version: 66.06
glider: 187
mission: 2
dive: 582
start: 9 29 110 4 33 27
data:
$ID,187
$MISSION,2
$DIVE,582
$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,-36075.828
$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
$GPS1,042321,4751.479,-12512.666,62,3.7,81,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-74.0
$GPS2,043322,4751.442,-12512.726,12,4.3,31,18.7
$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,210.7,165636,-13.9,-6.111
$D_GRID,280
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.45,-112.4,0.0,0.0,0,68,0.00,0.00,-51.75,0.000,2,0.000,0.000,127,2081,2948,0,0,0,0,0,0
$GC,71,-0.45,-112.4,3.0,-2.3,10,104,10.45,2.00,-14.98,0.000,4,0.233,0.076,2691,3298,3611,0,0,0,0,0,0
$GC,175,-0.44,-112.4,22.0,-13.3,29,181,0.00,1.95,0.00,0.000,6,0.000,0.049,2691,2076,3613,0,0,0,0,0,0
$GC,502,-0.44,-112.4,59.6,-12.1,90,508,0.00,2.03,0.00,0.000,4,0.000,0.062,2683,3305,3614,0,0,0,0,0,0
$GC,578,-0.44,-112.4,67.6,-10.1,104,583,0.00,1.92,0.00,0.000,6,0.000,0.048,2683,2085,3615,0,0,0,0,0,0
$GC,905,-0.44,-112.4,98.6,-10.2,165,912,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2083,3615,0,0,0,0,0,0
$GC,1223,-0.44,-112.4,129.8,-9.4,197,1225,0.00,1.95,0.00,0.000,4,0.000,0.057,2683,834,3615,0,0,0,0,0,0
$GC,1248,-0.44,-112.4,132.3,-9.3,199,1254,0.08,1.98,0.00,0.000,6,0.127,0.054,2706,2078,3614,0,0,0,0,0,0
$GC,1564,-0.45,-112.4,153.7,-7.2,230,1567,0.00,2.00,0.00,0.000,4,0.000,0.064,2704,3303,3614,0,0,0,0,0,0
$GC,1606,-0.47,-112.4,156.5,-6.8,234,1610,0.00,1.90,0.00,0.000,6,0.000,0.048,2704,2087,3614,0,0,0,0,0,0
$GC,1928,-0.48,-112.4,179.3,-7.2,265,1928,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2086,3614,0,0,0,0,0,0
$GC,2240,-0.50,-112.4,202.0,-7.1,295,2243,0.00,1.98,0.00,0.000,4,0.000,0.064,2703,3308,3613,0,0,0,0,0,0
$GC,2282,-0.51,-112.4,204.9,-6.4,299,2286,0.00,1.90,0.00,0.000,6,0.000,0.049,2703,2095,3613,0,0,0,0,0,0
$GC,2603,-0.53,-112.4,227.4,-7.0,330,2603,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2094,3612,0,0,0,0,0,0
$GC,2914,-0.54,-112.4,251.3,-7.7,360,2915,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2094,3612,0,0,0,0,0,0
$GC,3226,-0.55,-112.4,275.0,-7.9,390,3227,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2094,3611,0,0,0,0,0,0
$STATE,3295,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3295,begin apogee
$GC,3300,-0.14,0.0,280.5,7.4,397,3391,0.32,0.00,89.03,0.760,6,0.109,0.000,2810,1981,3150,0,0,0,0,0,0
$STATE,3391,end apogee,CONTROL_FINISHED_OK
$STATE,3391,begin climb
$GC,3394,0.45,112.4,283.8,0.0,406,3491,0.52,2.00,89.82,0.736,4,0.076,0.056,3007,771,2692,0,0,0,0,0,0
$GC,3538,0.48,180.8,283.0,3.6,419,3599,0.00,2.03,56.92,0.721,6,0.000,0.053,3008,2006,2412,0,0,0,0,0,0
$GC,3909,0.48,180.8,258.5,7.7,455,3913,0.00,2.03,0.00,0.000,4,0.000,0.062,3007,3232,2405,0,0,0,0,0,0
$GC,4066,0.46,180.8,245.0,8.7,469,4072,0.00,1.92,0.00,0.000,6,0.000,0.051,3013,2018,2404,0,0,0,0,0,0
