version: 66.07
glider: 187
mission: 3
dive: 22
start: 2 17 111 15 5 5
data:
$ID,187
$MISSION,3
$DIVE,22
$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,-1519696
$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,40
$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,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
$GPS1,170211,145526,4744.221,-12223.636,12,1.8,12,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-77.7
$GPS2,170211,150408,4744.307,-12223.607,15,1.9,15,18.2
$SPEED_LIMITS,0.130,0.256
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.112,-0.230
$KALMAN_X,-533.2,64.2,86.5,2239.9,139.0
$KALMAN_Y,580.0,0.1,-332.0,1828.1,303.0
$MHEAD_RNG_PITCHd_Wd,187.8,3326,-13.2,-7.491
$D_GRID,163
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.54,-176.0,0.0,0.0,0,90,0.00,0.00,-71.32,0.000,2,0.000,0.000,134,2111,3227,0,0,0,0,0,0
$GC,93,-0.54,-176.0,4.3,-5.4,11,108,10.95,0.00,-1.48,0.000,6,0.229,0.000,2943,2110,3311,0,0,0,0,0,0
$GC,173,-0.51,-176.0,28.5,-15.4,25,180,0.00,1.95,0.00,0.000,4,0.000,0.053,2943,882,3313,0,0,0,0,0,0
$GC,219,-0.49,-176.0,34.7,-12.3,33,226,0.00,1.92,0.00,0.000,6,0.000,0.049,2937,2098,3314,0,0,0,0,0,0
$GC,292,-0.46,-176.0,43.4,-11.9,46,300,0.12,0.00,0.00,0.000,6,0.155,0.000,2971,2098,3314,0,0,0,0,0,0
$GC,364,-0.46,-176.0,50.2,-9.3,59,370,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2098,3314,0,0,0,0,0,0
$GC,502,-0.46,-176.0,64.6,-11.2,84,509,0.00,2.00,0.00,0.000,4,0.000,0.061,2964,3334,3314,0,0,0,0,0,0
$GC,590,-0.46,-176.0,74.1,-10.4,99,597,0.00,1.92,0.00,0.000,6,0.000,0.045,2964,2079,3314,0,0,0,0,0,0
$GC,731,-0.46,-176.0,87.5,-9.4,124,738,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2078,3314,0,0,0,0,0,0
$GC,872,-0.46,-176.0,100.9,-8.5,149,879,0.00,1.98,0.00,0.000,4,0.000,0.060,2957,3333,3314,0,0,0,0,0,0
$GC,898,-0.46,-176.0,103.1,-8.6,153,905,0.00,1.90,0.00,0.000,6,0.000,0.047,2957,2096,3314,0,0,0,0,0,0
$GC,1038,-0.46,-176.0,116.3,-9.8,178,1045,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2096,3314,0,0,0,0,0,0
$GC,1181,-0.46,-176.0,130.4,-9.6,203,1187,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2095,3314,0,0,0,0,0,0
$GC,1319,-0.46,-176.0,143.1,-9.4,228,1327,0.00,1.95,0.00,0.000,4,0.000,0.060,2949,3327,3314,0,0,0,0,0,0
$GC,1407,-0.46,-176.0,150.7,-9.5,243,1414,0.00,1.85,0.00,0.000,6,0.000,0.045,2949,2093,3314,0,0,0,0,0,0
$STATE,1533,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1534,begin apogee
$GC,1540,-0.17,0.0,163.0,9.2,266,1685,0.35,0.00,137.02,0.684,6,0.125,0.000,3065,2091,2592,0,0,0,0,0,0
$STATE,1686,end apogee,CONTROL_FINISHED_OK
$STATE,1686,begin climb
$GC,1689,0.54,176.0,167.4,0.0,289,1846,0.68,2.15,144.10,0.654,4,0.093,0.052,3300,828,1873,0,0,0,0,0,0
$GC,1855,0.53,176.0,153.9,9.5,315,1862,0.00,1.98,0.00,0.000,6,0.000,0.047,3300,2054,1871,0,0,0,0,0,0
