version: 66.06
glider: 187
mission: 1
dive: 27
start: 5 27 110 16 16 28
data:
$ID,187
$MISSION,1
$DIVE,27
$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,0
$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,-22782.324
$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
$GPS1,160654,4806.104,-12222.413,26,0.9,44,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-78.3
$GPS2,161532,4806.062,-12222.249,15,1.7,15,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.197,-0.007
$KALMAN_X,2668.5,-212.3,-194.9,-1472.5,1006.3
$KALMAN_Y,7753.0,-222.6,107.5,-9173.9,-344.8
$MHEAD_RNG_PITCHd_Wd,249.7,4191,-16.9,-7.576
$D_GRID,150
$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,12,begin dive
$GC,14,-0.58,-97.8,0.0,0.0,0,114,0.00,0.00,-97.12,0.000,2,0.000,0.000,150,2466,3819,0,0,0,0,0,0
$GC,116,-0.58,-97.8,5.4,-8.6,19,133,10.00,0.00,-1.77,0.000,6,0.243,0.000,2660,2464,3899,0,0,0,0,0,0
$GC,197,-0.58,-97.8,19.6,-15.6,37,202,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2464,3900,0,0,0,0,0,0
$GC,265,-0.58,-97.8,29.6,-14.0,53,271,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2464,3900,0,0,0,0,0,0
$GC,335,-0.58,-97.8,39.1,-13.4,69,340,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2464,3900,0,0,0,0,0,0
$GC,409,-0.58,-97.8,49.0,-13.2,85,413,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2464,3900,0,0,0,0,0,0
$GC,546,-0.58,-97.8,67.5,-13.1,116,553,0.00,1.98,0.00,0.000,4,0.000,0.067,2653,3680,3900,0,0,0,0,0,0
$GC,563,-0.58,-97.8,69.7,-13.0,119,569,0.00,1.90,0.00,0.000,6,0.000,0.050,2653,2447,3900,0,0,0,0,0,0
$GC,703,-0.58,-97.8,88.8,-13.2,150,709,0.00,1.90,0.00,0.000,4,0.000,0.053,2653,1218,3900,0,0,0,0,0,0
$GC,728,-0.58,-97.8,91.9,-12.7,155,734,0.00,1.95,0.00,0.000,6,0.000,0.067,2644,2443,3900,0,0,0,0,0,0
$GC,864,-0.58,-97.8,111.0,-14.2,186,870,0.00,2.03,0.00,0.000,4,0.000,0.071,2634,3687,3900,0,0,0,0,0,0
$GC,1121,-0.58,-97.8,116.6,0.4,244,1128,0.10,1.92,0.00,0.000,6,0.146,0.050,2666,2446,3900,0,0,0,0,0,0
$STATE,1241,end dive,NO_VERTICAL_VELOCITY
$STATE,1241,begin apogee
$GC,1245,-0.14,0.0,116.7,0.0,271,1326,0.43,0.00,74.15,0.637,6,0.145,0.000,2806,2388,3501,0,0,0,0,0,0
$STATE,1327,end apogee,CONTROL_FINISHED_OK
$STATE,1327,begin climb
$GC,1328,0.58,97.8,116.6,0.0,288,1411,0.73,1.95,75.68,0.613,4,0.137,0.050,3031,1171,3101,0,0,0,0,0,0
$GC,1440,0.68,178.4,115.3,3.4,311,1512,0.12,2.05,63.65,0.601,6,0.098,0.066,3086,2403,2772,0,0,0,0,0,0
$GC,1644,0.68,178.4,77.8,20.1,356,1651,0.00,2.08,0.00,0.000,4,0.000,0.069,3086,3639,2770,0,0,0,0,0,0
$GC,1700,0.68,178.4,66.0,21.1,368,1706,0.00,1.98,0.00,0.000,6,0.000,0.052,3095,2417,2770,0,0,0,0,0,0
$GC,1838,0.68,178.4,38.8,19.2,399,1843,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2414,2770,0,0,0,0,0,0
$GC,1907,0.68,178.4,26.0,18.4,415,1913,0.00,2.03,0.00,0.000,4,0.000,0.069,3095,3635,2770,0,0,0,0,0,0
$GC,1940,0.68,178.4,19.4,19.9,422,1947,0.08,1.98,0.00,0.000,6,0.176,0.052,3082,2395,2769,0,0,0,0,0,0
$GC,2010,0.68,178.4,8.5,13.8,438,2015,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2393,2769,0,0,0,0,0,0
$STATE,2053,end climb,SURFACE_DEPTH_REACHED
$STATE,2053,begin surface coast
$FINISH,4.2,1.018005
$STATE,2100,end surface coast,CONTROL_FINISHED_OK
$STATE,2100,begin surface
$SM_CCo,2102,332.52,0.528,6,0,469,743.26
$SM_GC,1.12,8.07,0.00,0.00,0.044,0.000,0.000,157,2460,465,-8.39,0.31,744.49
$IRIDIUM_FIX,4754.94,-12152.11,210899,161650
$TT8_MAMPS,0.027612
$HUMID,34.20
$INTERNAL_PRESSURE,8.9718
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.5,38.5
$24V_AH,24.4,2.541
$10V_AH,10.5,1.495
$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,19.525,23.900,213.475,332.525,0.000,47.420,104.766,223.315,0.500,0.000,16.074,683.888,442.632,610.449,919.325,446.653,33.311,1065.609,0.000,924.001,0.000,5.520,0.000
$DEVICE_MAMPS,243.139,119.652,636.610,527.696,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,308.221,216.606,623.384,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324812
$DATA_FILE_SIZE,25521,459
$CAP_FILE_SIZE,57081,0
$CFSIZE,260165632,256339968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$GPS,270510,170002,4805.902,-12222.293,12,1.6,12,18.3