version: 66.06
glider: 187
mission: 2
dive: 672
start: 10 14 110 4 6 27
data:
$ID,187
$MISSION,2
$DIVE,672
$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,-38239.031
$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,28
$R_STBD_OVSHOOT,33
$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
$GPS1,035936,4755.943,-12527.802,38,1.0,38,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-76.5
$GPS2,040619,4755.883,-12527.668,14,1.7,19,18.8
$SPEED_LIMITS,0.191,0.307
$TGT_NAME,HEADING
$TGT_LATLONG,4745.735,-12533.163
$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,187.7,20000,-17.4,-11.000
$D_GRID,393
$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,12,-0.60,-195.5,0.0,0.0,0,97,0.00,0.00,-82.62,0.000,2,0.000,0.000,132,2083,3060,0,0,0,0,0,0
$GC,100,-0.60,-195.5,3.4,-4.5,16,134,10.20,1.95,-18.55,0.000,4,0.231,0.075,2650,3302,3948,0,0,0,0,0,0
$GC,230,-0.61,-195.5,30.4,-13.1,40,236,0.00,1.95,0.00,0.000,6,0.000,0.048,2649,2072,3949,0,0,0,0,0,0
$GC,556,-0.61,-195.5,69.0,-10.0,101,562,0.00,2.03,0.00,0.000,4,0.000,0.064,2641,3303,3950,0,0,0,0,0,0
$GC,694,-0.63,-195.5,82.9,-10.9,126,700,0.00,1.92,0.00,0.000,6,0.000,0.048,2641,2078,3951,0,0,0,0,0,0
$GC,1019,-0.63,-195.5,122.7,-12.3,170,1022,0.00,1.95,0.00,0.000,4,0.000,0.054,2641,849,3951,0,0,0,0,0,0
$GC,1067,-0.64,-195.5,128.3,-11.4,174,1074,0.00,1.90,0.00,0.000,6,0.000,0.054,2636,2054,3950,0,0,0,0,0,0
$GC,1383,-0.64,-195.5,165.4,-11.5,205,1384,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2054,3950,0,0,0,0,0,0
$GC,1696,-0.64,-195.5,202.3,-11.4,235,1697,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2054,3950,0,0,0,0,0,0
$GC,2005,-0.64,-195.5,236.8,-10.8,265,2008,0.00,2.03,0.00,0.000,4,0.000,0.064,2627,3311,3950,0,0,0,0,0,0
$GC,2053,-0.66,-195.5,242.2,-10.7,269,2058,0.00,1.95,0.00,0.000,6,0.000,0.051,2627,2059,3950,0,0,0,0,0,0
$GC,2368,-0.66,-195.5,278.3,-11.6,300,2371,0.00,2.05,0.00,0.000,4,0.000,0.065,2619,3313,3949,0,0,0,0,0,0
$GC,2406,-0.67,-195.5,282.6,-11.9,303,2411,0.00,1.95,0.00,0.000,6,0.000,0.049,2619,2073,3950,0,0,0,0,0,0
$GC,2722,-0.67,-195.5,320.8,-11.6,334,2724,0.00,2.00,0.00,0.000,4,0.000,0.066,2610,3308,3949,0,0,0,0,0,0
$GC,2764,-0.69,-195.5,325.8,-11.0,338,2767,0.00,1.92,0.00,0.000,6,0.000,0.051,2610,2076,3949,0,0,0,0,0,0
$GC,3084,-0.69,-195.5,364.6,-11.3,369,3088,0.00,2.03,0.00,0.000,4,0.000,0.064,2602,3313,3949,0,0,0,0,0,0
$GC,3144,-0.70,-195.5,371.0,-10.8,374,3150,0.00,1.90,0.00,0.000,6,0.000,0.050,2602,2079,3948,0,0,0,0,0,0
$STATE,3332,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3332,begin apogee
$GC,3337,-0.14,0.0,394.3,13.3,393,3498,0.62,0.00,157.55,0.835,6,0.118,0.000,2805,1980,3150,0,0,0,0,0,0
$STATE,3501,end apogee,CONTROL_FINISHED_OK
$STATE,3501,begin climb
$GC,3503,0.60,195.5,402.4,0.0,409,3671,0.68,2.08,161.82,0.805,4,0.057,0.058,3065,773,2352,0,0,0,0,0,0
