version: 66.06
glider: 187
mission: 1
dive: 15
start: 5 27 110 6 26 21
data:
$ID,187
$MISSION,1
$DIVE,15
$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,-22532.141
$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,29
$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
$GPS1,061836,4806.532,-12222.460,36,0.8,36,18.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-80.3
$GPS2,062526,4806.605,-12222.508,13,1.5,13,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.024,-0.196
$KALMAN_X,252.3,-44.7,-47.9,310.4,-58.3
$KALMAN_Y,3887.2,219.2,-62.0,-4574.9,712.5
$MHEAD_RNG_PITCHd_Wd,154.8,1285,-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,15,-0.58,-97.8,0.0,0.0,0,129,0.00,0.00,-107.45,0.000,6,0.000,0.000,150,2461,3899,0,0,0,0,0,0
$GC,132,-0.58,-97.8,5.0,-6.0,22,149,10.05,1.98,0.00,0.000,4,0.243,0.051,2664,1211,3900,0,0,0,0,0,0
$GC,155,-0.58,-97.8,12.9,-21.8,26,162,0.00,2.00,0.00,0.000,6,0.000,0.066,2656,2440,3900,0,0,0,0,0,0
$GC,225,-0.58,-97.8,26.6,-18.4,42,231,0.00,2.05,0.00,0.000,4,0.000,0.073,2647,3678,3900,0,0,0,0,0,0
$GC,265,-0.58,-97.8,33.9,-18.2,51,271,0.00,1.95,0.00,0.000,6,0.000,0.051,2647,2444,3901,0,0,0,0,0,0
$GC,336,-0.58,-97.8,46.0,-16.7,67,341,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2444,3901,0,0,0,0,0,0
$GC,471,-0.58,-97.8,67.7,-16.2,98,477,0.00,2.05,0.00,0.000,4,0.000,0.071,2637,3688,3901,0,0,0,0,0,0
$GC,500,-0.58,-97.8,72.6,-16.9,104,507,0.08,1.95,0.00,0.000,6,0.179,0.051,2658,2446,3901,0,0,0,0,0,0
$GC,644,-0.58,-97.8,94.2,-15.0,135,649,0.00,1.98,0.00,0.000,4,0.000,0.072,2650,3687,3901,0,0,0,0,0,0
$GC,668,-0.58,-97.8,98.0,-15.0,140,674,0.00,1.92,0.00,0.000,6,0.000,0.051,2650,2455,3901,0,0,0,0,0,0
$GC,812,-0.58,-97.8,118.0,-14.0,171,816,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2455,3901,0,0,0,0,0,0
$GC,948,-0.58,-97.8,119.4,0.2,202,953,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2455,3901,0,0,0,0,0,0
$GC,1090,-0.58,-97.8,119.4,0.0,233,1094,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2455,3901,0,0,0,0,0,0
$STATE,1156,end dive,NO_VERTICAL_VELOCITY
$STATE,1156,begin apogee
$GC,1160,-0.14,0.0,119.6,0.0,248,1242,0.47,0.00,74.88,0.637,6,0.138,0.000,2804,2393,3499,0,0,0,0,0,0
$STATE,1243,end apogee,CONTROL_FINISHED_OK
$STATE,1243,begin climb
$GC,1244,0.58,97.8,119.5,0.0,265,1325,0.73,0.00,75.72,0.614,6,0.132,0.000,3031,2393,3100,0,0,0,0,0,0
$GC,1459,0.58,97.8,110.2,10.8,312,1465,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2393,3101,0,0,0,0,0,0
$GC,1599,0.58,97.8,94.3,11.7,343,1604,0.00,2.05,0.00,0.000,4,0.000,0.070,3031,3644,3100,0,0,0,0,0,0
$GC,1654,0.58,97.8,87.2,12.8,355,1660,0.00,1.95,0.00,0.000,6,0.000,0.053,3041,2407,3099,0,0,0,0,0,0
$GC,1790,0.58,97.8,71.9,11.1,386,1795,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2407,3099,0,0,0,0,0,0
$GC,1930,0.58,97.8,57.1,10.7,417,1935,0.00,1.98,0.00,0.000,4,0.000,0.070,3041,3637,3099,0,0,0,0,0,0
$GC,1976,0.58,97.8,51.4,12.8,427,1981,0.00,1.92,0.00,0.000,6,0.000,0.052,3050,2399,3098,0,0,0,0,0,0
$GC,2113,0.58,97.8,36.0,10.7,458,2119,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2397,3099,0,0,0,0,0,0
$GC,2182,0.58,97.8,28.8,10.0,474,2187,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2397,3099,0,0,0,0,0,0
$GC,2251,0.58,97.8,22.1,9.9,490,2256,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2397,3099,0,0,0,0,0,0
$GC,2321,0.58,97.8,16.2,7.7,506,2327,0.00,2.00,0.00,0.000,4,0.000,0.071,3050,3634,3099,0,0,0,0,0,0
$GC,2421,0.58,97.8,6.6,9.1,529,2427,0.00,1.95,0.00,0.000,6,0.000,0.052,3059,2392,3099,0,0,0,0,0,0
$STATE,2452,end climb,SURFACE_DEPTH_REACHED
$STATE,2452,begin surface coast
$FINISH,2.2,1.020733
$STATE,2503,end surface coast,CONTROL_FINISHED_OK
$STATE,2503,begin surface
$SM_CCo,2517,237.90,0.531,1,0,1053,600.00
$SM_GC,1.14,0.00,0.00,237.90,0.000,0.000,0.531,146,2459,1053,-8.47,0.25,600.00
$IRIDIUM_FIX,4748.51,-12219.12,210899,050531
$TT8_MAMPS,0.027612
$HUMID,34.17
$INTERNAL_PRESSURE,9.01087
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.6,20.2
$24V_AH,24.5,1.545
$10V_AH,10.5,0.858
$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,19.300,27.900,150.600,237.900,0.000,27.595,32.364,268.820,1.500,0.000,13.438,834.883,372.738,472.275,1103.526,401.769,33.314,980.070,0.000,1102.168,0.000,14.239,0.000
$DEVICE_MAMPS,243.139,121.186,636.610,530.764,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,370.493,256.748,746.621,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324564
$DATA_FILE_SIZE,31824,548
$CAP_FILE_SIZE,63019,0
$CFSIZE,260165632,256737280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270510,071308,4806.481,-12222.471,13,1.5,13,18.3