version: 66.06
glider: 187
mission: 1
dive: 19
start: 5 27 110 9 54 47
data:
$ID,187
$MISSION,1
$DIVE,19
$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,-22615.713
$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,27
$R_STBD_OVSHOOT,27
$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
$GPS1,094740,4806.367,-12222.386,10,3.0,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-79.1
$GPS2,095352,4806.440,-12222.479,11,3.2,30,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.015,-0.197
$KALMAN_X,386.1,-476.6,174.4,422.2,14.5
$KALMAN_Y,6132.8,416.6,-154.6,-7229.6,466.4
$MHEAD_RNG_PITCHd_Wd,157.2,1008,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.58,-97.8,0.0,0.0,0,98,0.00,0.00,-81.45,0.000,2,0.000,0.000,155,2458,3336,0,0,0,0,0,0
$GC,100,-0.58,-97.8,5.6,-10.3,16,128,10.10,0.00,-13.45,0.000,6,0.245,0.000,2664,2457,3900,0,0,0,0,0,0
$GC,192,-0.58,-97.8,16.2,-15.4,36,197,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2457,3901,0,0,0,0,0,0
$GC,260,-0.58,-97.8,26.6,-15.1,52,267,0.00,2.00,0.00,0.000,4,0.000,0.067,2656,3678,3902,0,0,0,0,0,0
$GC,352,-0.58,-97.8,40.7,-15.1,73,357,0.00,1.90,0.00,0.000,6,0.000,0.048,2656,2446,3901,0,0,0,0,0,0
$GC,491,-0.58,-97.8,60.5,-13.4,104,497,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2445,3901,0,0,0,0,0,0
$GC,629,-0.58,-97.8,79.6,-14.0,135,637,0.00,2.00,0.00,0.000,4,0.000,0.071,2647,3680,3901,0,0,0,0,0,0
$GC,652,-0.58,-97.8,83.0,-14.7,139,657,0.00,1.90,0.00,0.000,6,0.000,0.050,2647,2446,3901,0,0,0,0,0,0
$GC,790,-0.58,-97.8,102.8,-14.8,170,796,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2445,3901,0,0,0,0,0,0
$STATE,808,end dive,TARGET_DEPTH_EXCEEDED
$STATE,808,begin apogee
$GC,812,-0.14,0.0,105.3,14.1,174,894,0.52,0.00,75.00,0.618,6,0.163,0.000,2806,2386,3499,0,0,0,0,0,0
$STATE,895,end apogee,CONTROL_FINISHED_OK
$STATE,895,begin climb
$GC,896,0.58,97.8,109.4,0.0,191,976,0.70,0.00,75.57,0.597,6,0.115,0.000,3033,2386,3101,0,0,0,0,0,0
$GC,1110,0.58,97.8,87.4,12.1,238,1117,0.00,2.08,0.00,0.000,4,0.000,0.068,3033,3626,3099,0,0,0,0,0,0
$GC,1175,0.58,97.8,78.4,14.4,252,1182,0.00,1.95,0.00,0.000,6,0.000,0.052,3042,2415,3099,0,0,0,0,0,0
$GC,1314,0.58,97.8,61.6,12.1,283,1319,0.00,2.00,0.00,0.000,4,0.000,0.071,3041,3633,3098,0,0,0,0,0,0
$GC,1363,0.58,97.8,54.9,13.8,294,1369,0.00,1.98,0.00,0.000,6,0.000,0.052,3050,2395,3098,0,0,0,0,0,0
$GC,1503,0.58,97.8,37.7,11.4,325,1508,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2392,3098,0,0,0,0,0,0
$GC,1572,0.58,97.8,30.1,10.5,341,1578,0.00,2.03,0.00,0.000,4,0.000,0.071,3050,3622,3098,0,0,0,0,0,0
$GC,1630,0.58,97.8,23.3,12.0,354,1636,0.00,1.92,0.00,0.000,6,0.000,0.052,3059,2403,3098,0,0,0,0,0,0
$GC,1699,0.58,97.8,15.4,11.0,370,1704,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2402,3098,0,0,0,0,0,0
$GC,1768,0.58,97.8,8.4,10.0,386,1774,0.00,2.00,0.00,0.000,4,0.000,0.071,3059,3623,3098,0,0,0,0,0,0
$STATE,1819,end climb,SURFACE_DEPTH_REACHED
$STATE,1819,begin surface coast
$FINISH,3.9,1.018676
$STATE,1859,end surface coast,CONTROL_FINISHED_OK
$STATE,1859,begin surface
$SM_CCo,1875,294.33,0.525,3,0,1054,600.00
$SM_GC,1.26,0.00,0.00,294.33,0.000,0.000,0.525,147,2434,1054,-8.46,-0.45,600.00
$IRIDIUM_FIX,4751.72,-12242.37,210899,090937
$TT8_MAMPS,0.027612
$HUMID,33.46
$INTERNAL_PRESSURE,9.01087
$TCM_TEMP,17.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.3,36.9
$24V_AH,24.5,1.881
$10V_AH,10.3,1.079
$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,19.325,23.700,150.575,294.325,0.000,30.682,25.072,215.469,1.000,0.000,31.308,622.286,240.191,514.881,860.638,334.117,33.326,917.386,0.000,842.465,0.000,9.928,0.000
$DEVICE_MAMPS,244.673,118.118,618.202,525.395,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,273.527,201.082,598.191,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324804
$DATA_FILE_SIZE,22376,407
$CAP_FILE_SIZE,50463,0
$CFSIZE,260165632,256610304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,270510,103224,4806.362,-12222.439,40,1.2,40,18.3