version: 66.06
glider: 187
mission: 2
dive: 650
start: 10 12 110 23 58 20
data:
$ID,187
$MISSION,2
$DIVE,650
$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,300
$T_MISSION,480
$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,200
$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,-37752.898
$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,25
$R_STBD_OVSHOOT,24
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,350
$ALTIM_PING_DELTA,25
$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
$GPS1,235130,4802.217,-12520.980,49,1.3,50,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-76.3
$GPS2,235814,4802.161,-12521.043,15,1.7,15,18.8
$SPEED_LIMITS,0.191,0.307
$TGT_NAME,PATCH
$TGT_LATLONG,4743.200,-12556.100
$TGT_RADIUS,2000.000
$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,212.3,56043,-17.4,-11.000
$D_GRID,377
$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,13,-0.60,-195.5,0.0,0.0,0,66,0.00,0.00,-51.83,0.000,2,0.000,0.000,130,2077,2947,0,0,0,0,0,0
$GC,70,-0.60,-195.5,3.3,-5.8,10,109,10.27,2.03,-21.70,0.000,4,0.230,0.075,2644,3305,3949,0,0,0,0,0,0
$GC,237,-0.62,-195.5,33.8,-12.8,41,243,0.00,1.98,0.00,0.000,6,0.000,0.050,2644,2070,3952,0,0,0,0,0,0
$GC,563,-0.62,-195.5,77.4,-12.6,102,568,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2068,3952,0,0,0,0,0,0
$GC,885,-0.63,-195.5,113.7,-10.9,151,888,0.00,2.00,0.00,0.000,4,0.000,0.064,2635,3312,3952,0,0,0,0,0,0
$GC,933,-0.66,-195.5,118.6,-10.0,155,938,0.00,1.95,0.00,0.000,6,0.000,0.050,2635,2081,3952,0,0,0,0,0,0
$GC,1248,-0.66,-195.5,154.7,-10.3,186,1249,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2078,3953,0,0,0,0,0,0
$GC,1560,-0.66,-195.5,188.0,-11.7,216,1564,0.00,2.03,0.00,0.000,4,0.000,0.065,2627,3309,3953,0,0,0,0,0,0
$GC,1624,-0.68,-195.5,195.5,-10.5,222,1627,0.00,1.92,0.00,0.000,6,0.000,0.051,2627,2089,3953,0,0,0,0,0,0
$GC,1946,-0.68,-195.5,236.3,-13.3,253,1949,0.00,2.00,0.00,0.000,4,0.000,0.066,2619,3320,3952,0,0,0,0,0,0
$GC,1971,-0.69,-195.5,239.8,-13.3,255,1978,0.00,1.92,0.00,0.000,6,0.000,0.051,2619,2099,3952,0,0,0,0,0,0
$GC,2288,-0.69,-195.5,281.4,-12.9,286,2291,0.00,1.98,0.00,0.000,4,0.000,0.067,2610,3320,3951,0,0,0,0,0,0
$GC,2303,-0.69,-195.5,283.5,-12.2,287,2308,0.00,1.95,0.00,0.000,6,0.000,0.052,2610,2089,3951,0,0,0,0,0,0
$GC,2618,-0.69,-195.5,324.6,-14.2,318,2622,0.00,2.03,0.00,0.000,4,0.000,0.067,2602,3315,3951,0,0,0,0,0,0
$GC,2651,-0.70,-195.5,328.4,-10.7,321,2654,0.00,1.90,0.00,0.000,6,0.000,0.053,2602,2101,3951,0,0,0,0,0,0
$GC,2972,-0.70,-195.5,370.7,-13.4,352,2975,0.00,1.98,0.00,0.000,4,0.000,0.067,2594,3313,3950,0,0,0,0,0,0
$STATE,3022,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3022,begin apogee
$GC,3030,-0.14,0.0,377.2,11.4,357,3190,0.62,0.00,157.30,0.822,6,0.117,0.000,2801,1997,3150,0,0,0,0,0,0
$STATE,3192,end apogee,CONTROL_FINISHED_OK
$STATE,3192,begin climb
