version: 66.07
glider: 187
mission: 3
dive: 20
start: 2 17 111 13 2 30
data:
$ID,187
$MISSION,3
$DIVE,20
$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,-1519693.5
$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,38
$R_STBD_OVSHOOT,44
$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
$GPS1,170211,125358,4743.808,-12223.568,15,4.7,34,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-77.6
$GPS2,170211,130134,4743.842,-12223.450,14,5.6,33,18.2
$SPEED_LIMITS,0.130,0.179
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.004,0.179
$KALMAN_X,-1159.2,300.0,166.8,2742.1,-68.5
$KALMAN_Y,317.6,749.5,-1118.7,1265.4,-176.3
$MHEAD_RNG_PITCHd_Wd,343.2,666,-20.2,-7.491
$D_GRID,158
$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,-78.2,0.0,0.0,0,83,0.00,0.00,-60.78,0.000,6,0.000,0.000,132,2122,2911,0,0,0,0,0,0
$GC,86,-0.72,-78.2,3.6,-4.0,10,101,10.68,1.98,0.00,0.000,4,0.230,0.043,2887,862,2912,0,0,0,0,0,0
$GC,336,-0.69,-78.2,45.1,-15.3,57,343,0.00,1.92,0.00,0.000,6,0.000,0.050,2880,2086,2915,0,0,0,0,0,0
$GC,410,-0.66,-78.2,55.5,-14.0,70,418,0.12,1.92,0.00,0.000,4,0.181,0.053,2911,875,2915,0,0,0,0,0,0
$GC,547,-0.65,-78.2,73.3,-12.7,93,554,0.00,1.88,0.00,0.000,6,0.000,0.050,2904,2104,2915,0,0,0,0,0,0
$GC,689,-0.64,-78.2,90.9,-11.6,118,696,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2103,2915,0,0,0,0,0,0
$GC,831,-0.63,-78.2,104.0,-8.2,143,838,0.00,1.92,0.00,0.000,4,0.000,0.060,2895,3335,2915,0,0,0,0,0,0
$GC,968,-0.61,-78.2,116.5,-9.3,167,975,0.12,1.88,0.00,0.000,6,0.174,0.044,2925,2100,2915,0,0,0,0,0,0
$GC,1112,-0.61,-78.2,129.2,-8.6,192,1119,0.00,1.98,0.00,0.000,4,0.000,0.062,2919,3328,2915,0,0,0,0,0,0
$GC,1215,-0.61,-78.2,138.2,-9.0,210,1222,0.00,1.83,0.00,0.000,6,0.000,0.046,2918,2142,2916,0,0,0,0,0,0
$GC,1359,-0.61,-78.2,149.8,-8.0,235,1366,0.00,1.92,0.00,0.000,4,0.000,0.051,2918,876,2915,0,0,0,0,0,0
$STATE,1441,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1441,begin apogee
$GC,1449,-0.17,0.0,158.4,9.6,250,1518,0.43,0.00,61.75,0.684,6,0.098,0.000,3070,2048,2593,0,0,0,0,0,0
$STATE,1519,end apogee,CONTROL_FINISHED_OK
$STATE,1519,begin climb
$GC,1522,0.72,78.2,158.7,0.0,261,1598,0.80,2.05,65.72,0.659,4,0.085,0.057,3352,3273,2271,0,0,0,0,0,0
$GC,1625,0.72,120.0,155.1,4.8,277,1669,0.00,1.95,35.28,0.649,6,0.000,0.044,3361,2052,2100,0,0,0,0,0,0
$GC,1802,0.71,120.0,134.7,12.0,308,1809,0.00,1.98,0.00,0.000,4,0.000,0.053,3369,825,2095,0,0,0,0,0,0
$GC,1835,0.69,120.0,131.0,12.2,313,1842,0.00,1.92,0.00,0.000,6,0.000,0.047,3369,2059,2095,0,0,0,0,0,0
