version: 66.06
glider: 187
mission: 2
dive: 670
start: 10 14 110 0 14 1
data:
$ID,187
$MISSION,2
$DIVE,670
$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,200
$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,-38191.176
$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,34
$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
$GPS1,000804,4757.333,-12527.122,14,2.2,33,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-75.3
$GPS2,001355,4757.375,-12527.083,11,1.0,16,18.8
$SPEED_LIMITS,0.191,0.307
$TGT_NAME,HEADING
$TGT_LATLONG,4747.228,-12532.580
$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,188.2,20000,-17.4,-11.000
$D_GRID,290
$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,-195.5,0.0,0.0,0,94,0.00,0.00,-77.07,0.000,2,0.000,0.000,126,2090,2989,0,0,0,0,0,0
$GC,97,-0.60,-195.5,3.0,-3.3,15,130,10.23,0.00,-21.33,0.000,6,0.230,0.000,2656,2088,3949,0,0,0,0,0,0
$GC,454,-0.62,-195.5,54.2,-11.4,81,460,0.00,1.98,0.00,0.000,4,0.000,0.063,2649,3298,3952,0,0,0,0,0,0
$GC,498,-0.64,-195.5,59.4,-10.8,89,504,0.00,1.95,0.00,0.000,6,0.000,0.049,2649,2061,3952,0,0,0,0,0,0
$GC,827,-0.66,-195.5,95.1,-10.4,150,832,0.00,2.05,0.00,0.000,4,0.000,0.065,2641,3305,3952,0,0,0,0,0,0
$GC,983,-0.68,-195.5,110.7,-10.5,169,989,0.00,1.85,0.00,0.000,6,0.000,0.048,2641,2106,3953,0,0,0,0,0,0
$GC,1298,-0.69,-195.5,144.9,-10.8,200,1299,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2105,3953,0,0,0,0,0,0
$GC,1611,-0.70,-195.5,177.3,-10.4,230,1614,0.00,1.95,0.00,0.000,4,0.000,0.065,2633,3311,3952,0,0,0,0,0,0
$GC,1647,-0.73,-195.5,181.4,-10.3,233,1654,0.00,1.88,0.00,0.000,6,0.000,0.049,2632,2117,3952,0,0,0,0,0,0
$GC,1963,-0.74,-195.5,218.1,-11.9,264,1966,0.00,1.92,0.00,0.000,4,0.000,0.066,2625,3291,3952,0,0,0,0,0,0
$GC,2000,-0.76,-195.5,222.3,-11.8,267,2006,0.00,1.85,0.00,0.000,6,0.000,0.050,2625,2115,3952,0,0,0,0,0,0
$GC,2316,-0.76,-195.5,260.7,-11.9,298,2317,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2114,3951,0,0,0,0,0,0
$STATE,2551,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2551,begin apogee
$GC,2556,-0.14,0.0,290.9,13.8,321,2716,0.55,0.00,155.88,0.764,6,0.113,0.000,2806,1988,3150,0,0,0,0,0,0
$STATE,2718,end apogee,CONTROL_FINISHED_OK
$STATE,2718,begin climb
$GC,2720,0.60,195.5,300.6,0.0,337,2886,0.68,2.12,158.45,0.738,4,0.058,0.060,3056,3225,2353,0,0,0,0,0,0
$GC,2918,0.59,214.7,296.2,10.3,356,2939,0.00,2.03,17.15,0.679,6,0.000,0.051,3064,2005,2274,0,0,0,0,0,0
$GC,3250,0.57,214.7,258.9,11.9,388,3251,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2003,2269,0,0,0,0,0,0
$GC,3563,0.57,239.8,227.7,10.1,418,3590,0.00,0.00,21.25,0.689,6,0.000,0.000,3064,2003,2171,0,0,0,0,0,0
$GC,3901,0.57,263.4,192.0,10.1,451,3925,0.00,1.98,20.23,0.675,4,0.000,0.059,3074,753,2076,0,0,0,0,0,0
$GC,3957,0.58,274.3,186.0,10.6,456,3975,0.08,1.98,10.38,0.627,6,0.134,0.052,3048,1994,2032,0,0,0,0,0,0
$GC,4284,0.61,326.4,155.6,9.0,488,4335,0.00,2.08,43.35,0.671,4,0.000,0.060,3048,3240,1818,0,0,0,0,0,0
$GC,4369,0.61,330.4,147.1,10.8,496,4379,0.00,2.00,4.38,0.473,6,0.000,0.053,3054,1989,1802,0,0,0,0,0,0
$GC,4689,0.64,363.1,116.1,9.8,527,4721,0.00,2.03,27.88,0.644,4,0.000,0.063,3055,764,1669,0,0,0,0,0,0
$GC,4770,0.69,406.1,108.6,9.4,534,4810,0.00,2.00,35.97,0.634,6,0.000,0.054,3055,2011,1494,0,0,0,0,0,0
$GC,5133,0.74,455.1,77.1,9.2,594,5178,0.12,2.08,39.75,0.621,4,0.094,0.063,3122,766,1293,0,0,0,0,0,0
$GC,5212,0.74,455.1,67.1,13.6,608,5218,0.00,1.98,0.00,0.000,6,0.000,0.054,3123,1992,1290,0,0,0,0,0,0
$GC,5539,0.76,488.0,29.6,9.8,669,5573,0.00,2.03,26.83,0.591,4,0.000,0.061,3122,3227,1159,0,0,0,0,0,0
$GC,5701,0.82,540.0,12.5,9.0,699,5750,0.00,1.95,42.83,0.579,6,0.000,0.053,3124,2017,948,0,0,0,0,0,0
$STATE,5817,end climb,SURFACE_DEPTH_REACHED
$STATE,5817,begin surface coast
$FINISH,0.9,1.024133
$STATE,5855,end surface coast,CONTROL_FINISHED_OK
$STATE,5855,begin surface
$SM_CCo,5931,0.00,0.000,0,0,939,542.36
$SM_GC,1.81,7.95,0.00,0.00,0.041,0.000,0.000,143,2088,939,-8.41,0.37,542.36
$IRIDIUM_FIX,4742.09,-12524.79,070100,222240
$TT8_MAMPS,0.052923
$HUMID,43.46
$INTERNAL_PRESSURE,8.99133
$TCM_TEMP,16.10
$XPDR_PINGS,0
$24V_AH,23.5,71.102
$10V_AH,9.8,69.014
$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,19.600,39.925,604.300,0.000,0.000,22.130,46.652,164.983,0.000,0.000,16.720,0.000,3478.099,569.434,1783.484,435.439,0.000,1259.366,0.000,1542.057,0.000,0.994,0.000
$DEVICE_MAMPS,230.100,102.011,763.932,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,496.097,516.900,994.824,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298472
$DATA_FILE_SIZE,41272,728
$CAP_FILE_SIZE,78975,0
$CFSIZE,260165632,213049344
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.084, 80.1,1
$GPS,141010,015337,4756.633,-12527.364,10,1.5,27,18.8