version: 66.07
glider: 187
mission: 4
dive: 278
start: 5 23 111 18 35 29
data:
$ID,187
$MISSION,4
$DIVE,278
$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,-1584172
$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,33
$R_STBD_OVSHOOT,36
$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
$GPS1,230511,182956,4753.513,-12502.437,16,1.9,16,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-76.4
$GPS2,230511,183432,4753.504,-12502.394,16,1.9,16,18.7
$SPEED_LIMITS,0.231,0.327
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.164,0.283
$KALMAN_X,-462.5,-206.5,-92.1,2421.1,-5.9
$KALMAN_Y,-1465.7,-761.4,-235.2,3254.7,-131.5
$MHEAD_RNG_PITCHd_Wd,353.0,10680,-20.3,-13.333
$D_GRID,105
$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,15,-0.75,-195.5,0.0,0.0,0,101,0.00,0.00,-83.60,0.000,2,0.000,0.000,128,2188,2769,0,0,0,0,0,0
$GC,105,-0.75,-195.5,3.5,-5.4,13,135,10.10,2.45,-14.43,0.000,4,0.239,0.067,2648,3684,3534,0,0,0,0,0,0
$GC,359,-0.72,-195.5,70.1,-20.5,59,367,0.00,2.38,0.00,0.000,6,0.000,0.041,2647,2170,3538,0,0,0,0,0,0
$GC,440,-0.69,-195.5,86.8,-19.1,72,448,0.12,2.38,0.00,0.000,4,0.171,0.050,2680,645,3538,0,0,0,0,0,0
$GC,499,-0.69,-195.5,97.6,-17.0,82,506,0.00,2.33,0.00,0.000,6,0.000,0.047,2672,2129,3539,0,0,0,0,0,0
$STATE,542,end dive,TARGET_DEPTH_EXCEEDED
$STATE,542,begin apogee
$GC,549,-0.22,0.0,105.6,17.3,87,707,0.47,0.00,153.02,0.629,6,0.127,0.000,2827,2052,2734,0,0,0,0,0,0
$STATE,708,end apogee,CONTROL_FINISHED_OK
$STATE,711,begin climb
$GC,713,0.75,195.5,115.1,0.0,103,879,0.93,2.45,157.27,0.612,4,0.089,0.050,3152,558,1937,0,0,0,0,0,0
$GC,974,0.76,206.1,91.3,12.8,131,991,0.00,2.42,9.50,0.533,6,0.000,0.044,3152,2065,1893,0,0,0,0,0,0
$GC,1055,0.77,223.1,80.7,12.6,145,1078,0.00,2.42,15.15,0.565,4,0.000,0.048,3163,559,1823,0,0,0,0,0,0
$GC,1107,0.79,255.6,74.6,11.8,153,1142,0.00,2.35,27.17,0.578,6,0.000,0.044,3163,2026,1693,0,0,0,0,0,0
$GC,1209,0.81,295.8,62.3,11.5,170,1253,0.00,2.58,32.78,0.578,4,0.000,0.055,3163,3566,1526,0,0,0,0,0,0
$GC,1278,0.82,305.8,53.9,12.9,180,1293,0.00,2.40,8.95,0.513,6,0.000,0.041,3173,2078,1488,0,0,0,0,0,0
$GC,1358,0.82,308.3,43.7,13.2,194,1365,0.00,2.45,0.00,0.000,4,0.000,0.052,3184,534,1484,0,0,0,0,0,0
$GC,1378,0.82,308.3,40.8,13.5,197,1386,0.00,2.45,0.00,0.000,6,0.000,0.045,3184,2066,1483,0,0,0,0,0,0
$GC,1453,0.82,308.3,31.3,13.7,210,1460,0.00,2.45,0.00,0.000,4,0.000,0.057,3184,3597,1482,0,0,0,0,0,0
$GC,1473,0.82,308.3,28.2,14.5,213,1480,0.00,2.42,0.00,0.000,6,0.000,0.042,3194,2080,1481,0,0,0,0,0,0
$GC,1546,0.85,361.4,18.7,10.9,226,1597,0.00,2.53,44.90,0.568,4,0.000,0.051,3202,542,1259,0,0,0,0,0,0
$GC,1640,0.94,460.9,10.5,8.8,240,1715,0.00,2.40,70.07,0.558,2,0.000,0.045,3202,2045,903,0,0,0,0,0,0
$STATE,1716,end climb,SURFACE_DEPTH_REACHED
$STATE,1716,begin surface coast
$FINISH,0.7,1.018649
$STATE,1755,end surface coast,CONTROL_FINISHED_OK
$STATE,1755,begin surface
$SM_CCo,1835,0.00,0.000,0,0,894,451.35
$SM_GC,1.44,8.18,0.00,0.00,0.033,0.000,0.000,139,2195,894,-8.56,0.57,451.35
$IRIDIUM_FIX,4732.49,-12500.57,230511,171752
$TT8_MAMPS,0.026964
$HUMID,35.62
$INTERNAL_PRESSURE,9.01087
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.3,38.2
$24V_AH,24.1,27.939
$10V_AH,10.2,22.563
$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,19.800,39.150,518.825,0.000,0.000,24.804,36.756,107.148,1.000,0.000,17.555,534.209,168.895,509.927,776.290,132.322,33.317,880.400,0.000,611.623,0.000,9.923,0.000
$DEVICE_MAMPS,238.680,97.155,628.830,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,172.614,182.969,492.308,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297516
$DATA_FILE_SIZE,13649,258
$CAP_FILE_SIZE,41965,0
$CFSIZE,260165632,196902912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.202,167.3,1
$GPS,230511,190655,4753.492,-12502.181,11,1.9,16,18.7