version: 66.06
glider: 187
mission: 2
dive: 661
start: 10 13 110 13 10 4
data:
$ID,187
$MISSION,2
$DIVE,661
$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,-38006.453
$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,23
$R_STBD_OVSHOOT,31
$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
$GPS1,130438,4800.414,-12525.617,16,1.9,16,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-78.6
$GPS2,130958,4800.357,-12525.577,13,2.2,32,18.8
$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,217.3,49557,-17.4,-11.000
$D_GRID,136
$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,-195.5,0.0,0.0,0,90,0.00,0.00,-75.35,0.000,2,0.000,0.000,130,2081,3049,0,0,0,0,0,0
$GC,92,-0.60,-195.5,3.3,-3.8,14,126,10.12,1.95,-18.98,0.000,4,0.230,0.067,2655,835,3948,0,0,0,0,0,0
$GC,313,-0.63,-195.5,39.8,-11.9,55,319,0.00,1.98,0.00,0.000,6,0.000,0.055,2651,2072,3950,0,0,0,0,0,0
$GC,639,-0.64,-195.5,81.3,-11.3,116,645,0.00,2.00,0.00,0.000,4,0.000,0.064,2642,3315,3951,0,0,0,0,0,0
$GC,826,-0.66,-195.5,101.7,-10.7,150,832,0.00,1.95,0.00,0.000,6,0.000,0.047,2642,2069,3951,0,0,0,0,0,0
$STATE,1129,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1129,begin apogee
$GC,1134,-0.14,0.0,137.2,11.6,180,1293,0.50,0.00,152.48,0.653,6,0.109,0.000,2808,1988,3149,0,0,0,0,0,0
$STATE,1296,end apogee,CONTROL_FINISHED_OK
$STATE,1296,begin climb
$GC,1298,0.60,195.5,145.8,0.0,196,1459,0.65,2.05,153.88,0.637,4,0.055,0.057,3064,772,2352,0,0,0,0,0,0
$GC,1498,0.62,256.4,141.5,8.7,215,1552,0.00,2.00,49.30,0.620,6,0.000,0.051,3064,2017,2104,0,0,0,0,0,0
$GC,1870,0.63,269.5,101.2,10.5,251,1882,0.00,0.00,11.18,0.572,6,0.000,0.000,3064,2017,2051,0,0,0,0,0,0
$GC,2201,0.64,289.6,66.6,10.2,311,2223,0.00,1.95,17.77,0.590,4,0.000,0.059,3064,3238,1968,0,0,0,0,0,0
$GC,2282,0.65,295.4,58.0,10.8,326,2293,0.00,1.98,5.93,0.495,6,0.000,0.051,3071,2005,1945,0,0,0,0,0,0
$GC,2616,0.71,386.6,29.1,7.6,388,2693,0.00,2.08,73.00,0.589,4,0.000,0.061,3071,3236,1573,0,0,0,0,0,0
$GC,2752,0.81,486.1,19.1,7.2,413,2841,0.08,1.98,79.20,0.571,6,0.061,0.052,3124,2019,1168,0,0,0,0,0,0
$STATE,2935,end climb,SURFACE_DEPTH_REACHED
$STATE,2935,begin surface coast
$FINISH,1.0,1.011747
$STATE,2962,end surface coast,CONTROL_FINISHED_OK
$STATE,2962,begin surface
$SM_CCo,3038,0.00,0.000,0,0,1158,488.64
$SM_GC,1.75,7.93,0.00,0.00,0.040,0.000,0.000,128,2081,1158,-8.41,0.17,488.64
$IRIDIUM_FIX,4745.30,-12519.55,070100,121213
$TT8_MAMPS,0.05369
$HUMID,42.63
$INTERNAL_PRESSURE,9.01087
$TCM_TEMP,16.10
$XPDR_PINGS,0
$24V_AH,24.0,70.038
$10V_AH,9.8,68.441
$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,19.275,20.100,542.725,0.000,0.000,29.264,35.162,132.619,0.000,0.000,33.706,0.000,1358.591,469.255,1187.573,331.506,0.000,955.303,0.000,1020.673,0.000,0.994,0.000
$DEVICE_MAMPS,230.100,108.147,653.484,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,306.468,325.868,806.938,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298428
$DATA_FILE_SIZE,25456,452
$CAP_FILE_SIZE,48250,0
$CFSIZE,260165632,213446656
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.173, 76.0,1
$GPS,131010,140114,4800.292,-12525.729,14,1.6,14,18.8