$GC,1977,0.67,120.0,114.7,9.6,338,1985,0.00,1.95,0.00,0.000,4,0.000,0.058,3369,3274,2093,0,0,0,0,0,0
$GC,2035,0.64,120.0,108.9,9.5,348,2043,0.15,1.92,0.00,0.000,6,0.176,0.045,3336,2057,2092,0,0,0,0,0,0
$GC,2181,0.64,120.0,95.9,9.0,373,2187,0.00,1.92,0.00,0.000,4,0.000,0.059,3336,3281,2092,0,0,0,0,0,0
$GC,2252,0.63,120.0,87.8,11.8,385,2259,0.00,1.88,0.00,0.000,6,0.000,0.046,3342,2057,2091,0,0,0,0,0,0
$GC,2395,0.63,120.0,68.4,14.1,410,2402,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,2056,2091,0,0,0,0,0,0
$GC,2536,0.63,120.0,50.7,10.8,435,2543,0.00,1.95,0.00,0.000,4,0.000,0.059,3342,3290,2090,0,0,0,0,0,0
$GC,2614,0.62,120.0,42.6,10.4,449,2621,0.00,1.90,0.00,0.000,6,0.000,0.046,3351,2073,2090,0,0,0,0,0,0
$GC,2686,0.62,124.7,36.4,7.2,462,2693,0.00,0.00,0.00,0.000,6,0.000,0.000,3351,2071,2090,0,0,0,0,0,0
$GC,2757,0.64,161.9,32.7,5.1,475,2797,0.00,1.98,33.00,0.600,4,0.000,0.052,3357,810,1930,0,0,0,0,0,0
$GC,2832,0.64,161.9,27.1,8.4,487,2839,0.00,2.03,0.00,0.000,6,0.000,0.048,3357,2090,1928,0,0,0,0,0,0
$GC,2904,0.64,161.9,19.7,10.4,500,2911,0.00,2.03,0.00,0.000,4,0.000,0.054,3366,815,1926,0,0,0,0,0,0
$GC,3007,0.64,161.9,11.1,7.6,519,3015,0.10,1.92,0.00,0.000,6,0.184,0.049,3336,2042,1926,0,0,0,0,0,0
$GC,3080,0.66,169.3,6.1,7.0,532,3095,0.00,1.98,6.72,0.513,4,0.000,0.057,3337,3274,1901,0,0,0,0,0,0
$GC,3109,0.68,176.7,4.0,7.0,536,3124,0.00,1.92,6.78,0.506,6,0.000,0.047,3339,2052,1872,0,0,0,0,0,0
$STATE,3129,end climb,SURFACE_DEPTH_REACHED
$STATE,3129,begin surface coast
$FINISH,0.1,1.014849
$STATE,3167,end surface coast,CONTROL_FINISHED_OK
$STATE,3167,begin surface
$SM_CCo,3186,44.42,0.080,0,0,1532,260.02
$SM_GC,1.78,0.00,0.00,44.42,0.000,0.000,0.080,135,2099,1532,-9.34,-0.03,260.02
$IRIDIUM_FIX,4729.30,-12222.38,170211,111140
$TT8_MAMPS,0.027713
$HUMID,32.00
$INTERNAL_PRESSURE,9.0011
$TCM_TEMP,15.90
$XPDR_PINGS,0
$24V_AH,24.2,1.633
$10V_AH,10.4,1.182
$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,20.975,50.400,209.250,44.425,0.000,25.514,29.652,243.767,0.000,0.000,35.731,1226.145,491.428,358.103,1409.608,208.875,33.310,858.847,0.000,1105.602,0.000,0.535,0.000
$DEVICE_MAMPS,229.500,130.050,683.910,79.560,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,369.811,255.527,758.727,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323816
$DATA_FILE_SIZE,30367,546
$CAP_FILE_SIZE,68825,0
$CFSIZE,260165632,209797120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170211,135714,4744.154,-12223.398,14,1.7,14,18.2