version: 66.06
glider: 187
mission: 2
dive: 577
start: 9 28 110 20 9 38
data:
$ID,187
$MISSION,2
$DIVE,577
$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,-35953.168
$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,27
$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
$GPS1,200016,4752.772,-12510.606,12,3.9,31,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-76.6
$GPS2,200931,4752.799,-12510.491,41,1.6,41,18.7
$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,208.3,169391,-13.9,-6.111
$D_GRID,164
$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,-112.4,0.0,0.0,0,69,0.00,0.00,-55.45,0.000,2,0.000,0.000,131,2056,2971,0,0,0,0,0,0
$GC,72,-0.45,-112.4,3.1,-3.0,10,105,10.52,2.08,-14.48,0.000,4,0.235,0.076,2694,3309,3611,0,0,0,0,0,0
$GC,206,-0.44,-112.4,26.1,-11.8,35,212,0.00,1.98,0.00,0.000,6,0.000,0.048,2694,2064,3613,0,0,0,0,0,0
$GC,532,-0.44,-112.4,64.5,-12.2,96,538,0.00,1.92,0.00,0.000,4,0.000,0.055,2694,847,3614,0,0,0,0,0,0
$GC,554,-0.44,-112.4,67.0,-11.9,100,561,0.00,1.98,0.00,0.000,6,0.000,0.054,2689,2088,3615,0,0,0,0,0,0
$GC,882,-0.44,-112.4,91.0,-7.9,161,888,0.00,2.00,0.00,0.000,4,0.000,0.064,2680,3314,3615,0,0,0,0,0,0
$GC,973,-0.44,-112.4,98.4,-8.3,178,979,0.08,1.88,0.00,0.000,6,0.117,0.048,2709,2117,3615,0,0,0,0,0,0
$GC,1295,-0.47,-112.4,119.4,-6.6,211,1298,0.00,1.95,0.00,0.000,4,0.000,0.063,2709,3314,3615,0,0,0,0,0,0
$GC,1392,-0.50,-112.4,125.1,-5.7,220,1395,0.00,1.77,0.00,0.000,6,0.000,0.048,2708,2161,3615,0,0,0,0,0,0
$GC,1712,-0.51,-112.4,146.1,-7.1,251,1715,0.00,2.08,0.00,0.000,4,0.000,0.055,2709,839,3615,0,0,0,0,0,0
$GC,1776,-0.52,-112.4,150.5,-6.6,257,1780,0.00,2.10,0.00,0.000,6,0.000,0.055,2709,2178,3614,0,0,0,0,0,0
$STATE,1975,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1975,begin apogee
$GC,1980,-0.14,0.0,164.2,6.5,276,2070,0.30,0.00,88.07,0.678,6,0.109,0.000,2809,1990,3150,0,0,0,0,0,0
$STATE,2071,end apogee,CONTROL_FINISHED_OK
$STATE,2071,begin climb
$GC,2073,0.45,112.4,167.2,0.0,285,2170,0.52,2.03,88.57,0.657,4,0.075,0.059,3001,763,2690,0,0,0,0,0,0
$GC,2277,0.48,178.5,165.2,3.7,304,2339,0.00,1.98,53.12,0.647,6,0.000,0.051,3001,2005,2421,0,0,0,0,0,0
$GC,2649,0.48,178.5,142.7,7.1,340,2652,0.00,2.00,0.00,0.000,4,0.000,0.061,3000,3237,2416,0,0,0,0,0,0
$GC,2766,0.48,178.5,133.6,7.7,351,2769,0.00,1.95,0.00,0.000,6,0.000,0.051,3001,2017,2415,0,0,0,0,0,0
$GC,3087,0.48,178.5,114.3,6.9,382,3090,0.00,1.98,0.00,0.000,4,0.000,0.063,3000,3230,2414,0,0,0,0,0,0
$GC,3183,0.48,178.5,107.2,8.3,391,3186,0.00,1.90,0.00,0.000,6,0.000,0.051,3005,2016,2414,0,0,0,0,0,0
$GC,3505,0.50,209.2,91.2,5.0,439,3532,0.00,2.03,24.38,0.627,4,0.000,0.062,3005,3240,2297,0,0,0,0,0,0
$GC,3597,0.50,209.2,85.6,6.5,456,3604,0.00,1.95,0.00,0.000,6,0.000,0.051,3011,2021,2294,0,0,0,0,0,0
$GC,3925,0.52,238.0,66.9,5.1,517,3952,0.00,2.00,23.85,0.611,4,0.000,0.063,3011,3230,2178,0,0,0,0,0,0
$GC,4039,0.52,238.0,58.6,8.1,538,4045,0.00,1.90,0.00,0.000,6,0.000,0.051,3013,2046,2175,0,0,0,0,0,0
$GC,4367,0.56,285.5,41.6,4.4,599,4410,0.00,1.92,38.42,0.602,4,0.000,0.061,3013,3236,1984,0,0,0,0,0,0
$GC,4444,0.60,311.0,37.8,5.2,613,4472,0.08,1.92,21.30,0.578,6,0.066,0.052,3062,2047,1882,0,0,0,0,0,0
$GC,4793,0.61,328.5,14.0,5.5,678,4815,0.00,1.95,14.82,0.566,4,0.000,0.062,3062,3232,1809,0,0,0,0,0,0
$GC,4887,0.63,329.6,8.5,6.1,695,4892,0.00,1.85,0.00,0.000,6,0.000,0.051,3063,2081,1806,0,0,0,0,0,0
$STATE,5002,end climb,SURFACE_DEPTH_REACHED
$STATE,5002,begin surface coast
$FINISH,1.0,1.024082
$STATE,5067,end surface coast,CONTROL_FINISHED_OK
$STATE,5067,begin surface
$SM_CCo,5082,18.98,0.373,1,0,1723,350.04
$SM_GC,1.91,0.00,0.00,18.98,0.000,0.000,0.373,133,2076,1723,-8.51,0.03,350.04
$IRIDIUM_FIX,4754.94,-12519.11,231299,202053
$TT8_MAMPS,0.052923
$HUMID,42.16
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,15.60
$XPDR_PINGS,0
$24V_AH,24.2,59.701
$10V_AH,10.1,57.684
$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,19.275,47.350,352.550,18.975,0.000,58.393,80.245,213.928,0.000,0.000,41.761,0.000,2828.339,376.863,1913.594,530.949,0.000,1033.164,0.000,1640.790,0.000,0.533,0.000
$DEVICE_MAMPS,235.469,75.933,678.028,372.762,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,521.304,479.149,1224.079,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298612
$DATA_FILE_SIZE,38107,729
$CAP_FILE_SIZE,80032,0
$CFSIZE,260165632,220295168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.080, 27.8,1
$GPS,280910,213538,4752.615,-12510.860,33,1.9,33,18.7