$GC,3742,0.58,195.5,391.4,12.0,431,3747,0.00,2.03,0.00,0.000,6,0.000,0.052,3065,2005,2349,0,0,0,0,0,0
$GC,4058,0.56,195.5,356.3,11.7,462,4061,0.00,2.00,0.00,0.000,4,0.000,0.061,3065,3238,2346,0,0,0,0,0,0
$GC,4159,0.53,195.5,342.2,13.9,471,4165,0.15,1.95,0.00,0.000,6,0.138,0.051,3026,2019,2345,0,0,0,0,0,0
$GC,4475,0.58,289.8,314.5,7.4,502,4557,0.00,2.08,76.55,0.772,4,0.000,0.062,3026,3233,1967,0,0,0,0,0,0
$GC,4595,0.63,346.5,304.9,8.9,513,4647,0.00,1.98,47.53,0.746,6,0.000,0.053,3027,2027,1737,0,0,0,0,0,0
$GC,4958,0.69,412.6,273.8,8.5,548,5021,0.15,2.12,54.10,0.741,4,0.084,0.064,3104,764,1466,0,0,0,0,0,0
$GC,5132,0.69,412.6,251.9,12.4,564,5139,0.08,2.00,0.00,0.000,6,0.132,0.054,3078,2009,1463,0,0,0,0,0,0
$GC,5449,0.69,412.6,214.2,12.1,595,5452,0.00,2.00,0.00,0.000,4,0.000,0.064,3084,757,1459,0,0,0,0,0,0
$GC,5496,0.70,412.6,208.4,11.9,599,5501,0.00,1.95,0.00,0.000,6,0.000,0.054,3083,1987,1459,0,0,0,0,0,0
$GC,5811,0.70,412.6,165.7,14.1,630,5815,0.00,1.98,0.00,0.000,4,0.000,0.063,3090,765,1457,0,0,0,0,0,0
$GC,5855,0.71,412.6,160.0,13.5,634,5858,0.00,1.90,0.00,0.000,6,0.000,0.054,3090,1987,1457,0,0,0,0,0,0
$GC,6176,0.71,412.6,115.1,13.8,665,6179,0.00,1.95,0.00,0.000,4,0.000,0.064,3098,761,1456,0,0,0,0,0,0
$GC,6218,0.71,412.6,109.5,13.4,669,6222,0.00,1.92,0.00,0.000,6,0.000,0.054,3098,1980,1456,0,0,0,0,0,0
$GC,6543,0.71,412.6,68.7,13.5,723,6548,0.00,1.95,0.00,0.000,4,0.000,0.064,3105,768,1456,0,0,0,0,0,0
$GC,6602,0.72,412.6,60.5,13.2,734,6607,0.00,1.88,0.00,0.000,6,0.000,0.054,3105,1954,1456,0,0,0,0,0,0
$GC,6928,0.79,500.4,28.5,7.7,795,7004,0.00,2.08,70.00,0.607,4,0.000,0.061,3105,3231,1109,0,0,0,0,0,0
$GC,7069,0.89,586.5,18.4,7.7,821,7146,0.00,2.03,70.03,0.584,6,0.000,0.052,3106,1979,757,0,0,0,0,0,0
$STATE,7224,end climb,SURFACE_DEPTH_REACHED
$STATE,7224,begin surface coast
$FINISH,1.1,1.000868
$STATE,7246,end surface coast,CONTROL_FINISHED_OK
$STATE,7246,begin surface
$SM_CCo,7322,0.00,0.000,0,0,749,588.72
$SM_GC,1.88,7.90,0.00,0.00,0.040,0.000,0.000,144,2083,749,-8.41,0.23,588.72
$IRIDIUM_FIX,4742.09,-12529.27,080100,020222
$TT8_MAMPS,0.052156
$HUMID,42.12
$INTERNAL_PRESSURE,8.96204
$TCM_TEMP,15.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,350.0,77.2
$24V_AH,23.2,71.382
$10V_AH,9.8,69.180
$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,19.775,63.650,637.575,0.000,0.000,28.493,41.708,199.170,0.500,0.000,19.334,0.000,4507.068,584.579,2106.055,509.623,0.000,1425.574,0.000,1812.479,0.000,5.611,0.000
$DEVICE_MAMPS,230.867,97.409,835.263,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,585.314,616.434,1064.597,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298448
$DATA_FILE_SIZE,47600,854
$CAP_FILE_SIZE,95972,0
$CFSIZE,260165632,212926464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.087, 50.5,1
$GPS,141010,060930,4755.079,-12528.317,36,1.0,42,18.8