version: 66.06
glider: 187
mission: 1
dive: 26
start: 5 27 110 15 17 27
data:
$ID,187
$MISSION,1
$DIVE,26
$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,-22765.621
$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,19
$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
$GPS1,151020,4806.131,-12222.396,15,1.3,15,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-79.0
$GPS2,151632,4806.111,-12222.324,15,1.7,15,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.190,0.055
$KALMAN_X,2041.6,-400.5,-229.9,-716.8,777.6
$KALMAN_Y,7611.4,69.6,272.1,-9395.4,-262.9
$MHEAD_RNG_PITCHd_Wd,267.9,4066,-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,-97.8,0.0,0.0,0,145,0.00,0.00,-124.60,0.000,6,0.000,0.000,150,2440,3900,0,0,0,0,0,0
$GC,147,-0.58,-97.8,5.2,-7.3,25,165,10.07,1.95,0.00,0.000,4,0.244,0.051,2662,1208,3900,0,0,0,0,0,0
$GC,403,-0.58,-97.8,35.2,-12.2,85,409,0.00,2.00,0.00,0.000,6,0.000,0.065,2654,2446,3902,0,0,0,0,0,0
$GC,474,-0.58,-97.8,45.4,-14.9,101,479,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2446,3901,0,0,0,0,0,0
$GC,610,-0.58,-97.8,65.9,-14.8,132,616,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2446,3902,0,0,0,0,0,0
$GC,749,-0.58,-97.8,86.2,-14.8,163,754,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2446,3902,0,0,0,0,0,0
$GC,885,-0.58,-97.8,105.0,-13.2,194,891,0.00,2.03,0.00,0.000,4,0.000,0.071,2644,3688,3901,0,0,0,0,0,0
$GC,910,-0.58,-97.8,108.4,-13.4,199,916,0.00,1.92,0.00,0.000,6,0.000,0.051,2644,2437,3901,0,0,0,0,0,0
$GC,1049,-0.58,-97.8,117.2,0.1,230,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2437,3902,0,0,0,0,0,0
$GC,1191,-0.58,-97.8,117.0,0.2,261,1195,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2437,3902,0,0,0,0,0,0
$STATE,1313,end dive,NO_VERTICAL_VELOCITY
$STATE,1313,begin apogee
$GC,1316,-0.14,0.0,117.1,0.0,289,1397,0.47,0.00,74.80,0.632,6,0.127,0.000,2806,2437,3500,0,0,0,0,0,0
$STATE,1398,end apogee,CONTROL_FINISHED_OK
$STATE,1398,begin climb
$GC,1399,0.58,97.8,117.1,0.0,306,1482,0.70,2.12,75.85,0.609,4,0.110,0.055,3045,1165,3100,0,0,0,0,0,0
$GC,1496,0.58,97.8,111.0,9.3,326,1503,0.00,2.08,0.00,0.000,6,0.000,0.065,3045,2395,3099,0,0,0,0,0,0
$GC,1635,0.58,97.8,93.9,12.2,357,1640,0.00,2.05,0.00,0.000,4,0.000,0.069,3045,3651,3099,0,0,0,0,0,0
$GC,1702,0.58,97.8,84.0,14.6,372,1709,0.00,2.00,0.00,0.000,6,0.000,0.052,3054,2407,3099,0,0,0,0,0,0
$GC,1844,0.58,97.8,65.6,12.8,403,1848,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2406,3099,0,0,0,0,0,0
$GC,1980,0.58,97.8,48.4,12.2,434,1987,0.00,2.05,0.00,0.000,4,0.000,0.070,3054,3648,3099,0,0,0,0,0,0
$GC,2000,0.58,97.8,45.5,13.0,438,2007,0.00,2.00,0.00,0.000,6,0.000,0.054,3064,2392,3099,0,0,0,0,0,0
$GC,2135,0.58,97.8,28.7,11.9,469,2141,0.00,2.05,0.00,0.000,4,0.000,0.071,3065,3637,3099,0,0,0,0,0,0
$GC,2147,0.58,97.8,27.3,12.1,471,2154,0.10,1.98,0.00,0.000,6,0.162,0.054,3044,2396,3099,0,0,0,0,0,0
$GC,2218,0.58,97.8,19.5,10.6,487,2223,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2394,3099,0,0,0,0,0,0
$GC,2286,0.58,97.8,13.2,8.6,503,2293,0.00,2.03,0.00,0.000,4,0.000,0.071,3044,3640,3099,0,0,0,0,0,0
$GC,2349,0.58,97.8,7.8,8.5,517,2355,0.00,1.95,0.00,0.000,6,0.000,0.053,3050,2402,3099,0,0,0,0,0,0
$GC,2418,0.70,195.8,4.5,2.4,533,2491,0.00,0.00,70.90,0.568,2,0.000,0.000,3050,2401,2714,0,0,0,0,0,0
$STATE,2492,end climb,SURFACE_DEPTH_REACHED
$STATE,2492,begin surface coast
$FINISH,2.8,1.018602
$STATE,2700,end surface coast,CONTROL_FINISHED_OK
$STATE,2700,begin surface
$SM_CCo,2714,175.65,0.076,0,0,1054,600.00
$SM_GC,1.00,0.00,0.00,175.65,0.000,0.000,0.076,150,2465,1054,-8.46,0.42,600.00
$IRIDIUM_FIX,4748.51,-12220.12,210899,141421
$TT8_MAMPS,0.026845
$HUMID,34.20
$INTERNAL_PRESSURE,9.02063
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.3,38.9
$24V_AH,24.5,2.434
$10V_AH,10.5,1.442
$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,19.275,28.300,221.550,175.650,0.000,23.732,28.322,240.648,0.500,0.000,15.835,879.065,362.343,445.096,1229.775,362.223,33.309,1005.862,0.000,1230.253,0.000,5.520,0.000
$DEVICE_MAMPS,243.906,113.516,632.008,75.933,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,402.244,300.303,888.207,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324996
$DATA_FILE_SIZE,31807,597
$CAP_FILE_SIZE,63684,0
$CFSIZE,260165632,256368640
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270510,160654,4806.104,-12222.413,26,0.9,44,18.3