version: 66.07
glider: 187
mission: 3
dive: 2
start: 2 16 111 19 6 37
data:
$ID,187
$MISSION,3
$DIVE,2
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,4
$T_BOOST,0
$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,50
$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,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$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,0.0046000001
$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,250
$N_FILEKB,8
$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,-1519634.4
$T_RSLEEP,5
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3970
$C_PITCH,3110
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$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,35
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,2592
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00060000003
$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,-60.830196
$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,85
$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
$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,0.0043543768
$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
$GPS1,160211,190113,4743.384,-12225.377,12,1.5,17,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-73.4
$GPS2,160211,190537,4743.402,-12225.395,15,1.9,20,18.2
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.235,0.115
$KALMAN_X,-101.7,-101.7,-101.7,-53.1,-326.7
$KALMAN_Y,42.2,42.2,42.2,272.6,135.6
$MHEAD_RNG_PITCHd_Wd,45.8,1182,-18.6,-10.000
$D_GRID,187
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-0.71,-146.6,0.0,0.0,0,129,0.00,0.00,-108.88,0.000,2,0.000,0.000,137,2001,3102,0,0,0,0,0,0
$GC,132,-0.71,-146.6,3.8,-9.1,17,155,10.52,1.98,-1.70,0.000,4,0.232,0.070,2869,3254,3192,0,0,0,0,0,0
$GC,393,-0.70,-146.6,55.8,-14.8,65,399,0.00,1.88,0.00,0.000,6,0.000,0.047,2869,2025,3194,0,0,0,0,0,0
$GC,535,-0.67,-146.6,77.0,-14.8,90,543,0.00,1.98,0.00,0.000,4,0.000,0.062,2860,3258,3194,0,0,0,0,0,0
$GC,700,-0.65,-146.6,103.9,-14.5,119,708,0.12,1.85,0.00,0.000,6,0.165,0.047,2893,2038,3194,0,0,0,0,0,0
$GC,841,-0.65,-146.6,122.8,-12.8,144,848,0.00,1.92,0.00,0.000,4,0.000,0.057,2893,789,3194,0,0,0,0,0,0
$GC,873,-0.65,-146.6,126.9,-13.2,149,880,0.00,1.90,0.00,0.000,6,0.000,0.051,2887,2021,3194,0,0,0,0,0,0
$GC,1010,-0.65,-146.6,144.4,-11.5,174,1023,0.00,1.95,0.00,0.000,4,0.000,0.061,2878,3256,3194,0,0,0,0,0,0
$STATE,1063,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1063,begin apogee
$GC,1071,-0.17,0.0,150.4,12.5,182,1193,0.52,0.00,113.95,0.679,6,0.124,0.000,3051,2039,2592,0,0,0,0,0,0
$STATE,1194,end apogee,CONTROL_FINISHED_OK
$STATE,1194,begin climb
$GC,1196,0.71,146.6,156.6,0.0,201,1321,0.80,0.00,118.72,0.652,6,0.083,0.000,3332,2039,1994,0,0,0,0,0,0
$GC,1457,0.69,146.6,133.9,13.0,245,1464,0.00,1.90,0.00,0.000,4,0.000,0.056,3341,815,1987,0,0,0,0,0,0
$GC,1510,0.67,146.6,127.1,12.1,254,1518,0.00,1.95,0.00,0.000,6,0.000,0.050,3340,2049,1986,0,0,0,0,0,0
$GC,1655,0.65,146.6,109.6,13.1,279,1661,0.00,1.90,0.00,0.000,4,0.000,0.058,3341,3284,1984,0,0,0,0,0,0
$GC,1681,0.62,146.6,105.8,13.4,283,1688,0.15,1.90,0.00,0.000,6,0.207,0.047,3313,2038,1984,0,0,0,0,0,0
$GC,1822,0.62,148.0,87.9,9.9,308,1829,0.00,1.98,0.00,0.000,4,0.000,0.057,3312,3285,1984,0,0,0,0,0,0
$GC,1926,0.61,148.0,75.4,11.0,326,1933,0.00,1.88,0.00,0.000,6,0.000,0.047,3319,2079,1983,0,0,0,0,0,0
$GC,2071,0.61,152.5,61.2,9.8,351,2085,0.00,1.92,4.32,0.457,4,0.000,0.057,3319,3284,1970,0,0,0,0,0,0
$GC,2134,0.60,152.5,54.6,10.7,361,2140,0.00,1.80,0.00,0.000,6,0.000,0.046,3326,2092,1970,0,0,0,0,0,0
$GC,2270,0.59,152.5,41.0,10.8,386,2277,0.00,1.98,0.00,0.000,4,0.000,0.056,3335,818,1970,0,0,0,0,0,0
$GC,2416,0.62,202.6,29.1,7.7,413,2463,0.00,1.92,40.65,0.604,6,0.000,0.050,3335,2064,1766,0,0,0,0,0,0
$GC,2530,0.62,202.6,18.2,10.2,432,2537,0.00,1.92,0.00,0.000,4,0.000,0.057,3334,3281,1761,0,0,0,0,0,0
$STATE,2679,end climb,SURFACE_DEPTH_REACHED
$STATE,2679,begin surface coast
$FINISH,0.2,1.021743
$STATE,2706,end surface coast,CONTROL_FINISHED_OK
$STATE,2706,begin surface
$SM_CCo,2726,25.33,0.429,1,0,1572,250.21
$SM_GC,0.90,0.00,0.00,25.33,0.000,0.000,0.429,144,2014,1572,-9.27,-0.31,250.21
$IRIDIUM_FIX,4722.92,-12223.37,160211,181816
$TT8_MAMPS,0.027713
$HUMID,34.09
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,15.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,150.4,49.9
$24V_AH,24.3,0.275
$10V_AH,10.5,0.153
$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,20.700,38.350,277.650,25.325,0.000,0.000,0.000,0.000,4.250,0.000,21.398,996.421,381.905,387.166,968.842,109.524,30.181,841.403,0.000,949.644,0.000,31.504,0.000
$DEVICE_MAMPS,231.795,70.380,679.320,429.165,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,312.730,220.390,654.887,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323912
$DATA_FILE_SIZE,26942,465
$CAP_FILE_SIZE,65843,0
$CFSIZE,260165632,210460672
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160211,195343,4743.300,-12225.039,21,1.9,31,18.2