version: 66.07
glider: 187
mission: 4
dive: 320
start: 5 24 111 16 58 52
data:
$ID,187
$MISSION,4
$DIVE,320
$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,-1584207
$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,31
$R_STBD_OVSHOOT,31
$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
$GPS1,240511,165243,4751.402,-12459.855,9,1.5,14,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-75.0
$GPS2,240511,165755,4751.391,-12459.839,15,1.5,32,18.7
$SPEED_LIMITS,0.231,0.327
$TGT_NAME,DOGLEG
$TGT_LATLONG,4753.300,-12507.300
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.295,0.141
$KALMAN_X,2316.0,604.7,315.4,-7609.4,75.5
$KALMAN_Y,-4508.4,-1095.7,-18.7,2406.0,-72.7
$MHEAD_RNG_PITCHd_Wd,305.6,9917,-20.3,-13.333
$D_GRID,101
$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,-77.62,0.000,2,0.000,0.000,131,2178,2915,0,0,0,0,0,0
$GC,99,-0.75,-195.5,4.0,-7.8,12,129,10.05,2.33,-10.98,0.000,4,0.239,0.053,2658,649,3536,0,0,0,0,0,0
$GC,239,-0.74,-195.5,41.1,-19.2,36,246,0.00,2.40,0.00,0.000,6,0.000,0.047,2648,2172,3539,0,0,0,0,0,0
$GC,311,-0.70,-195.5,55.5,-20.3,49,319,0.12,2.42,0.00,0.000,4,0.171,0.057,2672,3695,3539,0,0,0,0,0,0
$GC,350,-0.68,-195.5,62.4,-17.3,55,358,0.00,2.40,0.00,0.000,6,0.000,0.043,2671,2169,3539,0,0,0,0,0,0
$GC,423,-0.66,-195.5,74.9,-15.9,68,431,0.00,2.35,0.00,0.000,4,0.000,0.050,2670,664,3539,0,0,0,0,0,0
$GC,450,-0.64,-195.5,79.2,-16.5,72,461,0.08,2.38,0.00,0.000,6,0.135,0.050,2697,2173,3539,0,0,0,0,0,0
$GC,527,-0.64,-195.5,90.8,-14.3,85,534,0.00,2.45,0.00,0.000,4,0.000,0.059,2687,3720,3539,0,0,0,0,0,0
$GC,594,-0.65,-195.5,100.2,-12.7,97,598,0.00,2.10,0.00,0.000,3,0.000,0.041,2687,2340,3539,0,0,0,0,0,0
$STATE,599,end dive,TARGET_DEPTH_EXCEEDED
$STATE,599,begin apogee
$GC,606,-0.22,0.0,101.1,11.7,97,764,0.43,0.00,152.98,0.627,6,0.122,0.000,2828,2042,2734,0,0,0,0,0,0
$STATE,766,end apogee,CONTROL_FINISHED_OK
$STATE,767,begin climb
$GC,769,0.75,195.5,109.4,0.0,113,937,0.93,2.50,157.15,0.610,4,0.091,0.050,3150,561,1936,0,0,0,0,0,0
$GC,971,0.76,202.7,93.0,13.0,134,986,0.00,2.45,7.05,0.495,6,0.000,0.044,3150,2069,1907,0,0,0,0,0,0
$GC,1052,0.76,202.7,82.2,13.4,148,1059,0.00,2.45,0.00,0.000,4,0.000,0.057,3150,3575,1904,0,0,0,0,0,0
$GC,1090,0.74,212.4,77.3,12.9,154,1106,0.00,2.38,8.90,0.522,6,0.000,0.041,3161,2099,1868,0,0,0,0,0,0
$GC,1171,0.75,224.0,65.9,12.8,168,1194,0.00,2.55,10.88,0.539,4,0.000,0.050,3173,539,1820,0,0,0,0,0,0
$GC,1214,0.77,250.5,60.9,12.1,174,1244,0.00,2.45,22.73,0.570,6,0.000,0.044,3173,2077,1712,0,0,0,0,0,0
$GC,1309,0.77,251.9,48.2,13.3,190,1317,0.00,2.42,0.00,0.000,4,0.000,0.054,3173,3569,1708,0,0,0,0,0,0
$GC,1377,0.75,251.9,38.3,14.8,202,1386,0.10,2.35,0.00,0.000,6,0.138,0.041,3139,2096,1706,0,0,0,0,0,0
$GC,1453,0.81,316.0,30.9,10.4,215,1515,0.00,2.47,52.08,0.571,4,0.000,0.055,3139,3573,1445,0,0,0,0,0,0
$GC,1535,0.85,343.9,20.3,12.1,227,1564,0.00,2.35,23.52,0.549,6,0.000,0.041,3146,2111,1332,0,0,0,0,0,0
$GC,1634,0.96,482.1,12.4,7.0,243,1718,0.20,0.00,80.65,0.558,2,0.068,0.000,3233,2109,921,0,0,0,0,0,0
$STATE,1719,end climb,SURFACE_DEPTH_REACHED
$STATE,1719,begin surface coast
$FINISH,0.6,1.004611
$STATE,1752,end surface coast,CONTROL_FINISHED_OK
$STATE,1752,begin surface
$SM_CCo,1832,0.00,0.000,0,0,913,446.94
$SM_GC,1.41,8.27,0.00,0.00,0.034,0.000,0.000,142,2182,913,-8.56,0.20,446.94
$IRIDIUM_FIX,4735.69,-12503.20,240511,161622
$TT8_MAMPS,0.026964
$HUMID,36.13
$INTERNAL_PRESSURE,9.02063
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.7,37.0
$24V_AH,24.1,31.488
$10V_AH,10.2,24.090
$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,20.175,43.725,515.925,0.000,0.000,27.005,35.132,127.242,0.500,0.000,33.699,549.721,134.652,522.615,805.639,141.126,33.318,897.320,0.000,613.032,0.000,5.504,0.000
$DEVICE_MAMPS,238.680,103.275,627.300,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,174.631,183.260,506.699,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297528
$DATA_FILE_SIZE,13661,261
$CAP_FILE_SIZE,46119,0
$CFSIZE,260165632,195751936
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.212,176.4,1
$GPS,240511,173036,4751.351,-12459.984,33,1.1,37,18.7