version: 66.07
glider: 187
mission: 3
dive: 17
start: 2 17 111 9 44 14
data:
$ID,187
$MISSION,3
$DIVE,17
$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,80
$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,-1519689.8
$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,34
$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
$GPS1,170211,093716,4743.729,-12223.442,15,2.8,34,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-74.9
$GPS2,170211,094319,4743.733,-12223.465,12,1.7,30,18.2
$SPEED_LIMITS,0.130,0.179
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.040,0.174
$KALMAN_X,-1016.9,279.3,-119.2,2891.7,179.9
$KALMAN_Y,428.2,1490.7,65.5,-958.5,-925.9
$MHEAD_RNG_PITCHd_Wd,328.8,867,-20.2,-7.491
$D_GRID,158
$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,-0.72,-78.2,0.0,0.0,0,128,0.00,0.00,-105.40,0.000,6,0.000,0.000,140,2107,2909,0,0,0,0,0,0
$GC,132,-0.72,-78.2,3.8,-4.5,17,147,10.73,1.98,0.00,0.000,4,0.236,0.048,2886,867,2910,0,0,0,0,0,0
$GC,382,-0.69,-78.2,49.3,-13.8,64,390,0.00,1.92,0.00,0.000,6,0.000,0.050,2879,2093,2913,0,0,0,0,0,0
$GC,458,-0.66,-78.2,58.5,-12.2,77,466,0.12,1.90,0.00,0.000,4,0.179,0.052,2910,875,2913,0,0,0,0,0,0
$GC,512,-0.64,-78.2,64.9,-12.2,86,519,0.00,1.95,0.00,0.000,6,0.000,0.050,2903,2118,2913,0,0,0,0,0,0
$GC,658,-0.62,-78.2,81.8,-11.2,111,665,0.00,1.88,0.00,0.000,4,0.000,0.060,2894,3334,2913,0,0,0,0,0,0
$GC,728,-0.61,-78.2,90.7,-12.6,123,736,0.12,1.88,0.00,0.000,6,0.172,0.046,2925,2108,2913,0,0,0,0,0,0
$GC,871,-0.61,-78.2,106.4,-10.8,148,878,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2108,2913,0,0,0,0,0,0
$GC,1014,-0.61,-78.2,121.1,-9.0,173,1021,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2108,2913,0,0,0,0,0,0
$GC,1154,-0.61,-78.2,136.0,-11.0,198,1161,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2108,2913,0,0,0,0,0,0
$GC,1295,-0.61,-78.2,150.7,-10.2,223,1302,0.00,1.88,0.00,0.000,4,0.000,0.053,2925,877,2913,0,0,0,0,0,0
$STATE,1368,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1368,begin apogee
$GC,1376,-0.17,0.0,158.2,10.2,236,1446,0.45,0.00,61.95,0.686,6,0.134,0.000,3064,2065,2591,0,0,0,0,0,0
$STATE,1447,end apogee,CONTROL_FINISHED_OK
$STATE,1447,begin climb
$GC,1449,0.72,78.2,160.4,0.0,247,1525,0.82,2.03,64.70,0.664,4,0.083,0.058,3356,3268,2272,0,0,0,0,0,0
$STATE,1575,end climb,NO_VERTICAL_VELOCITY
$STATE,1575,begin surface
$SM_CCo,1578,440.88,0.549,47,0,470,520.53
$SM_GC,0.87,8.80,0.00,0.00,0.062,0.000,0.000,138,2096,464,-9.25,-0.11,521.75
$IRIDIUM_FIX,4726.11,-12220.67,170211,080859
$TT8_MAMPS,0.026964
$HUMID,32.87
$INTERNAL_PRESSURE,8.90344
$TCM_TEMP,19.30
$XPDR_PINGS,0
$24V_AH,24.2,1.469
$10V_AH,10.4,0.980
$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,21.050,19.100,126.650,440.875,0.000,27.763,31.093,170.050,0.000,0.000,30.908,619.008,907.746,899.779,775.790,136.539,33.313,1192.137,0.000,542.045,0.000,0.536,0.000
$DEVICE_MAMPS,235.620,59.670,686.205,548.505,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,180.376,118.499,350.817,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323872
$DATA_FILE_SIZE,13573,268
$CAP_FILE_SIZE,40376,0
$CFSIZE,260165632,209956864
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,47,0
$GPS,170211,103454,4743.624,-12223.619,40,1.5,40,18.2