version: 66.07
glider: 187
mission: 4
dive: 315
start: 5 24 111 13 58 5
data:
$ID,187
$MISSION,4
$DIVE,315
$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,-1584200.8
$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,34
$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
$GPS1,240511,135215,4751.629,-12459.037,13,1.7,13,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-76.2
$GPS2,240511,135708,4751.593,-12459.035,15,1.6,15,18.7
$SPEED_LIMITS,0.231,0.327
$TGT_NAME,DOGLEG
$TGT_LATLONG,4753.300,-12507.300
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.325,0.039
$KALMAN_X,1367.7,420.5,213.1,-5376.9,189.5
$KALMAN_Y,-3296.7,-1321.3,-79.7,1855.7,30.9
$MHEAD_RNG_PITCHd_Wd,300.8,10740,-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,-65.22,0.000,2,0.000,0.000,132,2185,2756,0,0,0,0,0,0
$GC,86,-0.75,-195.5,3.2,-4.6,10,123,10.07,2.42,-15.02,0.000,4,0.239,0.067,2649,3676,3535,0,0,0,0,0,0
$GC,269,-0.73,-195.5,43.6,-16.4,42,276,0.00,2.38,0.00,0.000,6,0.000,0.041,2648,2165,3536,0,0,0,0,0,0
$GC,342,-0.69,-195.5,58.4,-22.4,55,350,0.12,2.38,0.00,0.000,4,0.176,0.050,2680,642,3537,0,0,0,0,0,0
$GC,371,-0.66,-195.5,64.5,-21.7,59,378,0.00,2.33,0.00,0.000,6,0.000,0.048,2672,2120,3537,0,0,0,0,0,0
$GC,444,-0.64,-195.5,78.6,-19.1,72,457,0.00,2.50,0.00,0.000,4,0.000,0.060,2660,3681,3537,0,0,0,0,0,0
$GC,503,-0.63,-195.5,89.2,-18.6,81,511,0.08,2.42,0.00,0.000,6,0.112,0.042,2698,2130,3537,0,0,0,0,0,0
$STATE,569,end dive,TARGET_DEPTH_EXCEEDED
$STATE,569,begin apogee
$GC,575,-0.22,0.0,98.7,13.6,93,735,0.40,0.00,152.82,0.623,6,0.125,0.000,2832,2044,2734,0,0,0,0,0,0
$STATE,736,end apogee,CONTROL_FINISHED_OK
$STATE,739,begin climb
$GC,741,0.75,195.5,107.0,0.0,109,908,0.90,2.45,156.73,0.606,4,0.090,0.048,3150,557,1937,0,0,0,0,0,0
$GC,922,0.77,220.2,93.6,12.2,127,951,0.00,2.42,20.92,0.568,6,0.000,0.044,3150,2040,1837,0,0,0,0,0,0
$GC,1017,0.80,270.8,81.2,11.0,143,1067,0.00,2.58,41.30,0.580,4,0.000,0.054,3150,3595,1629,0,0,0,0,0,0
$GC,1111,0.80,270.8,67.4,16.6,158,1119,0.00,2.47,0.00,0.000,6,0.000,0.041,3160,2049,1624,0,0,0,0,0,0
$GC,1185,0.80,270.8,56.7,13.6,171,1193,0.00,2.42,0.00,0.000,4,0.000,0.050,3171,545,1622,0,0,0,0,0,0
$GC,1233,0.81,292.7,50.8,12.3,179,1262,0.00,2.35,18.17,0.553,6,0.000,0.044,3171,2024,1539,0,0,0,0,0,0
$GC,1328,0.81,292.7,38.8,13.5,195,1335,0.00,2.50,0.00,0.000,4,0.000,0.054,3172,3579,1537,0,0,0,0,0,0
$GC,1389,0.81,292.7,29.1,15.7,206,1397,0.00,2.45,0.00,0.000,6,0.000,0.042,3182,2049,1535,0,0,0,0,0,0
$GC,1462,0.81,292.7,17.9,15.7,219,1468,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,2049,1535,0,0,0,0,0,0
$GC,1534,0.84,342.0,8.5,11.1,232,1578,0.00,0.00,40.08,0.555,6,0.000,0.000,3182,2047,1339,0,0,0,0,0,0
$STATE,1583,end climb,SURFACE_DEPTH_REACHED
$STATE,1583,begin surface coast
$FINISH,0.6,1.023644
$STATE,1627,end surface coast,CONTROL_FINISHED_OK
$STATE,1627,begin surface
$SM_CCo,1645,18.92,0.343,1,0,1204,375.06
$SM_GC,1.74,0.00,0.00,18.92,0.000,0.000,0.343,136,2189,1204,-8.65,0.40,375.06
$IRIDIUM_FIX,4732.49,-12500.57,240511,131333
$TT8_MAMPS,0.027713
$HUMID,35.43
$INTERNAL_PRESSURE,9.0304
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.0,35.5
$24V_AH,24.1,31.030
$10V_AH,10.3,23.887
$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,19.675,34.375,430.025,18.925,0.000,24.966,34.788,125.194,0.500,0.000,16.768,533.517,74.913,476.271,756.180,134.342,33.316,816.168,0.000,584.330,0.000,5.501,0.000
$DEVICE_MAMPS,238.680,97.920,622.710,343.485,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,164.245,176.130,481.727,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297488
$DATA_FILE_SIZE,13655,247
$CAP_FILE_SIZE,40998,0
$CFSIZE,260165632,195899392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.211,173.8,1
$GPS,240511,142649,4751.578,-12459.193,10,1.8,15,18.7