version: 66.06
glider: 187
mission: 1
dive: 6
start: 5 26 110 23 18 9
data:
$ID,187
$MISSION,1
$DIVE,6
$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,-22356.857
$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,25
$R_STBD_OVSHOOT,19
$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
$GPS1,230707,4807.148,-12223.153,14,1.9,14,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-79.7
$GPS2,231713,4807.167,-12223.148,15,1.1,15,18.3
$SPEED_LIMITS,0.173,0.216
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.078,-0.201
$KALMAN_X,406.8,315.9,189.8,-1231.8,-33.0
$KALMAN_Y,229.5,-112.4,-107.8,493.2,201.1
$MHEAD_RNG_PITCHd_Wd,140.4,360,-21.7,-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,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,-100.00,0.000,6,0.000,0.000,154,2490,3899,0,0,0,0,0,0
$GC,121,-0.71,-97.8,4.3,-0.5,20,139,9.73,2.00,0.00,0.000,4,0.241,0.057,2611,3743,3901,0,0,0,0,0,0
$GC,376,-0.71,-97.8,40.2,-16.4,80,383,0.00,1.95,0.00,0.000,6,0.000,0.049,2611,2490,3902,0,0,0,0,0,0
$GC,518,-0.71,-97.8,63.2,-16.9,111,523,0.00,2.03,0.00,0.000,4,0.000,0.070,2601,3746,3902,0,0,0,0,0,0
$GC,707,-0.71,-97.8,98.2,-18.0,153,713,0.00,1.88,0.00,0.000,6,0.000,0.048,2601,2501,3902,0,0,0,0,0,0
$STATE,747,end dive,TARGET_DEPTH_EXCEEDED
$STATE,747,begin apogee
$GC,751,-0.14,0.0,105.6,18.6,161,831,0.68,0.00,74.82,0.616,6,0.170,0.000,2805,2501,3499,0,0,0,0,0,0
$STATE,832,end apogee,CONTROL_FINISHED_OK
$STATE,833,begin climb
$GC,834,0.71,97.8,110.4,0.0,178,915,0.82,0.00,75.00,0.594,6,0.111,0.000,3077,2501,3102,0,0,0,0,0,0
$GC,1049,0.71,97.8,82.1,17.0,225,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2501,3102,0,0,0,0,0,0
$GC,1185,0.71,97.8,60.9,15.5,256,1191,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2501,3101,0,0,0,0,0,0
$GC,1326,0.71,97.8,40.2,14.4,287,1331,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2501,3101,0,0,0,0,0,0
$GC,1457,0.71,97.8,21.7,14.7,318,1463,0.00,2.00,0.00,0.000,4,0.000,0.069,3077,3739,3101,0,0,0,0,0,0
$GC,1515,0.71,97.8,13.1,14.9,331,1521,0.00,1.95,0.00,0.000,6,0.000,0.054,3087,2507,3101,0,0,0,0,0,0
$GC,1585,0.71,97.8,4.9,11.4,347,1591,0.00,2.00,0.00,0.000,4,0.000,0.072,3087,3737,3101,0,0,0,0,0,0
$STATE,1596,end climb,SURFACE_DEPTH_REACHED
$STATE,1596,begin surface coast
$FINISH,4.0,1.019975
$STATE,1643,end surface coast,CONTROL_FINISHED_OK
$STATE,1643,begin surface
$SM_CCo,1645,368.62,0.532,3,0,470,743.26
$SM_GC,1.08,8.05,0.00,0.00,0.046,0.000,0.000,155,2498,465,-8.40,-0.14,744.24
$IRIDIUM_FIX,4748.51,-12224.57,200899,232336
$TT8_MAMPS,0.027612
$HUMID,36.80
$INTERNAL_PRESSURE,9.0011
$TCM_TEMP,17.30
$XPDR_PINGS,0
$24V_AH,24.6,0.813
$10V_AH,10.5,0.386
$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,19.275,15.850,149.825,368.625,0.000,71.877,184.312,155.463,1.500,0.000,15.419,544.468,417.803,574.920,758.630,465.328,33.330,929.711,0.000,751.136,0.000,14.100,0.000
$DEVICE_MAMPS,240.838,72.098,615.901,531.531,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,241.759,179.920,541.166,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324580
$DATA_FILE_SIZE,19232,360
$CAP_FILE_SIZE,43024,0
$CFSIZE,260165632,257077248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,260510,235426,4807.122,-12223.116,10,1.2,10,18.3