version: 66.06
glider: 187
mission: 2
dive: 581
start: 9 29 110 2 40 32
data:
$ID,187
$MISSION,2
$DIVE,581
$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,-36043.211
$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,24
$R_STBD_OVSHOOT,26
$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
$GPS1,023324,4751.925,-12511.922,51,1.4,51,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-76.5
$GPS2,024026,4751.898,-12511.941,15,1.5,15,18.7
$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,213.2,166932,-13.9,-6.111
$D_GRID,210
$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,14,-0.45,-112.4,0.0,0.0,0,73,0.00,0.00,-57.17,0.000,2,0.000,0.000,132,2077,3080,0,0,0,0,0,0
$GC,76,-0.45,-112.4,3.4,-2.8,11,104,10.50,2.03,-11.27,0.000,4,0.235,0.077,2695,3313,3611,0,0,0,0,0,0
$GC,243,-0.45,-112.4,30.2,-10.2,42,250,0.00,1.98,0.00,0.000,6,0.000,0.048,2695,2067,3613,0,0,0,0,0,0
$GC,571,-0.45,-112.4,67.2,-10.4,103,576,0.00,2.05,0.00,0.000,4,0.000,0.064,2688,3306,3614,0,0,0,0,0,0
$GC,657,-0.45,-112.4,75.8,-9.9,119,663,0.00,1.95,0.00,0.000,6,0.000,0.049,2688,2072,3614,0,0,0,0,0,0
$GC,982,-0.45,-112.4,103.2,-7.4,176,982,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2071,3615,0,0,0,0,0,0
$GC,1293,-0.45,-112.4,130.7,-9.3,206,1296,0.00,1.90,0.00,0.000,4,0.000,0.056,2688,835,3615,0,0,0,0,0,0
$GC,1325,-0.45,-112.4,133.8,-9.3,209,1328,0.00,1.98,0.00,0.000,6,0.000,0.054,2683,2082,3615,0,0,0,0,0,0
$GC,1645,-0.45,-112.4,165.4,-9.9,240,1649,0.00,2.00,0.00,0.000,4,0.000,0.064,2674,3307,3614,0,0,0,0,0,0
$GC,1671,-0.45,-112.4,168.0,-9.4,242,1678,0.08,1.92,0.00,0.000,6,0.117,0.050,2702,2082,3614,0,0,0,0,0,0
$GC,1987,-0.46,-112.4,190.8,-7.0,273,1988,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2081,3614,0,0,0,0,0,0
$STATE,2285,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2287,begin apogee
$GC,2292,-0.14,0.0,210.4,6.6,302,2382,0.32,0.00,88.70,0.709,6,0.110,0.000,2812,1985,3150,0,0,0,0,0,0
$STATE,2383,end apogee,CONTROL_FINISHED_OK
$STATE,2383,begin climb
$GC,2385,0.45,112.4,212.7,0.0,311,2481,0.52,2.05,89.30,0.686,4,0.073,0.058,3011,773,2690,0,0,0,0,0,0
$GC,2518,0.46,148.3,211.2,4.8,323,2555,0.00,2.00,29.92,0.664,6,0.000,0.052,3011,1996,2544,0,0,0,0,0,0
$GC,2864,0.45,155.9,189.5,5.8,357,2875,0.00,2.00,6.82,0.568,4,0.000,0.060,3011,3241,2514,0,0,0,0,0,0
$GC,3045,0.43,157.1,177.9,6.1,374,3049,0.00,1.92,0.00,0.000,6,0.000,0.050,3017,2034,2514,0,0,0,0,0,0
$GC,3366,0.42,173.6,160.6,5.5,405,3388,0.00,1.92,15.60,0.649,4,0.000,0.062,3017,3237,2442,0,0,0,0,0,0
$GC,3520,0.40,173.6,149.1,7.8,419,3526,0.10,1.92,0.00,0.000,6,0.126,0.051,2990,2033,2439,0,0,0,0,0,0
$GC,3836,0.43,214.1,132.6,4.6,450,3871,0.00,0.00,33.55,0.657,6,0.000,0.000,2990,2032,2276,0,0,0,0,0,0
$GC,4177,0.44,215.5,115.3,6.1,483,4180,0.00,1.98,0.00,0.000,4,0.000,0.061,2990,3230,2272,0,0,0,0,0,0
$GC,4208,0.44,215.5,113.1,6.6,486,4212,0.00,1.90,0.00,0.000,6,0.000,0.051,2992,2039,2271,0,0,0,0,0,0
$GC,4527,0.47,247.4,95.9,4.9,524,4559,0.00,0.00,26.85,0.637,6,0.000,0.000,2992,2040,2140,0,0,0,0,0,0
$GC,4882,0.50,271.0,73.3,5.2,590,4910,0.00,2.08,19.62,0.617,4,0.000,0.062,2992,760,2045,0,0,0,0,0,0
$GC,4932,0.54,304.2,70.7,4.9,599,4965,0.08,2.05,28.20,0.611,6,0.061,0.054,3038,2038,1910,0,0,0,0,0,0
$GC,5286,0.55,304.2,43.3,6.9,665,5291,0.00,1.95,0.00,0.000,4,0.000,0.063,3039,3225,1903,0,0,0,0,0,0
$GC,5371,0.56,304.2,37.3,7.0,681,5377,0.00,1.90,0.00,0.000,6,0.000,0.053,3039,2039,1902,0,0,0,0,0,0
$GC,5698,0.61,334.0,19.9,5.0,742,5728,0.00,2.03,24.05,0.593,4,0.000,0.060,3039,757,1788,0,0,0,0,0,0
$GC,5782,0.66,334.0,13.9,7.4,757,5788,0.00,2.03,0.00,0.000,6,0.000,0.054,3039,2027,1786,0,0,0,0,0,0
$STATE,5972,end climb,SURFACE_DEPTH_REACHED
$STATE,5972,begin surface coast
$FINISH,1.0,1.013968
$STATE,6032,end surface coast,CONTROL_FINISHED_OK
$STATE,6032,begin surface
$SM_CCo,6047,14.68,0.306,1,0,1723,350.04
$SM_GC,2.29,0.00,0.00,14.68,0.000,0.000,0.306,128,2081,1723,-8.52,0.17,350.04
$IRIDIUM_FIX,4735.69,-12509.51,241299,010132
$TT8_MAMPS,0.052156
$HUMID,41.45
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,16.40
$XPDR_PINGS,0
$24V_AH,24.2,60.032
$10V_AH,10.0,58.020
$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,19.250,43.725,362.625,14.675,0.000,29.396,32.273,244.854,0.000,0.000,15.593,0.000,3568.011,389.142,2013.552,503.322,0.000,1083.746,0.000,1753.084,0.000,0.533,0.000
$DEVICE_MAMPS,234.702,130.390,708.708,306.033,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,570.458,529.488,1220.124,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298628
$DATA_FILE_SIZE,44312,804
$CAP_FILE_SIZE,83693,0
$CFSIZE,260165632,220102656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.088, 42.6,1
$GPS,290910,042321,4751.479,-12512.666,62,3.7,81,18.7