version: 66.07
glider: 187
mission: 3
dive: 7
start: 2 16 111 23 54 44
data:
$ID,187
$MISSION,3
$DIVE,7
$D_SURF,3
$D_FLARE,3
$D_TGT,200
$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,89
$T_MISSION,95
$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,180
$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,260
$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,-1519675.6
$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,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,2100
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,29
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,120
$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
$GPS1,160211,234707,4744.072,-12224.532,46,1.0,46,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-76.2
$GPS2,160211,235349,4744.129,-12224.478,10,1.4,15,18.2
$SPEED_LIMITS,0.130,0.256
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.197,0.164
$KALMAN_X,-645.8,-79.3,32.9,1471.5,-91.9
$KALMAN_Y,-1369.2,-641.4,-84.0,3842.1,-670.1
$MHEAD_RNG_PITCHd_Wd,32.1,1224,-13.2,-7.491
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.54,-176.0,0.0,0.0,0,85,0.00,0.00,-65.15,0.000,2,0.000,0.000,135,2078,3057,0,0,0,0,0,0
$GC,89,-0.54,-176.0,3.7,-4.5,10,111,10.93,1.98,-4.75,0.000,4,0.235,0.064,2922,3346,3312,0,0,0,0,0,0
$GC,347,-0.53,-176.0,42.2,-10.1,58,355,0.00,1.95,0.00,0.000,6,0.000,0.046,2921,2096,3315,0,0,0,0,0,0
$GC,419,-0.51,-176.0,49.8,-10.0,71,427,0.00,2.00,0.00,0.000,4,0.000,0.061,2913,3331,3315,0,0,0,0,0,0
$GC,479,-0.50,-176.0,55.7,-9.8,81,487,0.12,1.85,0.00,0.000,6,0.152,0.047,2947,2112,3314,0,0,0,0,0,0
$GC,622,-0.50,-176.0,68.0,-8.9,106,629,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2111,3315,0,0,0,0,0,0
$GC,762,-0.50,-176.0,79.5,-7.7,131,769,0.00,1.88,0.00,0.000,4,0.000,0.054,2947,875,3315,0,0,0,0,0,0
$GC,804,-0.50,-176.0,83.0,-8.2,138,812,0.00,1.92,0.00,0.000,6,0.000,0.051,2942,2111,3315,0,0,0,0,0,0
$GC,947,-0.50,-176.0,94.7,-8.0,163,954,0.00,1.92,0.00,0.000,4,0.000,0.061,2934,3332,3315,0,0,0,0,0,0
$GC,1000,-0.50,-176.0,98.9,-7.6,172,1008,0.00,1.88,0.00,0.000,6,0.000,0.047,2933,2117,3315,0,0,0,0,0,0
$GC,1144,-0.48,-176.0,111.3,-8.6,197,1151,0.00,1.92,0.00,0.000,4,0.000,0.060,2925,3334,3315,0,0,0,0,0,0
$GC,1259,-0.48,-176.0,122.0,-9.3,217,1266,0.00,1.80,0.00,0.000,6,0.000,0.047,2925,2148,3315,0,0,0,0,0,0
$GC,1399,-0.47,-176.0,134.2,-8.5,242,1407,0.12,0.00,0.00,0.000,6,0.155,0.000,2960,2146,3315,0,0,0,0,0,0
$GC,1545,-0.47,-176.0,142.3,-5.4,267,1551,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2146,3315,0,0,0,0,0,0
$GC,1685,-0.47,-176.0,152.2,-7.7,292,1693,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2147,3315,0,0,0,0,0,0
$GC,1828,-0.47,-176.0,163.0,-6.7,317,1834,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2146,3315,0,0,0,0,0,0
$GC,1967,-0.47,-176.0,172.8,-7.2,342,1975,0.00,1.95,0.00,0.000,4,0.000,0.054,2960,881,3315,0,0,0,0,0,0
$STATE,1986,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1986,begin apogee