$GC,3194,0.60,195.5,384.6,0.0,373,3362,0.68,2.15,161.40,0.793,4,0.059,0.058,3049,3239,2352,0,0,0,0,0,0
$GC,3388,0.58,195.5,378.4,11.3,391,3393,0.00,2.10,0.00,0.000,6,0.000,0.051,3058,2007,2349,0,0,0,0,0,0
$GC,3703,0.59,243.9,346.2,9.2,422,3748,0.00,2.08,39.97,0.768,4,0.000,0.063,3058,3237,2155,0,0,0,0,0,0
$GC,3814,0.59,276.8,335.2,9.8,432,3850,0.00,2.00,28.15,0.752,6,0.000,0.052,3066,2009,2021,0,0,0,0,0,0
$GC,4160,0.58,276.8,297.8,12.0,466,4163,0.00,2.03,0.00,0.000,4,0.000,0.064,3076,754,2016,0,0,0,0,0,0
$GC,4202,0.58,276.8,292.4,13.2,470,4205,0.12,2.00,0.00,0.000,6,0.157,0.054,3043,2024,2016,0,0,0,0,0,0
$GC,4522,0.59,297.5,258.9,10.2,501,4544,0.00,1.92,17.70,0.719,4,0.000,0.061,3042,3236,1936,0,0,0,0,0,0
$GC,4582,0.59,297.5,252.7,11.2,506,4586,0.00,1.92,0.00,0.000,6,0.000,0.052,3045,2016,1933,0,0,0,0,0,0
$GC,4896,0.59,297.5,218.9,11.3,537,4900,0.00,2.03,0.00,0.000,4,0.000,0.063,3053,767,1932,0,0,0,0,0,0
$GC,4951,0.59,297.5,212.7,11.7,542,4954,0.00,1.98,0.00,0.000,6,0.000,0.055,3054,2023,1932,0,0,0,0,0,0
$GC,5271,0.59,298.0,176.2,11.0,573,5271,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2025,1931,0,0,0,0,0,0
$GC,5582,0.59,298.0,142.3,11.4,603,5583,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2025,1931,0,0,0,0,0,0
$GC,5893,0.60,320.4,109.1,10.2,633,5918,0.00,2.05,19.27,0.652,4,0.000,0.063,3057,768,1844,0,0,0,0,0,0
$GC,5957,0.64,365.1,103.1,9.3,639,5999,0.00,1.98,37.97,0.650,6,0.000,0.055,3057,2007,1661,0,0,0,0,0,0
$GC,6319,0.66,385.1,65.6,10.2,703,6341,0.00,1.98,16.70,0.615,4,0.000,0.061,3056,3236,1579,0,0,0,0,0,0
$GC,6411,0.67,385.1,55.5,11.6,720,6416,0.00,1.98,0.00,0.000,6,0.000,0.054,3063,2017,1576,0,0,0,0,0,0
$GC,6737,0.77,496.6,25.6,6.8,781,6833,0.12,2.08,88.97,0.604,4,0.094,0.062,3124,3238,1124,0,0,0,0,0,0
$GC,6871,0.80,513.1,12.6,10.4,805,6888,0.00,1.95,14.05,0.555,6,0.000,0.053,3130,2050,1057,0,0,0,0,0,0
$STATE,6966,end climb,SURFACE_DEPTH_REACHED
$STATE,6966,begin surface coast
$FINISH,1.1,1.024161
$STATE,6993,end surface coast,CONTROL_FINISHED_OK
$STATE,6993,begin surface
$SM_CCo,7068,0.00,0.000,0,0,1049,515.38
$SM_GC,1.83,7.95,0.00,0.00,0.038,0.000,0.000,137,2046,1049,-8.41,-0.82,515.38
$IRIDIUM_FIX,4745.30,-12518.78,060100,212136
$TT8_MAMPS,0.052923
$HUMID,42.32
$INTERNAL_PRESSURE,8.98157
$TCM_TEMP,15.80
$XPDR_PINGS,0
$24V_AH,23.2,68.823
$10V_AH,9.9,67.794
$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,19.775,59.950,581.500,0.000,0.000,27.261,34.871,205.464,0.500,0.000,15.830,0.000,4409.877,526.076,2014.160,496.792,0.000,1303.669,0.000,1731.883,0.000,5.037,0.000
$DEVICE_MAMPS,230.100,75.166,822.224,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,565.149,618.653,1037.007,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298416
$DATA_FILE_SIZE,47562,828
$CAP_FILE_SIZE,92327,0
$CFSIZE,260165632,213798912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.095, 45.8,1
$GPS,131010,015706,4801.779,-12522.105,29,0.9,39,18.8