version: 66.06
glider: 187
mission: 2
dive: 666
start: 10 13 110 18 11 31
data:
$ID,187
$MISSION,2
$DIVE,666
$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,180
$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,-38126.039
$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,29
$R_STBD_OVSHOOT,37
$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
$GPS1,180536,4759.511,-12526.067,43,0.9,43,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-74.4
$GPS2,181125,4759.513,-12526.102,11,1.1,16,18.8
$SPEED_LIMITS,0.191,0.307
$TGT_NAME,HEADING
$TGT_LATLONG,4748.713,-12526.102
$TGT_RADIUS,1852.000
$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,187.4,20000,-17.4,-11.000
$D_GRID,181
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.60,-195.5,0.0,0.0,0,110,0.00,0.00,-93.88,0.000,2,0.000,0.000,129,2090,3067,0,0,0,0,0,0
$GC,114,-0.60,-195.5,3.5,-5.4,18,147,10.02,1.95,-17.83,0.000,4,0.229,0.067,2652,841,3948,0,0,0,0,0,0
$GC,302,-0.62,-195.5,37.1,-11.9,53,308,0.00,1.95,0.00,0.000,6,0.000,0.055,2649,2065,3949,0,0,0,0,0,0
$GC,628,-0.62,-195.5,79.6,-12.1,114,634,0.00,1.92,0.00,0.000,4,0.000,0.056,2649,848,3950,0,0,0,0,0,0
$GC,645,-0.63,-195.5,81.7,-11.8,117,651,0.00,1.92,0.00,0.000,6,0.000,0.054,2642,2061,3950,0,0,0,0,0,0
$GC,971,-0.63,-195.5,120.6,-12.8,163,974,0.00,1.98,0.00,0.000,4,0.000,0.064,2632,3312,3950,0,0,0,0,0,0
$GC,1030,-0.64,-195.5,128.0,-12.7,168,1036,0.00,1.95,0.00,0.000,6,0.000,0.049,2632,2071,3950,0,0,0,0,0,0
$GC,1345,-0.64,-195.5,169.7,-12.5,199,1348,0.00,2.00,0.00,0.000,4,0.000,0.064,2624,3311,3950,0,0,0,0,0,0
$GC,1591,-0.71,-195.5,176.5,-0.9,222,1594,0.00,1.90,0.00,0.000,6,0.000,0.050,2624,2071,3950,0,0,0,0,0,0
$STATE,1724,end dive,NO_VERTICAL_VELOCITY
$STATE,1724,begin apogee
$GC,1730,-0.14,0.0,176.5,0.0,235,1886,0.52,0.00,152.98,0.685,6,0.075,0.000,2817,1996,3150,0,0,0,0,0,0
$STATE,1888,end apogee,CONTROL_FINISHED_OK
$STATE,1888,begin climb
$GC,1890,0.60,195.5,176.5,0.0,251,2051,0.65,2.10,155.18,0.659,4,0.074,0.060,3047,3240,2352,0,0,0,0,0,0
$GC,2181,0.63,271.8,162.0,8.1,278,2248,0.00,2.00,61.17,0.644,6,0.000,0.051,3056,2006,2041,0,0,0,0,0,0
$GC,2557,0.64,292.7,126.5,10.2,315,2579,0.00,2.05,17.45,0.615,4,0.000,0.061,3065,763,1955,0,0,0,0,0,0
$GC,2605,0.66,325.8,121.6,9.7,319,2641,0.00,1.95,28.27,0.621,6,0.000,0.053,3064,2003,1820,0,0,0,0,0,0
$GC,2956,0.66,325.8,84.4,11.8,367,2962,0.00,2.00,0.00,0.000,4,0.000,0.061,3065,3226,1815,0,0,0,0,0,0
$GC,2994,0.66,325.8,79.8,12.4,374,3000,0.00,1.98,0.00,0.000,6,0.000,0.054,3071,1996,1813,0,0,0,0,0,0
$GC,3322,0.70,379.9,46.6,9.0,435,3371,0.00,1.98,43.38,0.604,4,0.000,0.060,3081,760,1599,0,0,0,0,0,0
$GC,3435,0.76,442.7,36.4,8.6,456,3490,0.00,1.95,50.88,0.590,6,0.000,0.053,3081,1980,1344,0,0,0,0,0,0
$GC,3812,0.89,568.0,12.1,6.3,526,3904,0.17,0.00,90.05,0.575,2,0.077,0.000,3162,1980,880,0,0,0,0,0,0
$STATE,3906,end climb,SURFACE_DEPTH_REACHED
$STATE,3906,begin surface coast
$FINISH,1.0,1.019260
$STATE,3931,end surface coast,CONTROL_FINISHED_OK
$STATE,3931,begin surface
$SM_CCo,4007,0.00,0.000,0,0,872,558.79
$SM_GC,1.88,8.15,0.00,0.00,0.042,0.000,0.000,140,2087,872,-8.41,0.37,558.79
$IRIDIUM_FIX,4742.09,-12528.52,070100,171731
$TT8_MAMPS,0.052923
$HUMID,42.71
$INTERNAL_PRESSURE,9.0011
$TCM_TEMP,16.20
$XPDR_PINGS,0
$24V_AH,23.9,70.607
$10V_AH,9.8,68.732
$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,19.525,31.825,599.350,0.000,0.000,30.662,40.716,161.428,0.000,0.000,17.042,0.000,1981.517,525.066,1440.599,397.538,0.000,1128.291,0.000,1253.005,0.000,0.995,0.000
$DEVICE_MAMPS,228.566,104.312,684.931,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,374.626,388.391,885.203,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298516
$DATA_FILE_SIZE,28702,548
$CAP_FILE_SIZE,61534,0
$CFSIZE,260165632,213250048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.110,100.4,1
$GPS,131010,191850,4759.033,-12526.075,13,1.6,13,18.8