version: 66.07
glider: 187
mission: 3
dive: 11
start: 2 17 111 4 27 26
data:
$ID,187
$MISSION,3
$DIVE,11
$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,0
$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,-1519680.6
$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,28
$R_STBD_OVSHOOT,41
$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
$GPS1,170211,041306,4744.552,-12223.648,41,1.0,46,18.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-75.8
$GPS2,170211,042632,4744.709,-12223.643,16,1.6,16,18.2
$SPEED_LIMITS,0.130,0.256
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.074,-0.245
$KALMAN_X,-1160.2,19.1,216.3,2738.8,-454.8
$KALMAN_Y,1772.7,-860.1,38.6,1874.7,1614.8
$MHEAD_RNG_PITCHd_Wd,144.9,960,-13.2,-7.491
$D_GRID,200
$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,-176.0,0.0,0.0,0,90,0.00,0.00,-71.07,0.000,2,0.000,0.000,134,2128,3009,0,0,0,0,0,0
$GC,93,-0.54,-176.0,3.7,-4.2,11,115,10.82,1.95,-5.65,0.000,4,0.230,0.076,2918,3325,3312,0,0,0,0,0,0
$GC,155,-0.50,-176.0,21.0,-18.6,21,163,0.08,1.95,0.00,0.000,6,0.129,0.047,2944,2088,3314,0,0,0,0,0,0
$GC,228,-0.49,-176.0,29.4,-11.8,34,235,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2085,3315,0,0,0,0,0,0
$GC,301,-0.47,-176.0,37.6,-11.2,47,309,0.00,1.90,0.00,0.000,4,0.000,0.054,2944,877,3315,0,0,0,0,0,0
$GC,333,-0.46,-176.0,41.5,-12.2,52,341,0.00,1.88,0.00,0.000,6,0.000,0.051,2939,2065,3316,0,0,0,0,0,0
$GC,405,-0.45,-176.0,50.5,-13.0,65,412,0.00,2.03,0.00,0.000,4,0.000,0.062,2929,3337,3315,0,0,0,0,0,0
$GC,467,-0.44,-176.0,57.5,-11.0,75,474,0.12,1.88,0.00,0.000,6,0.148,0.046,2963,2103,3316,0,0,0,0,0,0
$GC,610,-0.44,-176.0,70.2,-7.4,100,617,0.00,1.95,0.00,0.000,4,0.000,0.054,2963,868,3316,0,0,0,0,0,0
$GC,631,-0.44,-176.0,72.0,-7.7,103,637,0.00,1.88,0.00,0.000,6,0.000,0.050,2959,2098,3315,0,0,0,0,0,0
$GC,771,-0.44,-176.0,84.2,-8.8,128,778,0.00,1.98,0.00,0.000,4,0.000,0.061,2950,3330,3315,0,0,0,0,0,0
$GC,804,-0.44,-176.0,87.3,-9.7,133,811,0.00,1.88,0.00,0.000,6,0.000,0.046,2950,2102,3316,0,0,0,0,0,0
$GC,946,-0.44,-176.0,100.9,-8.9,158,953,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2102,3316,0,0,0,0,0,0
$GC,1086,-0.44,-176.0,115.1,-10.8,183,1092,0.00,1.90,0.00,0.000,4,0.000,0.061,2943,3332,3316,0,0,0,0,0,0
$GC,1123,-0.44,-176.0,118.7,-10.1,189,1130,0.00,1.88,0.00,0.000,6,0.000,0.046,2942,2101,3315,0,0,0,0,0,0
$GC,1270,-0.44,-176.0,134.4,-9.8,214,1277,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2100,3316,0,0,0,0,0,0
$STATE,1325,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1326,begin apogee
$GC,1331,-0.17,0.0,140.4,10.6,224,1477,0.30,0.00,136.88,0.667,6,0.094,0.000,3055,2099,2593,0,0,0,0,0,0
