version: 66.07
glider: 187
mission: 3
dive: 8
start: 2 17 111 1 18 56
data:
$ID,187
$MISSION,3
$DIVE,8
$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,-1519676.9
$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,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
$GPS1,170211,011006,4744.490,-12223.608,34,0.9,44,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-73.5
$GPS2,170211,011801,4744.594,-12223.513,15,1.2,20,18.2
$SPEED_LIMITS,0.130,0.256
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.005,-0.179
$KALMAN_X,-398.0,-177.2,178.8,2368.2,0.9
$KALMAN_Y,-878.8,-987.1,-97.0,4564.4,-57.6
$MHEAD_RNG_PITCHd_Wd,160.2,730,-20.2,-7.491
$D_GRID,139
$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,14,begin dive
$GC,16,-0.72,-77.8,0.0,0.0,0,128,0.00,0.00,-106.30,0.000,6,0.000,0.000,134,2077,2911,0,0,0,0,0,0
$GC,131,-0.76,-134.9,3.2,-3.8,17,153,10.70,2.00,-4.72,0.000,4,0.233,0.069,2851,3341,3142,0,0,0,0,0,0
$GC,247,-0.73,-134.9,27.3,-11.6,37,254,0.00,1.95,0.00,0.000,6,0.000,0.046,2850,2102,3144,0,0,0,0,0,0
$GC,319,-0.70,-134.9,42.3,-22.4,50,327,0.12,2.00,0.00,0.000,4,0.186,0.061,2874,3330,3144,0,0,0,0,0,0
$GC,428,-0.70,-134.9,71.0,-25.5,69,434,0.00,1.83,0.00,0.000,6,0.000,0.046,2873,2145,3144,0,0,0,0,0,0
$GC,570,-0.69,-134.9,95.9,-15.7,94,576,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2142,3145,0,0,0,0,0,0
$GC,714,-0.68,-134.9,116.5,-14.9,119,720,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2142,3145,0,0,0,0,0,0
$STATE,739,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,739,begin apogee
$GC,745,-0.17,0.0,120.3,14.0,123,857,0.55,0.00,104.80,0.657,6,0.140,0.000,3047,2045,2593,0,0,0,0,0,0
$STATE,860,end apogee,CONTROL_FINISHED_OK
$STATE,860,begin climb
$GC,863,0.76,134.9,126.2,0.0,141,983,0.88,2.00,110.40,0.633,4,0.092,0.050,3353,829,2041,0,0,0,0,0,0
$GC,1029,0.74,134.9,113.7,11.2,168,1036,0.00,2.00,0.00,0.000,6,0.000,0.049,3353,2054,2036,0,0,0,0,0,0
$GC,1174,0.73,134.9,96.2,11.9,193,1181,0.00,1.98,0.00,0.000,4,0.000,0.058,3353,3290,2035,0,0,0,0,0,0
$GC,1270,0.71,134.9,83.9,12.0,210,1278,0.00,1.95,0.00,0.000,6,0.000,0.046,3362,2061,2032,0,0,0,0,0,0
$GC,1414,0.69,134.9,70.2,9.0,235,1420,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,2060,2032,0,0,0,0,0,0
$GC,1555,0.67,134.9,56.8,10.4,260,1563,0.15,1.95,0.00,0.000,4,0.227,0.058,3328,3283,2032,0,0,0,0,0,0
$GC,1684,0.67,134.9,45.8,7.9,283,1691,0.00,1.90,0.00,0.000,6,0.000,0.046,3334,2072,2031,0,0,0,0,0,0
$GC,1757,0.67,134.9,39.2,9.6,296,1764,0.00,1.95,0.00,0.000,4,0.000,0.054,3343,823,2031,0,0,0,0,0,0
$GC,1954,0.70,175.3,26.2,4.9,333,1994,0.00,1.90,31.48,0.595,6,0.000,0.049,3343,2043,1878,0,0,0,0,0,0
$GC,2062,0.71,175.3,15.8,10.2,351,2070,0.00,1.98,0.00,0.000,4,0.000,0.058,3343,3280,1876,0,0,0,0,0,0
$GC,2220,0.73,213.6,3.7,5.0,380,2235,0.00,1.95,10.85,0.090,2,0.000,0.047,3351,2036,1845,0,0,0,0,0,0
$STATE,2236,end climb,SURFACE_DEPTH_REACHED
$STATE,2236,begin surface coast
$FINISH,0.2,1.021862
$STATE,2298,end surface coast,CONTROL_FINISHED_OK
$STATE,2299,begin surface
$SM_CCo,2318,37.67,0.079,0,0,1531,260.02
$SM_GC,1.08,0.00,0.00,37.67,0.000,0.000,0.079,140,2107,1531,-9.28,0.20,260.02
$IRIDIUM_FIX,4713.38,-12316.66,160211,232306
$TT8_MAMPS,0.027713
$HUMID,32.91
$INTERNAL_PRESSURE,9.0011
$TCM_TEMP,15.40
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,120.3,9.4
$24V_AH,24.0,0.771
$10V_AH,10.3,0.511
$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,21.050,27.550,257.525,37.675,0.000,24.598,28.564,269.218,4.750,0.000,21.455,843.698,296.404,369.446,1142.936,181.886,33.323,772.588,0.000,826.703,0.000,5.441,0.000
$DEVICE_MAMPS,233.325,108.630,657.135,78.795,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,264.499,201.777,602.634,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323864
$DATA_FILE_SIZE,20343,394
$CAP_FILE_SIZE,51512,0
$CFSIZE,260165632,210251776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,170211,015902,4744.588,-12223.549,12,1.5,12,18.2