version: 66.07
glider: 187
mission: 4
dive: 312
start: 5 24 111 12 9 16
data:
$ID,187
$MISSION,4
$DIVE,312
$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,-1584197
$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,44
$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
$GPS1,240511,120234,4751.756,-12458.853,15,2.5,34,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-76.2
$GPS2,240511,120819,4751.738,-12458.812,15,1.4,20,18.7
$SPEED_LIMITS,0.231,0.327
$TGT_NAME,DOGLEG
$TGT_LATLONG,4753.300,-12507.300
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.327,0.014
$KALMAN_X,659.8,230.9,60.5,-4048.7,173.2
$KALMAN_Y,-2714.2,-1348.8,-316.4,1806.4,62.0
$MHEAD_RNG_PITCHd_Wd,300.9,10930,-20.3,-13.333
$D_GRID,97
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.75,-195.5,0.0,0.0,0,92,0.00,0.00,-71.57,0.000,2,0.000,0.000,129,2199,2722,0,0,0,0,0,0
$GC,95,-0.75,-195.5,3.0,-4.1,11,131,10.00,2.45,-16.15,0.000,4,0.237,0.060,2654,656,3535,0,0,0,0,0,0
$GC,294,-0.72,-195.5,54.9,-23.1,46,301,0.00,2.38,0.00,0.000,6,0.000,0.047,2645,2166,3536,0,0,0,0,0,0
$GC,367,-0.68,-195.5,72.4,-24.2,59,375,0.15,2.38,0.00,0.000,4,0.168,0.048,2686,647,3536,0,0,0,0,0,0
$GC,395,-0.66,-195.5,77.9,-18.7,63,402,0.00,2.35,0.00,0.000,6,0.000,0.047,2677,2142,3536,0,0,0,0,0,0
$GC,471,-0.65,-195.5,88.5,-14.0,76,478,0.00,2.45,0.00,0.000,4,0.000,0.057,2665,3693,3537,0,0,0,0,0,0
$GC,503,-0.65,-195.5,92.4,-12.7,81,512,0.05,2.42,0.00,0.000,6,0.112,0.042,2696,2142,3537,0,0,0,0,0,0
$STATE,534,end dive,TARGET_DEPTH_EXCEEDED
$STATE,535,begin apogee
$GC,541,-0.22,0.0,97.2,13.8,86,699,0.40,0.00,152.73,0.619,6,0.125,0.000,2829,2040,2734,0,0,0,0,0,0
$STATE,703,end apogee,CONTROL_FINISHED_OK
$STATE,703,begin climb
$GC,705,0.75,195.5,106.7,0.0,103,876,0.93,2.60,157.18,0.604,4,0.092,0.054,3141,3569,1936,0,0,0,0,0,0
$GC,895,0.74,195.5,91.8,16.2,123,903,0.00,2.45,0.00,0.000,6,0.000,0.041,3150,2076,1932,0,0,0,0,0,0
$GC,969,0.73,195.5,78.4,17.6,136,976,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2076,1930,0,0,0,0,0,0
$GC,1041,0.75,236.3,68.1,11.5,149,1085,0.00,2.50,32.90,0.572,4,0.000,0.053,3151,3569,1769,0,0,0,0,0,0
$GC,1099,0.80,315.1,62.5,9.7,157,1169,0.00,2.40,63.17,0.573,6,0.000,0.041,3161,2086,1449,0,0,0,0,0,0
$GC,1237,0.82,359.5,47.1,11.3,179,1279,0.00,2.55,36.03,0.561,4,0.000,0.050,3172,548,1268,0,0,0,0,0,0
$GC,1373,0.89,419.5,32.3,10.6,202,1428,0.00,2.42,48.70,0.556,6,0.000,0.044,3172,2068,1023,0,0,0,0,0,0
$GC,1496,0.92,438.0,16.4,12.5,222,1518,0.00,2.53,15.80,0.524,4,0.000,0.054,3172,3581,948,0,0,0,0,0,0
$GC,1533,0.96,451.9,11.8,12.7,227,1555,0.12,2.45,12.73,0.510,6,0.088,0.043,3231,2070,890,0,0,0,0,0,0
$STATE,1600,end climb,SURFACE_DEPTH_REACHED
$STATE,1600,begin surface coast
$FINISH,0.6,1.023802
$STATE,1633,end surface coast,CONTROL_FINISHED_OK
$STATE,1633,begin surface
$SM_CCo,1713,0.00,0.000,0,0,883,454.30
$SM_GC,1.35,8.27,0.00,0.00,0.040,0.000,0.000,128,2193,883,-8.56,0.51,454.30
$IRIDIUM_FIX,4732.49,-12456.11,240511,111100
$TT8_MAMPS,0.026215
$HUMID,35.90
$INTERNAL_PRESSURE,9.02063
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.1,34.1
$24V_AH,24.1,30.770
$10V_AH,10.2,23.766
$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,19.925,34.625,519.225,0.000,0.000,24.930,42.618,166.528,0.500,0.000,21.630,493.003,128.544,510.404,777.061,158.394,33.325,861.240,0.000,570.947,0.000,5.509,0.000
$DEVICE_MAMPS,237.150,87.975,618.885,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,162.349,171.519,477.526,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,13655,244
$CAP_FILE_SIZE,41524,0
$CFSIZE,260165632,195985408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.194,165.1,1
$GPS,240511,123837,4751.713,-12458.921,8,1.4,13,18.7