$STATE,1478,end apogee,CONTROL_FINISHED_OK
$STATE,1478,begin climb
$GC,1480,0.54,176.0,141.9,0.0,247,1633,0.68,2.15,142.82,0.641,4,0.100,0.051,3280,827,1873,0,0,0,0,0,0
$GC,1879,0.65,210.8,127.1,6.5,316,1913,0.08,1.95,28.15,0.623,6,0.105,0.050,3312,2048,1732,0,0,0,0,0,0
$GC,2048,0.74,241.4,116.4,6.6,345,2081,0.10,1.98,25.02,0.617,4,0.129,0.051,3348,819,1607,0,0,0,0,0,0
$GC,2140,0.79,241.4,109.8,7.7,360,2148,0.00,1.98,0.00,0.000,6,0.000,0.050,3348,2054,1605,0,0,0,0,0,0
$GC,2285,0.79,241.4,97.8,9.9,385,2291,0.00,1.95,0.00,0.000,4,0.000,0.060,3348,3282,1603,0,0,0,0,0,0
$GC,2408,0.79,241.4,82.2,12.4,407,2415,0.00,1.88,0.00,0.000,6,0.000,0.047,3354,2063,1601,0,0,0,0,0,0
$GC,2550,0.79,241.4,66.6,9.8,432,2557,0.00,1.95,0.00,0.000,4,0.000,0.055,3363,822,1601,0,0,0,0,0,0
$GC,2631,0.79,241.4,58.6,9.3,446,2639,0.00,1.92,0.00,0.000,6,0.000,0.050,3362,2047,1601,0,0,0,0,0,0
$GC,2773,0.77,241.4,44.6,10.5,471,2781,0.00,1.98,0.00,0.000,4,0.000,0.060,3363,3288,1601,0,0,0,0,0,0
$GC,2830,0.76,241.4,37.9,11.4,481,2837,0.00,1.92,0.00,0.000,6,0.000,0.047,3369,2057,1601,0,0,0,0,0,0
$GC,2903,0.74,241.4,29.8,12.1,494,2910,0.00,1.92,0.00,0.000,4,0.000,0.055,3369,825,1601,0,0,0,0,0,0
$GC,2959,0.74,241.4,23.6,10.3,504,2967,0.00,1.90,0.00,0.000,6,0.000,0.050,3369,2041,1601,0,0,0,0,0,0
$GC,3032,0.73,241.4,16.4,9.5,517,3039,0.00,1.98,0.00,0.000,4,0.000,0.060,3369,3288,1601,0,0,0,0,0,0
$GC,3053,0.71,241.4,14.3,9.5,520,3061,0.00,1.95,0.00,0.000,6,0.000,0.047,3370,2036,1601,0,0,0,0,0,0
$GC,3125,0.71,241.4,7.7,8.9,533,3132,0.00,1.98,0.00,0.000,4,0.000,0.058,3369,3281,1601,0,0,0,0,0,0
$STATE,3174,end climb,SURFACE_DEPTH_REACHED
$STATE,3174,begin surface coast
$FINISH,0.8,1.021612
$STATE,3196,end surface coast,CONTROL_FINISHED_OK
$STATE,3196,begin surface
$SM_CCo,3217,10.85,0.182,1,0,1533,260.02
$SM_GC,2.26,0.00,0.00,10.85,0.000,0.000,0.182,142,2102,1533,-9.27,0.06,260.02
$IRIDIUM_FIX,4726.11,-12217.96,170211,040405
$TT8_MAMPS,0.027713
$HUMID,33.18
$INTERNAL_PRESSURE,9.0011
$TCM_TEMP,16.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,125.5,24.6
$24V_AH,24.0,1.020
$10V_AH,10.4,0.709
$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,20.700,54.250,332.875,10.850,0.000,75.345,193.652,272.053,1.000,0.000,16.968,1181.135,590.927,425.633,1633.975,213.062,33.313,962.326,0.000,1096.037,0.000,9.868,0.000
$DEVICE_MAMPS,230.265,75.735,667.080,182.070,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,367.059,246.730,735.476,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30251,546
$CAP_FILE_SIZE,71985,0
$CFSIZE,260165632,210100224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170211,052231,4744.626,-12223.509,22,1.5,33,18.2