version: 66.07
glider: 187
mission: 3
dive: 9
start: 2 17 111 2 6 21
data:
$ID,187
$MISSION,3
$DIVE,9
$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,-1519678.1
$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,36
$R_STBD_OVSHOOT,38
$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
$GPS1,170211,015902,4744.588,-12223.549,12,1.5,12,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-79.0
$GPS2,170211,020526,4744.647,-12223.608,12,1.6,12,18.2
$SPEED_LIMITS,0.130,0.256
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.046,-0.252
$KALMAN_X,-620.3,-126.5,228.0,2378.2,-107.8
$KALMAN_Y,53.6,-1191.1,-123.3,3956.5,539.0
$MHEAD_RNG_PITCHd_Wd,151.5,839,-13.2,-7.491
$D_GRID,155
$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,-176.0,0.0,0.0,0,84,0.00,0.00,-65.50,0.000,2,0.000,0.000,134,2106,3068,0,0,0,0,0,0
$GC,88,-0.54,-176.0,3.8,-4.6,10,110,10.77,1.92,-4.25,0.000,4,0.230,0.067,2919,3333,3314,0,0,0,0,0,0
$GC,273,-0.53,-176.0,41.4,-10.5,44,280,0.00,1.92,0.00,0.000,6,0.000,0.045,2918,2100,3317,0,0,0,0,0,0
$GC,347,-0.50,-176.0,48.9,-10.2,57,354,0.00,1.98,0.00,0.000,4,0.000,0.061,2911,3316,3318,0,0,0,0,0,0
$GC,374,-0.48,-176.0,52.0,-10.6,61,382,0.15,1.80,0.00,0.000,6,0.145,0.047,2953,2130,3317,0,0,0,0,0,0
$GC,518,-0.48,-176.0,63.9,-7.5,86,525,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2128,3318,0,0,0,0,0,0
$GC,660,-0.48,-176.0,76.9,-9.4,111,666,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2128,3318,0,0,0,0,0,0
$GC,800,-0.48,-176.0,90.5,-9.5,136,807,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2128,3317,0,0,0,0,0,0
$GC,941,-0.48,-176.0,103.7,-8.8,161,947,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2128,3318,0,0,0,0,0,0
$GC,1082,-0.48,-176.0,114.5,-6.9,186,1089,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2128,3318,0,0,0,0,0,0
$GC,1228,-0.48,-176.0,126.3,-10.1,211,1234,0.00,1.85,0.00,0.000,4,0.000,0.062,2947,3324,3317,0,0,0,0,0,0
$STATE,1295,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1295,begin apogee
$GC,1303,-0.17,0.0,135.1,13.8,223,1448,0.30,0.00,137.20,0.672,6,0.124,0.000,3047,2037,2592,0,0,0,0,0,0
$STATE,1449,end apogee,CONTROL_FINISHED_OK
$STATE,1449,begin climb
$GC,1451,0.54,176.0,153.0,0.0,246,1602,0.70,0.00,142.95,0.647,6,0.099,0.000,3281,2037,1873,0,0,0,0,0,0
$GC,1735,0.54,176.0,127.7,7.7,294,1743,0.00,2.03,0.00,0.000,4,0.000,0.060,3281,3266,1867,0,0,0,0,0,0
$GC,1845,0.55,185.9,119.0,7.2,313,1859,0.00,1.90,8.12,0.557,6,0.000,0.047,3286,2048,1834,0,0,0,0,0,0
$GC,1995,0.55,185.9,107.9,8.0,339,2002,0.00,1.90,0.00,0.000,4,0.000,0.056,3288,818,1832,0,0,0,0,0,0
$GC,2043,0.55,185.9,104.0,8.3,347,2050,0.00,1.90,0.00,0.000,6,0.000,0.050,3288,2047,1832,0,0,0,0,0,0
$GC,2185,0.55,185.9,91.7,8.7,372,2193,0.00,1.98,0.00,0.000,4,0.000,0.060,3288,3281,1831,0,0,0,0,0,0
$GC,2241,0.54,185.9,86.4,10.2,381,2248,0.00,1.90,0.00,0.000,6,0.000,0.047,3290,2040,1831,0,0,0,0,0,0
$GC,2383,0.54,185.9,73.6,8.4,406,2390,0.00,0.00,0.00,0.000,6,0.000,0.000,3291,2038,1831,0,0,0,0,0,0
$GC,2524,0.54,185.9,62.2,7.9,431,2530,0.00,0.00,0.00,0.000,6,0.000,0.000,3290,2038,1831,0,0,0,0,0,0
$GC,2665,0.54,190.9,51.6,7.3,456,2679,0.00,1.92,5.43,0.501,4,0.000,0.056,3298,824,1813,0,0,0,0,0,0
$GC,2734,0.54,190.9,46.1,8.0,468,2742,0.00,1.95,0.00,0.000,6,0.000,0.050,3298,2069,1813,0,0,0,0,0,0
$GC,2807,0.54,190.9,39.6,9.3,481,2815,0.00,1.92,0.00,0.000,4,0.000,0.058,3298,3287,1812,0,0,0,0,0,0
$GC,2905,0.53,190.9,29.6,9.9,499,2912,0.00,1.80,0.00,0.000,6,0.000,0.047,3301,2131,1812,0,0,0,0,0,0
$GC,2978,0.53,190.9,22.6,9.9,512,2984,0.00,0.00,0.00,0.000,6,0.000,0.000,3301,2129,1812,0,0,0,0,0,0
$GC,3048,0.53,190.9,16.2,8.9,525,3056,0.00,2.03,0.00,0.000,4,0.000,0.056,3301,830,1812,0,0,0,0,0,0
$GC,3099,0.53,190.9,11.9,8.1,534,3107,0.00,2.03,0.00,0.000,6,0.000,0.050,3300,2132,1812,0,0,0,0,0,0
$GC,3171,0.53,192.1,6.5,7.5,547,3179,0.00,2.05,0.00,0.000,4,0.000,0.055,3301,821,1812,0,0,0,0,0,0
$STATE,3220,end climb,SURFACE_DEPTH_REACHED
$STATE,3220,begin surface coast
$FINISH,0.1,1.021502
$STATE,3268,end surface coast,CONTROL_FINISHED_OK
$STATE,3268,begin surface
$SM_CCo,3289,33.55,0.080,0,0,1531,260.02
$SM_GC,1.16,0.00,0.00,33.55,0.000,0.000,0.080,148,2103,1531,-9.26,0.08,260.02
$IRIDIUM_FIX,4729.30,-12225.08,170211,010118
$TT8_MAMPS,0.026964
$HUMID,33.85
$INTERNAL_PRESSURE,9.0011
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.3,24.6
$24V_AH,24.0,0.841
$10V_AH,10.4,0.574
$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,20.350,38.775,293.700,33.550,0.000,27.864,33.056,197.067,0.500,0.000,13.480,1226.316,510.133,403.594,1380.955,195.380,33.320,931.983,0.000,1136.404,0.000,5.488,0.000
$DEVICE_MAMPS,229.500,66.555,672.435,80.325,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,381.721,261.483,771.269,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323868
$DATA_FILE_SIZE,30296,565
$CAP_FILE_SIZE,64826,0
$CFSIZE,260165632,210190336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170211,030252,4744.588,-12223.564,10,5.6,29,18.2