version: 66.07
glider: 187
mission: 4
dive: 316
start: 5 24 111 14 32 34
data:
$ID,187
$MISSION,4
$DIVE,316
$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,-1584202
$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,43
$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
$GPS1,240511,142649,4751.578,-12459.193,10,1.8,15,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-77.3
$GPS2,240511,143137,4751.542,-12459.203,12,1.8,17,18.7
$SPEED_LIMITS,0.231,0.327
$TGT_NAME,DOGLEG
$TGT_LATLONG,4753.300,-12507.300
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.319,0.073
$KALMAN_X,1527.1,468.3,265.0,-5842.1,148.8
$KALMAN_Y,-3506.7,-1286.3,-30.5,1886.3,-2.8
$MHEAD_RNG_PITCHd_Wd,305.3,10569,-20.3,-13.333
$D_GRID,99
$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,16,-0.75,-195.5,0.0,0.0,0,83,0.00,0.00,-64.90,0.000,2,0.000,0.000,130,2188,2756,0,0,0,0,0,0
$GC,87,-0.75,-195.5,3.3,-4.6,10,123,10.10,2.45,-15.05,0.000,4,0.239,0.067,2647,3690,3536,0,0,0,0,0,0
$GC,273,-0.73,-195.5,45.9,-18.5,43,280,0.00,2.40,0.00,0.000,6,0.000,0.041,2646,2164,3537,0,0,0,0,0,0
$GC,345,-0.68,-195.5,60.8,-21.7,56,354,0.12,2.38,0.00,0.000,4,0.177,0.050,2679,639,3537,0,0,0,0,0,0
$GC,369,-0.65,-195.5,66.0,-21.3,59,377,0.00,2.33,0.00,0.000,6,0.000,0.048,2671,2115,3538,0,0,0,0,0,0
$GC,446,-0.63,-195.5,80.3,-19.8,72,455,0.12,2.53,0.00,0.000,4,0.162,0.059,2694,3679,3538,0,0,0,0,0,0
$GC,511,-0.63,-195.5,91.6,-14.2,83,518,0.00,2.40,0.00,0.000,6,0.000,0.042,2693,2142,3538,0,0,0,0,0,0
$STATE,560,end dive,TARGET_DEPTH_EXCEEDED
$STATE,560,begin apogee
$GC,567,-0.22,0.0,99.2,15.4,92,725,0.43,0.00,153.10,0.622,6,0.128,0.000,2833,2052,2735,0,0,0,0,0,0
$STATE,725,end apogee,CONTROL_FINISHED_OK
$STATE,728,begin climb
$GC,731,0.75,195.5,108.0,0.0,108,898,0.90,2.45,156.82,0.606,4,0.090,0.049,3149,561,1936,0,0,0,0,0,0
$GC,917,0.75,195.5,93.0,13.4,127,924,0.00,2.42,0.00,0.000,6,0.000,0.044,3150,2049,1933,0,0,0,0,0,0
$GC,991,0.74,195.5,82.8,14.2,140,999,0.00,2.47,0.00,0.000,4,0.000,0.054,3150,3574,1930,0,0,0,0,0,0
$GC,1075,0.72,195.5,70.9,14.8,155,1083,0.00,2.35,0.00,0.000,6,0.000,0.041,3160,2108,1928,0,0,0,0,0,0
$GC,1150,0.72,212.9,61.4,12.5,168,1172,0.00,2.40,14.32,0.552,4,0.000,0.054,3160,3577,1866,0,0,0,0,0,0
$GC,1191,0.75,254.7,56.5,11.4,174,1234,0.00,2.30,34.75,0.571,6,0.000,0.041,3171,2141,1695,0,0,0,0,0,0
$GC,1301,0.77,285.3,43.3,11.9,192,1336,0.00,2.60,25.33,0.561,4,0.000,0.052,3182,550,1568,0,0,0,0,0,0
$GC,1396,0.77,285.3,30.4,13.6,208,1405,0.00,2.53,0.00,0.000,6,0.000,0.044,3183,2155,1564,0,0,0,0,0,0
$GC,1470,0.77,285.3,20.1,14.2,221,1478,0.00,2.30,0.00,0.000,4,0.000,0.055,3182,3569,1563,0,0,0,0,0,0
$GC,1502,0.77,285.3,15.5,14.7,226,1510,0.10,2.28,0.00,0.000,6,0.137,0.041,3158,2141,1563,0,0,0,0,0,0
$GC,1577,0.86,400.2,7.3,8.1,239,1627,0.00,0.00,47.47,0.557,2,0.000,0.000,3158,2138,1329,0,0,0,0,0,0
$STATE,1628,end climb,SURFACE_DEPTH_REACHED
$STATE,1628,begin surface coast
$FINISH,0.6,1.023683
$STATE,1699,end surface coast,CONTROL_FINISHED_OK
$STATE,1699,begin surface
$SM_CCo,1717,16.10,0.302,1,0,1205,375.31
$SM_GC,1.55,0.00,0.00,16.10,0.000,0.000,0.302,134,2176,1205,-8.66,0.00,375.31
$IRIDIUM_FIX,4732.49,-12500.57,240511,131346
$TT8_MAMPS,0.026964
$HUMID,35.66
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.3,36.9
$24V_AH,24.1,31.115
$10V_AH,10.3,23.927
$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,19.800,38.725,431.800,16.100,0.000,27.837,35.159,119.027,0.500,0.000,17.888,563.966,80.989,475.230,779.606,140.281,33.319,822.991,0.000,612.173,0.000,5.516,0.000
$DEVICE_MAMPS,239.445,151.470,621.945,302.175,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,172.357,184.454,506.822,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297472
$DATA_FILE_SIZE,13653,259
$CAP_FILE_SIZE,42871,0
$CFSIZE,260165632,195870720
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.229,174.3,1
$GPS,240511,150226,4751.533,-12459.323,15,1.6,15,18.7