,3611,0,0,0,0,0,0
$GC,140,-0.41,-112.4,19.9,-20.6,23,146,0.00,1.95,0.00,0.000,6,0.000,0.050,2693,2079,3613,0,0,0,0,0,0
$GC,467,-0.41,-112.4,56.6,-9.7,84,472,0.00,2.00,0.00,0.000,4,0.000,0.064,2685,3297,3614,0,0,0,0,0,0
$GC,520,-0.41,-112.4,62.2,-10.5,94,526,0.10,1.92,0.00,0.000,6,0.110,0.050,2721,2079,3614,0,0,0,0,0,0
$GC,848,-0.42,-112.4,86.9,-7.0,155,853,0.00,1.95,0.00,0.000,4,0.000,0.057,2721,846,3615,0,0,0,0,0,0
$GC,885,-0.43,-112.4,90.0,-8.0,162,891,0.00,1.95,0.00,0.000,6,0.000,0.055,2721,2071,3615,0,0,0,0,0,0
$GC,1210,-0.45,-112.4,113.5,-7.2,206,1213,0.00,2.03,0.00,0.000,4,0.000,0.064,2722,3314,3615,0,0,0,0,0,0
$GC,1285,-0.48,-112.4,118.7,-6.9,213,1288,0.00,1.95,0.00,0.000,6,0.000,0.048,2721,2054,3614,0,0,0,0,0,0
$GC,1606,-0.50,-112.4,140.3,-6.5,244,1607,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2053,3615,0,0,0,0,0,0
$STATE,1655,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1655,begin apogee
$GC,1660,-0.14,0.0,143.6,6.6,249,1750,0.25,0.00,87.85,0.662,6,0.110,0.000,2806,1994,3150,0,0,0,0,0,0
$STATE,1750,end apogee,CONTROL_FINISHED_OK
$STATE,1750,begin climb
$GC,1752,0.45,112.4,146.6,0.0,258,1849,0.55,2.03,88.43,0.641,4,0.081,0.056,3009,765,2690,0,0,0,0,0,0
$GC,1880,0.48,170.2,145.5,4.0,270,1932,0.00,2.03,46.67,0.629,6,0.000,0.052,3009,2009,2455,0,0,0,0,0,0
$GC,2242,0.48,170.2,121.5,7.5,305,2245,0.00,1.98,0.00,0.000,4,0.000,0.061,3009,3232,2450,0,0,0,0,0,0
$GC,2394,0.46,170.2,109.7,7.8,319,2397,0.00,1.92,0.00,0.000,6,0.000,0.051,3013,2010,2448,0,0,0,0,0,0
$GC,2715,0.46,170.2,89.0,8.1,366,2720,0.00,2.00,0.00,0.000,4,0.000,0.062,3013,3230,2448,0,0,0,0,0,0
$GC,2875,0.45,170.2,75.8,7.7,396,2881,0.00,1.92,0.00,0.000,6,0.000,0.051,3013,2017,2447,0,0,0,0,0,0
$GC,3202,0.48,215.2,59.8,4.5,457,3246,0.00,2.03,35.60,0.613,4,0.000,0.062,3013,3233,2271,0,0,0,0,0,0
$GC,3283,0.49,228.8,55.6,5.6,472,3300,0.00,1.92,11.88,0.569,6,0.000,0.051,3014,2032,2217,0,0,0,0,0,0
$GC,3622,0.52,261.4,39.0,4.9,535,3655,0.00,1.98,26.83,0.594,4,0.000,0.061,3014,3258,2082,0,0,0,0,0,0
$GC,3698,0.53,261.4,34.3,6.7,549,3705,0.00,1.98,0.00,0.000,6,0.000,0.051,3014,2035,2079,0,0,0,0,0,0
$GC,4026,0.60,315.1,21.1,4.1,610,4077,0.10,2.08,43.22,0.587,4,0.109,0.061,3064,769,1864,0,0,0,0,0,0
$GC,4105,0.65,353.1,17.9,4.7,624,4144,0.00,2.03,31.08,0.568,6,0.000,0.054,3064,2027,1710,0,0,0,0,0,0
$STATE,4355,end climb,SURFACE_DEPTH_REACHED
$STATE,4355,begin surface coast
$FINISH,0.9,1.013052
$STATE,4416,end surface coast,CONTROL_FINISHED_OK
$STATE,4416,begin surface
$SM_CCo,4491,0.00,0.000,0,0,1699,355.93
$SM_GC,2.26,7.70,0.00,0.00,0.038,0.000,0.000,135,2085,1699,-8.41,0.31,355.93
$IRIDIUM_FIX,4732.49,-12507.66,231299,101044
$TT8_MAMPS,0.052923
$HUMID,41.73
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,15.70
$XPDR_PINGS,0
$24V_AH,24.3,59.230
$10V_AH,10.2,57.216
$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,19.050,39.775,371.550,0.000,0.000,25.572,34.445,132.520,0.000,0.000,11.591,0.000,2303.010,355.662,1763.094,351.450,0.000,970.947,0.000,1542.558,0.000,0.534,0.000
$DEVICE_MAMPS,231.634,125.021,661.921,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,491.516,447.813,1232.949,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298600
$DATA_FILE_SIZE,34913,682
$CAP_FILE_SIZE,69905,0
$CFSIZE,260165632,220557312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.104, 46.3,1
$GPS,280910,125516,4753.656,-12508.185,14,2.9,33,18.8