$GC,1994,-0.17,0.0,174.3,7.1,345,2139,0.28,0.00,137.10,0.691,6,0.118,0.000,3052,2050,2592,0,0,0,0,0,0
$STATE,2139,end apogee,CONTROL_FINISHED_OK
$STATE,2140,begin climb
$GC,2142,0.54,176.0,179.8,0.0,368,2300,0.68,2.05,143.35,0.664,4,0.091,0.054,3287,833,1873,0,0,0,0,0,0
$GC,2396,0.54,187.1,163.9,7.2,410,2410,0.00,1.95,9.45,0.582,6,0.000,0.048,3287,2045,1829,0,0,0,0,0,0
$GC,2546,0.53,187.1,149.7,12.2,436,2552,0.00,0.00,0.00,0.000,6,0.000,0.000,3287,2045,1826,0,0,0,0,0,0
$GC,2687,0.51,187.1,135.6,10.9,461,2693,0.00,0.00,0.00,0.000,6,0.000,0.000,3287,2045,1825,0,0,0,0,0,0
$GC,2828,0.52,194.8,123.1,7.3,486,2842,0.00,1.95,7.60,0.566,4,0.000,0.057,3287,3286,1796,0,0,0,0,0,0
$GC,2907,0.50,194.8,117.3,7.9,499,2913,0.00,1.88,0.00,0.000,6,0.000,0.047,3287,2077,1794,0,0,0,0,0,0
$GC,3048,0.49,194.8,106.0,8.7,524,3055,0.00,0.00,0.00,0.000,6,0.000,0.000,3287,2072,1794,0,0,0,0,0,0
$GC,3189,0.48,194.8,92.9,10.7,549,3195,0.00,1.90,0.00,0.000,4,0.000,0.059,3287,3294,1794,0,0,0,0,0,0
$GC,3253,0.47,194.8,86.2,10.6,560,3261,0.00,1.90,0.00,0.000,6,0.000,0.047,3287,2080,1793,0,0,0,0,0,0
$GC,3397,0.47,194.8,71.6,10.1,585,3403,0.00,0.00,0.00,0.000,6,0.000,0.000,3287,2078,1793,0,0,0,0,0,0
$GC,3536,0.47,194.8,58.2,8.6,610,3543,0.00,0.00,0.00,0.000,6,0.000,0.000,3287,2078,1793,0,0,0,0,0,0
$GC,3675,0.47,194.8,47.1,7.7,635,3682,0.00,0.00,0.00,0.000,6,0.000,0.000,3287,2078,1793,0,0,0,0,0,0
$GC,3748,0.48,221.9,42.1,6.7,648,3776,0.00,2.03,22.33,0.605,4,0.000,0.055,3287,816,1687,0,0,0,0,0,0
$GC,3796,0.51,266.5,39.2,6.2,655,3837,0.00,2.00,36.40,0.599,6,0.000,0.050,3287,2086,1505,0,0,0,0,0,0
$GC,3904,0.55,317.5,31.9,6.0,673,3952,0.00,1.95,41.08,0.589,4,0.000,0.057,3287,3290,1296,0,0,0,0,0,0
$GC,3972,0.62,414.6,28.5,4.7,683,4059,0.00,1.95,77.45,0.577,6,0.000,0.047,3287,2079,900,0,0,0,0,0,0
$GC,4124,0.72,519.1,20.2,4.5,708,4217,0.15,2.10,82.55,0.567,4,0.099,0.056,3341,828,473,0,0,0,0,0,0
$GC,4254,0.73,519.1,9.5,9.4,728,4261,0.00,2.03,0.00,0.000,6,0.000,0.048,3341,2073,472,0,0,0,0,0,0
$STATE,4323,end climb,SURFACE_DEPTH_REACHED
$STATE,4323,begin surface coast
$FINISH,0.3,1.021838
$STATE,4364,end surface coast,CONTROL_FINISHED_OK
$STATE,4364,begin surface
$SM_CCo,4442,0.00,0.000,0,0,469,520.77
$SM_GC,0.89,8.75,0.00,0.00,0.051,0.000,0.000,140,2077,469,-9.21,-0.65,520.77
$IRIDIUM_FIX,4722.92,-12220.67,160211,222204
$TT8_MAMPS,0.026964
$HUMID,33.34
$INTERNAL_PRESSURE,8.91321
$TCM_TEMP,16.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,120.4,66.7
$24V_AH,24.0,0.706
$10V_AH,10.4,0.460
$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,21.025,46.550,557.300,0.000,0.000,25.011,29.308,213.938,0.750,0.000,16.328,1555.550,748.207,564.080,1744.918,237.222,33.329,1291.247,0.000,1486.990,0.000,5.604,0.000
$DEVICE_MAMPS,234.855,64.260,690.795,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,502.598,334.891,993.073,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323896
$DATA_FILE_SIZE,40334,748
$CAP_FILE_SIZE,83177,0
$CFSIZE,260165632,210239488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170211,011006,4744.490,-12223.608,34,0.9,44,18.2