version: 66.07
glider: 187
mission: 4
dive: 330
start: 5 24 111 22 38 49
data:
$ID,187
$MISSION,4
$DIVE,330
$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,10
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0046000001
$HD_B,0.0099999998
$HD_C,1.34e-05
$HEADING,270
$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,-4
$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,-1584214.5
$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,34
$R_STBD_OVSHOOT,29
$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
$GPS1,240511,220816,4750.171,-12501.067,13,3.2,32,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,14.44
$_SM_ANGLEo,-3.0
$GPS2,240511,220816,4750.171,-12501.067,13,3.2,32,18.7
$SPEED_LIMITS,0.231,0.327
$TGT_NAME,HEADING
$TGT_LATLONG,4750.171,-12517.155
$TGT_RADIUS,1852.000
$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,251.3,20000,-20.3,-13.333
$D_GRID,107
$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,-195.5,0.0,0.0,0,25,0.00,0.00,-6.32,0.000,2,0.000,0.000,2903,3574,3268,0,0,0,0,0,0
$GC,28,-0.75,-195.5,16.9,-0.0,1,37,0.68,0.20,-4.28,0.000,4,0.101,0.253,2670,3698,3534,0,0,0,0,0,0
$GC,137,-0.75,-195.5,32.0,-15.8,21,145,0.00,2.40,0.00,0.000,6,0.000,0.041,2669,2171,3537,0,0,0,0,0,0
$GC,212,-0.72,-195.5,45.7,-19.4,34,218,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2167,3537,0,0,0,0,0,0
$GC,285,-0.69,-195.5,61.1,-19.0,47,292,0.00,2.45,0.00,0.000,4,0.000,0.057,2658,3705,3537,0,0,0,0,0,0
$GC,311,-0.67,-195.5,66.0,-18.2,51,319,0.08,2.38,0.00,0.000,6,0.134,0.042,2682,2189,3537,0,0,0,0,0,0
$GC,385,-0.65,-195.5,79.7,-20.3,64,395,0.00,2.40,0.00,0.000,4,0.000,0.050,2682,667,3537,0,0,0,0,0,0
$GC,422,-0.65,-195.5,86.9,-18.3,69,429,0.00,2.35,0.00,0.000,6,0.000,0.047,2675,2163,3537,0,0,0,0,0,0
$GC,496,-0.64,-195.5,98.5,-14.4,82,503,0.00,2.47,0.00,0.000,4,0.000,0.058,2663,3691,3537,0,0,0,0,0,0
$GC,532,-0.64,-195.5,104.1,-13.9,86,537,0.12,2.35,0.00,0.000,6,0.148,0.042,2698,2172,3537,0,0,0,0,0,0
$STATE,558,end dive,TARGET_DEPTH_EXCEEDED
$STATE,559,begin apogee
$GC,565,-0.22,0.0,107.6,12.7,88,723,0.40,0.00,153.62,0.635,6,0.122,0.000,2832,2052,2735,0,0,0,0,0,0
$STATE,724,end apogee,CONTROL_FINISHED_OK
$STATE,726,begin climb
$GC,729,0.75,195.5,116.0,0.0,104,897,0.90,2.55,157.40,0.618,4,0.086,0.052,3140,3580,1938,0,0,0,0,0,0
$GC,922,0.74,195.5,102.6,15.6,122,926,0.00,2.45,0.00,0.000,6,0.000,0.041,3151,2073,1934,0,0,0,0,0,0
$GC,1054,0.75,207.9,83.1,12.8,145,1075,0.00,2.50,10.82,0.545,4,0.000,0.054,3151,3571,1886,0,0,0,0,0,0
$GC,1095,0.76,228.9,78.1,12.4,151,1123,0.00,2.42,18.55,0.571,6,0.000,0.041,3161,2065,1800,0,0,0,0,0,0
$GC,1188,0.79,285.7,67.5,10.7,167,1243,0.00,0.00,46.17,0.585,6,0.000,0.000,3161,2062,1569,0,0,0,0,0,0
$GC,1309,0.79,285.7,50.9,14.4,187,1316,0.00,2.47,0.00,0.000,4,0.000,0.054,3161,3585,1564,0,0,0,0,0,0
$GC,1324,0.79,285.7,48.6,13.8,189,1331,0.00,2.42,0.00,0.000,6,0.000,0.041,3171,2079,1563,0,0,0,0,0,0
$GC,1395,0.80,291.8,39.4,13.1,202,1403,0.00,0.00,5.45,0.457,6,0.000,0.000,3171,2079,1545,0,0,0,0,0,0
$GC,1468,0.81,314.6,30.6,12.3,215,1497,0.00,2.47,19.70,0.558,4,0.000,0.055,3171,3571,1450,0,0,0,0,0,0
$GC,1510,0.81,316.9,25.2,13.2,221,1517,0.00,2.35,0.00,0.000,6,0.000,0.042,3180,2109,1449,0,0,0,0,0,0
$GC,1582,0.81,316.9,14.6,15.5,234,1589,0.00,2.45,0.00,0.000,4,0.000,0.052,3191,546,1448,0,0,0,0,0,0
$STATE,1616,end climb,FINISH_DEPTH_REACHED
$STATE,1616,begin subsurface finish
$FINISH1,9.7,1.023871,-43
$GC,1627,-0.03,-43.2,9.7,-12.2,240,1668,0.88,2.47,-34.53,0.000,4,0.106,0.064,2899,545,2914,0,0,0,0,0,0
$FINISH2,9.2
$STATE,1669,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1669,begin surface
$IRIDIUM_FIX,4735.69,-12503.20,240511,191922
$TT8_MAMPS,0.027713
$HUMID,35.70
$INTERNAL_PRESSURE,9.18665
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.6,42.5
$24V_AH,24.1,32.325
$10V_AH,10.3,24.468
$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,3.050,44.150,411.725,0.000,0.000,0.000,0.000,0.000,1.000,0.000,0.000,527.993,123.719,416.439,566.091,82.037,0.000,740.336,0.000,582.234,0.000,9.940,0.000
$DEVICE_MAMPS,147.645,253.215,634.950,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,164.224,175.405,462.920,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297600
$DATA_FILE_SIZE,13631,246
$CAP_FILE_SIZE,37661,0
$CFSIZE,260165632,195473408
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240511,220816,4750.171,-12501.067,13,3.2,32,18.7