version: 66.07
glider: 187
mission: 4
dive: 436
start: 6 17 111 1 50 41
data:
$ID,187
$MISSION,4
$DIVE,436
$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,-1585270.5
$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,2920
$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,29
$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
$GPS1,170611,014410,4752.587,-12504.642,13,5.6,32,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-76.4
$GPS2,170611,014946,4752.544,-12504.587,12,3.0,31,18.7
$SPEED_LIMITS,0.192,0.308
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.080,0.298
$KALMAN_X,68870.9,-430.9,37.8,-65285.1,20.3
$KALMAN_Y,-178017.4,54.2,-94.2,189241.7,-417.8
$MHEAD_RNG_PITCHd_Wd,339.3,13806,-17.6,-11.111
$D_GRID,115
$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,-0.67,-195.5,0.0,0.0,0,84,0.00,0.00,-65.10,0.000,2,0.000,0.000,120,2190,2663,0,0,0,0,0,0
$GC,88,-0.67,-195.5,3.1,-3.4,10,124,10.30,2.38,-17.58,0.000,4,0.233,0.060,2700,660,3535,0,0,0,0,0,0
$GC,149,-0.64,-195.5,19.0,-19.4,19,157,0.00,2.40,0.00,0.000,6,0.000,0.047,2691,2177,3536,0,0,0,0,0,0
$GC,288,-0.61,-195.5,40.7,-14.8,44,297,0.12,2.38,0.00,0.000,4,0.161,0.050,2726,661,3536,0,0,0,0,0,0
$GC,318,-0.60,-195.5,45.4,-15.0,48,326,0.00,2.38,0.00,0.000,6,0.000,0.048,2721,2167,3536,0,0,0,0,0,0
$GC,452,-0.60,-195.5,62.9,-12.6,73,459,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2167,3537,0,0,0,0,0,0
$GC,587,-0.60,-195.5,79.0,-11.9,98,595,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2167,3537,0,0,0,0,0,0
$GC,728,-0.60,-195.5,96.2,-13.0,123,736,0.00,2.35,0.00,0.000,4,0.000,0.049,2720,665,3538,0,0,0,0,0,0
$GC,765,-0.61,-195.5,101.2,-13.3,129,770,0.00,2.28,0.00,0.000,6,0.000,0.047,2719,2149,3538,0,0,0,0,0,0
$STATE,887,end dive,TARGET_DEPTH_EXCEEDED
$STATE,887,begin apogee
$GC,895,-0.22,0.0,116.2,11.9,140,1054,0.38,0.00,152.43,0.633,6,0.107,0.000,2848,2036,2734,0,0,0,0,0,0
$STATE,1056,end apogee,CONTROL_FINISHED_OK
$STATE,1056,begin climb
$GC,1059,0.67,195.5,124.6,0.0,156,1224,0.80,2.47,156.98,0.616,4,0.078,0.050,3139,556,1937,0,0,0,0,0,0
$GC,1316,0.68,232.1,108.1,9.7,177,1351,0.00,2.42,30.10,0.591,6,0.000,0.043,3139,2066,1787,0,0,0,0,0,0
$GC,1542,0.68,232.1,81.5,12.4,212,1550,0.00,2.42,0.00,0.000,4,0.000,0.051,3150,557,1780,0,0,0,0,0,0
$GC,1560,0.68,232.1,79.2,12.7,214,1567,0.00,2.35,0.00,0.000,6,0.000,0.045,3150,2038,1780,0,0,0,0,0,0
$GC,1697,0.68,232.1,60.6,12.1,239,1705,0.00,2.47,0.00,0.000,4,0.000,0.057,3150,3570,1778,0,0,0,0,0,0
$GC,1713,0.68,232.1,58.4,12.3,241,1721,0.00,2.45,0.00,0.000,6,0.000,0.043,3160,2027,1777,0,0,0,0,0,0
$GC,1852,0.72,301.9,45.8,8.4,266,1915,0.00,2.40,54.92,0.584,4,0.000,0.051,3171,547,1503,0,0,0,0,0,0
$GC,1951,0.76,361.2,37.3,8.9,281,2006,0.00,2.33,47.92,0.570,6,0.000,0.045,3171,2008,1261,0,0,0,0,0,0
$GC,2139,0.80,422.8,19.9,8.8,313,2196,0.00,2.42,48.90,0.562,4,0.000,0.052,3179,546,1010,0,0,0,0,0,0
$GC,2244,0.90,503.2,12.6,8.0,329,2315,0.00,2.35,63.67,0.555,6,0.000,0.044,3179,2020,682,0,0,0,0,0,0
$STATE,2358,end climb,SURFACE_DEPTH_REACHED
$STATE,2359,begin surface coast
$FINISH,1.0,1.006557
$STATE,2407,end surface coast,CONTROL_FINISHED_OK
$STATE,2407,begin surface
$SM_CCo,2486,0.00,0.000,0,0,674,505.32
$SM_GC,1.78,8.02,0.00,0.00,0.031,0.000,0.000,136,2203,674,-8.60,0.79,505.32
$IRIDIUM_FIX,4735.69,-12502.41,170611,000003
$TT8_MAMPS,0.026964
$HUMID,37.51
$INTERNAL_PRESSURE,9.02063
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.2,57.7
$24V_AH,24.1,45.232
$10V_AH,10.2,41.141
$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,19.625,38.650,554.925,0.000,0.000,27.768,38.938,141.820,0.750,0.000,33.472,767.175,261.457,515.918,1107.879,174.858,33.329,983.189,0.000,837.245,0.000,7.108,0.000
$DEVICE_MAMPS,233.325,77.265,632.655,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,236.364,851.040,671.456,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297400
$DATA_FILE_SIZE,20300,356
$CAP_FILE_SIZE,49580,0
$CFSIZE,260165632,185094144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.295,174.5,1
$GPS,170611,023316,4752.555,-12504.490,13,3.9,32,18.7