version: 66.07
glider: 187
mission: 3
dive: 19
start: 2 17 111 11 51 52
data:
$ID,187
$MISSION,3
$DIVE,19
$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,80
$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,-1519692.2
$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,3125
$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,30
$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,0
$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
$GPS1,170211,114337,4743.650,-12223.768,9,1.6,14,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-77.6
$GPS2,170211,115056,4743.660,-12223.713,14,2.0,14,18.2
$SPEED_LIMITS,0.130,0.179
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.026,0.177
$KALMAN_X,-1557.5,464.3,174.7,2645.4,-119.0
$KALMAN_Y,104.2,1170.5,-905.0,504.1,-798.5
$MHEAD_RNG_PITCHd_Wd,350.1,1036,-20.2,-7.491
$D_GRID,165
$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,16,-0.72,-78.2,0.0,0.0,0,84,0.00,0.00,-60.95,0.000,6,0.000,0.000,143,2112,2910,0,0,0,0,0,0
$GC,87,-0.72,-78.2,3.6,-4.1,10,102,10.75,2.00,0.00,0.000,4,0.233,0.050,2888,868,2912,0,0,0,0,0,0
$GC,337,-0.69,-78.2,48.2,-14.1,57,344,0.00,1.95,0.00,0.000,6,0.000,0.050,2881,2107,2914,0,0,0,0,0,0
$GC,412,-0.67,-78.2,58.5,-12.9,70,420,0.00,1.95,0.00,0.000,4,0.000,0.052,2880,867,2915,0,0,0,0,0,0
$GC,479,-0.64,-78.2,66.7,-12.6,81,487,0.17,1.90,0.00,0.000,6,0.166,0.050,2918,2089,2915,0,0,0,0,0,0
$GC,621,-0.64,-78.2,80.7,-9.6,106,629,0.00,1.98,0.00,0.000,4,0.000,0.060,2911,3334,2915,0,0,0,0,0,0
$GC,722,-0.64,-78.2,90.7,-9.7,124,730,0.00,1.92,0.00,0.000,6,0.000,0.045,2911,2093,2915,0,0,0,0,0,0
$GC,868,-0.63,-78.2,103.7,-9.3,149,874,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2093,2915,0,0,0,0,0,0
$GC,1009,-0.62,-78.2,118.6,-10.2,174,1016,0.00,1.98,0.00,0.000,4,0.000,0.060,2901,3337,2915,0,0,0,0,0,0
$GC,1097,-0.61,-78.2,127.5,-10.0,189,1103,0.00,1.85,0.00,0.000,6,0.000,0.045,2901,2105,2915,0,0,0,0,0,0
$GC,1239,-0.59,-78.2,141.8,-10.2,214,1247,0.12,1.92,0.00,0.000,4,0.175,0.051,2934,872,2916,0,0,0,0,0,0
$GC,1268,-0.59,-78.2,144.6,-10.0,218,1275,0.00,1.92,0.00,0.000,6,0.000,0.050,2927,2111,2916,0,0,0,0,0,0
$GC,1408,-0.59,-78.2,157.3,-9.1,243,1415,0.00,1.90,0.00,0.000,4,0.000,0.060,2918,3336,2915,0,0,0,0,0,0
$GC,1450,-0.59,-78.2,161.5,-9.7,250,1458,0.00,1.88,0.00,0.000,6,0.000,0.046,2918,2119,2915,0,0,0,0,0,0
$STATE,1484,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1485,begin apogee
$GC,1491,-0.17,0.0,165.1,9.7,256,1560,0.45,0.00,62.05,0.687,6,0.136,0.000,3063,2039,2593,0,0,0,0,0,0
$STATE,1561,end apogee,CONTROL_FINISHED_OK
$STATE,1561,begin climb
$GC,1563,0.72,78.2,167.9,0.0,267,1638,0.82,0.00,65.80,0.665,6,0.083,0.000,3355,2039,2272,0,0,0,0,0,0
$GC,1774,0.69,78.2,161.8,8.3,303,1781,0.00,1.90,0.00,0.000,4,0.000,0.053,3364,825,2266,0,0,0,0,0,0
$GC,1822,0.67,78.2,157.0,10.3,311,1829,0.00,1.88,0.00,0.000,6,0.000,0.047,3364,2033,2266,0,0,0,0,0,0