$GC,4381,0.45,180.8,220.9,7.2,500,4384,0.00,1.98,0.00,0.000,4,0.000,0.063,3013,3229,2404,0,0,0,0,0,0
$GC,4468,0.44,180.8,213.8,8.9,508,4471,0.00,1.90,0.00,0.000,6,0.000,0.052,3019,2021,2403,0,0,0,0,0,0
$GC,4788,0.42,180.8,190.7,7.0,539,4791,0.00,1.95,0.00,0.000,4,0.000,0.063,3019,3235,2403,0,0,0,0,0,0
$GC,4894,0.40,180.8,181.7,9.0,549,4898,0.12,1.90,0.00,0.000,6,0.125,0.052,2985,2042,2402,0,0,0,0,0,0
$GC,5216,0.41,190.7,161.5,5.7,580,5226,0.00,0.00,7.78,0.617,6,0.000,0.000,2985,2041,2372,0,0,0,0,0,0
$GC,5535,0.42,216.1,143.4,5.2,611,5560,0.00,1.90,21.73,0.666,4,0.000,0.062,2985,3233,2271,0,0,0,0,0,0
$GC,5599,0.42,216.1,139.9,6.4,616,5604,0.00,1.92,0.00,0.000,6,0.000,0.053,2986,2031,2267,0,0,0,0,0,0
$GC,5914,0.42,216.1,120.4,6.8,647,5917,0.00,1.98,0.00,0.000,4,0.000,0.063,2986,3237,2265,0,0,0,0,0,0
$GC,5951,0.42,216.1,117.8,7.6,650,5956,0.00,1.90,0.00,0.000,6,0.000,0.052,2986,2043,2265,0,0,0,0,0,0
$GC,6268,0.45,238.7,99.3,5.3,682,6291,0.00,2.10,19.23,0.640,4,0.000,0.062,2986,757,2176,0,0,0,0,0,0
$GC,6356,0.47,238.7,94.0,6.3,698,6362,0.00,2.05,0.00,0.000,6,0.000,0.054,2986,2046,2174,0,0,0,0,0,0
$GC,6683,0.50,256.9,74.2,5.4,759,6705,0.00,1.92,15.60,0.618,4,0.000,0.064,2986,3225,2101,0,0,0,0,0,0
$GC,6754,0.52,256.9,69.4,7.1,772,6759,0.08,1.88,0.00,0.000,6,0.060,0.053,3033,2060,2099,0,0,0,0,0,0
$GC,7079,0.52,256.9,47.4,6.4,833,7086,0.00,2.10,0.00,0.000,4,0.000,0.062,3039,763,2098,0,0,0,0,0,0
$GC,7150,0.53,272.3,43.4,5.5,846,7173,0.00,2.05,13.80,0.597,6,0.000,0.054,3039,2051,2038,0,0,0,0,0,0
$GC,7496,0.54,294.7,22.3,5.3,910,7523,0.00,1.95,19.17,0.594,4,0.000,0.063,3039,3233,1946,0,0,0,0,0,0
$GC,7550,0.56,317.6,19.4,5.3,920,7573,0.00,1.88,19.88,0.579,6,0.000,0.052,3038,2062,1854,0,0,0,0,0,0
$STATE,7865,end climb,SURFACE_DEPTH_REACHED
$STATE,7865,begin surface coast
$FINISH,1.0,1.005107
$STATE,7934,end surface coast,CONTROL_FINISHED_OK
$STATE,7934,begin surface
$SM_CCo,7949,23.20,0.383,2,0,1722,350.04
$SM_GC,1.98,0.00,0.00,23.20,0.000,0.000,0.383,132,2060,1722,-8.51,-0.42,350.04
$IRIDIUM_FIX,4732.49,-12507.66,241299,040407
$TT8_MAMPS,0.052923
$HUMID,41.77
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,16.20
$XPDR_PINGS,0
$24V_AH,24.0,60.126
$10V_AH,10.0,58.120
$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,19.275,59.075,352.950,23.200,0.000,56.965,115.039,232.359,0.000,0.000,31.990,0.000,5079.710,405.849,2442.927,640.075,0.000,1242.492,0.000,2108.372,0.000,0.534,0.000
$DEVICE_MAMPS,233.168,84.370,760.097,382.733,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,711.544,655.026,1371.678,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298676
$DATA_FILE_SIZE,53822,992
$CAP_FILE_SIZE,102793,0
$CFSIZE,260165632,220016640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.041,110.5,1
$GPS,290910,064824,4750.835,-12513.557,75,1.2,93,18.7