version: 66.06
glider: 187
mission: 1
dive: 21
start: 5 27 110 11 24 28
data:
$ID,187
$MISSION,1
$DIVE,21
$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,-22663.723
$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,25
$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
$GPS1,111506,4806.336,-12222.438,29,0.8,41,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-75.9
$GPS2,112332,4806.443,-12222.506,11,1.8,11,18.3
$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,283.5,-496.0,183.4,501.2,-71.5
$KALMAN_Y,7381.9,262.6,-156.1,-8320.3,602.9
$MHEAD_RNG_PITCHd_Wd,158.7,1032,-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,-97.8,0.0,0.0,0,119,0.00,0.00,-101.70,0.000,2,0.000,0.000,150,2455,3827,0,0,0,0,0,0
$GC,121,-0.58,-97.8,5.8,-9.6,20,138,10.05,0.00,-1.40,0.000,6,0.243,0.000,2663,2453,3899,0,0,0,0,0,0
$GC,201,-0.58,-97.8,24.0,-18.6,38,206,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2454,3900,0,0,0,0,0,0
$GC,270,-0.58,-97.8,36.1,-16.9,54,275,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2454,3900,0,0,0,0,0,0
$GC,340,-0.58,-97.8,47.6,-15.4,70,346,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2453,3900,0,0,0,0,0,0
$GC,478,-0.58,-97.8,67.9,-15.0,101,483,0.00,1.98,0.00,0.000,4,0.000,0.067,2656,3683,3900,0,0,0,0,0,0
$GC,541,-0.58,-97.8,78.0,-16.0,115,547,0.00,1.90,0.00,0.000,6,0.000,0.048,2656,2445,3900,0,0,0,0,0,0
$GC,678,-0.58,-97.8,97.8,-13.4,146,684,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2443,3901,0,0,0,0,0,0
$STATE,731,end dive,TARGET_DEPTH_EXCEEDED
$STATE,731,begin apogee
$GC,735,-0.14,0.0,105.4,14.3,158,817,0.47,0.00,74.60,0.621,6,0.161,0.000,2801,2396,3499,0,0,0,0,0,0
$STATE,818,end apogee,CONTROL_FINISHED_OK
$STATE,818,begin climb
$GC,819,0.58,97.8,110.0,0.0,175,900,0.73,0.00,75.65,0.600,6,0.117,0.000,3035,2396,3100,0,0,0,0,0,0
$GC,1033,0.58,97.8,88.5,12.3,222,1039,0.00,2.08,0.00,0.000,4,0.000,0.067,3035,3635,3099,0,0,0,0,0,0
$GC,1085,0.58,97.8,81.6,13.5,233,1090,0.00,1.95,0.00,0.000,6,0.000,0.051,3044,2406,3098,0,0,0,0,0,0
$GC,1221,0.58,97.8,64.4,11.8,264,1226,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2404,3098,0,0,0,0,0,0
$GC,1360,0.58,97.8,48.8,11.3,295,1365,0.00,2.00,0.00,0.000,4,0.000,0.070,3043,3631,3098,0,0,0,0,0,0
$GC,1416,0.58,97.8,41.7,12.9,307,1421,0.00,1.90,0.00,0.000,6,0.000,0.051,3053,2399,3098,0,0,0,0,0,0
$GC,1547,0.58,97.8,26.2,11.4,338,1553,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2397,3098,0,0,0,0,0,0
$GC,1616,0.58,97.8,18.6,10.6,354,1621,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2397,3098,0,0,0,0,0,0
$GC,1684,0.58,97.8,12.3,8.8,370,1691,0.00,2.03,0.00,0.000,4,0.000,0.071,3053,3631,3098,0,0,0,0,0,0
$GC,1747,0.58,97.8,6.8,9.0,384,1754,0.00,1.95,0.00,0.000,6,0.000,0.053,3063,2392,3097,0,0,0,0,0,0
$GC,1818,0.76,249.5,4.3,-0.4,400,1912,0.10,0.00,90.70,0.565,2,0.114,0.000,3112,2392,2603,0,0,0,0,0,0
$STATE,1913,end climb,SURFACE_DEPTH_REACHED
$STATE,1914,begin surface coast
$FINISH,3.1,1.019489
$STATE,1989,end surface coast,CONTROL_FINISHED_OK
$STATE,1989,begin surface
$SM_CCo,2003,174.27,0.513,1,0,1053,600.00
$SM_GC,1.13,0.00,0.00,174.27,0.000,0.000,0.513,155,2457,1053,-8.45,0.20,600.00
$IRIDIUM_FIX,4748.51,-12220.12,210899,111110
$TT8_MAMPS,0.027612
$HUMID,33.46
$INTERNAL_PRESSURE,9.02063
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.3,42.8
$24V_AH,24.5,2.042
$10V_AH,10.5,1.176
$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,19.625,15.925,240.950,174.275,0.000,61.330,60.122,236.499,0.500,0.000,11.795,638.221,297.590,436.614,902.199,433.878,33.317,886.994,0.000,905.847,0.000,5.531,0.000
$DEVICE_MAMPS,243.139,154.167,620.503,513.123,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,291.825,218.459,655.263,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324788
$DATA_FILE_SIZE,25510,436
$CAP_FILE_SIZE,53377,0
$CFSIZE,260165632,256544768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270510,120137,4806.307,-12222.425,8,1.2,13,18.3