version: 66.06
glider: 187
mission: 1
dive: 1
start: 5 26 110 18 58 57
data:
$ID,187
$MISSION,1
$DIVE,1
$D_SURF,3
$D_FLARE,3
$D_TGT,45
$D_ABORT,200
$D_NO_BLEED,200
$D_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,15
$T_MISSION,25
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,300
$T_LOITER,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$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,720
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-22065.754
$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,2841
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3800
$ROLL_DEG,35
$C_ROLL_DIVE,2503
$C_ROLL_CLIMB,2503
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,3500
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,-61.501011
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$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,-2
$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
$GPS1,185420,4806.904,-12222.918,10,1.6,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-80.1
$GPS2,185806,4806.892,-12222.888,15,1.1,31,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.148,0.214
$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,306.9,243,-17.5,-10.000
$D_GRID,105
$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,-0.76,-146.6,0.0,0.0,0,108,0.00,0.00,-91.88,0.000,2,0.000,0.000,145,2502,2896,0,0,0,0,0,0
$GC,110,-0.76,-146.6,3.2,-5.9,18,154,9.62,1.90,-27.50,0.000,4,0.243,0.068,2587,1259,3961,0,0,0,0,0,0
$GC,227,-0.76,-146.6,11.2,-9.3,43,233,0.00,1.98,0.00,0.000,6,0.000,0.065,2579,2497,3961,0,0,0,0,0,0
$GC,296,-0.76,-146.6,19.4,-13.5,59,302,0.00,1.98,0.00,0.000,4,0.000,0.070,2570,3735,3962,0,0,0,0,0,0
$GC,345,-0.76,-146.6,27.2,-16.5,70,351,0.00,1.92,0.00,0.000,6,0.000,0.052,2570,2498,3962,0,0,0,0,0,0
$GC,415,-0.76,-146.6,40.1,-18.7,86,420,0.00,0.00,0.00,0.000,6,0.000,0.000,2570,2497,3962,0,0,0,0,0,0
$STATE,441,end dive,TARGET_DEPTH_EXCEEDED
$STATE,441,begin apogee
$GC,445,-0.17,0.0,45.8,20.3,92,535,0.70,0.00,84.30,0.574,6,0.180,0.000,2775,2498,3501,0,0,0,0,0,0
$STATE,537,end apogee,CONTROL_FINISHED_OK
$STATE,537,begin climb
$GC,538,0.76,146.6,53.4,0.0,111,657,0.95,2.05,111.40,0.553,4,0.133,0.056,3083,1263,2901,0,0,0,0,0,0
$GC,663,0.76,146.6,40.2,15.6,137,669,0.00,2.08,0.00,0.000,6,0.000,0.067,3083,2510,2901,0,0,0,0,0,0
$GC,795,0.76,146.6,17.5,16.4,168,801,0.00,1.98,0.00,0.000,4,0.000,0.058,3093,1272,2900,0,0,0,0,0,0
$GC,807,0.76,146.6,15.5,17.0,170,813,0.00,2.03,0.00,0.000,6,0.000,0.069,3092,2503,2901,0,0,0,0,0,0
$GC,876,0.76,146.6,5.0,14.2,186,882,0.00,2.05,0.00,0.000,4,0.000,0.074,3092,3736,2900,0,0,0,0,0,0
$GC,1041,1.03,363.8,5.2,0.0,225,1217,0.17,1.95,164.45,0.537,6,0.058,0.054,3179,2503,2015,0,0,0,0,0,0
$GC,1281,1.29,578.9,3.6,0.1,274,1324,0.22,0.00,34.72,0.380,2,0.074,0.000,3275,2503,1873,0,0,0,0,1,0
$STATE,1324,end climb,SURFACE_DEPTH_REACHED
$STATE,1325,begin surface coast
$FINISH,1.1,1.014431
$STATE,1507,end surface coast,CONTROL_FINISHED_OK
$STATE,1507,begin surface
$SM_CCo,1521,211.85,0.493,6,0,564,720.20
$SM_GC,0.94,0.00,0.00,211.85,0.000,0.000,0.493,151,2502,564,-8.41,-0.03,720.20
$IRIDIUM_FIX,4748.51,-12221.84,200899,181851
$TT8_MAMPS,0.027612
$HUMID,34.36
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,18.70
$XPDR_PINGS,12
$24V_AH,24.7,0.307
$10V_AH,10.5,0.145
$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,20.300,19.900,394.875,211.850,0.000,0.000,0.000,0.000,3.000,0.000,31.753,415.324,60.697,580.753,764.875,29.833,29.237,1008.668,0.000,747.706,0.000,0.997,0.000
$DEVICE_MAMPS,243.139,74.399,573.716,493.181,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,211.370,203.793,634.258,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324632
$DATA_FILE_SIZE,16017,326
$CAP_FILE_SIZE,72786,1
$CFSIZE,260165632,257208320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,7,0
$GPS,260510,192902,4806.889,-12222.822,8,2.0,8,18.3