$GC,1964,0.64,78.2,141.1,11.7,336,1972,0.12,2.00,0.00,0.000,4,0.216,0.058,3336,3280,2264,0,0,0,0,0,0
$GC,2043,0.62,78.2,131.6,12.3,349,2050,0.00,1.92,0.00,0.000,6,0.000,0.045,3343,2046,2263,0,0,0,0,0,0
$GC,2184,0.60,78.2,115.7,11.8,374,2192,0.00,0.00,0.00,0.000,6,0.000,0.000,3343,2045,2263,0,0,0,0,0,0
$GC,2327,0.59,78.2,99.8,10.8,399,2333,0.00,1.95,0.00,0.000,4,0.000,0.059,3342,3282,2263,0,0,0,0,0,0
$GC,2390,0.56,78.2,93.4,9.7,410,2398,0.15,1.92,0.00,0.000,6,0.174,0.046,3308,2053,2263,0,0,0,0,0,0
$GC,2536,0.56,78.2,82.1,7.5,435,2542,0.00,1.92,0.00,0.000,4,0.000,0.059,3309,3288,2263,0,0,0,0,0,0
$GC,2661,0.56,78.2,70.2,9.1,457,2668,0.00,1.88,0.00,0.000,6,0.000,0.045,3315,2066,2263,0,0,0,0,0,0
$GC,2803,0.57,100.9,60.8,6.0,482,2830,0.00,1.98,17.92,0.607,4,0.000,0.054,3323,820,2180,0,0,0,0,0,0
$GC,2849,0.59,119.7,57.8,6.3,489,2875,0.00,1.90,16.83,0.593,6,0.000,0.049,3323,2061,2102,0,0,0,0,0,0
$GC,3009,0.59,119.7,46.4,8.6,517,3016,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2061,2098,0,0,0,0,0,0
$GC,3081,0.59,119.7,40.5,7.8,530,3088,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2061,2098,0,0,0,0,0,0
$GC,3152,0.59,120.6,35.2,7.4,543,3159,0.00,1.95,0.00,0.000,4,0.000,0.060,3323,3286,2097,0,0,0,0,0,0
$GC,3193,0.59,120.6,31.5,8.7,550,3201,0.00,1.95,0.00,0.000,6,0.000,0.046,3329,2038,2096,0,0,0,0,0,0
$GC,3266,0.59,120.6,25.1,8.7,563,3273,0.00,1.90,0.00,0.000,4,0.000,0.054,3337,824,2097,0,0,0,0,0,0
$GC,3322,0.59,120.6,19.9,8.9,573,3330,0.00,1.85,0.00,0.000,6,0.000,0.049,3337,2008,2097,0,0,0,0,0,0
$GC,3395,0.59,120.6,12.9,9.2,586,3402,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2008,2097,0,0,0,0,0,0
$GC,3467,0.61,159.0,7.8,5.0,599,3507,0.00,1.90,31.62,0.584,4,0.000,0.054,3338,826,1941,0,0,0,0,0,0
$GC,3541,0.64,193.8,3.9,5.3,611,3564,0.00,1.83,17.80,0.084,2,0.000,0.048,3337,1989,1846,0,0,0,0,0,0
$STATE,3564,end climb,SURFACE_DEPTH_REACHED
$STATE,3564,begin surface coast
$FINISH,1.0,1.021777
$STATE,3591,end surface coast,CONTROL_FINISHED_OK
$STATE,3591,begin surface
$SM_CCo,3611,40.78,0.080,0,0,1531,260.02
$SM_GC,1.88,0.00,0.00,40.78,0.000,0.000,0.080,132,2122,1531,-9.36,0.62,260.02
$IRIDIUM_FIX,4726.11,-12227.78,170211,101038
$TT8_MAMPS,0.026964
$HUMID,32.16
$INTERNAL_PRESSURE,8.99133
$TCM_TEMP,16.00
$XPDR_PINGS,0
$24V_AH,24.3,1.575
$10V_AH,10.4,1.119
$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,21.225,54.050,212.025,40.775,0.000,25.176,28.489,247.333,0.000,0.000,15.522,1392.467,586.016,376.759,1524.633,218.345,33.311,938.388,0.000,1234.632,0.000,0.535,0.000
$DEVICE_MAMPS,232.560,104.805,686.970,79.560,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,419.561,282.176,832.568,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323852
$DATA_FILE_SIZE,33663,619
$CAP_FILE_SIZE,76191,0
$CFSIZE,260165632,209825792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170211,125358,4743.808,-12223.568,15,4.7,34,18.2