version: 66.07
glider: 187
mission: 3
dive: 18
start: 2 17 111 10 41 26
data:
$ID,187
$MISSION,3
$DIVE,18
$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,-1519691
$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,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,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
$GPS1,170211,103454,4743.624,-12223.619,40,1.5,40,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-74.6
$GPS2,170211,104031,4743.621,-12223.628,10,1.4,15,18.2
$SPEED_LIMITS,0.130,0.179
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.021,0.178
$KALMAN_X,-1361.0,410.9,50.4,2734.8,20.7
$KALMAN_Y,-165.5,1553.5,-359.2,-221.0,-1259.2
$MHEAD_RNG_PITCHd_Wd,335.0,1085,-20.2,-7.491
$D_GRID,162
$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,17,-0.72,-78.2,0.0,0.0,0,129,0.00,0.00,-105.95,0.000,6,0.000,0.000,135,2096,2911,0,0,0,0,0,0
$GC,133,-0.72,-78.2,3.7,-4.2,17,148,10.80,1.95,0.00,0.000,4,0.236,0.047,2889,864,2912,0,0,0,0,0,0
$GC,383,-0.70,-78.2,48.6,-12.4,64,390,0.00,1.95,0.00,0.000,6,0.000,0.050,2881,2104,2914,0,0,0,0,0,0
$GC,460,-0.67,-78.2,58.0,-13.1,77,466,0.00,1.92,0.00,0.000,4,0.000,0.052,2881,861,2914,0,0,0,0,0,0
$GC,530,-0.64,-78.2,68.5,-14.4,89,538,0.15,1.92,0.00,0.000,6,0.169,0.050,2912,2122,2914,0,0,0,0,0,0
$GC,673,-0.63,-78.2,85.3,-11.6,114,680,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2122,2914,0,0,0,0,0,0
$GC,815,-0.62,-78.2,101.2,-10.6,139,821,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2122,2914,0,0,0,0,0,0
$GC,955,-0.61,-78.2,116.4,-10.5,164,962,0.00,1.90,0.00,0.000,4,0.000,0.060,2905,3328,2914,0,0,0,0,0,0
$GC,1003,-0.60,-78.2,121.9,-11.4,172,1011,0.00,1.90,0.00,0.000,6,0.000,0.045,2905,2098,2914,0,0,0,0,0,0
$GC,1149,-0.59,-78.2,138.2,-12.2,197,1156,0.12,0.00,0.00,0.000,6,0.172,0.000,2937,2096,2914,0,0,0,0,0,0
$GC,1289,-0.59,-78.2,152.8,-10.4,222,1297,0.00,1.95,0.00,0.000,4,0.000,0.059,2929,3333,2914,0,0,0,0,0,0
$GC,1325,-0.59,-78.2,157.4,-12.4,228,1333,0.00,1.88,0.00,0.000,6,0.000,0.047,2930,2117,2914,0,0,0,0,0,0
$STATE,1377,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1377,begin apogee
$GC,1384,-0.17,0.0,162.1,8.3,237,1452,0.40,0.00,61.95,0.686,6,0.130,0.000,3061,2039,2591,0,0,0,0,0,0
$STATE,1453,end apogee,CONTROL_FINISHED_OK
$STATE,1453,begin climb
$GC,1456,0.72,78.2,165.4,0.0,248,1531,0.82,2.03,65.18,0.661,4,0.096,0.052,3354,824,2272,0,0,0,0,0,0
$GC,1596,0.70,79.0,159.3,7.4,271,1603,0.00,1.95,0.00,0.000,6,0.000,0.049,3355,2046,2269,0,0,0,0,0,0
$GC,1738,0.68,79.0,146.4,8.4,296,1746,0.00,2.00,0.00,0.000,4,0.000,0.058,3354,3281,2266,0,0,0,0,0,0
$GC,1782,0.64,79.0,141.4,11.1,303,1789,0.12,1.92,0.00,0.000,6,0.222,0.045,3338,2053,2264,0,0,0,0,0,0
