version: 66.07
glider: 187
mission: 4
dive: 313
start: 5 24 111 12 45 10
data:
$ID,187
$MISSION,4
$DIVE,313
$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,-1584198.2
$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,33
$R_STBD_OVSHOOT,43
$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
$GPS1,240511,123837,4751.713,-12458.921,8,1.4,13,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-76.4
$GPS2,240511,124413,4751.697,-12458.875,11,1.3,17,18.7
$SPEED_LIMITS,0.231,0.327
$TGT_NAME,DOGLEG
$TGT_LATLONG,4753.300,-12507.300
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.326,0.023
$KALMAN_X,886.2,308.2,119.5,-4490.9,174.2
$KALMAN_Y,-2891.8,-1344.5,-216.9,1803.4,51.5
$MHEAD_RNG_PITCHd_Wd,297.7,10876,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.75,-195.5,0.0,0.0,0,100,0.00,0.00,-80.57,0.000,2,0.000,0.000,128,2193,2835,0,0,0,0,0,0
$GC,104,-0.75,-195.5,3.7,-6.6,12,133,10.07,2.40,-12.95,0.000,4,0.239,0.072,2648,3677,3535,0,0,0,0,0,0
$GC,153,-0.67,-195.5,20.7,-30.1,19,161,0.08,2.38,0.00,0.000,6,0.138,0.042,2687,2177,3535,0,0,0,0,0,0
$GC,226,-0.64,-195.5,35.7,-20.4,32,234,0.00,2.42,0.00,0.000,4,0.000,0.058,2678,3668,3536,0,0,0,0,0,0
$GC,353,-0.65,-195.5,60.2,-17.2,55,360,0.00,2.38,0.00,0.000,6,0.000,0.041,2677,2152,3536,0,0,0,0,0,0
$GC,425,-0.63,-195.5,73.7,-18.4,68,433,0.00,2.33,0.00,0.000,4,0.000,0.048,2677,662,3536,0,0,0,0,0,0
$GC,457,-0.62,-195.5,78.9,-15.8,73,465,0.08,2.38,0.00,0.000,6,0.134,0.047,2703,2174,3537,0,0,0,0,0,0
$GC,534,-0.62,-195.5,88.0,-11.2,86,542,0.00,2.42,0.00,0.000,4,0.000,0.059,2695,3689,3537,0,0,0,0,0,0
$GC,593,-0.63,-195.5,94.7,-12.2,96,600,0.00,2.33,0.00,0.000,6,0.000,0.041,2694,2196,3537,0,0,0,0,0,0
$STATE,611,end dive,TARGET_DEPTH_EXCEEDED
$STATE,611,begin apogee
$GC,619,-0.22,0.0,97.3,11.6,99,776,0.40,0.00,152.32,0.621,6,0.125,0.000,2826,2056,2735,0,0,0,0,0,0
$STATE,779,end apogee,CONTROL_FINISHED_OK
$STATE,779,begin climb
$GC,781,0.75,195.5,106.4,0.0,116,951,0.93,2.58,156.57,0.605,4,0.089,0.055,3140,3571,1936,0,0,0,0,0,0
$GC,980,0.73,195.5,91.1,14.2,138,988,0.00,2.45,0.00,0.000,6,0.000,0.040,3150,2070,1931,0,0,0,0,0,0
$GC,1055,0.72,195.5,79.8,15.2,151,1062,0.00,2.50,0.00,0.000,4,0.000,0.054,3151,3588,1930,0,0,0,0,0,0
$GC,1113,0.70,195.5,70.8,14.5,161,1121,0.00,2.40,0.00,0.000,6,0.000,0.040,3162,2090,1929,0,0,0,0,0,0
$GC,1186,0.69,195.5,60.7,14.1,174,1196,0.12,0.00,0.00,0.000,6,0.155,0.000,3129,2088,1928,0,0,0,0,0,0
$GC,1264,0.74,251.2,51.6,10.8,187,1320,0.00,2.50,44.60,0.575,4,0.000,0.050,3137,552,1708,0,0,0,0,0,0
$GC,1397,0.84,379.6,39.9,7.5,209,1507,0.10,2.47,101.18,0.568,6,0.100,0.044,3190,2131,1186,0,0,0,0,0,0
$GC,1576,0.84,379.6,14.8,16.6,237,1583,0.00,2.40,0.00,0.000,4,0.000,0.055,3190,3577,1179,0,0,0,0,0,0
$GC,1596,0.86,379.6,11.6,15.7,240,1604,0.00,2.38,0.00,0.000,6,0.000,0.042,3193,2105,1178,0,0,0,0,0,0
$STATE,1668,end climb,SURFACE_DEPTH_REACHED
$STATE,1668,begin surface coast
$FINISH,0.8,1.013140
$STATE,1709,end surface coast,CONTROL_FINISHED_OK
$STATE,1709,begin surface
$SM_CCo,1787,0.00,0.000,0,0,1173,383.40
$SM_GC,1.51,8.10,0.00,0.00,0.037,0.000,0.000,131,2191,1173,-8.57,0.45,383.40
$IRIDIUM_FIX,4732.49,-12456.11,240511,121210
$TT8_MAMPS,0.026964
$HUMID,35.98
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,81.1,33.3
$24V_AH,24.1,30.860
$10V_AH,10.2,23.807
$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,19.875,39.000,454.675,0.000,0.000,28.612,48.459,152.673,0.500,0.000,17.917,551.399,136.416,477.638,810.039,157.720,33.326,838.990,0.000,613.894,0.000,5.505,0.000
$DEVICE_MAMPS,238.680,93.330,621.180,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,173.138,185.263,511.182,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,13691,260
$CAP_FILE_SIZE,43819,0
$CFSIZE,260165632,195956736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.196,167.6,1
$GPS,240511,131604,4751.669,-12458.961,12,2.6,31,18.7