version: 66.06
glider: 187
mission: 1
dive: 9
start: 5 27 110 1 36 29
data:
$ID,187
$MISSION,1
$DIVE,9
$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,66
$T_MISSION,70
$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,-22419.541
$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,2450
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,28
$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
$GPS1,012944,4807.110,-12222.863,11,1.3,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-78.5
$GPS2,013534,4807.153,-12222.899,9,2.1,28,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.051,-0.191
$KALMAN_X,410.2,295.0,-74.7,-646.4,-95.0
$KALMAN_Y,1204.9,34.4,158.0,-914.5,440.2
$MHEAD_RNG_PITCHd_Wd,146.7,2408,-16.9,-7.576
$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,13,begin dive
$GC,14,-0.58,-97.8,0.0,0.0,0,144,0.00,0.00,-122.65,0.000,6,0.000,0.000,145,2447,3898,0,0,0,0,0,0
$GC,146,-0.58,-97.8,4.8,-3.6,25,158,9.95,0.00,0.00,0.000,6,0.241,0.000,2660,2447,3899,0,0,0,0,0,0
$GC,222,-0.58,-97.8,13.1,-9.3,42,228,0.00,2.03,0.00,0.000,4,0.000,0.068,2652,3680,3900,0,0,0,0,0,0
$GC,325,-0.58,-97.8,24.2,-10.9,66,332,0.00,1.92,0.00,0.000,6,0.000,0.048,2652,2445,3900,0,0,0,0,0,0
$GC,395,-0.58,-97.8,32.4,-11.8,82,400,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2445,3901,0,0,0,0,0,0
$GC,463,-0.58,-97.8,41.1,-13.2,98,469,0.00,2.03,0.00,0.000,4,0.000,0.071,2643,3680,3901,0,0,0,0,0,0
$GC,474,-0.58,-97.8,42.6,-13.0,100,480,0.00,1.92,0.00,0.000,6,0.000,0.052,2642,2452,3901,0,0,0,0,0,0
$GC,614,-0.58,-97.8,63.3,-15.1,131,619,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2452,3901,0,0,0,0,0,0
$GC,754,-0.58,-97.8,84.1,-14.4,162,760,0.00,2.00,0.00,0.000,4,0.000,0.073,2633,3674,3901,0,0,0,0,0,0
$GC,807,-0.58,-97.8,92.5,-15.9,173,813,0.12,1.90,0.00,0.000,6,0.192,0.050,2663,2437,3901,0,0,0,0,0,0
$STATE,897,end dive,TARGET_DEPTH_EXCEEDED
$STATE,897,begin apogee
$GC,900,-0.14,0.0,105.1,13.5,193,981,0.45,0.00,74.38,0.617,6,0.156,0.000,2806,2437,3499,0,0,0,0,0,0
$STATE,982,end apogee,CONTROL_FINISHED_OK
$STATE,982,begin climb
$GC,983,0.58,97.8,109.2,0.0,210,1066,0.70,2.00,75.20,0.595,4,0.113,0.067,3034,3631,3101,0,0,0,0,0,0
$GC,1080,0.58,97.8,102.1,10.3,230,1086,0.00,2.03,0.00,0.000,6,0.000,0.054,3043,2406,3100,0,0,0,0,0,0
$GC,1218,0.58,97.8,83.2,13.7,261,1223,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2405,3100,0,0,0,0,0,0
$GC,1354,0.58,97.8,65.9,12.9,292,1360,0.00,2.03,0.00,0.000,4,0.000,0.071,3043,3625,3100,0,0,0,0,0,0
$GC,1405,0.58,97.8,58.9,14.2,303,1411,0.00,1.92,0.00,0.000,6,0.000,0.053,3053,2396,3100,0,0,0,0,0,0
$GC,1544,0.58,97.8,41.0,12.0,334,1550,0.00,2.03,0.00,0.000,4,0.000,0.070,3053,3626,3099,0,0,0,0,0,0
$GC,1569,0.58,97.8,37.7,13.4,339,1575,0.00,1.95,0.00,0.000,6,0.000,0.054,3063,2397,3099,0,0,0,0,0,0
$GC,1639,0.58,97.8,28.3,12.9,355,1645,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2397,3099,0,0,0,0,0,0
$GC,1709,0.58,97.8,19.4,12.4,371,1715,0.00,2.03,0.00,0.000,4,0.000,0.071,3063,3631,3099,0,0,0,0,0,0
$GC,1754,0.58,97.8,13.0,14.3,381,1762,0.08,1.95,0.00,0.000,6,0.179,0.054,3050,2400,3099,0,0,0,0,0,0
$GC,1826,0.58,97.8,6.1,8.7,397,1831,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2397,3099,0,0,0,0,0,0
$STATE,1857,end climb,SURFACE_DEPTH_REACHED
$STATE,1858,begin surface coast
$FINISH,3.6,1.019346
$STATE,1917,end surface coast,CONTROL_FINISHED_OK
$STATE,1917,begin surface
$SM_CCo,1931,256.40,0.527,1,0,1053,600.00
$SM_GC,1.02,0.00,0.00,256.40,0.000,0.000,0.527,148,2446,1053,-8.46,-0.11,600.00
$IRIDIUM_FIX,4748.51,-12221.84,210899,000022
$TT8_MAMPS,0.027612
$HUMID,35.70
$INTERNAL_PRESSURE,9.0304
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.3,31.3
$24V_AH,24.5,1.073
$10V_AH,10.5,0.536
$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,19.300,27.800,149.575,256.400,0.000,30.638,24.493,205.378,1.000,0.000,29.037,635.643,232.355,486.036,888.473,318.443,33.340,910.037,0.000,871.536,0.000,9.896,0.000
$DEVICE_MAMPS,240.838,130.390,616.668,526.929,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,280.304,207.429,629.803,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324844
$DATA_FILE_SIZE,22408,418
$CAP_FILE_SIZE,52710,0
$CFSIZE,260165632,256962560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270510,021344,4807.026,-12222.815,9,1.4,9,18.3