version: 66.06
glider: 187
mission: 2
dive: 668
start: 10 13 110 20 45 20
data:
$ID,187
$MISSION,2
$DIVE,668
$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,-38154.984
$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,25
$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
$GPS1,203932,4758.358,-12526.003,14,1.7,14,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-73.5
$GPS2,204514,4758.366,-12526.000,12,1.8,12,18.8
$SPEED_LIMITS,0.191,0.307
$TGT_NAME,HEADING
$TGT_LATLONG,4747.567,-12526.000
$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,176.0,20000,-17.4,-11.000
$D_GRID,336
$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,15,-0.60,-195.5,0.0,0.0,0,102,0.00,0.00,-84.95,0.000,2,0.000,0.000,131,2070,3022,0,0,0,0,0,0
$GC,104,-0.60,-195.5,3.4,-5.3,16,144,10.18,2.08,-19.52,0.000,4,0.232,0.077,2649,3319,3950,0,0,0,0,0,0
$GC,250,-0.61,-195.5,31.2,-11.8,43,256,0.00,1.98,0.00,0.000,6,0.000,0.049,2649,2075,3951,0,0,0,0,0,0
$GC,577,-0.61,-195.5,73.5,-11.1,104,582,0.00,2.03,0.00,0.000,4,0.000,0.063,2640,3308,3952,0,0,0,0,0,0
$GC,621,-0.62,-195.5,77.9,-9.7,112,626,0.00,1.90,0.00,0.000,6,0.000,0.049,2640,2100,3952,0,0,0,0,0,0
$GC,941,-0.62,-195.5,114.7,-11.2,161,945,0.00,1.98,0.00,0.000,4,0.000,0.064,2632,3311,3953,0,0,0,0,0,0
$GC,1022,-0.65,-195.5,122.8,-9.0,168,1028,0.00,1.85,0.00,0.000,6,0.000,0.048,2632,2125,3953,0,0,0,0,0,0
$GC,1338,-0.65,-195.5,158.3,-11.7,199,1341,0.00,1.92,0.00,0.000,4,0.000,0.064,2624,3317,3953,0,0,0,0,0,0
$GC,1380,-0.66,-195.5,163.1,-11.0,203,1383,0.00,1.83,0.00,0.000,6,0.000,0.050,2624,2125,3953,0,0,0,0,0,0
$GC,1700,-0.66,-195.5,201.4,-11.2,234,1704,0.00,1.92,0.00,0.000,4,0.000,0.064,2615,3304,3952,0,0,0,0,0,0
$GC,1765,-0.68,-195.5,208.3,-10.3,240,1769,0.00,1.80,0.00,0.000,6,0.000,0.049,2615,2153,3953,0,0,0,0,0,0
$GC,2086,-0.68,-195.5,246.6,-12.4,271,2087,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2152,3952,0,0,0,0,0,0
$GC,2399,-0.68,-195.5,286.0,-12.1,301,2402,0.00,1.88,0.00,0.000,4,0.000,0.066,2608,3315,3951,0,0,0,0,0,0
$GC,2452,-0.70,-195.5,292.8,-11.1,306,2455,0.00,1.83,0.00,0.000,6,0.000,0.051,2608,2155,3951,0,0,0,0,0,0
$GC,2773,-0.70,-195.5,334.7,-13.2,337,2774,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2155,3951,0,0,0,0,0,0
$STATE,2781,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2782,begin apogee
$GC,2787,-0.14,0.0,336.1,12.8,338,2946,0.62,0.00,156.35,0.795,6,0.118,0.000,2811,1994,3150,0,0,0,0,0,0
$STATE,2948,end apogee,CONTROL_FINISHED_OK
$STATE,2948,begin climb
