version: 66.07
glider: 187
mission: 4
dive: 426
start: 6 16 111 17 16 51
data:
$ID,187
$MISSION,4
$DIVE,426
$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,10
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,60
$T_MISSION,75
$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,325
$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,-1585257.9
$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,48
$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,12
$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
$GPS1,160611,171027,4751.745,-12508.351,13,1.3,14,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-74.6
$GPS2,160611,171556,4751.700,-12508.338,15,1.5,15,18.7
$SPEED_LIMITS,0.192,0.308
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.230,0.206
$KALMAN_X,67923.3,281.3,-43.7,-69637.2,-59.2
$KALMAN_Y,-173863.5,-210.7,-536.5,184229.5,-90.5
$MHEAD_RNG_PITCHd_Wd,7.5,18270,-17.6,-11.111
$D_GRID,148
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.67,-195.5,0.0,0.0,0,91,0.00,0.00,-71.50,0.000,2,0.000,0.000,127,2205,2727,0,0,0,0,0,0
$GC,95,-0.67,-195.5,3.4,-4.8,11,131,10.25,2.45,-15.95,0.000,4,0.234,0.058,2684,657,3536,0,0,0,0,0,0
$GC,182,-0.64,-195.5,25.9,-17.1,25,191,0.00,2.38,0.00,0.000,6,0.000,0.047,2676,2158,3537,0,0,0,0,0,0
$GC,322,-0.61,-195.5,49.5,-17.4,50,330,0.12,2.45,0.00,0.000,4,0.161,0.057,2700,3694,3537,0,0,0,0,0,0
$GC,356,-0.61,-195.5,54.8,-14.0,55,364,0.00,2.38,0.00,0.000,6,0.000,0.043,2699,2174,3538,0,0,0,0,0,0
$GC,495,-0.60,-195.5,71.5,-12.0,80,502,0.00,2.38,0.00,0.000,4,0.000,0.050,2698,659,3539,0,0,0,0,0,0
$GC,533,-0.60,-195.5,76.5,-11.7,86,540,0.00,2.35,0.00,0.000,6,0.000,0.047,2690,2156,3539,0,0,0,0,0,0
$GC,671,-0.58,-195.5,93.5,-12.8,111,678,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2157,3539,0,0,0,0,0,0
$GC,813,-0.57,-195.5,111.3,-12.8,128,817,0.00,2.30,0.00,0.000,4,0.000,0.049,2689,659,3539,0,0,0,0,0,0
$GC,856,-0.57,-195.5,117.2,-12.5,131,861,0.12,2.33,0.00,0.000,6,0.146,0.047,2716,2160,3539,0,0,0,0,0,0
$GC,1057,-0.57,-195.5,136.5,-9.6,149,1061,0.00,2.42,0.00,0.000,4,0.000,0.059,2708,3690,3539,0,0,0,0,0,0
$GC,1102,-0.59,-195.5,141.3,-9.9,152,1109,0.00,2.40,0.00,0.000,6,0.000,0.043,2707,2150,3539,0,0,0,0,0,0
$STATE,1171,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1171,begin apogee
$GC,1177,-0.22,0.0,148.8,11.0,159,1336,0.35,0.00,153.25,0.662,6,0.113,0.000,2828,2048,2734,0,0,0,0,0,0
$STATE,1339,end apogee,CONTROL_FINISHED_OK
$STATE,1340,begin climb
$GC,1342,0.67,195.5,156.6,0.0,175,1513,0.85,2.55,157.48,0.643,4,0.084,0.052,3119,3574,1935,0,0,0,0,0,0
$GC,1531,0.65,195.5,144.8,12.0,190,1539,0.00,2.47,0.00,0.000,6,0.000,0.042,3129,2070,1932,0,0,0,0,0,0
$GC,1731,0.64,195.5,121.4,12.0,209,1732,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,2070,1929,0,0,0,0,0,0
$GC,1922,0.62,195.5,99.7,11.2,227,1930,0.00,2.42,0.00,0.000,4,0.000,0.053,3140,549,1927,0,0,0,0,0,0
$GC,1955,0.61,195.5,96.0,11.1,232,1963,0.10,2.40,0.00,0.000,6,0.122,0.045,3106,2071,1927,0,0,0,0,0,0
$GC,2093,0.65,250.3,83.1,9.0,257,2144,0.00,2.45,43.50,0.610,4,0.000,0.050,3112,543,1713,0,0,0,0,0,0
$GC,2186,0.72,342.5,75.3,7.6,271,2269,0.00,2.38,73.75,0.601,6,0.000,0.045,3111,2038,1336,0,0,0,0,0,0
$GC,2402,0.79,401.6,54.9,8.9,307,2458,0.15,0.00,47.30,0.585,6,0.078,0.000,3184,2038,1096,0,0,0,0,0,0
$GC,2586,0.79,401.6,29.3,13.9,339,2593,0.00,0.00,0.00,0.000,6,0.000,0.000,3184,2038,1089,0,0,0,0,0,0
$GC,2723,0.84,451.3,12.9,9.2,364,2768,0.00,2.47,39.53,0.565,4,0.000,0.054,3189,542,894,0,0,0,0,0,0
$GC,2793,0.93,531.0,6.8,8.1,374,2830,0.00,2.42,31.90,0.552,2,0.000,0.047,3188,2059,735,0,0,0,0,0,0
$STATE,2831,end climb,SURFACE_DEPTH_REACHED
$STATE,2831,begin surface coast
$FINISH,1.5,1.023503
$STATE,2860,end surface coast,CONTROL_FINISHED_OK
$STATE,2860,begin surface
$SM_CCo,2940,0.00,0.000,0,0,729,492.07
$SM_GC,1.79,8.10,0.00,0.00,0.032,0.000,0.000,129,2189,729,-8.55,0.42,492.07
$IRIDIUM_FIX,4732.49,-12510.28,160611,161643
$TT8_MAMPS,0.026964
$HUMID,38.38
$INTERNAL_PRESSURE,9.01087
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,115.5,54.9
$24V_AH,24.1,44.230
$10V_AH,10.2,40.579
$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,20.050,43.700,546.700,0.000,0.000,27.944,38.023,151.310,2.250,0.000,16.692,848.696,547.001,523.138,1169.940,183.797,33.336,1016.026,0.000,870.901,0.000,16.398,0.000
$DEVICE_MAMPS,234.090,87.975,661.725,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,255.507,918.012,658.429,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297448
$DATA_FILE_SIZE,20309,384
$CAP_FILE_SIZE,55801,0
$CFSIZE,260165632,185409536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.114,123.0,1
$GPS,160611,180638,4751.983,-12507.830,12,1.7,12,18.7