version: 66.07
glider: 187
mission: 4
dive: 307
start: 5 24 111 9 5 11
data:
$ID,187
$MISSION,4
$DIVE,307
$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,-1584190.8
$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,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,35
$R_STBD_OVSHOOT,31
$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
$GPS1,240511,085856,4751.937,-12457.941,12,1.7,12,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-77.0
$GPS2,240511,090414,4751.908,-12457.967,10,2.0,10,18.7
$SPEED_LIMITS,0.231,0.327
$TGT_NAME,DOGLEG
$TGT_LATLONG,4753.300,-12507.300
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.278,0.173
$KALMAN_X,-51.6,1.4,-9.5,-1987.0,18.2
$KALMAN_Y,-1696.1,-1001.6,-656.1,1093.8,-160.5
$MHEAD_RNG_PITCHd_Wd,308.8,11874,-20.3,-13.333
$D_GRID,94
$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,15,begin dive
$GC,17,-0.75,-195.5,0.0,0.0,0,97,0.00,0.00,-77.30,0.000,2,0.000,0.000,125,2168,2857,0,0,0,0,0,0
$GC,100,-0.75,-195.5,3.6,-6.0,12,130,10.00,2.45,-12.52,0.000,4,0.236,0.070,2644,3687,3534,0,0,0,0,0,0
$GC,204,-0.73,-195.5,33.6,-20.1,29,212,0.00,2.38,0.00,0.000,6,0.000,0.041,2643,2180,3536,0,0,0,0,0,0
$GC,278,-0.68,-195.5,49.6,-21.5,42,287,0.15,2.38,0.00,0.000,4,0.174,0.049,2683,653,3536,0,0,0,0,0,0
$GC,303,-0.64,-195.5,55.3,-23.5,45,310,0.00,2.38,0.00,0.000,6,0.000,0.047,2674,2162,3536,0,0,0,0,0,0
$GC,377,-0.62,-195.5,72.6,-24.1,58,386,0.12,2.45,0.00,0.000,4,0.163,0.059,2698,3695,3537,0,0,0,0,0,0
$GC,427,-0.62,-195.5,81.9,-16.4,66,436,0.00,2.35,0.00,0.000,6,0.000,0.042,2697,2194,3537,0,0,0,0,0,0
$GC,502,-0.62,-195.5,92.8,-15.5,79,510,0.00,2.38,0.00,0.000,4,0.000,0.048,2697,671,3537,0,0,0,0,0,0
$STATE,516,end dive,TARGET_DEPTH_EXCEEDED
$STATE,516,begin apogee
$GC,523,-0.22,0.0,95.0,13.6,81,685,0.43,0.00,152.32,0.617,6,0.122,0.000,2828,2072,2735,0,0,0,0,0,0
$STATE,686,end apogee,CONTROL_FINISHED_OK
$STATE,686,begin climb
$GC,688,0.75,195.5,102.4,0.0,101,857,0.93,2.50,157.12,0.601,4,0.090,0.053,3141,3573,1939,0,0,0,0,0,0
$GC,871,0.75,195.5,86.8,14.7,124,879,0.00,2.47,0.00,0.000,6,0.000,0.041,3152,2046,1934,0,0,0,0,0,0
$GC,944,0.75,195.5,75.5,14.3,137,951,0.00,2.42,0.00,0.000,4,0.000,0.050,3162,552,1933,0,0,0,0,0,0
$GC,964,0.75,195.5,72.7,14.2,140,971,0.00,2.47,0.00,0.000,6,0.000,0.044,3162,2114,1932,0,0,0,0,0,0
$GC,1038,0.77,225.2,63.6,12.0,153,1066,0.00,0.00,24.67,0.566,6,0.000,0.000,3162,2114,1815,0,0,0,0,0,0
$GC,1133,0.80,280.0,53.4,10.8,169,1184,0.00,2.55,44.50,0.569,4,0.000,0.050,3174,546,1591,0,0,0,0,0,0
$GC,1208,0.81,287.4,44.1,13.0,180,1223,0.00,2.47,6.88,0.474,6,0.000,0.044,3174,2109,1562,0,0,0,0,0,0
$GC,1289,0.81,287.4,32.7,13.4,194,1297,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2109,1558,0,0,0,0,0,0
$GC,1362,0.81,287.4,22.9,13.6,207,1369,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2109,1557,0,0,0,0,0,0
$GC,1434,0.85,332.3,14.4,11.3,220,1475,0.00,0.00,36.38,0.555,6,0.000,0.000,3174,2110,1379,0,0,0,0,0,0
$GC,1541,0.96,474.3,6.4,6.8,238,1570,0.12,0.00,26.33,0.542,2,0.090,0.000,3233,2110,1249,0,0,0,0,0,0
$STATE,1571,end climb,SURFACE_DEPTH_REACHED
$STATE,1571,begin surface coast
$FINISH,0.6,1.011095
$STATE,1615,end surface coast,CONTROL_FINISHED_OK
$STATE,1615,begin surface
$SM_CCo,1634,8.82,0.079,1,0,1205,375.06
$SM_GC,1.18,0.00,0.00,8.82,0.000,0.000,0.079,127,2191,1205,-8.68,0.48,375.06
$IRIDIUM_FIX,4738.89,-12459.78,240511,080811
$TT8_MAMPS,0.027713
$HUMID,35.94
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,15.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.7,30.0
$24V_AH,24.1,30.286
$10V_AH,10.2,23.564
$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,20.025,33.950,448.200,8.825,0.000,24.540,38.268,154.648,0.500,0.000,11.114,515.784,72.296,476.000,756.265,158.644,33.315,825.435,0.000,580.363,0.000,5.496,0.000
$DEVICE_MAMPS,235.620,99.450,616.590,78.795,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,168.449,176.066,505.085,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297560
$DATA_FILE_SIZE,13630,250
$CAP_FILE_SIZE,42410,0
$CFSIZE,260165632,196128768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.254,181.3,1
$GPS,240511,093332,4751.879,-12458.152,15,2.0,15,18.7