version: 66.08
glider: 187
mission: 1
dive: 7
start: 6 13 112 0 0 50
data:
$ID,187
$MISSION,1
$DIVE,7
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,180
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,4
$T_BOOST,0
$D_FINISH,10
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,60
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,101
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,60
$COURSE_BIAS,0
$GLIDE_SLOPE,50
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51930
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0046000001
$HD_B,0.0099999998
$HD_C,1.34e-05
$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,330
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,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,-1587250.2
$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,3350
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,2
$ROLL_MIN,236
$ROLL_MAX,3800
$ROLL_DEG,43
$C_ROLL_DIVE,200
$C_ROLL_CLIMB,200
$HEAD_ERRBAND,361
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,1869
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$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,-60.980541
$PRESSURE_SLOPE,0.0001138132
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$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,95
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$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
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-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,0.0043543722
$SEABIRD_T_H,0.00062483409
$SEABIRD_T_I,2.3277114e-05
$SEABIRD_T_J,2.4402393e-06
$SEABIRD_C_G,-9.9786949
$SEABIRD_C_H,1.1107863
$SEABIRD_C_I,-0.0017547003
$SEABIRD_C_J,0.0002234884
$GPS1,120612,235204,4743.776,-12224.668,15,4.2,34,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-81.0
$GPS2,120612,235955,4743.734,-12224.635,10,1.1,16,18.2
$SPEED_LIMITS,0.084,0.167
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.106,0.106
$KALMAN_X,292.4,-27.0,-43.3,7.4,167.0
$KALMAN_Y,-682.9,-418.3,-23.8,2946.7,-64.9
$MHEAD_RNG_PITCHd_Wd,308.0,370,-41.9,-10.000
$D_GRID,174
$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,16,-1.32,-28.4,0.0,0.0,0,64,0.00,0.00,-45.88,0.000,2,0.000,0.000,136,245,1889,0,0,0,0,0,0
$GC,67,-1.32,-28.4,4.2,-10.4,7,83,10.62,0.00,-2.05,0.000,6,0.222,0.000,2920,242,1986,0,0,0,0,0,0
$GC,148,-1.31,-28.4,19.6,-15.0,21,154,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,242,1990,0,0,0,0,0,0
$GC,218,-1.30,-28.4,29.0,-14.1,34,225,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,242,1991,0,0,0,0,0,0
$GC,290,-1.28,-28.4,39.4,-14.6,47,297,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,241,1991,0,0,0,0,0,0
$GC,361,-1.28,-28.4,51.9,-17.3,60,367,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,242,1991,0,0,0,0,0,0
$GC,504,-1.28,-28.4,74.3,-17.2,85,510,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,242,1991,0,0,0,0,0,0
$GC,643,-1.28,-28.4,95.5,-15.7,110,650,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,242,1991,0,0,0,0,0,0
$GC,788,-1.28,-28.4,118.1,-16.1,135,794,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,242,1991,0,0,0,0,0,0
