version: 66.06
glider: 187
mission: 1
dive: 24
start: 5 27 110 13 36 32
data:
$ID,187
$MISSION,1
$DIVE,24
$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,-22734.027
$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,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,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
$GPS1,133004,4806.027,-12222.180,12,2.3,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-80.1
$GPS2,133537,4806.047,-12222.159,15,1.5,20,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.185,0.070
$KALMAN_X,958.2,-523.8,-82.2,547.7,206.4
$KALMAN_Y,8094.2,168.3,133.3,-9957.8,303.0
$MHEAD_RNG_PITCHd_Wd,272.5,4274,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.58,-97.8,0.0,0.0,0,124,0.00,0.00,-104.62,0.000,6,0.000,0.000,155,2458,3899,0,0,0,0,0,0
$GC,127,-0.58,-97.8,3.9,-2.7,21,144,10.10,1.98,0.00,0.000,4,0.245,0.050,2661,1205,3900,0,0,0,0,0,0
$GC,291,-0.58,-97.8,24.7,-10.9,59,298,0.00,2.00,0.00,0.000,6,0.000,0.066,2654,2437,3901,0,0,0,0,0,0
$GC,361,-0.58,-97.8,33.3,-12.6,75,368,0.00,1.92,0.00,0.000,4,0.000,0.053,2654,1210,3901,0,0,0,0,0,0
$GC,411,-0.58,-97.8,39.8,-13.2,86,417,0.00,2.00,0.00,0.000,6,0.000,0.067,2644,2443,3901,0,0,0,0,0,0
$GC,483,-0.58,-97.8,50.1,-13.9,102,489,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2443,3902,0,0,0,0,0,0
$GC,620,-0.58,-97.8,70.0,-15.0,133,626,0.00,2.03,0.00,0.000,4,0.000,0.072,2635,3695,3901,0,0,0,0,0,0
$GC,675,-0.58,-97.8,79.0,-17.2,145,681,0.12,1.92,0.00,0.000,6,0.193,0.050,2664,2446,3901,0,0,0,0,0,0
$GC,821,-0.58,-97.8,99.8,-13.0,176,827,0.00,2.00,0.00,0.000,4,0.000,0.072,2656,3682,3901,0,0,0,0,0,0
$GC,864,-0.58,-97.8,106.0,-14.9,185,869,0.00,1.90,0.00,0.000,6,0.000,0.050,2656,2446,3901,0,0,0,0,0,0
$STATE,874,end dive,TARGET_DEPTH_EXCEEDED
$STATE,874,begin apogee
$GC,878,-0.14,0.0,107.5,14.7,187,958,0.47,0.00,74.72,0.622,6,0.163,0.000,2802,2391,3501,0,0,0,0,0,0
$STATE,959,end apogee,CONTROL_FINISHED_OK
$STATE,959,begin climb
$GC,960,0.58,97.8,112.1,0.0,204,1042,0.73,0.00,75.95,0.601,6,0.117,0.000,3036,2391,3101,0,0,0,0,0,0
$GC,1174,0.58,97.8,90.7,11.9,251,1180,0.00,2.05,0.00,0.000,4,0.000,0.069,3036,3640,3100,0,0,0,0,0,0
$GC,1221,0.58,97.8,84.4,13.7,261,1226,0.00,1.98,0.00,0.000,6,0.000,0.051,3046,2399,3100,0,0,0,0,0,0
$GC,1359,0.58,97.8,66.8,12.5,292,1365,0.00,2.03,0.00,0.000,4,0.000,0.071,3046,3629,3101,0,0,0,0,0,0
$GC,1378,0.58,97.8,64.0,13.3,296,1384,0.00,1.98,0.00,0.000,6,0.000,0.053,3055,2394,3100,0,0,0,0,0,0
$GC,1516,0.58,97.8,45.5,13.2,327,1521,0.00,2.00,0.00,0.000,4,0.000,0.070,3055,3636,3101,0,0,0,0,0,0
$GC,1547,0.58,97.8,40.6,14.8,334,1553,0.00,1.98,0.00,0.000,6,0.000,0.052,3065,2392,3101,0,0,0,0,0,0
$GC,1679,0.58,97.8,23.5,12.8,365,1685,0.00,2.05,0.00,0.000,4,0.000,0.072,3065,3634,3101,0,0,0,0,0,0
$GC,1707,0.58,97.8,19.7,13.5,371,1714,0.10,1.95,0.00,0.000,6,0.163,0.053,3044,2402,3101,0,0,0,0,0,0
$GC,1778,0.58,97.8,11.7,10.5,387,1785,0.00,2.00,0.00,0.000,4,0.000,0.071,3045,3633,3101,0,0,0,0,0,0
$GC,1824,0.58,97.8,7.1,10.3,397,1830,0.00,1.95,0.00,0.000,6,0.000,0.052,3051,2397,3101,0,0,0,0,0,0
$STATE,1864,end climb,SURFACE_DEPTH_REACHED
$STATE,1864,begin surface coast
$FINISH,3.9,1.018958
$STATE,1927,end surface coast,CONTROL_FINISHED_OK
$STATE,1927,begin surface
$SM_CCo,1941,274.33,0.531,1,0,1054,600.00
$SM_GC,1.06,0.00,0.00,274.33,0.000,0.000,0.531,148,2460,1054,-8.46,0.28,600.00
$IRIDIUM_FIX,4751.72,-12223.57,210899,121214
$TT8_MAMPS,0.027612
$HUMID,33.57
$INTERNAL_PRESSURE,9.01087
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.2,41.0
$24V_AH,24.4,2.280
$10V_AH,10.5,1.320
$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,19.525,35.875,150.675,274.325,0.000,22.633,24.423,206.017,1.000,0.000,20.570,647.338,236.555,495.837,881.278,311.132,33.315,913.993,0.000,873.553,0.000,9.923,0.000
$DEVICE_MAMPS,244.673,120.419,622.037,530.764,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,283.183,206.998,625.644,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324956
$DATA_FILE_SIZE,22380,421
$CAP_FILE_SIZE,53429,0
$CFSIZE,260165632,256454656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270510,141420,4806.102,-12222.313,14,1.1,14,18.3