version: 66.07
glider: 187
mission: 4
dive: 323
start: 5 24 111 18 49 5
data:
$ID,187
$MISSION,4
$DIVE,323
$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,-1584210.8
$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,30
$R_STBD_OVSHOOT,43
$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
$GPS1,240511,184320,4751.282,-12500.024,13,1.6,13,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-74.3
$GPS2,240511,184808,4751.270,-12459.949,15,1.6,15,18.7
$SPEED_LIMITS,0.231,0.327
$TGT_NAME,DOGLEG
$TGT_LATLONG,4753.300,-12507.300
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.293,0.145
$KALMAN_X,3345.6,702.3,245.5,-8806.8,167.9
$KALMAN_Y,-5353.6,-947.4,-124.6,2984.7,-106.5
$MHEAD_RNG_PITCHd_Wd,315.1,9873,-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,-77.55,0.000,2,0.000,0.000,129,2187,2794,0,0,0,0,0,0
$GC,99,-0.75,-195.5,3.4,-5.3,12,129,10.18,2.42,-13.75,0.000,4,0.242,0.065,2646,3680,3535,0,0,0,0,0,0
$GC,160,-0.67,-195.5,26.1,-35.5,21,168,0.10,2.38,0.00,0.000,6,0.155,0.041,2688,2166,3538,0,0,0,0,0,0
$GC,234,-0.64,-195.5,43.2,-20.1,34,242,0.00,2.45,0.00,0.000,4,0.000,0.057,2678,3701,3539,0,0,0,0,0,0
$GC,387,-0.64,-195.5,67.4,-14.2,62,396,0.00,2.47,0.00,0.000,6,0.000,0.041,2678,2099,3540,0,0,0,0,0,0
$GC,462,-0.62,-195.5,79.6,-17.3,75,474,0.00,2.55,0.00,0.000,4,0.000,0.057,2666,3685,3540,0,0,0,0,0,0
$GC,488,-0.60,-195.5,84.5,-17.6,78,503,0.10,2.42,0.00,0.000,6,0.116,0.041,2712,2131,3540,0,0,0,0,0,0
$GC,569,-0.60,-195.5,95.1,-11.8,91,577,0.00,2.30,0.00,0.000,4,0.000,0.049,2712,660,3540,0,0,0,0,0,0
$STATE,613,end dive,TARGET_DEPTH_EXCEEDED
$STATE,613,begin apogee
$GC,621,-0.22,0.0,101.3,12.5,98,779,0.38,0.00,153.52,0.620,6,0.117,0.000,2832,2049,2735,0,0,0,0,0,0
$STATE,782,end apogee,CONTROL_FINISHED_OK
$STATE,782,begin climb
$GC,785,0.75,195.5,109.3,0.0,114,952,0.93,2.60,157.48,0.605,4,0.095,0.053,3141,3573,1937,0,0,0,0,0,0
$GC,966,0.77,224.1,96.1,12.0,133,996,0.00,2.47,24.20,0.572,6,0.000,0.041,3152,2064,1821,0,0,0,0,0,0
$GC,1062,0.77,224.1,83.5,14.1,149,1069,0.00,2.45,0.00,0.000,4,0.000,0.050,3163,538,1815,0,0,0,0,0,0
$GC,1135,0.77,225.9,73.9,13.2,162,1143,0.00,2.40,0.00,0.000,6,0.000,0.044,3163,2042,1814,0,0,0,0,0,0
$GC,1211,0.77,225.9,63.4,14.2,175,1217,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2042,1813,0,0,0,0,0,0
$GC,1283,0.77,233.8,53.2,13.0,188,1297,0.00,0.00,8.48,0.511,6,0.000,0.000,3163,2042,1780,0,0,0,0,0,0
$GC,1363,0.79,265.6,43.8,11.9,202,1400,0.00,2.53,26.33,0.565,4,0.000,0.055,3163,3568,1650,0,0,0,0,0,0
$GC,1434,0.80,272.9,35.0,13.0,213,1449,0.00,2.50,7.00,0.482,6,0.000,0.041,3174,1985,1622,0,0,0,0,0,0
$GC,1515,0.81,294.1,24.3,12.4,227,1544,0.00,2.33,18.40,0.546,4,0.000,0.052,3184,549,1534,0,0,0,0,0,0
$GC,1676,0.92,427.4,7.6,7.2,255,1724,0.00,2.25,43.70,0.555,2,0.000,0.043,3183,1988,1316,0,0,0,0,0,0
$STATE,1725,end climb,SURFACE_DEPTH_REACHED
$STATE,1725,begin surface coast
$FINISH,1.5,1.023547
$STATE,1747,end surface coast,CONTROL_FINISHED_OK
$STATE,1747,begin surface
$SM_CCo,1767,18.33,0.334,1,0,1205,375.06
$SM_GC,1.72,0.00,0.00,18.33,0.000,0.000,0.334,130,2190,1205,-8.67,0.42,375.06
$IRIDIUM_FIX,4732.49,-12500.57,240511,181812
$TT8_MAMPS,0.026964
$HUMID,35.74
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,16.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.9,32.2
$24V_AH,24.1,31.759
$10V_AH,10.2,24.211
$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,19.800,39.000,439.100,18.325,0.000,25.070,36.410,121.774,1.000,0.000,16.404,573.544,93.226,507.676,780.480,137.125,33.323,851.619,0.000,614.377,0.000,9.866,0.000
$DEVICE_MAMPS,241.740,65.025,620.415,334.305,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,178.024,187.686,513.077,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297512
$DATA_FILE_SIZE,13654,266
$CAP_FILE_SIZE,42819,0
$CFSIZE,260165632,195670016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.239,173.2,1
$GPS,240511,191944,4751.205,-12459.978,10,1.9,10,18.7