$GC,928,-1.28,-28.4,139.2,-15.4,160,934,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,242,1991,0,0,0,0,0,0
$GC,1069,-1.28,-28.4,162.3,-17.1,185,1075,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,242,1991,0,0,0,0,0,0
$STATE,1139,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1139,begin apogee
$GC,1145,-0.22,0.0,174.3,16.5,198,1178,1.20,0.00,28.17,0.664,6,0.191,0.000,3267,243,1869,0,0,0,0,0,0
$STATE,1179,end apogee,CONTROL_FINISHED_OK
$STATE,1179,begin climb
$GC,1182,1.32,28.4,177.6,0.0,203,1214,1.48,0.00,25.42,0.647,6,0.105,0.000,3768,243,1752,0,0,0,0,0,0
$GC,1347,1.32,34.2,164.0,8.6,232,1355,0.00,0.00,6.15,0.529,6,0.000,0.000,3768,243,1729,0,0,0,0,0,0
$GC,1491,1.32,34.2,150.0,10.5,257,1497,0.00,0.00,0.00,0.000,6,0.000,0.000,3768,243,1727,0,0,0,0,0,0
$GC,1631,1.33,39.4,136.1,8.8,282,1639,0.00,0.00,5.50,0.506,6,0.000,0.000,3768,243,1708,0,0,0,0,0,0
$GC,1777,1.33,40.4,121.6,9.8,307,1783,0.00,0.00,0.00,0.000,6,0.000,0.000,3768,243,1708,0,0,0,0,0,0
$GC,1916,1.33,41.1,107.2,9.8,332,1923,0.00,0.00,0.00,0.000,6,0.000,0.000,3768,243,1708,0,0,0,0,0,0
$GC,2057,1.33,44.9,94.6,9.1,357,2070,0.00,0.00,5.97,0.509,6,0.000,0.000,3768,243,1686,0,0,0,0,0,0
$GC,2208,1.33,48.9,82.2,9.1,383,2215,0.00,0.00,5.00,0.474,6,0.000,0.000,3768,243,1669,0,0,0,0,0,0
$GC,2351,1.33,53.4,68.8,8.9,408,2359,0.00,0.00,5.38,0.483,6,0.000,0.000,3768,243,1651,0,0,0,0,0,0
$GC,2497,1.34,65.7,56.4,7.1,433,2511,0.00,0.00,11.40,0.566,6,0.000,0.000,3768,243,1601,0,0,0,0,0,0
$GC,2642,1.34,65.7,43.5,10.3,459,2649,0.00,0.00,0.00,0.000,6,0.000,0.000,3768,243,1599,0,0,0,0,0,0
$GC,2714,1.34,65.7,35.7,10.9,472,2721,0.00,0.00,0.00,0.000,6,0.000,0.000,3768,243,1599,0,0,0,0,0,0
$GC,2785,1.34,79.1,30.1,6.8,485,2800,0.00,0.00,12.38,0.558,6,0.000,0.000,3768,243,1546,0,0,0,0,0,0
$GC,2865,1.35,79.1,23.0,10.3,499,2871,0.00,0.00,0.00,0.000,6,0.000,0.000,3768,243,1544,0,0,0,0,0,0
$GC,2937,1.37,81.8,15.8,9.4,512,2945,0.00,0.00,3.42,0.361,6,0.000,0.000,3768,243,1535,0,0,0,0,0,0
$GC,3012,1.38,86.2,9.6,9.0,525,3019,0.00,0.00,5.32,0.460,6,0.000,0.000,3768,243,1516,0,0,0,0,0,0
$GC,3084,1.44,138.9,8.1,-2.4,538,3132,0.12,0.00,42.92,0.577,6,0.105,0.000,3822,243,1301,0,0,0,0,0,0
$STATE,3183,end climb,SURFACE_DEPTH_REACHED
$STATE,3183,begin surface coast
$FINISH,3.4,1.020415
$STATE,3243,end surface coast,CONTROL_FINISHED_OK
$STATE,3243,begin surface
$SM_CCo,3263,157.20,0.519,6,0,522,330.17
$SM_GC,1.37,0.00,0.00,157.20,0.000,0.000,0.519,142,243,522,-10.03,1.22,330.17
$IRIDIUM_FIX,4713.38,-12212.14,120612,222232
$TT8_MAMPS,0.026964
$HUMID,42.28
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,115.7,69.1
$24V_AH,24.3,0.682
$10V_AH,10.5,0.618
$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,23.875,0.000,157.050,157.200,0.000,28.391,33.967,264.977,1.500,0.000,16.985,1291.830,549.523,417.472,1465.786,196.565,33.319,898.994,0.000,1139.677,0.000,11.867,0.000
$DEVICE_MAMPS,221.850,0.000,664.020,519.435,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,386.256,264.101,784.948,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323316
$DATA_FILE_SIZE,37068,566
$CAP_FILE_SIZE,64156,0
$CFSIZE,260165632,257085440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$GPS,130612,005922,4743.766,-12224.633,10,3.7,29,18.2