version: 66.06
glider: 187
mission: 2
dive: 671
start: 10 14 110 1 59 49
data:
$ID,187
$MISSION,2
$DIVE,671
$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,-38219.07
$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,25
$R_STBD_OVSHOOT,36
$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
$GPS1,015337,4756.633,-12527.364,10,1.5,27,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-74.7
$GPS2,015943,4756.697,-12527.193,16,1.5,27,18.8
$SPEED_LIMITS,0.191,0.307
$TGT_NAME,HEADING
$TGT_LATLONG,4746.549,-12532.689
$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,194.9,20000,-17.4,-11.000
$D_GRID,394
$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,-195.5,0.0,0.0,0,109,0.00,0.00,-92.20,0.000,2,0.000,0.000,131,2086,3104,0,0,0,0,0,0
$GC,112,-0.60,-195.5,3.6,-6.2,17,146,10.07,1.98,-17.30,0.000,4,0.227,0.074,2649,3296,3949,0,0,0,0,0,0
$GC,178,-0.60,-195.5,18.9,-15.2,29,183,0.00,1.95,0.00,0.000,6,0.000,0.050,2649,2073,3950,0,0,0,0,0,0
$GC,504,-0.60,-195.5,63.3,-11.8,90,510,0.00,1.95,0.00,0.000,4,0.000,0.056,2649,838,3951,0,0,0,0,0,0
$GC,538,-0.61,-195.5,67.0,-11.0,96,543,0.00,1.95,0.00,0.000,6,0.000,0.056,2643,2062,3951,0,0,0,0,0,0
$GC,862,-0.62,-195.5,102.6,-10.8,155,863,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2062,3951,0,0,0,0,0,0
$GC,1175,-0.64,-195.5,138.4,-12.0,185,1178,0.00,2.00,0.00,0.000,4,0.000,0.065,2633,3309,3951,0,0,0,0,0,0
$GC,1243,-0.66,-195.5,146.3,-10.1,191,1249,0.00,1.92,0.00,0.000,6,0.000,0.049,2633,2077,3951,0,0,0,0,0,0
$GC,1559,-0.67,-195.5,176.6,-9.7,222,1562,0.00,2.03,0.00,0.000,4,0.000,0.065,2625,3313,3951,0,0,0,0,0,0
$GC,1596,-0.69,-195.5,180.2,-9.1,225,1602,0.00,1.92,0.00,0.000,6,0.000,0.049,2625,2087,3951,0,0,0,0,0,0
$GC,1912,-0.69,-195.5,214.4,-10.7,256,1915,0.00,1.95,0.00,0.000,4,0.000,0.057,2625,835,3951,0,0,0,0,0,0
$GC,1932,-0.69,-195.5,216.8,-11.2,258,1936,0.00,1.98,0.00,0.000,6,0.000,0.057,2623,2082,3951,0,0,0,0,0,0
$GC,2254,-0.69,-195.5,253.6,-12.0,289,2257,0.00,1.98,0.00,0.000,4,0.000,0.067,2614,3313,3951,0,0,0,0,0,0
$GC,2296,-0.70,-195.5,258.5,-11.2,293,2299,0.00,1.92,0.00,0.000,6,0.000,0.050,2614,2086,3951,0,0,0,0,0,0
$GC,2617,-0.70,-195.5,295.1,-10.9,324,2621,0.00,2.00,0.00,0.000,4,0.000,0.067,2605,3321,3951,0,0,0,0,0,0
$GC,2648,-0.70,-195.5,298.8,-11.4,327,2652,0.00,1.95,0.00,0.000,6,0.000,0.051,2605,2084,3950,0,0,0,0,0,0
$GC,2970,-0.70,-195.5,337.8,-11.9,358,2973,0.00,2.00,0.00,0.000,4,0.000,0.066,2597,3319,3950,0,0,0,0,0,0
$GC,2996,-0.70,-195.5,341.1,-12.2,360,3002,0.08,1.92,0.00,0.000,6,0.123,0.052,2623,2098,3949,0,0,0,0,0,0
$STATE,3176,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3176,begin apogee
$GC,3181,-0.14,0.0,360.3,12.3,378,3341,0.55,0.00,156.80,0.808,6,0.110,0.000,2809,1984,3150,0,0,0,0,0,0
$STATE,3344,end apogee,CONTROL_FINISHED_OK
