version: 66.06
glider: 187
mission: 1
dive: 3
start: 5 26 110 21 12 24
data:
$ID,187
$MISSION,1
$DIVE,3
$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,100
$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,600
$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,-22285.895
$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,2856
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,37
$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,31
$R_STBD_OVSHOOT,17
$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,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
$GPS1,210807,4806.803,-12222.585,10,1.8,15,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-77.4
$GPS2,211132,4806.801,-12222.566,14,2.0,14,18.3
$SPEED_LIMITS,0.173,0.216
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.176,0.124
$KALMAN_X,343.0,240.9,225.6,-414.2,188.6
$KALMAN_Y,-242.5,-174.4,-163.8,413.1,-136.3
$MHEAD_RNG_PITCHd_Wd,286.9,650,-21.7,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.71,-97.8,0.0,0.0,0,119,0.00,0.00,-100.55,0.000,6,0.000,0.000,151,2489,3899,0,0,0,0,0,0
$GC,121,-0.71,-97.8,4.3,-1.8,20,133,9.62,0.00,0.00,0.000,6,0.241,0.000,2618,2489,3900,0,0,0,0,0,0
$GC,197,-0.71,-97.8,14.8,-11.5,37,203,0.00,1.98,0.00,0.000,4,0.000,0.063,2611,3738,3901,0,0,0,0,0,0
$GC,288,-0.71,-97.8,26.2,-13.6,58,294,0.00,1.92,0.00,0.000,6,0.000,0.049,2611,2497,3901,0,0,0,0,0,0
$GC,358,-0.71,-97.8,36.1,-14.6,74,363,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2497,3901,0,0,0,0,0,0
$GC,428,-0.71,-97.8,47.5,-15.6,90,434,0.00,1.88,0.00,0.000,4,0.000,0.052,2610,1273,3901,0,0,0,0,0,0
$GC,490,-0.71,-97.8,57.1,-15.2,103,495,0.00,1.95,0.00,0.000,6,0.000,0.067,2601,2506,3901,0,0,0,0,0,0
$GC,630,-0.71,-97.8,80.3,-16.8,134,635,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2507,3902,0,0,0,0,0,0
$GC,774,-0.71,-97.8,105.0,-16.4,165,779,0.00,0.00,0.00,0.000,6,0.000,0.000,2601,2506,3901,0,0,0,0,0,0
$STATE,787,end dive,TARGET_DEPTH_EXCEEDED
$STATE,787,begin apogee
$GC,790,-0.14,0.0,107.5,16.7,168,871,0.68,0.00,74.12,0.618,6,0.169,0.000,2805,2506,3499,0,0,0,0,0,0
$STATE,872,end apogee,CONTROL_FINISHED_OK
$STATE,872,begin climb
$GC,873,0.71,97.8,112.2,0.0,185,960,0.82,2.05,75.10,0.597,4,0.112,0.055,3087,1264,3101,0,0,0,0,0,0
$GC,974,0.71,97.8,102.3,13.9,206,980,0.00,2.08,0.00,0.000,6,0.000,0.066,3087,2503,3101,0,0,0,0,0,0
$GC,1112,0.71,97.8,79.3,18.1,237,1118,0.00,2.03,0.00,0.000,4,0.000,0.069,3087,3743,3100,0,0,0,0,0,0
$GC,1132,0.71,97.8,75.6,17.9,241,1138,0.00,1.95,0.00,0.000,6,0.000,0.054,3097,2498,3100,0,0,0,0,0,0
$GC,1270,0.71,97.8,51.8,17.1,272,1277,0.00,2.05,0.00,0.000,4,0.000,0.071,3097,3742,3100,0,0,0,0,0,0
$GC,1290,0.71,97.8,48.2,17.1,276,1296,0.00,1.98,0.00,0.000,6,0.000,0.054,3107,2502,3099,0,0,0,0,0,0
$GC,1426,0.71,97.8,26.5,14.9,307,1431,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2501,3099,0,0,0,0,0,0
$GC,1494,0.71,97.8,16.1,15.9,323,1500,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2501,3099,0,0,0,0,0,0
$GC,1564,0.71,99.1,7.5,9.9,339,1570,0.00,2.03,0.00,0.000,4,0.000,0.068,3108,3746,3099,0,0,0,0,0,0
$GC,1629,0.90,254.4,4.6,-0.7,354,1713,0.00,1.95,78.45,0.560,2,0.000,0.053,3117,2502,2669,0,0,0,0,0,0
$STATE,1713,end climb,SURFACE_DEPTH_REACHED
$STATE,1714,begin surface coast
$FINISH,3.5,1.018908
$STATE,1922,end surface coast,CONTROL_FINISHED_OK
$STATE,1922,begin surface
$SM_CCo,1937,217.55,0.513,4,0,1054,600.00
$SM_GC,1.07,0.00,0.00,217.55,0.000,0.000,0.513,150,2501,1054,-8.46,-0.06,600.00
$IRIDIUM_FIX,4748.51,-12221.84,200899,212136
$TT8_MAMPS,0.027612
$HUMID,34.60
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,17.70
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,100.2,19.5
$24V_AH,24.7,0.537
$10V_AH,10.5,0.259
$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,19.350,23.825,227.675,217.550,0.000,0.000,0.000,0.000,4.250,0.000,14.866,614.116,212.910,487.916,895.364,35.763,31.415,924.729,0.000,891.817,0.000,11.418,0.000
$DEVICE_MAMPS,240.838,70.564,618.202,513.123,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,280.607,221.204,670.206,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324628
$DATA_FILE_SIZE,22505,420
$CAP_FILE_SIZE,67810,0
$CFSIZE,260165632,257138688
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,260510,214946,4806.988,-12222.808,14,2.6,33,18.3