version: 66.06
glider: 187
mission: 1
dive: 17
start: 5 27 110 8 15 28
data:
$ID,187
$MISSION,1
$DIVE,17
$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,-22571.488
$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,26
$R_STBD_OVSHOOT,18
$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,5
$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
$GPS1,080850,4806.454,-12222.477,11,1.9,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-81.0
$GPS2,081432,4806.496,-12222.469,17,1.8,17,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.010,-0.197
$KALMAN_X,205.8,-293.3,128.8,474.9,-62.5
$KALMAN_Y,5230.0,343.2,-181.8,-6121.5,702.5
$MHEAD_RNG_PITCHd_Wd,164.7,1087,-16.9,-7.576
$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,-0.58,-97.8,0.0,0.0,0,94,0.00,0.00,-77.12,0.000,2,0.000,0.000,147,2446,3159,0,0,0,0,0,0
$GC,96,-0.58,-97.8,5.5,-8.5,15,129,10.15,1.98,-14.10,0.000,4,0.245,0.071,2661,1214,3901,0,0,0,0,0,0
$GC,266,-0.58,-97.8,35.6,-19.1,54,273,0.00,2.03,0.00,0.000,6,0.000,0.068,2653,2453,3901,0,0,0,0,0,0
$GC,339,-0.58,-97.8,49.6,-18.9,70,345,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2453,3902,0,0,0,0,0,0
$GC,477,-0.58,-97.8,73.7,-16.9,101,482,0.00,1.98,0.00,0.000,4,0.000,0.073,2644,3688,3902,0,0,0,0,0,0
$GC,522,-0.58,-97.8,81.9,-19.0,110,528,0.00,1.95,0.00,0.000,6,0.000,0.051,2643,2444,3902,0,0,0,0,0,0
$GC,664,-0.58,-97.8,105.9,-16.2,141,668,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2444,3902,0,0,0,0,0,0
$STATE,673,end dive,TARGET_DEPTH_EXCEEDED
$STATE,673,begin apogee
$GC,677,-0.14,0.0,107.4,15.8,143,757,0.52,0.00,75.20,0.622,6,0.165,0.000,2802,2386,3499,0,0,0,0,0,0
$STATE,759,end apogee,CONTROL_FINISHED_OK
$STATE,759,begin climb
$GC,760,0.58,97.8,112.4,0.0,160,842,0.73,0.00,75.78,0.602,6,0.118,0.000,3035,2386,3100,0,0,0,0,0,0
$GC,977,0.58,97.8,90.2,12.1,207,982,0.00,2.08,0.00,0.000,4,0.000,0.070,3035,3637,3099,0,0,0,0,0,0
$GC,1023,0.58,97.8,83.9,14.1,217,1028,0.00,1.92,0.00,0.000,6,0.000,0.051,3044,2412,3098,0,0,0,0,0,0
$GC,1162,0.58,97.8,66.6,12.2,248,1167,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2411,3098,0,0,0,0,0,0
$GC,1299,0.58,97.8,50.1,11.9,279,1305,0.00,2.00,0.00,0.000,4,0.000,0.070,3044,3637,3098,0,0,0,0,0,0
$GC,1367,0.58,97.8,41.4,13.1,294,1373,0.00,1.98,0.00,0.000,6,0.000,0.052,3054,2391,3098,0,0,0,0,0,0
$GC,1500,0.58,97.8,26.8,9.9,325,1505,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2390,3098,0,0,0,0,0,0
$GC,1569,0.58,97.8,20.7,8.8,341,1575,0.00,2.05,0.00,0.000,4,0.000,0.071,3054,3638,3098,0,0,0,0,0,0
$GC,1639,0.58,97.8,13.6,10.6,357,1646,0.00,1.95,0.00,0.000,6,0.000,0.052,3064,2399,3098,0,0,0,0,0,0
$GC,1710,0.58,97.8,7.8,8.0,373,1715,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2398,3098,0,0,0,0,0,0
$GC,1780,0.75,241.4,6.2,0.1,389,1896,0.10,2.08,108.10,0.565,4,0.117,0.071,3109,3644,2514,0,0,0,0,0,0
$GC,2134,0.94,392.7,5.5,-0.3,468,2219,0.10,2.00,78.50,0.553,2,0.067,0.054,3162,2398,2097,0,0,0,0,0,0
$STATE,2220,end climb,SURFACE_DEPTH_REACHED
$STATE,2220,begin surface coast
$FINISH,3.4,1.017659
$STATE,2225,end surface coast,CONTROL_FINISHED_OK
$STATE,2225,begin surface
$SM_CCo,2240,123.62,0.076,0,0,1054,600.00
$SM_GC,0.97,0.00,0.00,123.62,0.000,0.000,0.076,150,2460,1054,-8.46,0.28,600.00
$IRIDIUM_FIX,4751.72,-12226.29,210899,070735
$TT8_MAMPS,0.028379
$HUMID,34.05
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,17.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.0,36.8
$24V_AH,24.5,1.708
$10V_AH,10.5,0.970
$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,20.075,24.150,337.575,123.625,0.000,23.790,27.323,208.806,1.000,0.000,18.004,689.975,249.048,428.675,1032.011,323.908,33.325,938.836,0.000,1028.621,0.000,9.911,0.000
$DEVICE_MAMPS,244.673,118.885,622.037,75.933,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,323.523,253.770,773.484,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324796
$DATA_FILE_SIZE,25386,485
$CAP_FILE_SIZE,55211,0
$CFSIZE,260165632,256675840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270510,085537,4806.409,-12222.402,12,1.5,12,18.3