version: 66.06
glider: 187
mission: 2
dive: 573
start: 9 28 110 14 21 15
data:
$ID,187
$MISSION,2
$DIVE,573
$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,-35869.012
$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,34
$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
$GPS1,141614,4753.373,-12508.573,43,1.6,43,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-77.1
$GPS2,142108,4753.371,-12508.615,17,1.7,17,18.7
$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,220.9,171937,-13.9,-6.111
$D_GRID,152
$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,-112.4,0.0,0.0,0,67,0.00,0.00,-52.33,0.000,2,0.000,0.000,132,2091,2952,0,0,0,0,0,0
$GC,69,-0.45,-112.4,3.4,-2.7,10,102,10.38,2.03,-14.60,0.000,4,0.233,0.077,2692,3311,3611,0,0,0,0,0,0
$GC,179,-0.44,-112.4,23.9,-15.0,30,184,0.00,1.98,0.00,0.000,6,0.000,0.050,2692,2078,3612,0,0,0,0,0,0
$GC,505,-0.44,-112.4,59.6,-9.1,91,510,0.00,1.95,0.00,0.000,4,0.000,0.055,2691,841,3614,0,0,0,0,0,0
$GC,735,-0.44,-112.4,80.1,-8.9,134,741,0.00,1.92,0.00,0.000,6,0.000,0.054,2685,2054,3615,0,0,0,0,0,0
$GC,1064,-0.44,-112.4,108.2,-8.7,187,1067,0.00,2.05,0.00,0.000,4,0.000,0.064,2676,3313,3615,0,0,0,0,0,0
$GC,1106,-0.44,-112.4,112.0,-9.1,191,1110,0.08,1.98,0.00,0.000,6,0.117,0.050,2704,2056,3615,0,0,0,0,0,0
$GC,1427,-0.44,-112.4,136.0,-7.2,222,1427,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2055,3615,0,0,0,0,0,0
$STATE,1653,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1653,begin apogee
$GC,1659,-0.14,0.0,152.6,7.6,244,1749,0.30,0.00,88.22,0.667,6,0.114,0.000,2805,1994,3150,0,0,0,0,0,0
$STATE,1749,end apogee,CONTROL_FINISHED_OK
$STATE,1749,begin climb
$GC,1751,0.45,112.4,156.0,0.0,253,1846,0.55,0.00,88.93,0.646,6,0.081,0.000,2999,1994,2691,0,0,0,0,0,0
$GC,2156,0.47,157.6,143.4,4.5,293,2198,0.00,2.03,36.08,0.640,4,0.000,0.060,3000,3243,2506,0,0,0,0,0,0
$GC,2253,0.45,157.6,137.3,7.4,302,2256,0.00,1.98,0.00,0.000,6,0.000,0.051,3007,2007,2504,0,0,0,0,0,0
$GC,2573,0.47,177.8,117.4,5.4,333,2594,0.00,2.00,17.20,0.619,4,0.000,0.061,3007,3241,2423,0,0,0,0,0,0
$GC,2642,0.45,177.8,113.0,7.0,339,2647,0.00,1.98,0.00,0.000,6,0.000,0.051,3013,2012,2422,0,0,0,0,0,0
$GC,2961,0.45,177.8,92.9,6.7,380,2968,0.00,2.00,0.00,0.000,4,0.000,0.062,3014,3232,2420,0,0,0,0,0,0
$GC,3102,0.44,177.8,81.9,7.7,406,3108,0.00,1.92,0.00,0.000,6,0.000,0.051,3017,2021,2419,0,0,0,0,0,0
$GC,3429,0.46,198.7,62.2,5.3,467,3451,0.00,1.98,17.35,0.604,4,0.000,0.060,3023,766,2340,0,0,0,0,0,0
$GC,3489,0.48,229.7,59.1,5.0,478,3521,0.00,1.98,26.12,0.602,6,0.000,0.054,3023,2007,2212,0,0,0,0,0,0
$GC,3842,0.49,246.8,38.5,5.5,544,3864,0.00,2.00,14.43,0.582,4,0.000,0.063,3023,3226,2143,0,0,0,0,0,0
$GC,3961,0.49,246.8,30.9,6.7,566,3967,0.00,1.92,0.00,0.000,6,0.000,0.052,3023,2025,2139,0,0,0,0,0,0
$GC,4288,0.56,328.5,16.2,3.1,627,4361,0.00,2.10,64.80,0.586,4,0.000,0.061,3023,762,1809,0,0,0,0,0,0
$STATE,4514,end climb,SURFACE_DEPTH_REACHED
$STATE,4514,begin surface coast
$FINISH,1.1,1.001146
$STATE,4552,end surface coast,CONTROL_FINISHED_OK
$STATE,4552,begin surface
$SM_CCo,4568,15.70,0.318,1,0,1722,350.04
$SM_GC,1.96,0.00,0.00,15.70,0.000,0.000,0.318,139,2073,1722,-8.49,-0.06,350.04
$IRIDIUM_FIX,4735.69,-12500.57,231299,131345
$TT8_MAMPS,0.05369
$HUMID,41.53
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,15.50
$XPDR_PINGS,0
$24V_AH,24.3,59.379
$10V_AH,10.0,57.367
$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,18.950,35.975,353.125,15.700,0.000,23.356,31.093,129.827,0.000,0.000,17.986,0.000,2442.970,376.568,1709.360,343.536,0.000,956.573,0.000,1490.652,0.000,0.534,0.000
$DEVICE_MAMPS,233.168,125.021,666.523,317.538,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,480.531,444.333,1167.508,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298612
$DATA_FILE_SIZE,34896,676
$CAP_FILE_SIZE,66049,0
$CFSIZE,260165632,220479488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.052, 98.9,1
$GPS,280910,153838,4753.083,-12509.055,33,1.6,33,18.7