version: 66.06
glider: 187
mission: 1
dive: 14
start: 5 27 110 5 26 46
data:
$ID,187
$MISSION,1
$DIVE,14
$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,-22518.074
$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,28
$R_STBD_OVSHOOT,14
$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
$GPS1,051640,4806.606,-12222.497,13,2.3,32,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-79.8
$GPS2,052552,4806.700,-12222.561,12,2.1,31,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.033,-0.195
$KALMAN_X,330.8,50.6,-153.9,178.6,-43.5
$KALMAN_Y,3176.6,192.8,76.6,-3804.2,608.4
$MHEAD_RNG_PITCHd_Wd,152.1,1471,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.58,-97.8,0.0,0.0,0,123,0.00,0.00,-106.18,0.000,6,0.000,0.000,144,2443,3899,0,0,0,0,0,0
$GC,126,-0.58,-97.8,4.6,-6.4,21,138,10.02,0.00,0.00,0.000,6,0.242,0.000,2662,2442,3900,0,0,0,0,0,0
$GC,202,-0.58,-97.8,21.7,-17.9,38,208,0.00,2.05,0.00,0.000,4,0.000,0.067,2654,3691,3901,0,0,0,0,0,0
$GC,222,-0.58,-97.8,25.4,-17.1,42,229,0.00,1.98,0.00,0.000,6,0.000,0.053,2654,2444,3901,0,0,0,0,0,0
$GC,293,-0.58,-97.8,37.1,-16.8,58,298,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2444,3901,0,0,0,0,0,0
$GC,364,-0.58,-97.8,48.6,-15.6,74,370,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2444,3901,0,0,0,0,0,0
$GC,502,-0.58,-97.8,69.3,-15.3,105,507,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2444,3901,0,0,0,0,0,0
$GC,640,-0.58,-97.8,89.4,-14.3,136,646,0.00,2.05,0.00,0.000,4,0.000,0.072,2645,3694,3901,0,0,0,0,0,0
$GC,687,-0.58,-97.8,96.7,-15.8,146,694,0.00,1.95,0.00,0.000,6,0.000,0.051,2644,2444,3902,0,0,0,0,0,0
$GC,828,-0.58,-97.8,116.2,-13.8,177,833,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2444,3902,0,0,0,0,0,0
$GC,964,-0.58,-97.8,119.6,0.1,208,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2444,3902,0,0,0,0,0,0
$GC,1106,-0.58,-97.8,119.6,-0.1,239,1111,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2444,3901,0,0,0,0,0,0
$STATE,1187,end dive,NO_VERTICAL_VELOCITY
$STATE,1187,begin apogee
$GC,1190,-0.14,0.0,119.6,0.0,257,1271,0.50,0.00,74.57,0.636,6,0.146,0.000,2803,2399,3500,0,0,0,0,0,0
$STATE,1272,end apogee,CONTROL_FINISHED_OK
$STATE,1272,begin climb
$GC,1274,0.58,97.8,119.6,0.0,274,1357,0.75,2.15,75.70,0.612,4,0.146,0.069,3031,3642,3100,0,0,0,0,0,0
$GC,1388,0.62,132.8,116.3,5.7,298,1423,0.00,2.03,28.75,0.594,6,0.000,0.053,3038,2410,2957,0,0,0,0,0,0
$GC,1558,0.62,132.8,103.9,7.6,335,1564,0.00,2.00,0.00,0.000,4,0.000,0.058,3042,1163,2955,0,0,0,0,0,0
$GC,1599,0.63,142.5,101.0,7.1,344,1615,0.00,2.05,8.93,0.551,6,0.000,0.067,3042,2403,2918,0,0,0,0,0,0
$GC,1749,0.63,142.5,89.0,8.1,377,1755,0.00,2.03,0.00,0.000,4,0.000,0.071,3041,3638,2917,0,0,0,0,0,0
$GC,1817,0.63,142.5,82.6,9.7,392,1823,0.00,1.98,0.00,0.000,6,0.000,0.053,3049,2399,2917,0,0,0,0,0,0
$GC,1956,0.63,142.5,70.8,8.3,423,1960,0.00,0.00,0.00,0.000,6,0.000,0.000,3049,2399,2917,0,0,0,0,0,0
$GC,2093,0.63,142.5,59.2,8.5,454,2099,0.00,2.03,0.00,0.000,4,0.000,0.073,3048,3642,2917,0,0,0,0,0,0
$GC,2131,0.63,142.5,55.6,9.6,462,2137,0.00,1.98,0.00,0.000,6,0.000,0.054,3057,2395,2916,0,0,0,0,0,0
$GC,2271,0.63,142.5,43.3,8.0,493,2276,0.00,1.90,0.00,0.000,4,0.000,0.058,3065,1164,2917,0,0,0,0,0,0
$GC,2303,0.63,142.5,40.6,8.2,500,2309,0.00,2.00,0.00,0.000,6,0.000,0.068,3065,2400,2917,0,0,0,0,0,0
$GC,2436,0.63,142.5,29.6,8.3,531,2442,0.00,2.03,0.00,0.000,4,0.000,0.073,3065,3638,2916,0,0,0,0,0,0
$GC,2501,0.63,142.5,23.5,10.0,546,2508,0.00,1.95,0.00,0.000,6,0.000,0.053,3073,2398,2916,0,0,0,0,0,0
$GC,2572,0.63,142.5,17.8,7.7,562,2577,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2399,2916,0,0,0,0,0,0
$GC,2640,0.63,142.5,12.5,7.9,578,2646,0.00,2.03,0.00,0.000,4,0.000,0.073,3073,3636,2916,0,0,0,0,0,0
$GC,2704,0.63,142.5,7.1,8.6,593,2711,0.00,1.95,0.00,0.000,6,0.000,0.054,3079,2393,2916,0,0,0,0,0,0
$STATE,2749,end climb,SURFACE_DEPTH_REACHED
$STATE,2749,begin surface coast
$FINISH,2.1,1.019357
$STATE,2808,end surface coast,CONTROL_FINISHED_OK
$STATE,2808,begin surface
$SM_CCo,2822,213.52,0.532,1,0,1053,600.00
$SM_GC,1.11,0.00,0.00,213.52,0.000,0.000,0.532,149,2460,1053,-8.46,0.31,600.00
$IRIDIUM_FIX,4748.51,-12217.40,210899,050540
$TT8_MAMPS,0.027612
$HUMID,34.72
$INTERNAL_PRESSURE,9.01087
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.5,41.3
$24V_AH,24.5,1.463
$10V_AH,10.5,0.800
$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,19.150,36.250,187.950,213.525,0.000,55.028,110.721,224.257,0.500,0.000,32.773,930.362,482.927,472.651,1253.210,468.784,33.316,1038.415,0.000,1235.111,0.000,5.527,0.000
$DEVICE_MAMPS,242.372,154.167,635.843,531.531,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,416.975,283.802,839.584,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324548
$DATA_FILE_SIZE,34937,617
$CAP_FILE_SIZE,68914,0
$CFSIZE,260165632,256770048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,270510,061836,4806.532,-12222.460,36,0.8,36,18.3