version: 66.07
glider: 187
mission: 4
dive: 306
start: 5 24 111 8 31 17
data:
$ID,187
$MISSION,4
$DIVE,306
$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,-1584189.5
$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,44
$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
$GPS1,240511,082437,4751.965,-12457.738,38,1.0,38,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-77.1
$GPS2,240511,083020,4751.934,-12457.767,15,1.5,15,18.7
$SPEED_LIMITS,0.231,0.327
$TGT_NAME,DOGLEG
$TGT_LATLONG,4753.300,-12507.300
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.226,0.236
$KALMAN_X,-97.1,-11.8,-2.5,-1685.8,-44.6
$KALMAN_Y,-1461.7,-880.3,-648.4,780.6,-252.8
$MHEAD_RNG_PITCHd_Wd,308.4,12107,-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,-195.5,0.0,0.0,0,91,0.00,0.00,-71.25,0.000,2,0.000,0.000,129,2200,2891,0,0,0,0,0,0
$GC,94,-0.75,-195.5,4.0,-7.4,11,124,10.05,2.38,-11.38,0.000,4,0.239,0.054,2653,652,3535,0,0,0,0,0,0
$GC,165,-0.70,-195.5,30.8,-27.9,22,174,0.10,2.38,0.00,0.000,6,0.147,0.048,2676,2152,3537,0,0,0,0,0,0
$GC,239,-0.66,-195.5,48.7,-24.0,35,247,0.00,2.45,0.00,0.000,4,0.000,0.057,2667,3694,3537,0,0,0,0,0,0
$GC,267,-0.63,-195.5,55.0,-23.4,39,275,0.08,2.38,0.00,0.000,6,0.139,0.043,2701,2184,3537,0,0,0,0,0,0
$GC,341,-0.61,-195.5,69.7,-18.3,52,348,0.00,2.38,0.00,0.000,4,0.000,0.050,2701,671,3538,0,0,0,0,0,0
$GC,372,-0.60,-195.5,74.5,-15.2,57,381,0.00,2.35,0.00,0.000,6,0.000,0.048,2693,2162,3538,0,0,0,0,0,0
$GC,450,-0.60,-195.5,84.1,-12.5,70,457,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2162,3538,0,0,0,0,0,0
$STATE,518,end dive,TARGET_DEPTH_EXCEEDED
$STATE,518,begin apogee
$GC,525,-0.22,0.0,93.4,12.9,83,684,0.43,0.00,152.32,0.614,6,0.124,0.000,2833,2047,2734,0,0,0,0,0,0
$STATE,685,end apogee,CONTROL_FINISHED_OK
$STATE,685,begin climb
$GC,687,0.75,195.5,102.1,0.0,104,855,0.90,2.55,156.55,0.599,4,0.086,0.051,3141,3579,1938,0,0,0,0,0,0
$GC,880,0.74,195.5,86.1,14.4,128,887,0.00,2.47,0.00,0.000,6,0.000,0.041,3152,2046,1934,0,0,0,0,0,0
$GC,953,0.77,253.3,77.2,10.7,141,1009,0.00,2.47,46.97,0.578,4,0.000,0.051,3163,551,1700,0,0,0,0,0,0
$GC,1029,0.83,342.6,69.6,9.3,152,1106,0.00,2.38,71.62,0.575,6,0.000,0.044,3162,2022,1337,0,0,0,0,0,0
$GC,1174,0.84,342.6,51.2,17.1,175,1180,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2022,1332,0,0,0,0,0,0
$GC,1248,0.85,342.6,38.6,17.0,188,1255,0.00,2.40,0.00,0.000,4,0.000,0.052,3173,545,1330,0,0,0,0,0,0
$GC,1274,0.86,342.6,34.6,15.2,192,1282,0.00,2.33,0.00,0.000,6,0.000,0.044,3173,2004,1329,0,0,0,0,0,0
$GC,1348,0.88,342.6,23.3,17.0,205,1356,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2004,1329,0,0,0,0,0,0
$GC,1423,0.96,428.3,13.9,9.4,218,1499,0.12,2.58,68.07,0.553,4,0.091,0.054,3231,3574,987,0,0,0,0,0,0
$STATE,1513,end climb,SURFACE_DEPTH_REACHED
$STATE,1513,begin surface coast
$FINISH,0.5,1.023570
$STATE,1530,end surface coast,CONTROL_FINISHED_OK
$STATE,1530,begin surface
$SM_CCo,1611,0.00,0.000,0,0,979,430.75
$SM_GC,1.47,8.30,0.00,0.00,0.037,0.000,0.000,126,2167,979,-8.56,-0.23,430.75
$IRIDIUM_FIX,4732.49,-12458.73,240511,070709
$TT8_MAMPS,0.026964
$HUMID,35.31
$INTERNAL_PRESSURE,9.02063
$TCM_TEMP,15.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.6,29.6
$24V_AH,24.1,30.199
$10V_AH,10.2,23.525
$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,19.975,33.900,495.550,0.000,0.000,27.907,38.191,168.524,0.500,0.000,16.641,461.609,121.699,472.804,753.553,154.620,33.320,833.545,0.000,554.706,0.000,5.497,0.000
$DEVICE_MAMPS,238.680,77.265,613.530,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,156.675,164.780,477.616,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297564
$DATA_FILE_SIZE,13671,234
$CAP_FILE_SIZE,41118,0
$CFSIZE,260165632,196157440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.237,180.8,1
$GPS,240511,085856,4751.937,-12457.941,12,1.7,12,18.7