version: 66.06
glider: 187
mission: 1
dive: 12
start: 5 27 110 3 45 40
data:
$ID,187
$MISSION,1
$DIVE,12
$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,-22468.717
$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
$GPS1,033925,4806.818,-12222.689,9,1.2,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-77.5
$GPS2,034443,4806.852,-12222.729,11,1.2,16,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.058,-0.189
$KALMAN_X,466.9,174.8,-245.3,-199.2,-34.1
$KALMAN_Y,1916.1,194.6,313.3,-2498.9,305.2
$MHEAD_RNG_PITCHd_Wd,144.6,1816,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.58,-97.8,0.0,0.0,0,128,0.00,0.00,-110.90,0.000,6,0.000,0.000,146,2460,3900,0,0,0,0,0,0
$GC,131,-0.58,-97.8,3.7,-5.7,22,143,9.98,0.00,0.00,0.000,6,0.239,0.000,2665,2459,3900,0,0,0,0,0,0
$GC,206,-0.58,-97.8,12.5,-10.4,39,211,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2459,3901,0,0,0,0,0,0
$GC,274,-0.58,-97.8,20.0,-10.6,55,280,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2459,3901,0,0,0,0,0,0
$GC,343,-0.58,-97.8,28.0,-11.7,71,349,0.00,1.98,0.00,0.000,4,0.000,0.067,2657,3672,3901,0,0,0,0,0,0
$GC,363,-0.58,-97.8,30.9,-13.4,75,370,0.00,1.92,0.00,0.000,6,0.000,0.051,2657,2448,3901,0,0,0,0,0,0
$GC,433,-0.58,-97.8,40.2,-13.7,91,437,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2448,3901,0,0,0,0,0,0
$GC,569,-0.58,-97.8,59.2,-13.4,122,576,0.00,1.90,0.00,0.000,4,0.000,0.053,2657,1221,3902,0,0,0,0,0,0
$GC,581,-0.58,-97.8,60.8,-13.7,124,587,0.00,1.98,0.00,0.000,6,0.000,0.069,2648,2440,3902,0,0,0,0,0,0
$GC,726,-0.58,-97.8,82.4,-14.7,155,731,0.00,2.03,0.00,0.000,4,0.000,0.073,2638,3693,3902,0,0,0,0,0,0
$GC,755,-0.58,-97.8,86.6,-14.5,161,761,0.12,1.92,0.00,0.000,6,0.194,0.052,2668,2445,3902,0,0,0,0,0,0
$GC,899,-0.58,-97.8,105.6,-12.4,192,904,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2445,3902,0,0,0,0,0,0
$STATE,913,end dive,TARGET_DEPTH_EXCEEDED
$STATE,913,begin apogee
$GC,917,-0.14,0.0,107.4,12.5,195,998,0.43,0.00,74.93,0.620,6,0.157,0.000,2802,2388,3499,0,0,0,0,0,0
$STATE,999,end apogee,CONTROL_FINISHED_OK
$STATE,999,begin climb
$GC,1000,0.58,97.8,111.7,0.0,212,1084,0.70,2.10,75.65,0.598,4,0.114,0.067,3031,3642,3099,0,0,0,0,0,0
$GC,1115,0.58,97.8,101.9,12.8,236,1121,0.00,2.03,0.00,0.000,6,0.000,0.052,3041,2411,3098,0,0,0,0,0,0
$GC,1254,0.58,97.8,83.1,13.0,267,1259,0.00,1.95,0.00,0.000,4,0.000,0.056,3050,1156,3098,0,0,0,0,0,0
$GC,1294,0.58,97.8,78.1,12.1,276,1301,0.00,2.05,0.00,0.000,6,0.000,0.065,3050,2402,3098,0,0,0,0,0,0
$GC,1433,0.58,97.8,60.5,12.5,307,1438,0.00,2.00,0.00,0.000,4,0.000,0.069,3050,3638,3098,0,0,0,0,0,0
$GC,1510,0.58,97.8,49.2,15.0,324,1516,0.00,1.98,0.00,0.000,6,0.000,0.053,3060,2393,3098,0,0,0,0,0,0
$GC,1645,0.58,97.8,31.3,13.2,355,1651,0.00,1.95,0.00,0.000,4,0.000,0.058,3069,1166,3098,0,0,0,0,0,0
$GC,1686,0.58,97.8,26.6,11.6,364,1692,0.00,2.00,0.00,0.000,6,0.000,0.067,3069,2400,3098,0,0,0,0,0,0
$GC,1755,0.58,97.8,18.2,12.2,380,1761,0.00,2.03,0.00,0.000,4,0.000,0.071,3069,3637,3098,0,0,0,0,0,0
$GC,1850,0.58,97.8,5.5,12.6,402,1856,0.10,1.95,0.00,0.000,6,0.163,0.054,3048,2406,3098,0,0,0,0,0,0
$STATE,1861,end climb,SURFACE_DEPTH_REACHED
$STATE,1861,begin surface coast
$FINISH,2.5,1.019470
$STATE,1892,end surface coast,CONTROL_FINISHED_OK
$STATE,1892,begin surface
$SM_CCo,1906,243.20,0.525,1,0,1052,600.00
$SM_GC,1.09,0.00,0.00,243.20,0.000,0.000,0.525,152,2467,1052,-8.45,0.48,600.00
$IRIDIUM_FIX,4751.72,-12214.67,210899,030343
$TT8_MAMPS,0.028379
$HUMID,34.99
$INTERNAL_PRESSURE,9.02063
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.3,20.6
$24V_AH,24.5,1.300
$10V_AH,10.5,0.676
$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,19.250,31.925,150.575,243.200,0.000,30.520,25.503,183.626,1.500,0.000,16.714,635.406,231.012,467.985,858.699,299.711,33.333,886.077,0.000,852.892,0.000,14.247,0.000
$DEVICE_MAMPS,239.304,118.885,619.736,525.395,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,275.694,202.168,606.795,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324552
$DATA_FILE_SIZE,22463,411
$CAP_FILE_SIZE,53170,0
$CFSIZE,260165632,256868352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270510,042237,4806.708,-12222.604,29,1.9,29,18.3