version: 66.06
glider: 187
mission: 2
dive: 578
start: 9 28 110 21 44 57
data:
$ID,187
$MISSION,2
$DIVE,578
$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,-35988.867
$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,29
$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
$GPS1,213538,4752.615,-12510.860,33,1.9,33,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-76.6
$GPS2,214452,4752.579,-12510.750,15,2.2,34,18.7
$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,205.5,168887,-13.9,-6.111
$D_GRID,173
$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,14,-0.45,-112.4,0.0,0.0,0,70,0.00,0.00,-53.90,0.000,2,0.000,0.000,131,2076,2993,0,0,0,0,0,0
$GC,72,-0.45,-112.4,3.1,-2.3,10,101,10.45,1.98,-13.62,0.000,4,0.233,0.074,2693,3309,3609,0,0,0,0,0,0
$GC,207,-0.45,-112.4,24.9,-11.0,35,213,0.00,1.98,0.00,0.000,6,0.000,0.048,2693,2068,3611,0,0,0,0,0,0
$GC,533,-0.45,-112.4,62.4,-10.4,96,539,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2065,3613,0,0,0,0,0,0
$GC,860,-0.45,-112.4,92.9,-9.1,157,866,0.00,2.03,0.00,0.000,4,0.000,0.064,2686,3297,3614,0,0,0,0,0,0
$GC,920,-0.45,-112.4,98.6,-9.2,168,926,0.00,1.92,0.00,0.000,6,0.000,0.049,2686,2075,3614,0,0,0,0,0,0
$GC,1235,-0.45,-112.4,128.3,-8.6,200,1239,0.00,2.00,0.00,0.000,4,0.000,0.062,2682,3304,3613,0,0,0,0,0,0
$GC,1278,-0.45,-112.4,131.8,-8.0,204,1282,0.00,1.90,0.00,0.000,6,0.000,0.048,2682,2088,3613,0,0,0,0,0,0
$GC,1599,-0.45,-112.4,159.4,-8.2,235,1602,0.00,1.98,0.00,0.000,4,0.000,0.065,2674,3312,3613,0,0,0,0,0,0
$GC,1657,-0.45,-112.4,163.6,-6.5,240,1664,0.08,1.88,0.00,0.000,6,0.118,0.049,2702,2117,3613,0,0,0,0,0,0
$STATE,1826,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1826,begin apogee
$GC,1831,-0.14,0.0,173.0,5.7,257,1921,0.32,0.00,87.70,0.680,6,0.111,0.000,2811,1987,3150,0,0,0,0,0,0
$STATE,1922,end apogee,CONTROL_FINISHED_OK
$STATE,1922,begin climb
$GC,1924,0.45,112.4,175.6,0.0,266,2020,0.52,2.05,89.05,0.660,4,0.075,0.058,3001,3232,2690,0,0,0,0,0,0
$GC,2260,0.45,141.2,163.4,5.1,297,2287,0.00,1.95,23.35,0.641,6,0.000,0.049,3008,2012,2573,0,0,0,0,0,0
$GC,2597,0.45,166.4,146.1,5.2,330,2622,0.00,1.98,21.38,0.640,4,0.000,0.060,3008,3237,2470,0,0,0,0,0,0
$GC,2856,0.43,166.4,125.7,8.5,354,2860,0.00,1.92,0.00,0.000,6,0.000,0.051,3014,2026,2467,0,0,0,0,0,0
$GC,3179,0.42,176.3,103.1,5.8,385,3193,0.00,1.95,8.85,0.584,4,0.000,0.061,3014,3229,2430,0,0,0,0,0,0
$GC,3293,0.41,198.7,97.3,5.3,400,3316,0.08,1.90,19.25,0.621,6,0.133,0.051,2995,2032,2340,0,0,0,0,0,0
$GC,3636,0.44,206.1,80.7,5.8,464,3649,0.00,2.00,7.40,0.558,4,0.000,0.058,2995,757,2308,0,0,0,0,0,0
$GC,3719,0.46,206.1,75.5,6.3,479,3724,0.00,2.17,0.00,0.000,6,0.000,0.053,2995,2128,2308,0,0,0,0,0,0
$GC,4046,0.51,247.2,56.8,4.6,540,4084,0.00,2.17,33.47,0.612,4,0.000,0.059,2996,767,2141,0,0,0,0,0,0
$GC,4166,0.58,289.9,51.3,4.5,562,4211,0.10,2.33,35.30,0.599,6,0.058,0.055,3054,2212,1966,0,0,0,0,0,0
$GC,4532,0.59,289.9,25.5,6.6,630,4538,0.00,1.67,0.00,0.000,4,0.000,0.064,3054,3227,1959,0,0,0,0,0,0
$GC,4628,0.59,289.9,19.0,6.2,648,4634,0.00,1.77,0.00,0.000,6,0.000,0.051,3054,2108,1958,0,0,0,0,0,0
$GC,4956,0.64,342.4,3.6,4.2,709,4973,0.00,0.00,16.20,0.570,2,0.000,0.000,3054,2107,1884,0,0,0,0,0,0
$STATE,4974,end climb,SURFACE_DEPTH_REACHED
$STATE,4974,begin surface coast
$FINISH,0.8,1.011876
$STATE,5046,end surface coast,CONTROL_FINISHED_OK
$STATE,5046,begin surface
$SM_CCo,5062,22.67,0.081,0,0,1723,350.04
$SM_GC,2.46,0.00,0.00,22.67,0.000,0.000,0.081,135,2105,1723,-8.50,0.85,350.04
$IRIDIUM_FIX,4735.69,-12453.48,231299,212119
$TT8_MAMPS,0.05369
$HUMID,41.92
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,16.30
$XPDR_PINGS,0
$24V_AH,24.3,59.783
$10V_AH,10.0,57.766
$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,19.225,39.700,341.950,22.675,0.000,51.338,79.978,227.038,0.000,0.000,35.072,0.000,2802.852,361.692,1922.423,536.687,0.000,1011.240,0.000,1658.576,0.000,0.534,0.000
$DEVICE_MAMPS,233.168,79.001,680.329,80.535,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,517.243,477.672,1222.332,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298568
$DATA_FILE_SIZE,38164,726
$CAP_FILE_SIZE,78919,0
$CFSIZE,260165632,220250112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.064,  5.4,1
$GPS,280910,231207,4752.487,-12511.124,125,1.8,125,18.7