version: 66.07
glider: 187
mission: 4
dive: 314
start: 5 24 111 13 21 47
data:
$ID,187
$MISSION,4
$DIVE,314
$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,-1584199.5
$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,29
$R_STBD_OVSHOOT,38
$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
$GPS1,240511,131604,4751.669,-12458.961,12,2.6,31,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-77.5
$GPS2,240511,132050,4751.644,-12458.930,14,1.7,14,18.7
$SPEED_LIMITS,0.231,0.327
$TGT_NAME,DOGLEG
$TGT_LATLONG,4753.300,-12507.300
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.323,0.050
$KALMAN_X,1132.0,377.3,176.6,-4931.3,141.5
$KALMAN_Y,-3088.8,-1333.9,-135.5,1810.0,24.7
$MHEAD_RNG_PITCHd_Wd,299.5,10838,-20.3,-13.333
$D_GRID,98
$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,16,-0.75,-195.5,0.0,0.0,0,83,0.00,0.00,-64.55,0.000,2,0.000,0.000,131,2191,2711,0,0,0,0,0,0
$GC,86,-0.75,-195.5,3.2,-4.7,10,122,10.05,2.42,-16.17,0.000,4,0.239,0.073,2645,3676,3535,0,0,0,0,0,0
$GC,132,-0.62,-195.5,17.9,-32.4,16,141,0.12,2.38,0.00,0.000,6,0.151,0.041,2698,2168,3536,0,0,0,0,0,0
$GC,207,-0.59,-195.5,32.5,-17.6,29,215,0.00,2.45,0.00,0.000,4,0.000,0.057,2689,3682,3536,0,0,0,0,0,0
$GC,346,-0.59,-195.5,52.6,-12.9,54,353,0.00,2.42,0.00,0.000,6,0.000,0.041,2688,2132,3537,0,0,0,0,0,0
$GC,419,-0.58,-195.5,63.9,-16.6,67,427,0.10,2.30,0.00,0.000,4,0.177,0.050,2714,669,3537,0,0,0,0,0,0
$GC,450,-0.58,-195.5,68.8,-14.8,72,459,0.00,2.28,0.00,0.000,6,0.000,0.047,2707,2121,3538,0,0,0,0,0,0
$GC,526,-0.58,-195.5,79.4,-14.9,85,537,0.00,2.50,0.00,0.000,4,0.000,0.059,2695,3684,3538,0,0,0,0,0,0
$GC,565,-0.58,-195.5,85.5,-14.9,91,573,0.00,2.38,0.00,0.000,6,0.000,0.041,2694,2158,3537,0,0,0,0,0,0
$GC,639,-0.58,-195.5,96.1,-13.9,104,646,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2153,3537,0,0,0,0,0,0
$STATE,652,end dive,TARGET_DEPTH_EXCEEDED
$STATE,652,begin apogee
$GC,659,-0.22,0.0,98.3,14.3,106,815,0.40,0.00,152.57,0.623,6,0.128,0.000,2826,2050,2734,0,0,0,0,0,0
$STATE,818,end apogee,CONTROL_FINISHED_OK
$STATE,818,begin climb
$GC,820,0.75,195.5,106.8,0.0,122,987,0.93,2.45,156.85,0.606,4,0.092,0.047,3150,553,1936,0,0,0,0,0,0
$GC,995,0.77,228.6,94.1,11.8,139,1030,0.00,2.45,27.70,0.577,6,0.000,0.043,3150,2054,1802,0,0,0,0,0,0
$GC,1096,0.77,228.6,79.6,14.7,156,1104,0.00,2.47,0.00,0.000,4,0.000,0.054,3150,3576,1796,0,0,0,0,0,0
$GC,1154,0.76,228.6,70.7,14.9,166,1161,0.00,2.40,0.00,0.000,6,0.000,0.041,3160,2084,1794,0,0,0,0,0,0
$GC,1228,0.76,234.4,60.7,13.1,179,1235,0.00,0.00,4.93,0.438,6,0.000,0.000,3160,2084,1778,0,0,0,0,0,0
$GC,1301,0.78,259.4,51.7,12.2,192,1329,0.00,2.47,21.77,0.563,4,0.000,0.050,3172,538,1676,0,0,0,0,0,0
$GC,1394,0.80,301.5,40.0,11.4,208,1436,0.00,2.42,34.50,0.565,6,0.000,0.044,3172,2067,1504,0,0,0,0,0,0
$GC,1505,0.80,301.5,25.5,14.3,226,1512,0.00,2.45,0.00,0.000,4,0.000,0.055,3172,3590,1498,0,0,0,0,0,0
$GC,1535,0.80,301.5,20.7,14.0,231,1543,0.00,2.40,0.00,0.000,6,0.000,0.042,3182,2090,1497,0,0,0,0,0,0
$GC,1608,0.83,351.7,11.6,11.0,244,1651,0.00,0.00,40.15,0.556,6,0.000,0.000,3182,2090,1300,0,0,0,0,0,0
$STATE,1684,end climb,SURFACE_DEPTH_REACHED
$STATE,1684,begin surface coast
$FINISH,0.7,1.012929
$STATE,1735,end surface coast,CONTROL_FINISHED_OK
$STATE,1735,begin surface
$SM_CCo,1754,17.65,0.330,1,0,1206,375.06
$SM_GC,1.84,0.00,0.00,17.65,0.000,0.000,0.330,134,2184,1206,-8.66,0.28,375.06
$IRIDIUM_FIX,4735.69,-12318.25,240511,121224
$TT8_MAMPS,0.027713
$HUMID,35.70
$INTERNAL_PRESSURE,9.0304
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.8,33.4
$24V_AH,24.1,30.945
$10V_AH,10.2,23.848
$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,19.725,38.900,438.475,17.650,0.000,25.103,35.854,120.754,0.500,0.000,15.714,579.227,83.600,481.024,788.736,142.671,33.325,841.314,0.000,626.190,0.000,5.493,0.000
$DEVICE_MAMPS,238.680,86.445,622.710,329.715,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,176.949,189.249,521.692,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297504
$DATA_FILE_SIZE,13668,265
$CAP_FILE_SIZE,44377,0
$CFSIZE,260165632,195928064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.200,168.1,1
$GPS,240511,135215,4751.629,-12459.037,13,1.7,13,18.7