version: 66.06
glider: 187
mission: 1
dive: 2
start: 5 26 110 20 9 28
data:
$ID,187
$MISSION,1
$DIVE,2
$D_SURF,4
$D_FLARE,5
$D_TGT,150
$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,50
$T_MISSION,60
$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,575
$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,-22208.375
$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,26
$R_STBD_OVSHOOT,16
$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,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
$GPS1,200443,4806.762,-12222.537,13,1.8,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-77.6
$GPS2,200836,4806.744,-12222.503,18,1.0,35,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.206,0.158
$KALMAN_X,148.7,148.7,148.7,15.2,275.2
$KALMAN_Y,-113.7,-113.7,-113.7,78.5,-210.4
$MHEAD_RNG_PITCHd_Wd,289.2,776,-17.5,-10.000
$D_GRID,107
$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,-146.6,0.0,0.0,0,139,0.00,0.00,-120.62,0.000,6,0.000,0.000,150,2502,3961,0,0,0,0,0,0
$GC,141,-0.76,-146.6,4.6,-2.4,24,158,9.45,1.90,0.00,0.000,4,0.239,0.049,2588,1267,3962,0,0,0,0,0,0
$GC,164,-0.76,-146.6,8.5,-10.9,28,170,0.00,2.00,0.00,0.000,6,0.000,0.071,2581,2508,3961,0,0,0,0,0,0
$GC,234,-0.76,-146.6,17.5,-13.3,44,241,0.00,1.98,0.00,0.000,4,0.000,0.071,2571,3741,3962,0,0,0,0,0,0
$GC,259,-0.76,-146.6,21.1,-14.3,49,265,0.00,1.92,0.00,0.000,6,0.000,0.053,2571,2508,3962,0,0,0,0,0,0
$GC,329,-0.76,-146.6,32.0,-16.5,65,335,0.00,1.90,0.00,0.000,4,0.000,0.054,2571,1270,3963,0,0,0,0,0,0
$GC,349,-0.76,-146.6,35.7,-17.3,69,355,0.08,1.98,0.00,0.000,6,0.179,0.071,2584,2504,3963,0,0,0,0,0,0
$GC,421,-0.76,-146.6,49.2,-19.1,85,426,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2504,3963,0,0,0,0,0,0
$GC,557,-0.76,-146.6,75.3,-19.3,116,562,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2504,3963,0,0,0,0,0,0
$GC,700,-0.76,-146.6,103.1,-19.9,147,705,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2504,3963,0,0,0,0,0,0
$STATE,721,end dive,TARGET_DEPTH_EXCEEDED
$STATE,721,begin apogee
$GC,724,-0.17,0.0,107.7,19.5,152,815,0.62,0.00,85.10,0.616,6,0.173,0.000,2775,2504,3500,0,0,0,0,0,0
$STATE,816,end apogee,CONTROL_FINISHED_OK
$STATE,816,begin climb
$GC,818,0.76,146.6,114.2,0.0,171,936,0.95,0.00,111.85,0.594,6,0.125,0.000,3079,2504,2902,0,0,0,0,0,0
$GC,1066,0.76,146.6,76.8,19.5,226,1072,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2504,2901,0,0,0,0,0,0
$GC,1205,0.76,146.6,52.1,17.6,257,1210,0.00,2.00,0.00,0.000,4,0.000,0.070,3079,3739,2900,0,0,0,0,0,0
$GC,1246,0.76,146.6,43.8,19.6,266,1253,0.00,1.98,0.00,0.000,6,0.000,0.056,3088,2505,2900,0,0,0,0,0,0
$GC,1379,0.76,146.6,21.1,17.0,297,1385,0.00,1.95,0.00,0.000,4,0.000,0.058,3097,1263,2900,0,0,0,0,0,0
$GC,1432,0.76,146.6,12.6,15.6,309,1438,0.00,2.03,0.00,0.000,6,0.000,0.076,3097,2508,2899,0,0,0,0,0,0
$GC,1501,0.78,159.6,4.3,9.4,325,1514,0.00,0.12,10.15,0.527,3,0.000,0.110,3097,2592,2849,0,0,0,0,0,0
$STATE,1515,end climb,SURFACE_DEPTH_REACHED
$STATE,1515,begin surface coast
$FINISH,3.9,1.018142
$STATE,1578,end surface coast,CONTROL_FINISHED_OK
$STATE,1579,begin surface
$SM_CCo,1593,266.83,0.513,6,0,1155,575.23
$SM_GC,1.26,0.00,0.00,266.83,0.000,0.000,0.513,151,2489,1155,-8.41,-0.42,575.23
$IRIDIUM_FIX,4738.89,-12240.83,200899,202058
$TT8_MAMPS,0.027612
$HUMID,34.20
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,16.90
$XPDR_PINGS,14
$ALTIM_BOTTOM_PING,90.5,7.2
$24V_AH,24.6,0.428
$10V_AH,10.5,0.200
$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,19.200,19.900,207.100,266.825,0.000,0.000,0.000,0.000,4.500,0.000,35.257,500.189,170.322,540.883,739.135,32.974,30.182,922.286,0.000,716.189,0.000,9.772,0.000
$DEVICE_MAMPS,238.537,109.681,615.901,513.123,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,226.709,172.011,515.731,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324636
$DATA_FILE_SIZE,19230,342
$CAP_FILE_SIZE,66996,0
$CFSIZE,260165632,257175552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,1
$GPS,260510,204144,4806.880,-12222.691,12,1.5,12,18.3