version: 66.07
glider: 187
mission: 4
dive: 319
start: 5 24 111 16 21 41
data:
$ID,187
$MISSION,4
$DIVE,319
$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,-1584205.8
$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,32
$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
$GPS1,240511,161550,4751.421,-12459.694,11,2.0,11,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-75.2
$GPS2,240511,162044,4751.412,-12459.694,17,1.9,17,18.7
$SPEED_LIMITS,0.231,0.327
$TGT_NAME,DOGLEG
$TGT_LATLONG,4753.300,-12507.300
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.299,0.132
$KALMAN_X,2097.5,573.4,321.7,-7185.3,91.1
$KALMAN_Y,-4263.2,-1148.6,2.4,2231.0,-66.4
$MHEAD_RNG_PITCHd_Wd,305.5,10072,-20.3,-13.333
$D_GRID,100
$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,-195.5,0.0,0.0,0,96,0.00,0.00,-77.90,0.000,2,0.000,0.000,131,2187,2887,0,0,0,0,0,0
$GC,99,-0.75,-195.5,4.0,-7.5,12,129,9.98,2.38,-11.80,0.000,4,0.235,0.057,2656,658,3535,0,0,0,0,0,0
$GC,228,-0.73,-195.5,38.0,-18.9,34,237,0.00,2.38,0.00,0.000,6,0.000,0.047,2647,2164,3537,0,0,0,0,0,0
$GC,302,-0.68,-195.5,53.9,-23.5,47,311,0.12,2.47,0.00,0.000,4,0.171,0.057,2670,3691,3537,0,0,0,0,0,0
$GC,327,-0.65,-195.5,58.5,-19.8,50,335,0.00,2.40,0.00,0.000,6,0.000,0.043,2669,2171,3537,0,0,0,0,0,0
$GC,401,-0.62,-195.5,73.5,-21.3,63,408,0.12,0.00,0.00,0.000,6,0.165,0.000,2702,2165,3538,0,0,0,0,0,0
$GC,477,-0.62,-195.5,86.5,-15.1,76,484,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2165,3538,0,0,0,0,0,0
$GC,549,-0.62,-195.5,96.2,-14.1,89,556,0.00,2.45,0.00,0.000,4,0.000,0.057,2693,3715,3538,0,0,0,0,0,0
$STATE,577,end dive,TARGET_DEPTH_EXCEEDED
$STATE,577,begin apogee
$GC,586,-0.22,0.0,100.4,13.8,94,744,0.40,0.00,152.68,0.630,6,0.116,0.000,2829,2045,2734,0,0,0,0,0,0
$STATE,744,end apogee,CONTROL_FINISHED_OK
$STATE,747,begin climb
$GC,750,0.75,195.5,107.6,0.0,110,921,0.93,2.50,156.93,0.612,4,0.088,0.050,3154,555,1936,0,0,0,0,0,0
$GC,960,0.75,195.5,90.0,13.4,134,969,0.00,2.45,0.00,0.000,6,0.000,0.044,3154,2067,1932,0,0,0,0,0,0
$GC,1035,0.80,296.4,81.1,8.7,147,1124,0.00,2.53,80.00,0.594,4,0.000,0.053,3154,3565,1524,0,0,0,0,0,0
$GC,1167,0.80,296.4,64.8,15.3,167,1175,0.00,2.40,0.00,0.000,6,0.000,0.041,3164,2089,1519,0,0,0,0,0,0
$GC,1241,0.80,296.4,54.6,14.0,180,1247,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,2088,1518,0,0,0,0,0,0
$GC,1313,0.80,296.4,43.5,14.1,193,1321,0.00,2.45,0.00,0.000,4,0.000,0.051,3175,541,1517,0,0,0,0,0,0
$GC,1334,0.80,296.4,40.4,14.7,196,1342,0.00,2.47,0.00,0.000,6,0.000,0.044,3175,2122,1516,0,0,0,0,0,0
$GC,1408,0.81,303.8,30.8,13.0,209,1423,0.00,2.38,6.07,0.469,4,0.000,0.055,3175,3574,1495,0,0,0,0,0,0
$GC,1461,0.81,303.8,22.1,15.1,218,1470,0.00,2.35,0.00,0.000,6,0.000,0.042,3184,2098,1493,0,0,0,0,0,0
$GC,1537,0.89,419.5,15.1,8.0,231,1640,0.00,2.58,92.93,0.567,4,0.000,0.052,3192,542,1021,0,0,0,0,0,0
$STATE,1678,end climb,SURFACE_DEPTH_REACHED
$STATE,1678,begin surface coast
$FINISH,0.7,1.011764
$STATE,1731,end surface coast,CONTROL_FINISHED_OK
$STATE,1731,begin surface
$SM_CCo,1813,0.00,0.000,0,0,1013,422.41
$SM_GC,1.49,8.15,0.00,0.00,0.037,0.000,0.000,141,2180,1013,-8.56,0.14,422.41
$IRIDIUM_FIX,4732.49,-12500.57,240511,151518
$TT8_MAMPS,0.026964
$HUMID,36.02
$INTERNAL_PRESSURE,9.0304
$TCM_TEMP,15.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.4,36.5
$24V_AH,24.1,31.391
$10V_AH,10.2,24.049
$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,19.700,39.425,488.600,0.000,0.000,27.385,35.765,125.280,0.500,0.000,18.112,541.170,137.864,513.803,786.301,137.559,33.324,875.046,0.000,612.260,0.000,5.515,0.000
$DEVICE_MAMPS,234.855,57.375,629.595,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,175.288,185.416,510.973,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,13669,263
$CAP_FILE_SIZE,41675,0
$CFSIZE,260165632,195784704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.206,171.8,1
$GPS,240511,165243,4751.402,-12459.855,9,1.5,14,18.7