version: 66.06
glider: 187
mission: 1
dive: 20
start: 5 27 110 10 38 56
data:
$ID,187
$MISSION,1
$DIVE,20
$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,-22651.297
$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,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
$GPS1,103224,4806.362,-12222.439,40,1.2,40,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-79.9
$GPS2,103801,4806.447,-12222.495,17,1.2,34,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.013,-0.197
$KALMAN_X,303.4,-489.0,208.2,464.3,-43.0
$KALMAN_Y,6799.9,332.8,-183.4,-7774.4,554.8
$MHEAD_RNG_PITCHd_Wd,157.9,1030,-16.9,-7.576
$D_GRID,105
$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,-97.8,0.0,0.0,0,115,0.00,0.00,-97.50,0.000,2,0.000,0.000,148,2434,3866,0,0,0,0,0,0
$GC,117,-0.58,-97.8,5.2,-7.5,19,135,10.07,1.92,-0.70,0.000,4,0.244,0.065,2659,1208,3900,0,0,0,0,0,0
$GC,231,-0.58,-97.8,28.2,-18.2,45,237,0.00,2.00,0.00,0.000,6,0.000,0.067,2652,2438,3901,0,0,0,0,0,0
$GC,300,-0.58,-97.8,40.3,-17.1,61,305,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2437,3901,0,0,0,0,0,0
$GC,435,-0.58,-97.8,62.4,-15.6,92,442,0.00,2.05,0.00,0.000,4,0.000,0.071,2643,3687,3901,0,0,0,0,0,0
$GC,473,-0.58,-97.8,68.5,-16.3,100,479,0.00,1.92,0.00,0.000,6,0.000,0.050,2642,2451,3901,0,0,0,0,0,0
$GC,615,-0.58,-97.8,90.8,-15.0,131,619,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2449,3901,0,0,0,0,0,0
$STATE,712,end dive,TARGET_DEPTH_EXCEEDED
$STATE,713,begin apogee
$GC,716,-0.14,0.0,105.6,15.4,153,797,0.52,0.00,74.62,0.620,6,0.164,0.000,2802,2390,3500,0,0,0,0,0,0
$STATE,799,end apogee,CONTROL_FINISHED_OK
$STATE,799,begin climb
$GC,800,0.58,97.8,110.5,0.0,170,881,0.73,0.00,75.78,0.599,6,0.117,0.000,3035,2390,3100,0,0,0,0,0,0
$GC,1014,0.58,97.8,89.4,12.0,217,1019,0.00,2.08,0.00,0.000,4,0.000,0.069,3035,3643,3099,0,0,0,0,0,0
$GC,1052,0.58,97.8,84.5,13.1,225,1058,0.00,1.98,0.00,0.000,6,0.000,0.053,3044,2404,3098,0,0,0,0,0,0
$GC,1188,0.58,97.8,67.6,11.6,256,1194,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2403,3098,0,0,0,0,0,0
$GC,1329,0.58,97.8,51.9,11.5,287,1334,0.00,2.03,0.00,0.000,4,0.000,0.071,3044,3642,3098,0,0,0,0,0,0
$GC,1412,0.58,97.8,41.0,13.0,305,1417,0.00,1.95,0.00,0.000,6,0.000,0.052,3054,2397,3098,0,0,0,0,0,0
$GC,1543,0.58,97.8,25.6,10.9,336,1549,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2395,3097,0,0,0,0,0,0
$GC,1612,0.58,97.8,19.2,9.3,352,1619,0.00,2.03,0.00,0.000,4,0.000,0.071,3054,3629,3097,0,0,0,0,0,0
$GC,1645,0.58,97.8,15.7,10.4,359,1652,0.00,1.95,0.00,0.000,6,0.000,0.053,3063,2396,3097,0,0,0,0,0,0
$GC,1716,0.58,97.8,9.5,8.5,375,1722,0.00,2.03,0.00,0.000,4,0.000,0.072,3063,3629,3097,0,0,0,0,0,0
$GC,1757,0.58,97.8,5.5,9.5,384,1763,0.08,1.92,0.00,0.000,6,0.161,0.053,3049,2405,3097,0,0,0,0,0,0
$STATE,1777,end climb,SURFACE_DEPTH_REACHED
$STATE,1777,begin surface coast
$FINISH,2.4,1.018703
$STATE,1827,end surface coast,CONTROL_FINISHED_OK
$STATE,1828,begin surface
$SM_CCo,1842,248.60,0.528,1,0,1053,600.00
$SM_GC,1.19,0.00,0.00,248.60,0.000,0.000,0.528,150,2454,1053,-8.46,0.11,600.00
$IRIDIUM_FIX,4748.51,-12221.84,210899,090941
$TT8_MAMPS,0.027612
$HUMID,33.30
$INTERNAL_PRESSURE,9.01087
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,43.9
$24V_AH,24.5,1.957
$10V_AH,10.5,1.125
$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,19.250,24.000,150.400,248.600,0.000,28.683,26.572,185.802,0.500,0.000,34.956,611.604,236.654,457.722,846.219,298.741,33.328,849.954,0.000,825.392,0.000,5.539,0.000
$DEVICE_MAMPS,243.906,132.691,619.736,527.696,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,268.701,196.009,585.223,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324792
$DATA_FILE_SIZE,22275,400
$CAP_FILE_SIZE,48695,0
$CFSIZE,260165632,256585728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270510,111506,4806.336,-12222.438,29,0.8,41,18.3