version: 66.07
glider: 187
mission: 4
dive: 304
start: 5 24 111 7 19 17
data:
$ID,187
$MISSION,4
$DIVE,304
$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,-1584187
$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,31
$R_STBD_OVSHOOT,45
$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
$GPS1,240511,071246,4752.243,-12457.185,13,2.2,32,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-76.9
$GPS2,240511,071821,4752.175,-12457.231,11,2.6,30,18.7
$SPEED_LIMITS,0.231,0.327
$TGT_NAME,DOGLEG
$TGT_LATLONG,4753.300,-12507.300
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.209,0.252
$KALMAN_X,-30.5,-20.9,-15.5,-1060.5,4.4
$KALMAN_Y,-840.2,-575.4,-529.5,183.0,-303.4
$MHEAD_RNG_PITCHd_Wd,305.8,12677,-20.3,-13.333
$D_GRID,93
$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,-195.5,0.0,0.0,0,86,0.00,0.00,-66.15,0.000,2,0.000,0.000,124,2191,2817,0,0,0,0,0,0
$GC,89,-0.75,-195.5,3.9,-7.6,10,119,10.05,2.45,-13.35,0.000,4,0.239,0.061,2654,659,3535,0,0,0,0,0,0
$GC,144,-0.69,-195.5,22.1,-27.9,18,152,0.08,2.38,0.00,0.000,6,0.149,0.047,2682,2158,3536,0,0,0,0,0,0
$GC,218,-0.66,-195.5,38.7,-22.3,31,226,0.00,2.45,0.00,0.000,4,0.000,0.057,2673,3700,3537,0,0,0,0,0,0
$GC,251,-0.63,-195.5,45.9,-23.0,36,259,0.00,2.38,0.00,0.000,6,0.000,0.042,2672,2190,3538,0,0,0,0,0,0
$GC,326,-0.60,-195.5,62.4,-20.9,49,334,0.15,0.00,0.00,0.000,6,0.163,0.000,2713,2184,3537,0,0,0,0,0,0
$GC,399,-0.60,-195.5,75.0,-14.3,62,406,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2184,3538,0,0,0,0,0,0
$GC,474,-0.60,-195.5,85.8,-13.6,75,482,0.00,2.38,0.00,0.000,4,0.000,0.050,2713,670,3538,0,0,0,0,0,0
$STATE,529,end dive,TARGET_DEPTH_EXCEEDED
$STATE,529,begin apogee
$GC,537,-0.22,0.0,93.5,12.9,85,698,0.38,0.00,152.18,0.617,6,0.119,0.000,2831,2074,2734,0,0,0,0,0,0
$STATE,699,end apogee,CONTROL_FINISHED_OK
$STATE,699,begin climb
$GC,701,0.75,195.5,101.9,0.0,106,869,0.93,2.58,156.88,0.601,4,0.090,0.049,3155,549,1937,0,0,0,0,0,0
$GC,921,0.75,201.4,83.4,13.1,135,936,0.00,2.42,5.68,0.458,6,0.000,0.043,3155,2052,1913,0,0,0,0,0,0
$GC,1002,0.75,201.4,73.1,13.5,149,1009,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2051,1911,0,0,0,0,0,0
$GC,1074,0.78,243.8,64.5,11.4,162,1114,0.00,0.00,35.12,0.574,6,0.000,0.000,3155,2051,1739,0,0,0,0,0,0
$GC,1181,0.81,292.3,52.7,11.1,180,1223,0.00,0.00,39.25,0.568,6,0.000,0.000,3155,2052,1542,0,0,0,0,0,0
$GC,1288,0.82,308.8,40.0,12.6,198,1309,0.00,0.00,14.10,0.534,6,0.000,0.000,3155,2051,1474,0,0,0,0,0,0
$GC,1376,0.83,308.8,28.5,14.1,213,1384,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2051,1471,0,0,0,0,0,0
$GC,1448,0.87,355.6,19.6,11.2,226,1497,0.00,2.47,37.90,0.557,4,0.000,0.051,3165,550,1283,0,0,0,0,0,0
$GC,1512,0.96,458.4,13.8,8.6,235,1602,0.15,2.47,82.43,0.549,6,0.074,0.044,3234,2117,865,0,0,0,0,0,0
$STATE,1610,end climb,SURFACE_DEPTH_REACHED
$STATE,1610,begin surface coast
$FINISH,0.6,1.014049
$STATE,1637,end surface coast,CONTROL_FINISHED_OK
$STATE,1637,begin surface
$SM_CCo,1716,0.00,0.000,0,0,857,460.67
$SM_GC,1.34,8.35,0.00,0.00,0.037,0.000,0.000,131,2184,857,-8.56,0.25,460.67
$IRIDIUM_FIX,4735.69,-12459.78,240511,060639
$TT8_MAMPS,0.027713
$HUMID,35.23
$INTERNAL_PRESSURE,9.01087
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.4,28.1
$24V_AH,24.1,30.013
$10V_AH,10.2,23.446
$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,20.075,24.250,523.525,0.000,0.000,28.275,37.205,150.462,0.500,0.000,31.984,497.806,130.926,487.793,792.142,153.352,32.323,864.868,0.000,598.827,0.000,5.492,0.000
$DEVICE_MAMPS,238.680,113.220,617.355,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,170.108,180.868,521.701,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297588
$DATA_FILE_SIZE,13663,254
$CAP_FILE_SIZE,41335,0
$CFSIZE,260165632,196214784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.293,183.9,1
$GPS,240511,074838,4752.096,-12457.476,9,1.9,9,18.7