version: 66.06
glider: 187
mission: 2
dive: 651
start: 10 13 110 2 3 21
data:
$ID,187
$MISSION,2
$DIVE,651
$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,-37772.703
$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,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,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
$GPS1,015706,4801.779,-12522.105,29,0.9,39,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-75.6
$GPS2,020313,4801.762,-12522.163,13,1.3,19,18.8
$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,210.5,54494,-17.4,-11.000
$D_GRID,256
$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,-0.60,-195.5,0.0,0.0,0,95,0.00,0.00,-80.53,0.000,2,0.000,0.000,132,2044,2948,0,0,0,0,0,0
$GC,98,-0.60,-195.5,3.2,-3.6,15,137,10.25,2.03,-21.98,0.000,4,0.231,0.076,2649,3308,3949,0,0,0,0,0,0
$GC,159,-0.58,-195.5,17.1,-20.7,26,164,0.00,1.98,0.00,0.000,6,0.000,0.051,2648,2077,3950,0,0,0,0,0,0
$GC,485,-0.58,-195.5,66.2,-12.4,87,490,0.00,2.03,0.00,0.000,4,0.000,0.064,2640,3305,3951,0,0,0,0,0,0
$GC,565,-0.59,-195.5,75.0,-10.6,102,571,0.00,1.98,0.00,0.000,6,0.000,0.050,2640,2062,3951,0,0,0,0,0,0
$GC,887,-0.59,-195.5,115.0,-12.5,152,891,0.00,2.05,0.00,0.000,4,0.000,0.064,2635,3312,3951,0,0,0,0,0,0
$GC,962,-0.61,-195.5,123.1,-10.9,159,965,0.00,1.92,0.00,0.000,6,0.000,0.050,2635,2081,3951,0,0,0,0,0,0
$GC,1284,-0.61,-195.5,163.5,-12.1,190,1286,0.00,2.00,0.00,0.000,4,0.000,0.065,2627,3312,3951,0,0,0,0,0,0
$GC,1326,-0.63,-195.5,168.6,-11.7,194,1329,0.00,1.92,0.00,0.000,6,0.000,0.051,2627,2081,3951,0,0,0,0,0,0
$GC,1647,-0.63,-195.5,207.9,-12.7,225,1650,0.00,2.00,0.00,0.000,4,0.000,0.066,2618,3317,3951,0,0,0,0,0,0
$GC,1700,-0.64,-195.5,214.2,-11.1,230,1703,0.10,1.92,0.00,0.000,6,0.157,0.051,2645,2086,3951,0,0,0,0,0,0
$GC,2020,-0.65,-195.5,247.6,-10.5,261,2024,0.00,2.03,0.00,0.000,4,0.000,0.066,2638,3310,3951,0,0,0,0,0,0
$GC,2064,-0.67,-195.5,251.9,-9.8,265,2067,0.00,1.90,0.00,0.000,6,0.000,0.051,2638,2095,3951,0,0,0,0,0,0
$STATE,2103,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2103,begin apogee
$GC,2108,-0.14,0.0,256.1,10.2,269,2266,0.52,0.00,154.45,0.743,6,0.113,0.000,2811,1984,3150,0,0,0,0,0,0
$STATE,2268,end apogee,CONTROL_FINISHED_OK
$STATE,2268,begin climb
$GC,2271,0.60,195.5,263.0,0.0,285,2435,0.65,2.05,158.02,0.715,4,0.054,0.057,3069,772,2352,0,0,0,0,0,0
$GC,2501,0.58,195.5,252.2,11.4,307,2504,0.00,2.00,0.00,0.000,6,0.000,0.052,3070,2001,2350,0,0,0,0,0,0
$GC,2821,0.57,200.3,216.0,10.8,338,2833,0.12,2.00,4.62,0.502,4,0.163,0.061,3036,3225,2332,0,0,0,0,0,0
$GC,2897,0.59,237.1,208.5,9.6,345,2931,0.00,1.92,31.00,0.681,6,0.000,0.051,3042,2010,2183,0,0,0,0,0,0
$GC,3242,0.63,306.7,177.9,8.4,378,3303,0.00,0.00,57.22,0.677,6,0.000,0.000,3042,2010,1898,0,0,0,0,0,0
$GC,3613,0.66,335.7,143.1,9.9,414,3638,0.00,0.00,23.90,0.647,6,0.000,0.000,3042,2010,1781,0,0,0,0,0,0
$GC,3943,0.69,357.5,111.1,10.2,446,3966,0.10,2.05,18.70,0.630,4,0.110,0.063,3096,767,1692,0,0,0,0,0,0
$GC,3992,0.69,357.5,105.0,13.5,450,3999,0.00,1.98,0.00,0.000,6,0.000,0.054,3096,2003,1691,0,0,0,0,0,0
$GC,4317,0.69,357.5,63.3,12.2,507,4323,0.00,2.00,0.00,0.000,4,0.000,0.062,3096,3225,1686,0,0,0,0,0,0
$GC,4338,0.69,357.5,60.4,13.5,511,4344,0.00,1.95,0.00,0.000,6,0.000,0.054,3103,2010,1686,0,0,0,0,0,0
$GC,4665,0.75,449.5,25.3,7.5,572,4747,0.00,2.05,73.45,0.600,4,0.000,0.062,3110,767,1315,0,0,0,0,0,0
$GC,4811,0.85,554.7,15.0,7.0,599,4899,0.00,2.03,83.75,0.578,6,0.000,0.054,3110,2023,887,0,0,0,0,0,0
$STATE,5004,end climb,SURFACE_DEPTH_REACHED
$STATE,5004,begin surface coast
$FINISH,1.1,1.012336
$STATE,5052,end surface coast,CONTROL_FINISHED_OK
$STATE,5052,begin surface
$SM_CCo,5128,0.00,0.000,0,0,877,557.57
$SM_GC,2.20,7.93,0.00,0.00,0.041,0.000,0.000,141,2079,877,-8.41,0.11,557.57
$IRIDIUM_FIX,4748.51,-12509.03,070100,000032
$TT8_MAMPS,0.052156
$HUMID,41.53
$INTERNAL_PRESSURE,8.98157
$TCM_TEMP,16.30
$XPDR_PINGS,0
$24V_AH,23.6,68.952
$10V_AH,9.8,67.862
$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,19.675,44.000,605.125,0.000,0.000,24.197,35.055,180.642,0.000,0.000,19.175,0.000,2888.688,553.603,1608.714,426.597,0.000,1202.787,0.000,1388.798,0.000,0.994,0.000
$DEVICE_MAMPS,230.867,122.720,743.223,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,438.836,471.435,917.133,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298412
$DATA_FILE_SIZE,34849,644
$CAP_FILE_SIZE,73389,0
$CFSIZE,260165632,213782528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.087, 26.8,1
$GPS,131010,032940,4801.550,-12523.071,13,2.3,32,18.8