$GC,1926,0.63,79.0,127.4,8.8,328,1933,0.00,0.00,0.00,0.000,6,0.000,0.000,3337,2050,2264,0,0,0,0,0,0
$GC,2067,0.62,79.0,114.5,9.1,353,2073,0.00,1.95,0.00,0.000,4,0.000,0.058,3337,3285,2263,0,0,0,0,0,0
$GC,2149,0.60,79.0,106.5,10.2,367,2155,0.00,1.88,0.00,0.000,6,0.000,0.045,3344,2059,2263,0,0,0,0,0,0
$GC,2291,0.58,79.0,93.5,8.9,392,2299,0.12,0.00,0.00,0.000,6,0.198,0.000,3314,2055,2263,0,0,0,0,0,0
$GC,2435,0.58,84.9,82.6,7.1,417,2449,0.00,1.98,5.65,0.519,4,0.000,0.060,3314,3280,2244,0,0,0,0,0,0
$GC,2497,0.58,84.9,77.7,7.9,427,2504,0.00,1.85,0.00,0.000,6,0.000,0.046,3321,2067,2244,0,0,0,0,0,0
$GC,2638,0.58,84.9,66.4,8.1,452,2645,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2064,2243,0,0,0,0,0,0
$GC,2780,0.59,87.4,55.7,7.3,477,2787,0.00,1.98,3.55,0.408,4,0.000,0.060,3320,3284,2234,0,0,0,0,0,0
$GC,2872,0.57,87.4,48.3,8.4,493,2879,0.00,1.88,0.00,0.000,6,0.000,0.046,3329,2078,2234,0,0,0,0,0,0
$GC,2945,0.58,93.0,43.0,7.1,506,2953,0.00,0.00,6.05,0.518,6,0.000,0.000,3329,2076,2212,0,0,0,0,0,0
$GC,3018,0.58,105.7,37.8,6.7,519,3033,0.00,0.00,11.77,0.576,6,0.000,0.000,3329,2076,2161,0,0,0,0,0,0
$GC,3097,0.58,105.7,31.9,7.9,533,3104,0.00,1.98,0.00,0.000,4,0.000,0.053,3336,815,2160,0,0,0,0,0,0
$GC,3133,0.58,105.7,28.7,8.9,539,3141,0.00,1.98,0.00,0.000,6,0.000,0.049,3337,2080,2159,0,0,0,0,0,0
$GC,3205,0.58,105.7,22.5,8.8,552,3212,0.00,1.90,0.00,0.000,4,0.000,0.060,3336,3281,2158,0,0,0,0,0,0
$GC,3388,0.59,118.3,8.2,6.7,586,3409,0.00,1.83,11.60,0.562,6,0.000,0.046,3345,2102,2108,0,0,0,0,0,0
$GC,3475,0.63,175.7,4.8,3.8,601,3529,0.00,2.03,46.20,0.581,4,0.000,0.053,3353,815,1874,0,0,0,0,0,0
$STATE,3535,end climb,SURFACE_DEPTH_REACHED
$STATE,3535,begin surface coast
$FINISH,0.2,1.001302
$STATE,3614,end surface coast,CONTROL_FINISHED_OK
$STATE,3615,begin surface
$SM_CCo,3635,43.65,0.079,0,0,1532,260.02
$SM_GC,1.89,0.00,0.00,43.65,0.000,0.000,0.079,148,2112,1532,-9.31,0.34,260.02
$IRIDIUM_FIX,4726.11,-12222.38,170211,090903
$TT8_MAMPS,0.026964
$HUMID,32.59
$INTERNAL_PRESSURE,8.99133
$TCM_TEMP,16.00
$XPDR_PINGS,0
$24V_AH,24.3,1.520
$10V_AH,10.4,1.050
$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,21.350,46.650,211.950,43.650,0.000,24.614,32.002,160.497,0.000,0.000,16.188,1393.130,570.237,391.523,1467.951,204.552,33.308,958.219,0.000,1262.534,0.000,0.536,0.000
$DEVICE_MAMPS,236.385,104.805,686.205,78.795,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,423.605,296.208,872.595,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33695,625
$CAP_FILE_SIZE,72663,0
$CFSIZE,260165632,209870848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170211,114337,4743.650,-12223.768,9,1.6,14,18.2