version: 66.07
glider: 187
mission: 4
dive: 322
start: 5 24 111 18 13 35
data:
$ID,187
$MISSION,4
$DIVE,322
$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,-1584209.5
$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,32
$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
$GPS1,240511,180738,4751.327,-12500.040,10,2.0,10,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-76.1
$GPS2,240511,181238,4751.319,-12459.963,15,2.0,15,18.7
$SPEED_LIMITS,0.231,0.327
$TGT_NAME,DOGLEG
$TGT_LATLONG,4753.300,-12507.300
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.290,0.152
$KALMAN_X,2947.5,667.0,269.6,-8415.1,119.7
$KALMAN_Y,-5065.7,-990.2,-79.7,2785.9,-101.1
$MHEAD_RNG_PITCHd_Wd,304.8,9822,-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,-195.5,0.0,0.0,0,84,0.00,0.00,-65.57,0.000,2,0.000,0.000,131,2207,2779,0,0,0,0,0,0
$GC,87,-0.75,-195.5,3.3,-4.9,10,117,10.02,2.40,-14.23,0.000,4,0.238,0.066,2645,3687,3535,0,0,0,0,0,0
$GC,347,-0.72,-195.5,69.6,-21.0,57,355,0.00,2.38,0.00,0.000,6,0.000,0.041,2644,2169,3539,0,0,0,0,0,0
$GC,422,-0.69,-195.5,85.9,-23.4,70,430,0.15,2.35,0.00,0.000,4,0.170,0.050,2685,657,3540,0,0,0,0,0,0
$GC,471,-0.67,-195.5,95.1,-15.7,78,479,0.00,2.30,0.00,0.000,6,0.000,0.047,2677,2127,3540,0,0,0,0,0,0
$STATE,510,end dive,TARGET_DEPTH_EXCEEDED
$STATE,510,begin apogee
$GC,516,-0.22,0.0,102.2,17.3,84,675,0.47,0.00,153.18,0.625,6,0.129,0.000,2831,2050,2735,0,0,0,0,0,0
$STATE,675,end apogee,CONTROL_FINISHED_OK
$STATE,678,begin climb
$GC,681,0.75,195.5,110.8,0.0,100,850,0.93,0.00,157.90,0.607,6,0.093,0.000,3141,2050,1936,0,0,0,0,0,0
$GC,916,0.77,231.5,91.6,11.7,128,953,0.00,2.42,29.38,0.579,4,0.000,0.049,3152,559,1791,0,0,0,0,0,0
$GC,1008,0.80,274.4,80.6,11.4,143,1051,0.00,2.35,35.35,0.578,6,0.000,0.044,3152,2022,1615,0,0,0,0,0,0
$GC,1119,0.80,274.4,66.1,13.8,161,1126,0.00,2.53,0.00,0.000,4,0.000,0.054,3152,3578,1609,0,0,0,0,0,0
$GC,1145,0.80,274.4,61.9,14.3,165,1152,0.00,2.45,0.00,0.000,6,0.000,0.042,3162,2061,1608,0,0,0,0,0,0
$GC,1217,0.84,337.2,53.2,10.5,178,1272,0.00,0.00,50.65,0.571,6,0.000,0.000,3162,2059,1359,0,0,0,0,0,0
$GC,1341,0.85,337.2,36.9,15.3,198,1348,0.00,2.47,0.00,0.000,4,0.000,0.055,3162,3575,1354,0,0,0,0,0,0
$GC,1367,0.86,337.2,32.4,15.7,202,1375,0.00,2.45,0.00,0.000,6,0.000,0.042,3171,2054,1352,0,0,0,0,0,0
$GC,1441,0.88,380.6,23.0,11.4,215,1484,0.00,2.42,34.90,0.554,4,0.000,0.051,3181,545,1181,0,0,0,0,0,0
$GC,1570,1.01,497.2,10.7,8.0,236,1627,0.10,2.30,51.30,0.548,2,0.049,0.045,3241,1994,924,0,0,0,0,0,0
$STATE,1628,end climb,SURFACE_DEPTH_REACHED
$STATE,1628,begin surface coast
$FINISH,0.6,1.004814
$STATE,1659,end surface coast,CONTROL_FINISHED_OK
$STATE,1659,begin surface
$SM_CCo,1737,0.00,0.000,0,0,916,446.20
$SM_GC,1.41,8.32,0.00,0.00,0.037,0.000,0.000,130,2187,916,-8.57,0.31,446.20
$IRIDIUM_FIX,4735.69,-12456.11,240511,171710
$TT8_MAMPS,0.027713
$HUMID,35.86
$INTERNAL_PRESSURE,9.0304
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.8,37.4
$24V_AH,24.1,31.673
$10V_AH,10.2,24.170
$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,20.000,29.200,512.650,0.000,0.000,26.738,39.451,128.445,0.500,0.000,16.098,516.201,138.997,500.326,756.480,134.801,33.324,836.667,0.000,579.154,0.000,5.515,0.000
$DEVICE_MAMPS,237.915,97.155,625.005,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,165.678,175.060,479.537,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297520
$DATA_FILE_SIZE,13607,249
$CAP_FILE_SIZE,38925,0
$CFSIZE,260165632,195702784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.253,171.1,1
$GPS,240511,184320,4751.282,-12500.024,13,1.6,13,18.7