version: 66.07
glider: 187
mission: 4
dive: 270
start: 5 23 111 13 33 29
data:
$ID,187
$MISSION,4
$DIVE,270
$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,0
$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,-1584162
$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,36
$R_STBD_OVSHOOT,28
$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
$GPS1,230511,132734,4753.121,-12503.686,11,6.6,30,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-78.6
$GPS2,230511,133238,4753.080,-12503.730,13,1.7,13,18.7
$SPEED_LIMITS,0.231,0.327
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.221,0.241
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,23.8,12357,-20.3,-13.333
$D_GRID,111
$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,-195.5,0.0,0.0,0,83,0.00,0.00,-63.92,0.000,2,0.000,0.000,114,2168,2714,0,0,0,0,0,0
$GC,86,-0.75,-195.5,3.2,-3.8,10,123,10.15,2.40,-15.70,0.000,4,0.239,0.062,2653,660,3536,0,0,0,0,0,0
$GC,248,-0.72,-195.5,47.5,-24.3,38,255,0.00,2.38,0.00,0.000,6,0.000,0.047,2644,2167,3537,0,0,0,0,0,0
$GC,321,-0.68,-195.5,62.8,-22.4,51,329,0.15,2.42,0.00,0.000,4,0.164,0.057,2675,3691,3537,0,0,0,0,0,0
$GC,344,-0.64,-195.5,67.5,-20.1,54,352,0.00,2.38,0.00,0.000,6,0.000,0.043,2675,2182,3537,0,0,0,0,0,0
$GC,417,-0.63,-195.5,79.9,-17.4,67,430,0.00,2.38,0.00,0.000,4,0.000,0.049,2674,664,3538,0,0,0,0,0,0
$GC,449,-0.61,-195.5,85.0,-15.9,71,457,0.10,2.35,0.00,0.000,6,0.130,0.048,2710,2155,3538,0,0,0,0,0,0
$GC,523,-0.61,-195.5,95.7,-14.3,84,531,0.00,2.47,0.00,0.000,4,0.000,0.061,2701,3691,3538,0,0,0,0,0,0
$GC,545,-0.61,-195.5,99.0,-14.4,87,552,0.00,2.42,0.00,0.000,6,0.000,0.044,2700,2148,3538,0,0,0,0,0,0
$GC,623,-0.61,-195.5,110.8,-15.8,95,624,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2142,3538,0,0,0,0,0,0
$STATE,631,end dive,TARGET_DEPTH_EXCEEDED
$STATE,631,begin apogee
$GC,638,-0.22,0.0,112.4,16.1,96,797,0.40,0.00,153.18,0.643,6,0.125,0.000,2832,2042,2734,0,0,0,0,0,0
$STATE,798,end apogee,CONTROL_FINISHED_OK
$STATE,800,begin climb
$GC,802,0.75,195.5,120.9,0.0,112,972,0.90,2.50,158.20,0.624,4,0.086,0.048,3151,558,1936,0,0,0,0,0,0
$GC,999,0.75,195.5,105.8,14.6,129,1007,0.00,2.45,0.00,0.000,6,0.000,0.044,3151,2062,1933,0,0,0,0,0,0
$GC,1134,0.74,195.5,85.5,16.5,150,1142,0.00,2.45,0.00,0.000,4,0.000,0.056,3151,3575,1929,0,0,0,0,0,0
$GC,1176,0.72,195.5,78.5,16.5,157,1184,0.00,2.40,0.00,0.000,6,0.000,0.041,3161,2078,1928,0,0,0,0,0,0
$GC,1249,0.71,195.5,67.9,13.6,170,1256,0.00,2.45,0.00,0.000,4,0.000,0.051,3173,524,1928,0,0,0,0,0,0
$GC,1276,0.70,195.5,64.3,14.2,174,1284,0.15,2.45,0.00,0.000,6,0.161,0.045,3134,2067,1928,0,0,0,0,0,0
$GC,1350,0.71,212.9,55.3,12.5,187,1372,0.00,2.45,14.27,0.565,4,0.000,0.055,3134,3584,1865,0,0,0,0,0,0
$GC,1423,0.72,232.1,46.5,12.5,199,1445,0.00,2.40,16.80,0.568,6,0.000,0.042,3141,2078,1788,0,0,0,0,0,0
$GC,1512,0.73,253.5,35.7,12.4,214,1541,0.00,2.47,18.45,0.566,4,0.000,0.052,3151,550,1700,0,0,0,0,0,0
$GC,1576,0.77,285.1,28.0,11.9,224,1612,0.00,2.42,26.55,0.568,6,0.000,0.045,3152,2071,1570,0,0,0,0,0,0
$GC,1681,0.84,368.9,17.4,9.5,241,1756,0.00,2.50,66.55,0.568,4,0.000,0.051,3152,541,1229,0,0,0,0,0,0
$GC,1767,0.93,450.9,9.1,9.6,253,1816,0.08,2.40,43.47,0.552,2,0.054,0.045,3222,2024,1013,0,0,0,0,0,0
$STATE,1817,end climb,SURFACE_DEPTH_REACHED
$STATE,1817,begin surface coast
$FINISH,0.7,1.023601
$STATE,1852,end surface coast,CONTROL_FINISHED_OK
$STATE,1852,begin surface
$SM_CCo,1931,0.00,0.000,0,0,1004,424.61
$SM_GC,1.65,8.30,0.00,0.00,0.037,0.000,0.000,137,2187,1004,-8.56,0.34,424.61
$IRIDIUM_FIX,4735.69,-12505.04,230511,121230
$TT8_MAMPS,0.026964
$HUMID,35.31
$INTERNAL_PRESSURE,9.01087
$TCM_TEMP,16.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,81.3,52.3
$24V_AH,24.1,27.216
$10V_AH,10.2,22.237
$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,20.225,48.900,497.475,0.000,0.000,24.580,37.036,127.499,0.500,0.000,14.348,566.493,209.294,514.801,799.205,147.417,29.230,894.148,0.000,620.452,0.000,5.547,0.000
$DEVICE_MAMPS,239.445,87.210,643.365,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,176.843,191.019,496.390,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297468
$DATA_FILE_SIZE,13672,266
$CAP_FILE_SIZE,47800,0
$CFSIZE,260165632,197128192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.173,168.0,1
$GPS,230511,140626,4753.118,-12503.426,11,1.8,11,18.7