version: 66.07
glider: 187
mission: 4
dive: 291
start: 5 24 111 1 0 36
data:
$ID,187
$MISSION,4
$DIVE,291
$D_SURF,4
$D_FLARE,3
$D_TGT,200
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,2.5
$T_BOOST,0
$D_FINISH,20
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,50
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51930
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0046000001
$HD_B,0.0099999998
$HD_C,1.34e-05
$HEADING,30
$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,375
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,-4
$UPLOAD_DIVES_MAX,1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1584179.5
$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,2905
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$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,43
$C_ROLL_DIVE,2175
$C_ROLL_CLIMB,2060
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,2735
$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,-60.973145
$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,80
$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
$GPS1,240511,000654,4753.417,-12459.645,28,1.2,45,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,20.30
$_SM_ANGLEo,-3.7
$GPS2,240511,000654,4753.417,-12459.645,28,1.2,45,18.7
$SPEED_LIMITS,0.231,0.327
$TGT_NAME,HEADING
$TGT_LATLONG,4802.769,-12451.567
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.195,0.262
$KALMAN_X,-581.1,-164.8,73.8,3254.4,-1.0
$KALMAN_Y,-4164.7,-1110.7,-315.0,5923.2,1022.5
$MHEAD_RNG_PITCHd_Wd,11.3,20000,-20.3,-13.333
$D_GRID,97
$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,13,begin dive
$GC,17,-0.75,-195.5,0.0,0.0,0,25,0.00,0.00,-6.05,0.000,6,0.000,0.000,2889,2067,3534,0,0,0,0,0,0
$GC,28,-0.75,-195.5,22.2,-0.0,1,36,0.62,2.60,0.00,0.000,4,0.093,0.054,2668,3685,3535,0,0,0,0,0,0
$GC,45,-0.86,-195.5,23.4,-6.2,3,53,0.05,2.40,0.00,0.000,6,0.028,0.041,2607,2157,3535,0,0,0,0,0,0
$GC,118,-0.81,-195.5,37.3,-23.9,16,126,0.12,2.38,0.00,0.000,4,0.171,0.050,2638,650,3536,0,0,0,0,0,0
$GC,182,-0.77,-195.5,52.3,-22.1,27,189,0.00,2.40,0.00,0.000,6,0.000,0.048,2629,2162,3536,0,0,0,0,0,0
$GC,255,-0.74,-195.5,68.5,-20.8,40,263,0.15,0.00,0.00,0.000,6,0.165,0.000,2669,2162,3535,0,0,0,0,0,0
$GC,331,-0.72,-195.5,80.2,-14.2,53,338,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2162,3535,0,0,0,0,0,0
$GC,403,-0.71,-195.5,91.6,-15.9,66,410,0.00,2.45,0.00,0.000,4,0.000,0.059,2659,3704,3535,0,0,0,0,0,0
$GC,435,-0.70,-195.5,96.4,-16.2,71,442,0.00,2.42,0.00,0.000,6,0.000,0.042,2658,2160,3536,0,0,0,0,0,0
$STATE,448,end dive,TARGET_DEPTH_EXCEEDED
$STATE,448,begin apogee
$GC,454,-0.22,0.0,98.9,14.8,73,612,0.52,0.00,153.18,0.630,6,0.128,0.000,2830,2038,2735,0,0,0,0,0,0
$STATE,613,end apogee,CONTROL_FINISHED_OK
$STATE,613,begin climb
$GC,617,0.75,195.5,107.4,0.0,89,782,0.93,0.00,158.30,0.610,6,0.086,0.000,3144,2038,1938,0,0,0,0,0,0
$GC,847,0.75,195.5,87.2,14.9,118,855,0.00,2.55,0.00,0.000,4,0.000,0.055,3144,3588,1930,0,0,0,0,0,0
$GC,879,0.74,195.5,82.4,15.6,123,886,0.00,2.42,0.00,0.000,6,0.000,0.041,3153,2098,1929,0,0,0,0,0,0
$GC,952,0.74,195.5,69.5,16.7,136,958,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2098,1929,0,0,0,0,0,0
$GC,1022,0.74,195.5,58.2,14.1,149,1029,0.00,2.47,0.00,0.000,4,0.000,0.050,3165,534,1928,0,0,0,0,0,0
$GC,1058,0.76,232.0,53.7,11.7,155,1098,0.00,2.47,29.50,0.575,6,0.000,0.046,3165,2112,1788,0,0,0,0,0,0
$GC,1165,0.76,232.0,38.8,15.4,173,1172,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,2112,1784,0,0,0,0,0,0
$GC,1237,0.76,232.0,28.1,14.7,186,1244,0.00,2.50,0.00,0.000,4,0.000,0.051,3177,535,1784,0,0,0,0,0,0
$GC,1289,0.76,232.0,20.0,15.7,195,1297,0.00,2.47,0.00,0.000,6,0.000,0.046,3176,2119,1783,0,0,0,0,0,0
$STATE,1302,end climb,FINISH_DEPTH_REACHED
$STATE,1302,begin subsurface finish
$FINISH1,17.9,1.025038,0
$GC,1310,0.00,0.0,17.9,-13.8,197,1338,0.82,2.53,-17.05,0.000,4,0.122,0.072,2908,3578,2740,0,0,0,0,0,0
$FINISH2,15.6
$STATE,1339,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1339,begin surface
$IRIDIUM_FIX,4735.69,-12502.41,230511,222215
$TT8_MAMPS,0.027713
$HUMID,35.62
$INTERNAL_PRESSURE,9.15736
$TCM_TEMP,15.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,33.9
$24V_AH,24.1,28.939
$10V_AH,10.3,22.991
$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,3.225,32.325,340.975,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,440.857,71.789,353.528,453.301,65.688,0.000,610.005,0.000,467.788,0.000,5.510,0.000
$DEVICE_MAMPS,171.360,94.860,630.360,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,134.202,145.032,382.776,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297588
$DATA_FILE_SIZE,10349,201
$CAP_FILE_SIZE,30635,0
$CFSIZE,260165632,196567040
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240511,000654,4753.417,-12459.645,28,1.2,45,18.7