$GC,1995,0.53,176.0,141.7,8.4,340,2003,0.00,2.03,0.00,0.000,4,0.000,0.059,3300,3281,1866,0,0,0,0,0,0
$GC,2061,0.51,176.0,136.4,7.7,351,2067,0.00,1.90,0.00,0.000,6,0.000,0.045,3307,2065,1865,0,0,0,0,0,0
$GC,2204,0.50,176.0,124.4,9.3,376,2211,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,2062,1865,0,0,0,0,0,0
$GC,2345,0.49,176.0,111.0,9.3,401,2351,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,2061,1864,0,0,0,0,0,0
$GC,2485,0.48,176.0,98.5,8.9,426,2492,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,2061,1864,0,0,0,0,0,0
$GC,2627,0.47,176.0,86.7,7.7,451,2634,0.12,1.92,0.00,0.000,4,0.184,0.060,3275,3284,1864,0,0,0,0,0,0
$GC,2689,0.48,193.5,82.4,7.0,461,2709,0.00,1.88,13.80,0.600,6,0.000,0.047,3276,2057,1803,0,0,0,0,0,0
$GC,2841,0.51,244.8,72.6,6.0,488,2886,0.00,0.00,41.83,0.617,6,0.000,0.000,3275,2055,1592,0,0,0,0,0,0
$GC,3021,0.55,290.6,62.7,6.2,519,3066,0.00,2.03,36.97,0.604,4,0.000,0.055,3276,822,1405,0,0,0,0,0,0
$GC,3098,0.63,388.4,58.5,4.7,531,3187,0.17,1.95,78.12,0.595,6,0.089,0.048,3337,2058,1006,0,0,0,0,0,0
$GC,3316,0.63,388.4,38.6,9.8,569,3324,0.00,2.00,0.00,0.000,4,0.000,0.055,3341,824,999,0,0,0,0,0,0
$GC,3369,0.65,388.4,33.4,10.0,578,3377,0.00,1.95,0.00,0.000,6,0.000,0.048,3341,2044,999,0,0,0,0,0,0
$GC,3443,0.65,388.4,25.9,10.7,591,3450,0.00,2.00,0.00,0.000,4,0.000,0.058,3341,3281,998,0,0,0,0,0,0
$GC,3463,0.65,388.4,23.6,10.9,594,3470,0.00,2.03,0.00,0.000,6,0.000,0.047,3341,2015,998,0,0,0,0,0,0
$GC,3535,0.65,388.4,16.6,8.9,607,3542,0.00,1.90,0.00,0.000,4,0.000,0.054,3342,816,998,0,0,0,0,0,0
$GC,3586,0.66,388.4,11.8,9.7,616,3593,0.00,1.88,0.00,0.000,6,0.000,0.049,3341,2001,997,0,0,0,0,0,0
$GC,3659,0.66,388.4,3.8,10.7,629,3666,0.00,2.05,0.00,0.000,4,0.000,0.058,3341,3282,997,0,0,0,0,0,0
$STATE,3672,end climb,SURFACE_DEPTH_REACHED
$STATE,3672,begin surface coast
$FINISH,0.3,1.021947
$STATE,3699,end surface coast,CONTROL_FINISHED_OK
$STATE,3700,begin surface
$SM_CCo,3780,0.00,0.000,0,0,994,391.74
$SM_GC,1.15,8.60,0.00,0.00,0.050,0.000,0.000,136,2094,994,-9.25,-0.17,391.74
$IRIDIUM_FIX,4732.49,-12228.52,170211,121202
$TT8_MAMPS,0.026964
$HUMID,32.12
$INTERNAL_PRESSURE,8.96204
$TCM_TEMP,15.20
$XPDR_PINGS,0
$24V_AH,24.0,1.794
$10V_AH,10.4,1.310
$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,21.000,46.975,451.850,0.000,0.000,25.993,28.729,331.168,0.000,0.000,15.995,1333.643,618.660,500.900,1604.281,252.151,33.309,1124.981,0.000,1262.765,0.000,0.535,0.000
$DEVICE_MAMPS,228.735,61.200,683.910,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,426.816,276.675,826.055,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324004
$DATA_FILE_SIZE,33591,636
$CAP_FILE_SIZE,76474,0
$CFSIZE,260165632,209702912
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170211,160906,4743.949,-12223.859,26,1.0,26,18.2