$GC,2951,0.60,195.5,342.5,0.0,354,3114,0.65,0.00,159.20,0.765,6,0.056,0.000,3055,1995,2353,0,0,0,0,0,0
$GC,3423,0.58,195.5,301.1,11.4,400,3426,0.00,2.03,0.00,0.000,4,0.000,0.061,3055,3235,2346,0,0,0,0,0,0
$GC,3470,0.56,195.5,295.6,11.5,404,3475,0.00,1.95,0.00,0.000,6,0.000,0.051,3064,2020,2346,0,0,0,0,0,0
$GC,3785,0.56,230.1,263.9,9.7,435,3817,0.00,2.03,28.23,0.727,4,0.000,0.062,3064,3235,2211,0,0,0,0,0,0
$GC,3854,0.54,237.2,256.9,10.7,441,3865,0.12,1.98,7.05,0.613,6,0.136,0.051,3033,2010,2183,0,0,0,0,0,0
$GC,4176,0.58,304.7,230.8,8.5,472,4239,0.00,2.03,55.85,0.719,4,0.000,0.060,3032,3242,1907,0,0,0,0,0,0
$GC,4277,0.59,311.7,221.3,10.7,481,4291,0.00,1.98,7.05,0.594,6,0.000,0.052,3037,2015,1879,0,0,0,0,0,0
$GC,4601,0.63,367.6,191.3,8.9,513,4654,0.00,2.08,46.22,0.694,4,0.000,0.064,3041,762,1650,0,0,0,0,0,0
$GC,4704,0.68,413.7,182.0,9.3,522,4750,0.00,2.05,38.50,0.677,6,0.000,0.053,3042,2036,1463,0,0,0,0,0,0
$GC,5060,0.72,441.0,144.7,10.0,557,5091,0.12,2.12,22.85,0.653,4,0.093,0.064,3106,757,1351,0,0,0,0,0,0
$GC,5150,0.72,441.0,132.2,13.8,565,5156,0.00,1.98,0.00,0.000,6,0.000,0.053,3105,2010,1349,0,0,0,0,0,0
$GC,5470,0.72,441.0,86.2,14.8,605,5476,0.00,2.03,0.00,0.000,4,0.000,0.063,3110,769,1346,0,0,0,0,0,0
$GC,5524,0.72,441.0,78.3,14.1,615,5530,0.00,1.92,0.00,0.000,6,0.000,0.054,3110,1989,1345,0,0,0,0,0,0
$GC,5850,0.72,441.0,34.8,13.8,676,5855,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,1992,1345,0,0,0,0,0,0
$GC,6177,0.78,491.9,5.7,9.1,737,6210,0.00,0.00,32.17,0.591,2,0.000,0.000,3110,1992,1189,0,0,0,0,0,0
$STATE,6211,end climb,SURFACE_DEPTH_REACHED
$STATE,6211,begin surface coast
$FINISH,0.8,1.024003
$STATE,6246,end surface coast,CONTROL_FINISHED_OK
$STATE,6246,begin surface
$SM_CCo,6322,0.00,0.000,0,0,1183,482.51
$SM_GC,1.72,7.85,0.00,0.00,0.040,0.000,0.000,140,2081,1183,-8.41,0.17,482.51
$IRIDIUM_FIX,4742.09,-12529.27,070100,191929
$TT8_MAMPS,0.052923
$HUMID,44.01
$INTERNAL_PRESSURE,9.01087
$TCM_TEMP,16.00
$XPDR_PINGS,0
$24V_AH,23.5,70.853
$10V_AH,9.8,68.869
$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,19.550,47.475,553.475,0.000,0.000,28.504,37.591,162.502,0.000,0.000,12.979,0.000,3818.617,540.131,1847.756,442.714,0.000,1259.587,0.000,1599.263,0.000,0.994,0.000
$DEVICE_MAMPS,231.634,95.108,794.612,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,513.936,541.900,965.260,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298516
$DATA_FILE_SIZE,41399,750
$CAP_FILE_SIZE,83021,0
$CFSIZE,260165632,213131264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.069, 65.0,1
$GPS,131010,223137,4757.522,-12526.324,36,1.3,36,18.8