version: 66.07
glider: 187
mission: 4
dive: 301
start: 5 24 111 5 20 59
data:
$ID,187
$MISSION,4
$DIVE,301
$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,-1584183.2
$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,27
$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
$GPS1,240511,051437,4753.229,-12456.315,37,0.9,37,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-78.4
$GPS2,240511,052008,4753.130,-12456.320,17,1.0,17,18.7
$SPEED_LIMITS,0.231,0.327
$TGT_NAME,DOGLEG
$TGT_LATLONG,4753.300,-12507.300
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.327,0.008
$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,252.6,13639,-20.3,-13.333
$D_GRID,86
$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,-195.5,0.0,0.0,0,91,0.00,0.00,-72.03,0.000,2,0.000,0.000,131,2175,2796,0,0,0,0,0,0
$GC,95,-0.75,-195.5,3.7,-6.8,11,125,9.95,2.47,-13.93,0.000,4,0.236,0.069,2644,3692,3535,0,0,0,0,0,0
$GC,204,-0.72,-195.5,33.8,-21.5,29,213,0.05,2.40,0.00,0.000,6,0.147,0.043,2673,2173,3537,0,0,0,0,0,0
$GC,280,-0.68,-195.5,50.1,-22.3,42,287,0.00,2.38,0.00,0.000,4,0.000,0.050,2673,661,3537,0,0,0,0,0,0
$GC,302,-0.65,-195.5,54.8,-20.7,45,311,0.00,2.40,0.00,0.000,6,0.000,0.048,2664,2180,3538,0,0,0,0,0,0
$GC,376,-0.63,-195.5,68.2,-17.4,58,384,0.12,2.42,0.00,0.000,4,0.164,0.059,2687,3695,3537,0,0,0,0,0,0
$GC,433,-0.63,-195.5,77.5,-13.5,68,441,0.00,2.38,0.00,0.000,6,0.000,0.042,2686,2183,3537,0,0,0,0,0,0
$STATE,502,end dive,TARGET_DEPTH_EXCEEDED
$STATE,502,begin apogee
$GC,509,-0.22,0.0,86.6,15.1,80,671,0.43,0.00,152.15,0.618,6,0.129,0.000,2826,2047,2735,0,0,0,0,0,0
$STATE,672,end apogee,CONTROL_FINISHED_OK
$STATE,672,begin climb
$GC,674,0.75,195.5,96.4,0.0,103,842,0.93,2.58,156.80,0.601,4,0.091,0.052,3138,3585,1937,0,0,0,0,0,0
$GC,891,0.75,195.5,73.6,13.9,136,899,0.00,2.47,0.00,0.000,6,0.000,0.041,3150,2046,1931,0,0,0,0,0,0
$GC,966,0.81,295.0,66.3,8.8,149,1048,0.00,0.00,79.15,0.581,6,0.000,0.000,3150,2045,1531,0,0,0,0,0,0
$GC,1114,0.87,369.1,51.9,9.9,173,1181,0.10,2.62,59.25,0.569,4,0.102,0.054,3198,3578,1229,0,0,0,0,0,0
$GC,1195,0.87,369.1,38.7,19.1,184,1202,0.00,2.53,0.00,0.000,6,0.000,0.042,3208,2043,1226,0,0,0,0,0,0
$GC,1267,0.87,369.1,25.6,17.6,197,1275,0.00,2.42,0.00,0.000,4,0.000,0.052,3220,550,1224,0,0,0,0,0,0
$GC,1301,0.87,369.1,19.9,18.2,202,1309,0.05,2.40,0.00,0.000,6,0.139,0.044,3188,2049,1223,0,0,0,0,0,0
$GC,1375,0.88,369.1,8.9,13.5,215,1382,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,2050,1222,0,0,0,0,0,0
$STATE,1425,end climb,SURFACE_DEPTH_REACHED
$STATE,1425,begin surface coast
$FINISH,0.7,1.009416
$STATE,1470,end surface coast,CONTROL_FINISHED_OK
$STATE,1470,begin surface
$SM_CCo,1489,6.10,0.084,0,0,1207,375.06
$SM_GC,2.36,0.00,0.00,6.10,0.000,0.000,0.084,141,2198,1207,-8.64,0.68,375.06
$IRIDIUM_FIX,4738.89,-12450.84,240511,030350
$TT8_MAMPS,0.027713
$HUMID,35.46
$INTERNAL_PRESSURE,9.0304
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.0,25.1
$24V_AH,24.1,29.704
$10V_AH,10.2,23.313
$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,19.625,29.850,447.350,6.100,0.000,26.908,36.115,164.239,0.500,0.000,17.870,456.291,65.170,429.079,741.014,147.848,29.231,774.265,0.000,546.414,0.000,5.484,0.000
$DEVICE_MAMPS,235.620,71.910,618.120,84.150,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,154.224,162.956,488.338,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297560
$DATA_FILE_SIZE,13597,232
$CAP_FILE_SIZE,38439,0
$CFSIZE,260165632,196304896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.372,171.5,1
$GPS,240511,054649,4752.830,-12456.574,10,0.9,16,18.7