version: 66.07
glider: 187
mission: 4
dive: 434
start: 6 17 111 0 9 15
data:
$ID,187
$MISSION,4
$DIVE,434
$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,60
$T_MISSION,75
$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,325
$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,-1585267.9
$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,2920
$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,42
$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,12
$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
$GPS1,170611,000306,4752.747,-12505.035,13,1.6,29,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-75.9
$GPS2,170611,000820,4752.708,-12504.992,12,2.0,12,18.7
$SPEED_LIMITS,0.192,0.308
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.113,0.287
$KALMAN_X,68791.7,-436.2,49.8,-65715.2,-41.8
$KALMAN_Y,-177093.8,275.9,189.1,188114.5,-404.2
$MHEAD_RNG_PITCHd_Wd,341.6,13939,-17.6,-11.111
$D_GRID,115
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.67,-195.5,0.0,0.0,0,97,0.00,0.00,-77.88,0.000,2,0.000,0.000,131,2186,2725,0,0,0,0,0,0
$GC,100,-0.67,-195.5,3.5,-5.4,12,137,10.27,2.42,-16.10,0.000,4,0.235,0.061,2697,662,3536,0,0,0,0,0,0
$GC,210,-0.65,-195.5,26.7,-17.5,30,219,0.00,2.35,0.00,0.000,6,0.000,0.047,2689,2155,3537,0,0,0,0,0,0
$GC,349,-0.62,-195.5,48.3,-15.8,55,358,0.10,2.47,0.00,0.000,4,0.174,0.059,2705,3678,3537,0,0,0,0,0,0
$GC,384,-0.62,-195.5,53.7,-13.9,60,391,0.00,2.38,0.00,0.000,6,0.000,0.042,2704,2167,3538,0,0,0,0,0,0
$GC,521,-0.61,-195.5,70.1,-12.8,85,528,0.00,2.35,0.00,0.000,4,0.000,0.050,2704,667,3538,0,0,0,0,0,0
$GC,589,-0.61,-195.5,79.0,-12.6,97,596,0.00,2.40,0.00,0.000,6,0.000,0.047,2695,2195,3538,0,0,0,0,0,0
$GC,733,-0.61,-195.5,98.3,-13.1,122,741,0.00,2.40,0.00,0.000,4,0.000,0.059,2683,3693,3538,0,0,0,0,0,0
$GC,784,-0.61,-195.5,104.3,-11.3,127,789,0.12,2.30,0.00,0.000,6,0.135,0.042,2720,2201,3538,0,0,0,0,0,0
$STATE,885,end dive,TARGET_DEPTH_EXCEEDED
$STATE,885,begin apogee
$GC,891,-0.22,0.0,115.2,10.5,136,1050,0.35,0.00,152.73,0.634,6,0.107,0.000,2844,2047,2734,0,0,0,0,0,0
$STATE,1053,end apogee,CONTROL_FINISHED_OK
$STATE,1054,begin climb
$GC,1056,0.67,195.5,123.8,0.0,152,1226,0.82,2.62,156.52,0.617,4,0.079,0.054,3132,3581,1936,0,0,0,0,0,0
$GC,1288,0.65,195.5,108.0,12.1,171,1296,0.00,2.45,0.00,0.000,6,0.000,0.041,3142,2074,1931,0,0,0,0,0,0
$GC,1486,0.63,195.5,83.9,12.1,202,1494,0.00,2.45,0.00,0.000,4,0.000,0.055,3142,3571,1928,0,0,0,0,0,0
$GC,1520,0.61,195.5,79.7,13.3,207,1528,0.10,2.40,0.00,0.000,6,0.130,0.041,3107,2062,1927,0,0,0,0,0,0
$GC,1659,0.66,272.3,66.9,8.2,232,1725,0.00,2.50,60.47,0.594,4,0.000,0.050,3116,540,1623,0,0,0,0,0,0
$GC,1746,0.76,404.5,61.1,6.1,244,1860,0.08,2.45,104.72,0.581,6,0.054,0.045,3184,2068,1083,0,0,0,0,0,0
$GC,1989,0.76,404.5,31.7,13.1,284,1997,0.00,2.47,0.00,0.000,4,0.000,0.053,3193,546,1077,0,0,0,0,0,0
$GC,2040,0.79,422.1,25.9,10.4,292,2063,0.00,2.40,14.27,0.535,6,0.000,0.045,3193,2056,1014,0,0,0,0,0,0
$GC,2194,0.87,510.7,8.6,7.7,319,2252,0.00,0.00,55.30,0.557,2,0.000,0.000,3193,2055,732,0,0,0,0,0,0
$STATE,2252,end climb,SURFACE_DEPTH_REACHED
$STATE,2252,begin surface coast
$FINISH,0.8,1.011537
$STATE,2301,end surface coast,CONTROL_FINISHED_OK
$STATE,2301,begin surface
$SM_CCo,2381,0.00,0.000,0,0,725,493.05
$SM_GC,1.73,8.05,0.00,0.00,0.030,0.000,0.000,128,2190,725,-8.60,0.40,493.05
$IRIDIUM_FIX,4735.69,-12455.31,160611,232336
$TT8_MAMPS,0.026964
$HUMID,37.43
$INTERNAL_PRESSURE,9.02063
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.4,54.0
$24V_AH,24.1,45.026
$10V_AH,10.2,41.027
$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,19.900,39.200,544.025,0.000,0.000,27.200,37.198,143.954,1.000,0.000,13.611,717.704,259.155,512.716,1036.699,174.259,33.329,966.401,0.000,792.732,0.000,8.656,0.000
$DEVICE_MAMPS,234.855,73.440,634.185,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,222.398,805.851,631.107,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297404
$DATA_FILE_SIZE,16981,336
$CAP_FILE_SIZE,48283,0
$CFSIZE,260165632,185163776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.263,165.7,1
$GPS,170611,004949,4752.705,-12504.888,13,1.8,18,18.7