version: 66.07
glider: 187
mission: 3
dive: 4
start: 2 16 111 21 13 46
data:
$ID,187
$MISSION,3
$DIVE,4
$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,300
$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,-1519671.9
$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,37
$R_STBD_OVSHOOT,27
$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,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$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
$GPS1,160211,210843,4743.447,-12224.779,9,1.2,15,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-78.2
$GPS2,160211,211244,4743.459,-12224.777,15,1.0,15,18.2
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.021,0.261
$KALMAN_X,-183.3,-234.6,-230.5,1045.4,-81.2
$KALMAN_Y,-322.0,-274.7,-142.9,1255.5,-176.6
$MHEAD_RNG_PITCHd_Wd,346.4,816,-18.6,-10.000
$D_GRID,175
$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,-146.6,0.0,0.0,0,91,0.00,0.00,-70.88,0.000,2,0.000,0.000,141,2015,2974,0,0,0,0,0,0
$GC,94,-0.71,-146.6,3.1,-6.3,11,116,10.68,1.98,-4.20,0.000,4,0.237,0.073,2865,3270,3192,0,0,0,0,0,0
$GC,353,-0.69,-146.6,54.2,-14.7,59,359,0.00,1.88,0.00,0.000,6,0.000,0.046,2865,2026,3195,0,0,0,0,0,0
$GC,495,-0.67,-146.6,75.3,-15.5,84,502,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2021,3195,0,0,0,0,0,0
$GC,638,-0.65,-146.6,97.5,-15.1,109,645,0.12,1.92,0.00,0.000,4,0.178,0.060,2890,3261,3195,0,0,0,0,0,0
$GC,729,-0.65,-146.6,110.0,-12.8,125,739,0.00,1.85,0.00,0.000,6,0.000,0.047,2889,2028,3195,0,0,0,0,0,0
$GC,874,-0.65,-146.6,128.9,-12.5,150,881,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2028,3195,0,0,0,0,0,0
$GC,1015,-0.65,-146.6,145.8,-12.9,175,1022,0.00,1.92,0.00,0.000,4,0.000,0.060,2881,3272,3195,0,0,0,0,0,0
$STATE,1050,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1050,begin apogee
$GC,1058,-0.17,0.0,150.3,12.0,181,1183,0.52,0.00,114.65,0.680,6,0.132,0.000,3051,2039,2590,0,0,0,0,0,0
$STATE,1184,end apogee,CONTROL_FINISHED_OK
$STATE,1184,begin climb
$GC,1187,0.71,146.6,155.1,0.0,201,1314,0.80,2.05,118.95,0.653,4,0.091,0.054,3331,822,1994,0,0,0,0,0,0
$GC,1349,0.70,146.6,145.3,10.4,227,1356,0.00,1.95,0.00,0.000,6,0.000,0.050,3331,2051,1990,0,0,0,0,0,0
$GC,1492,0.68,146.6,129.8,12.2,252,1500,0.00,1.98,0.00,0.000,4,0.000,0.059,3331,3280,1987,0,0,0,0,0,0
$GC,1614,0.66,146.6,115.6,11.2,273,1621,0.00,1.85,0.00,0.000,6,0.000,0.047,3338,2081,1985,0,0,0,0,0,0
$GC,1756,0.65,148.2,101.3,9.9,298,1763,0.00,0.00,0.00,0.000,6,0.000,0.000,3338,2080,1985,0,0,0,0,0,0
$GC,1898,0.63,148.2,84.9,11.3,323,1904,0.00,1.92,0.00,0.000,4,0.000,0.054,3347,814,1985,0,0,0,0,0,0
$GC,1948,0.61,148.2,79.2,11.5,331,1955,0.15,1.95,0.00,0.000,6,0.204,0.050,3311,2092,1985,0,0,0,0,0,0
$GC,2089,0.61,148.2,64.6,10.9,356,2096,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2093,1985,0,0,0,0,0,0
$GC,2230,0.61,148.2,48.7,11.5,381,2238,0.00,1.88,0.00,0.000,4,0.000,0.060,3311,3282,1984,0,0,0,0,0,0
$GC,2260,0.61,148.2,45.5,11.1,386,2268,0.00,1.85,0.00,0.000,6,0.000,0.047,3317,2095,1984,0,0,0,0,0,0
$GC,2333,0.62,162.1,38.2,9.4,399,2347,0.00,0.00,12.10,0.584,6,0.000,0.000,3317,2093,1931,0,0,0,0,0,0
$GC,2414,0.64,183.2,30.9,9.0,413,2442,0.00,1.92,18.12,0.589,4,0.000,0.059,3317,3281,1844,0,0,0,0,0,0
$GC,2476,0.65,199.5,25.3,9.3,423,2498,0.00,1.90,14.43,0.571,6,0.000,0.047,3321,2076,1778,0,0,0,0,0,0
$GC,2563,0.65,212.9,16.8,9.4,438,2578,0.00,0.00,11.80,0.556,6,0.000,0.000,3321,2074,1724,0,0,0,0,0,0
$GC,2642,0.69,271.5,10.6,7.3,452,2696,0.00,2.00,47.03,0.579,4,0.000,0.054,3321,814,1483,0,0,0,0,0,0
$STATE,2738,end climb,SURFACE_DEPTH_REACHED
$STATE,2738,begin surface coast
$FINISH,0.1,1.021313
$STATE,2778,end surface coast,CONTROL_FINISHED_OK
$STATE,2778,begin surface
$SM_CCo,2799,18.15,0.351,1,0,1369,300.00
$SM_GC,1.12,0.00,0.00,18.15,0.000,0.000,0.351,135,2046,1369,-9.30,0.57,300.00
$IRIDIUM_FIX,4722.92,-12226.07,160211,212152
$TT8_MAMPS,0.026964
$HUMID,34.20
$INTERNAL_PRESSURE,9.01087
$TCM_TEMP,16.10
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,115.4,73.7
$24V_AH,24.1,0.452
$10V_AH,10.4,0.272
$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,21.025,34.650,337.075,18.150,0.000,0.000,0.000,0.000,3.500,0.000,16.659,1014.149,413.197,400.587,967.980,107.435,32.330,871.037,0.000,963.048,0.000,10.313,0.000
$DEVICE_MAMPS,237.150,73.440,680.085,351.135,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,318.986,222.844,661.341,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323904
$DATA_FILE_SIZE,26887,475
$CAP_FILE_SIZE,68412,0
$CFSIZE,260165632,210382848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160211,220138,4743.625,-12224.666,12,1.5,12,18.2