version: 66.07
glider: 187
mission: 3
dive: 6
start: 2 16 111 22 57 53
data:
$ID,187
$MISSION,3
$DIVE,6
$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,-1519674.4
$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,35
$R_STBD_OVSHOOT,32
$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,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
$GPS1,160211,225010,4743.812,-12224.852,11,2.5,30,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-76.8
$GPS2,160211,225658,4743.845,-12224.806,16,2.3,35,18.2
$SPEED_LIMITS,0.130,0.256
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.144,0.212
$KALMAN_X,-31.4,-250.0,-135.9,782.5,269.2
$KALMAN_Y,-994.4,-547.0,-83.5,2849.9,-613.2
$MHEAD_RNG_PITCHd_Wd,16.0,1754,-13.2,-7.491
$D_GRID,176
$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,-0.54,-176.0,0.0,0.0,0,83,0.00,0.00,-64.72,0.000,2,0.000,0.000,135,2006,3027,0,0,0,0,0,0
$GC,87,-0.54,-176.0,3.4,-3.9,10,110,10.80,1.80,-5.28,0.000,4,0.232,0.066,2929,865,3311,0,0,0,0,0,0
$GC,345,-0.53,-176.0,43.8,-11.6,58,353,0.00,1.92,0.00,0.000,6,0.000,0.051,2926,2096,3314,0,0,0,0,0,0
$GC,420,-0.52,-176.0,52.0,-10.6,71,427,0.00,1.90,0.00,0.000,4,0.000,0.053,2926,864,3314,0,0,0,0,0,0
$GC,490,-0.50,-176.0,59.5,-10.5,83,497,0.00,1.90,0.00,0.000,6,0.000,0.052,2922,2110,3315,0,0,0,0,0,0
$GC,632,-0.49,-176.0,75.5,-11.8,108,640,0.00,1.95,0.00,0.000,4,0.000,0.061,2916,3331,3315,0,0,0,0,0,0
$GC,687,-0.48,-176.0,82.2,-12.2,117,696,0.15,1.85,0.00,0.000,6,0.144,0.047,2959,2102,3315,0,0,0,0,0,0
$GC,832,-0.48,-176.0,96.8,-10.2,142,839,0.00,1.90,0.00,0.000,4,0.000,0.054,2959,877,3315,0,0,0,0,0,0
$GC,880,-0.48,-176.0,101.7,-9.8,150,887,0.00,1.90,0.00,0.000,6,0.000,0.051,2958,2100,3315,0,0,0,0,0,0
$GC,1024,-0.48,-176.0,114.3,-8.6,175,1030,0.00,1.92,0.00,0.000,4,0.000,0.061,2949,3333,3315,0,0,0,0,0,0
$STATE,1092,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1092,begin apogee
$GC,1100,-0.17,0.0,121.0,9.1,187,1245,0.30,0.00,136.57,0.657,6,0.120,0.000,3051,2039,2591,0,0,0,0,0,0
$STATE,1246,end apogee,CONTROL_FINISHED_OK
$STATE,1246,begin climb
$GC,1248,0.54,176.0,127.4,0.0,210,1400,0.68,2.00,141.95,0.629,4,0.096,0.054,3283,826,1874,0,0,0,0,0,0
$GC,1414,0.53,176.0,120.0,7.6,236,1421,0.00,2.00,0.00,0.000,6,0.000,0.049,3283,2043,1871,0,0,0,0,0,0
$GC,1559,0.53,176.0,107.6,9.0,261,1566,0.00,1.98,0.00,0.000,4,0.000,0.059,3283,3288,1867,0,0,0,0,0,0
$GC,1623,0.52,176.0,100.9,10.7,272,1630,0.00,1.95,0.00,0.000,6,0.000,0.047,3287,2067,1865,0,0,0,0,0,0
$GC,1766,0.52,176.0,87.4,9.2,297,1773,0.00,1.95,0.00,0.000,4,0.000,0.056,3288,817,1865,0,0,0,0,0,0
$GC,1852,0.52,176.0,79.9,8.2,312,1859,0.00,1.95,0.00,0.000,6,0.000,0.050,3288,2053,1865,0,0,0,0,0,0
$GC,1997,0.52,176.0,67.6,8.5,337,2004,0.00,1.90,0.00,0.000,4,0.000,0.059,3287,3284,1865,0,0,0,0,0,0
$GC,2022,0.51,176.0,64.8,9.1,341,2029,0.00,1.92,0.00,0.000,6,0.000,0.047,3288,2039,1864,0,0,0,0,0,0
$GC,2165,0.51,176.0,52.8,8.5,366,2172,0.00,0.00,0.00,0.000,6,0.000,0.000,3288,2038,1864,0,0,0,0,0,0
$GC,2298,0.51,176.0,40.3,9.7,391,2305,0.00,0.00,0.00,0.000,6,0.000,0.000,3288,2038,1864,0,0,0,0,0,0
$GC,2370,0.51,176.0,33.4,9.5,404,2377,0.00,0.00,0.00,0.000,6,0.000,0.000,3288,2038,1864,0,0,0,0,0,0
$GC,2443,0.51,177.9,27.5,7.4,417,2450,0.00,1.98,0.00,0.000,4,0.000,0.060,3288,3284,1864,0,0,0,0,0,0
$GC,2484,0.51,179.5,24.4,7.4,424,2491,0.00,1.90,0.00,0.000,6,0.000,0.048,3289,2061,1864,0,0,0,0,0,0
$GC,2556,0.53,202.9,19.6,6.8,437,2583,0.00,0.00,21.42,0.588,6,0.000,0.000,3289,2060,1763,0,0,0,0,0,0
$GC,2648,0.53,202.9,11.5,9.1,453,2655,0.00,1.95,0.00,0.000,4,0.000,0.059,3288,3282,1760,0,0,0,0,0,0
$GC,2679,0.53,202.9,8.5,9.1,458,2686,0.00,1.88,0.00,0.000,6,0.000,0.047,3289,2080,1760,0,0,0,0,0,0
$GC,2754,0.56,263.6,3.6,5.7,471,2769,0.00,0.00,11.00,0.090,2,0.000,0.000,3288,2079,1725,0,0,0,0,1,0
$STATE,2770,end climb,SURFACE_DEPTH_REACHED
$STATE,2770,begin surface coast
$FINISH,0.1,1.017558
$STATE,2828,end surface coast,CONTROL_FINISHED_OK
$STATE,2828,begin surface
$SM_CCo,2846,22.88,0.080,0,0,1531,260.02
$SM_GC,0.89,0.00,0.00,22.88,0.000,0.000,0.080,137,2078,1531,-9.29,-0.62,260.02
$IRIDIUM_FIX,4722.92,-12223.37,160211,222242
$TT8_MAMPS,0.027713
$HUMID,33.50
$INTERNAL_PRESSURE,9.01087
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.3,10.3
$24V_AH,24.1,0.591
$10V_AH,10.4,0.379
$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,20.375,42.400,310.950,22.875,0.000,26.736,30.166,200.104,0.500,0.000,36.939,1045.543,396.043,396.027,1264.386,185.252,33.318,879.164,0.000,993.017,0.000,5.450,0.000
$DEVICE_MAMPS,231.795,65.790,657.135,80.325,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,325.339,236.155,703.606,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,26985,484
$CAP_FILE_SIZE,60727,0
$CFSIZE,260165632,210317312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160211,234707,4744.072,-12224.532,46,1.0,46,18.2