version: 66.07
glider: 187
mission: 4
dive: 324
start: 5 24 111 19 26 17
data:
$ID,187
$MISSION,4
$DIVE,324
$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,-1584212
$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,33
$R_STBD_OVSHOOT,39
$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
$GPS1,240511,191944,4751.205,-12459.978,10,1.9,10,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-75.4
$GPS2,240511,192520,4751.185,-12459.892,16,1.9,16,18.7
$SPEED_LIMITS,0.231,0.327
$TGT_NAME,DOGLEG
$TGT_LATLONG,4753.300,-12507.300
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.294,0.143
$KALMAN_X,3782.5,745.2,232.9,-9202.7,214.5
$KALMAN_Y,-5690.9,-906.1,-167.0,3167.6,-119.0
$MHEAD_RNG_PITCHd_Wd,313.7,9999,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.75,-195.5,0.0,0.0,0,83,0.00,0.00,-65.40,0.000,2,0.000,0.000,130,2190,2780,0,0,0,0,0,0
$GC,86,-0.75,-195.5,3.5,-5.8,10,117,10.12,2.42,-14.27,0.000,4,0.239,0.057,2657,659,3535,0,0,0,0,0,0
$GC,206,-0.72,-195.5,34.2,-20.2,30,213,0.00,2.38,0.00,0.000,6,0.000,0.047,2648,2162,3537,0,0,0,0,0,0
$GC,278,-0.68,-195.5,49.6,-22.1,43,286,0.12,2.45,0.00,0.000,4,0.169,0.057,2671,3697,3537,0,0,0,0,0,0
$GC,347,-0.68,-195.5,62.3,-15.9,55,355,0.00,2.35,0.00,0.000,6,0.000,0.042,2670,2197,3538,0,0,0,0,0,0
$GC,420,-0.66,-195.5,75.6,-19.0,68,429,0.00,2.45,0.00,0.000,4,0.000,0.057,2659,3696,3538,0,0,0,0,0,0
$GC,455,-0.64,-195.5,82.1,-18.6,73,463,0.10,2.30,0.00,0.000,6,0.126,0.042,2693,2228,3538,0,0,0,0,0,0
$GC,529,-0.64,-195.5,93.3,-15.1,86,537,0.00,2.45,0.00,0.000,4,0.000,0.050,2694,642,3538,0,0,0,0,0,0
$STATE,568,end dive,TARGET_DEPTH_EXCEEDED
$STATE,568,begin apogee
$GC,576,-0.22,0.0,100.4,17.4,93,736,0.43,0.00,153.27,0.622,6,0.122,0.000,2829,2075,2734,0,0,0,0,0,0
$STATE,739,end apogee,CONTROL_FINISHED_OK
$STATE,740,begin climb
$GC,742,0.75,195.5,111.4,0.0,109,913,0.93,2.58,157.12,0.607,4,0.090,0.054,3142,3584,1935,0,0,0,0,0,0
$GC,953,0.75,195.5,93.4,14.8,131,961,0.00,2.47,0.00,0.000,6,0.000,0.041,3152,2068,1931,0,0,0,0,0,0
$GC,1028,0.76,215.1,83.3,12.4,144,1050,0.00,2.47,16.05,0.559,4,0.000,0.049,3163,533,1859,0,0,0,0,0,0
$GC,1095,0.79,253.5,75.1,11.6,155,1137,0.00,2.42,32.50,0.578,6,0.000,0.044,3163,2052,1698,0,0,0,0,0,0
$GC,1207,0.79,253.5,60.4,14.4,173,1213,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,2052,1695,0,0,0,0,0,0
$GC,1280,0.80,272.5,50.3,12.5,186,1302,0.00,0.00,15.43,0.549,6,0.000,0.000,3163,2052,1623,0,0,0,0,0,0
$GC,1368,0.81,287.0,39.4,12.7,201,1390,0.00,2.50,13.20,0.538,4,0.000,0.055,3163,3571,1563,0,0,0,0,0,0
$GC,1424,0.81,287.0,31.8,14.3,210,1431,0.00,2.47,0.00,0.000,6,0.000,0.041,3174,1998,1560,0,0,0,0,0,0
$GC,1497,0.83,324.3,22.3,11.6,223,1532,0.00,2.40,30.65,0.558,4,0.000,0.051,3185,533,1411,0,0,0,0,0,0
$GC,1618,0.94,451.8,10.4,7.5,243,1701,0.00,2.25,78.07,0.556,2,0.000,0.044,3184,1958,1014,0,0,0,0,0,0
$STATE,1702,end climb,SURFACE_DEPTH_REACHED
$STATE,1702,begin surface coast
$FINISH,0.5,1.002313
$STATE,1751,end surface coast,CONTROL_FINISHED_OK
$STATE,1751,begin surface
$SM_CCo,1830,0.00,0.000,0,0,1004,424.37
$SM_GC,1.48,8.20,0.00,0.00,0.039,0.000,0.000,121,2188,1004,-8.57,0.37,424.37
$IRIDIUM_FIX,4732.49,-12458.73,240511,181849
$TT8_MAMPS,0.026964
$HUMID,35.86
$INTERNAL_PRESSURE,9.0304
$TCM_TEMP,16.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.7,36.9
$24V_AH,24.1,31.854
$10V_AH,10.3,24.252
$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,19.900,38.950,496.300,0.000,0.000,44.042,50.709,133.815,0.500,0.000,17.017,560.309,140.057,495.622,835.955,143.871,33.327,859.747,0.000,625.207,0.000,5.516,0.000
$DEVICE_MAMPS,239.445,57.375,621.945,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,174.991,189.848,513.074,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,13653,264
$CAP_FILE_SIZE,42832,0
$CFSIZE,260165632,195641344
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.259,169.5,1
$GPS,240511,195752,4751.142,-12500.004,10,4.5,29,18.7