version: 66.06
glider: 187
mission: 1
dive: 16
start: 5 27 110 7 24 20
data:
$ID,187
$MISSION,1
$DIVE,16
$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,-22552.854
$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,26
$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
$GPS1,071308,4806.481,-12222.471,13,1.5,13,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-80.3
$GPS2,072326,4806.587,-12222.541,19,1.2,19,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.019,-0.197
$KALMAN_X,70.0,-129.5,81.9,407.0,-134.1
$KALMAN_Y,4734.6,234.7,-181.4,-5352.5,877.8
$MHEAD_RNG_PITCHd_Wd,156.3,1277,-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,-97.8,0.0,0.0,0,129,0.00,0.00,-108.18,0.000,6,0.000,0.000,146,2460,3899,0,0,0,0,0,0
$GC,131,-0.58,-97.8,4.4,-4.7,22,143,10.02,0.00,0.00,0.000,6,0.242,0.000,2663,2458,3900,0,0,0,0,0,0
$GC,207,-0.58,-97.8,22.5,-19.2,39,213,0.00,2.00,0.00,0.000,4,0.000,0.067,2656,3680,3901,0,0,0,0,0,0
$GC,252,-0.58,-97.8,31.1,-18.5,49,259,0.00,1.95,0.00,0.000,6,0.000,0.050,2656,2442,3900,0,0,0,0,0,0
$GC,324,-0.58,-97.8,43.1,-15.9,65,329,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2442,3900,0,0,0,0,0,0
$GC,459,-0.58,-97.8,64.6,-15.5,96,466,0.00,2.03,0.00,0.000,4,0.000,0.073,2646,3671,3900,0,0,0,0,0,0
$GC,511,-0.58,-97.8,73.2,-17.3,107,516,0.00,1.90,0.00,0.000,6,0.000,0.050,2645,2446,3900,0,0,0,0,0,0
$GC,651,-0.58,-97.8,95.9,-15.9,138,657,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2445,3901,0,0,0,0,0,0
$GC,790,-0.58,-97.8,115.9,-14.2,169,795,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2445,3901,0,0,0,0,0,0
$GC,929,-0.58,-97.8,119.4,-0.0,200,935,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2445,3901,0,0,0,0,0,0
$GC,1069,-0.58,-97.8,119.4,-0.3,231,1074,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2445,3901,0,0,0,0,0,0
$STATE,1150,end dive,NO_VERTICAL_VELOCITY
$STATE,1150,begin apogee
$GC,1153,-0.14,0.0,119.4,0.0,249,1234,0.45,0.00,74.40,0.637,6,0.103,0.000,2805,2387,3500,0,0,0,0,0,0
$STATE,1235,end apogee,CONTROL_FINISHED_OK
$STATE,1235,begin climb
$GC,1236,0.58,97.8,119.3,0.0,266,1318,0.70,0.00,75.90,0.613,6,0.116,0.000,3033,2387,3100,0,0,0,0,0,0
$GC,1452,0.58,97.8,99.2,12.0,313,1458,0.00,2.05,0.00,0.000,4,0.000,0.069,3032,3626,3099,0,0,0,0,0,0
$GC,1507,0.58,97.8,92.0,13.4,325,1512,0.00,1.92,0.00,0.000,6,0.000,0.052,3041,2403,3099,0,0,0,0,0,0
$GC,1646,0.58,97.8,76.0,11.2,356,1651,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2402,3099,0,0,0,0,0,0
$GC,1787,0.58,97.8,61.0,10.6,387,1792,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2401,3099,0,0,0,0,0,0
$GC,1925,0.58,97.8,46.0,11.0,418,1931,0.00,1.98,0.00,0.000,4,0.000,0.070,3041,3620,3099,0,0,0,0,0,0
$GC,2014,0.58,97.8,35.6,12.0,438,2020,0.00,1.92,0.00,0.000,6,0.000,0.053,3050,2401,3099,0,0,0,0,0,0
$GC,2084,0.58,97.8,28.4,10.2,454,2089,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,2400,3099,0,0,0,0,0,0
$GC,2153,0.58,97.8,21.8,9.2,470,2159,0.00,1.95,0.00,0.000,4,0.000,0.058,3058,1167,3099,0,0,0,0,0,0
$GC,2181,0.58,97.8,19.5,8.0,476,2188,0.00,1.98,0.00,0.000,6,0.000,0.066,3059,2390,3099,0,0,0,0,0,0
$GC,2251,0.58,97.8,13.6,8.7,492,2258,0.00,2.03,0.00,0.000,4,0.000,0.071,3058,3636,3099,0,0,0,0,0,0
$STATE,2349,end climb,SURFACE_DEPTH_REACHED
$STATE,2349,begin surface coast
$FINISH,3.4,1.021447
$STATE,2356,end surface coast,CONTROL_FINISHED_OK
$STATE,2356,begin surface
$SM_CCo,2372,248.43,0.531,1,0,1053,600.00
$SM_GC,1.21,0.00,0.00,248.43,0.000,0.000,0.531,148,2446,1053,-8.47,-0.11,600.00
$IRIDIUM_FIX,4748.51,-12219.12,210899,070709
$TT8_MAMPS,0.027612
$HUMID,34.52
$INTERNAL_PRESSURE,9.01087
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.0,41.9
$24V_AH,24.5,1.634
$10V_AH,10.5,0.915
$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,19.325,23.650,150.300,248.425,0.000,55.782,59.746,336.669,0.500,0.000,20.086,784.831,417.560,474.854,1040.754,541.077,33.316,953.052,0.000,1036.141,0.000,5.531,0.000
$DEVICE_MAMPS,242.372,121.953,637.377,530.764,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,348.803,237.571,699.990,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324612
$DATA_FILE_SIZE,28769,516
$CAP_FILE_SIZE,61923,0
$CFSIZE,260165632,256700416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,270510,080850,4806.454,-12222.477,11,1.9,11,18.3