version: 66.07
glider: 187
mission: 4
dive: 305
start: 5 24 111 7 55 19
data:
$ID,187
$MISSION,4
$DIVE,305
$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,2
$FERRY_MAX,45
$KALMAN_USE,0
$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,375
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1584188.2
$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,34
$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,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
$GPS1,240511,074838,4752.096,-12457.476,9,1.9,9,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-75.1
$GPS2,240511,075422,4752.048,-12457.518,12,2.6,31,18.7
$SPEED_LIMITS,0.231,0.327
$TGT_NAME,DOGLEG
$TGT_LATLONG,4753.300,-12507.300
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.238,0.224
$KALMAN_X,-90.1,-24.6,-10.2,-1360.3,-34.5
$KALMAN_Y,-1157.4,-732.1,-607.7,500.3,-243.5
$MHEAD_RNG_PITCHd_Wd,307.1,12368,-20.3,-13.333
$D_GRID,93
$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,-0.75,-195.5,0.0,0.0,0,104,0.00,0.00,-84.07,0.000,2,0.000,0.000,130,2184,2935,0,0,0,0,0,0
$GC,108,-0.75,-195.5,4.2,-8.3,13,137,10.07,2.40,-10.23,0.000,4,0.239,0.060,2658,667,3536,0,0,0,0,0,0
$GC,200,-0.72,-195.5,36.8,-24.9,28,208,0.00,2.38,0.00,0.000,6,0.000,0.047,2649,2170,3538,0,0,0,0,0,0
$GC,273,-0.67,-195.5,55.3,-25.2,41,281,0.15,2.42,0.00,0.000,4,0.170,0.057,2679,3692,3539,0,0,0,0,0,0
$GC,307,-0.64,-195.5,63.2,-22.8,46,314,0.00,2.38,0.00,0.000,6,0.000,0.043,2678,2186,3539,0,0,0,0,0,0
$GC,380,-0.61,-195.5,77.4,-18.7,59,388,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2180,3539,0,0,0,0,0,0
$GC,460,-0.60,-195.5,90.2,-15.3,72,468,0.12,2.38,0.00,0.000,4,0.164,0.050,2713,657,3539,0,0,0,0,0,0
$STATE,478,end dive,TARGET_DEPTH_EXCEEDED
$STATE,478,begin apogee
$GC,486,-0.22,0.0,93.6,14.7,75,646,0.38,0.00,152.70,0.612,6,0.120,0.000,2830,2070,2734,0,0,0,0,0,0
$STATE,647,end apogee,CONTROL_FINISHED_OK
$STATE,647,begin climb
$GC,650,0.75,195.5,101.7,0.0,96,819,0.93,2.53,156.62,0.597,4,0.090,0.053,3141,3578,1937,0,0,0,0,0,0
$GC,839,0.74,195.5,85.6,15.1,120,846,0.00,2.47,0.00,0.000,6,0.000,0.041,3152,2050,1933,0,0,0,0,0,0
$GC,912,0.74,195.5,75.0,15.0,133,919,0.00,2.42,0.00,0.000,4,0.000,0.050,3163,553,1931,0,0,0,0,0,0
$GC,937,0.74,195.5,71.0,14.6,137,945,0.00,2.47,0.00,0.000,6,0.000,0.044,3163,2117,1931,0,0,0,0,0,0
$GC,1010,0.75,212.7,62.0,12.5,150,1031,0.00,0.00,14.60,0.544,6,0.000,0.000,3163,2116,1866,0,0,0,0,0,0
$GC,1098,0.79,275.9,52.6,10.4,165,1154,0.00,0.00,51.00,0.571,6,0.000,0.000,3163,2116,1609,0,0,0,0,0,0
$GC,1222,0.80,289.7,39.2,12.7,185,1236,0.00,0.00,11.68,0.522,6,0.000,0.000,3163,2116,1553,0,0,0,0,0,0
$GC,1301,0.80,289.7,28.3,14.3,199,1309,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2116,1550,0,0,0,0,0,0
$GC,1374,0.81,292.4,18.0,13.2,212,1382,0.00,2.53,0.00,0.000,4,0.000,0.050,3174,545,1548,0,0,0,0,0,0
$GC,1432,0.91,388.1,12.1,9.0,222,1517,0.00,2.42,78.50,0.555,6,0.000,0.044,3173,2080,1151,0,0,0,0,0,0
$STATE,1548,end climb,SURFACE_DEPTH_REACHED
$STATE,1548,begin surface coast
$FINISH,0.6,1.023574
$STATE,1606,end surface coast,CONTROL_FINISHED_OK
$STATE,1606,begin surface
$SM_CCo,1685,0.00,0.000,0,0,1140,391.01
$SM_GC,1.59,8.12,0.00,0.00,0.039,0.000,0.000,129,2198,1140,-8.57,0.62,391.01
$IRIDIUM_FIX,4738.89,-12455.31,240511,070718
$TT8_MAMPS,0.026964
$HUMID,36.49
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.3,29.8
$24V_AH,24.1,30.103
$10V_AH,10.2,23.486
$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,19.775,29.175,465.100,0.000,0.000,25.373,40.828,156.747,0.500,0.000,33.789,503.114,130.255,456.953,792.900,155.937,33.327,820.204,0.000,588.731,0.000,5.497,0.000
$DEVICE_MAMPS,238.680,82.620,612.000,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,168.885,174.129,511.283,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297584
$DATA_FILE_SIZE,13678,250
$CAP_FILE_SIZE,40693,0
$CFSIZE,260165632,196190208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.279,180.5,1
$GPS,240511,082437,4751.965,-12457.738,38,1.0,38,18.7