$STATE,3344,begin climb
$GC,3346,0.60,195.5,367.1,0.0,394,3514,0.65,2.08,160.32,0.781,4,0.056,0.058,3061,782,2352,0,0,0,0,0,0
$GC,3594,0.59,195.5,356.1,12.4,417,3600,0.00,2.00,0.00,0.000,6,0.000,0.051,3061,1996,2349,0,0,0,0,0,0
$GC,3910,0.56,195.5,319.0,11.6,448,3913,0.00,2.00,0.00,0.000,4,0.000,0.061,3061,3233,2347,0,0,0,0,0,0
$GC,4044,0.54,195.5,302.0,12.6,460,4049,0.15,1.92,0.00,0.000,6,0.158,0.051,3029,2015,2345,0,0,0,0,0,0
$GC,4359,0.56,237.9,271.3,9.4,491,4400,0.00,2.03,34.47,0.738,4,0.000,0.061,3029,3232,2179,0,0,0,0,0,0
$GC,4443,0.56,240.5,263.0,10.9,499,4446,0.00,1.95,0.00,0.000,6,0.000,0.052,3034,2011,2176,0,0,0,0,0,0
$GC,4763,0.59,281.3,231.6,9.5,530,4804,0.00,2.03,36.20,0.719,4,0.000,0.060,3041,760,2002,0,0,0,0,0,0
$GC,4825,0.59,291.9,225.4,10.6,536,4839,0.00,2.03,10.27,0.647,6,0.000,0.054,3042,2018,1958,0,0,0,0,0,0
$GC,5156,0.60,300.4,189.9,10.7,568,5166,0.00,0.00,7.72,0.619,6,0.000,0.000,3042,2021,1925,0,0,0,0,0,0
$GC,5476,0.62,330.6,155.3,9.9,599,5507,0.00,0.00,26.27,0.675,6,0.000,0.000,3042,2021,1802,0,0,0,0,0,0
$GC,5817,0.64,350.5,121.2,10.2,632,5839,0.00,2.03,17.45,0.644,4,0.000,0.061,3046,757,1720,0,0,0,0,0,0
$GC,5872,0.68,380.8,115.9,9.9,637,5903,0.00,1.98,25.95,0.644,6,0.000,0.054,3045,2023,1596,0,0,0,0,0,0
$GC,6219,0.71,396.7,80.2,10.4,688,6237,0.10,0.00,13.68,0.611,6,0.107,0.000,3094,2024,1531,0,0,0,0,0,0
$GC,6560,0.73,396.7,43.5,14.8,751,6566,0.00,2.05,0.00,0.000,4,0.000,0.063,3101,770,1527,0,0,0,0,0,0
$GC,6608,0.75,396.7,36.7,12.9,760,6614,0.00,1.98,0.00,0.000,6,0.000,0.054,3101,2012,1527,0,0,0,0,0,0
$GC,6935,0.83,502.7,8.5,7.0,821,7014,0.00,0.00,76.70,0.591,2,0.000,0.000,3100,2013,1141,0,0,0,0,0,0
$STATE,7014,end climb,SURFACE_DEPTH_REACHED
$STATE,7014,begin surface coast
$FINISH,1.1,1.023978
$STATE,7054,end surface coast,CONTROL_FINISHED_OK
$STATE,7054,begin surface
$SM_CCo,7130,0.00,0.000,0,0,1134,494.52
$SM_GC,1.73,7.90,0.00,0.00,0.039,0.000,0.000,147,2084,1134,-8.40,0.25,494.52
$IRIDIUM_FIX,4742.09,-12533.76,080100,000052
$TT8_MAMPS,0.052923
$HUMID,42.40
$INTERNAL_PRESSURE,8.99133
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,350.8,18.5
$24V_AH,23.3,71.232
$10V_AH,9.8,69.096
$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,19.500,55.700,565.850,0.000,0.000,29.248,33.359,174.262,0.500,0.000,27.266,0.000,4390.775,550.852,2074.477,463.098,0.000,1342.517,0.000,1778.887,0.000,5.456,0.000
$DEVICE_MAMPS,227.032,105.079,808.418,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,578.136,606.068,1077.203,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298464
$DATA_FILE_SIZE,47522,843
$CAP_FILE_SIZE,92474,0
$CFSIZE,260165632,212983808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.064, 52.9,1
$GPS,141010,035936,4755.943,-12527.802,38,1.0,38,18.8