version: 66.07
glider: 187
mission: 4
dive: 163
start: 5 4 111 12 22 41
data:
$ID,187
$MISSION,4
$DIVE,163
$D_SURF,4
$D_FLARE,3
$D_TGT,300
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,4
$T_BOOST,0
$D_FINISH,0
$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,60
$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,150
$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,290
$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,522.48901
$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,10
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1584025.4
$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,2950
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$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,2250
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,2600
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$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
$GPS1,040511,115255,4735.609,-12506.146,17,1.3,32,18.6
$_CALLS,10
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-76.8
$GPS2,040511,122203,4735.345,-12506.508,13,2.2,32,18.6
$SPEED_LIMITS,0.346,0.356
$TGT_NAME,HEADING
$TGT_LATLONG,4739.039,-12521.572
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.176,-0.114
$KALMAN_X,14438.9,303.9,-305.7,-13432.8,797.0
$KALMAN_Y,-14155.7,856.3,103.6,-14859.7,-275.4
$MHEAD_RNG_PITCHd_Wd,271.4,20000,-28.0,-20.000
$D_GRID,418
$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,15,-1.02,-146.6,0.0,0.0,0,76,0.00,0.00,-58.17,0.000,2,0.000,0.000,130,2257,2720,0,0,0,0,0,0
$GC,80,-1.02,-146.6,3.3,-6.9,9,102,9.93,0.00,-9.12,0.000,6,0.241,0.000,2613,2256,3200,0,0,0,0,0,0
$GC,166,-1.00,-146.6,32.0,-26.0,24,173,0.00,2.42,0.00,0.000,4,0.000,0.056,2604,3763,3203,0,0,0,0,0,0
$GC,229,-0.98,-146.6,48.0,-25.6,35,237,0.08,2.38,0.00,0.000,6,0.161,0.042,2635,2245,3203,0,0,0,0,0,0
$GC,302,-0.98,-146.6,65.6,-23.0,48,309,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2243,3204,0,0,0,0,0,0
$GC,373,-0.98,-146.6,79.2,-18.2,61,380,0.00,2.35,0.00,0.000,4,0.000,0.050,2635,745,3204,0,0,0,0,0,0
$GC,421,-0.98,-146.6,87.4,-17.3,69,428,0.00,2.40,0.00,0.000,6,0.000,0.047,2626,2270,3204,0,0,0,0,0,0
$GC,499,-0.98,-146.6,101.8,-18.3,82,502,0.00,2.38,0.00,0.000,4,0.000,0.059,2614,3769,3204,0,0,0,0,0,0
$GC,544,-0.98,-146.6,110.0,-17.0,86,548,0.00,2.25,0.00,0.000,6,0.000,0.042,2614,2294,3204,0,0,0,0,0,0
$GC,680,-0.98,-146.6,133.9,-17.8,98,681,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2292,3204,0,0,0,0,0,0
$GC,806,-0.98,-146.6,156.3,-18.2,110,807,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2292,3204,0,0,0,0,0,0
$GC,933,-0.98,-146.6,178.6,-17.8,122,934,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2292,3205,0,0,0,0,0,0
$GC,1061,-0.98,-146.6,199.9,-16.4,134,1066,0.00,2.38,0.00,0.000,4,0.000,0.048,2614,741,3205,0,0,0,0,0,0
$GC,1094,-0.98,-146.6,205.9,-16.6,136,1101,0.12,2.40,0.00,0.000,6,0.174,0.047,2634,2301,3205,0,0,0,0,0,0
$GC,1229,-0.99,-146.6,224.5,-13.3,149,1233,0.00,2.38,0.00,0.000,4,0.000,0.048,2634,741,3204,0,0,0,0,0,0
$GC,1260,-0.99,-146.6,228.5,-14.2,151,1264,0.00,2.40,0.00,0.000,6,0.000,0.047,2624,2299,3204,0,0,0,0,0,0
$GC,1395,-0.99,-146.6,247.1,-13.5,163,1396,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2299,3204,0,0,0,0,0,0
$GC,1522,-0.99,-146.6,264.2,-13.2,175,1523,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2299,3204,0,0,0,0,0,0
$GC,1649,-0.99,-146.6,281.0,-12.8,187,1650,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2299,3204,0,0,0,0,0,0
$GC,1776,-0.99,-146.6,298.3,-13.8,199,1780,0.00,2.30,0.00,0.000,4,0.000,0.060,2613,3772,3204,0,0,0,0,0,0
$STATE,1785,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1786,begin apogee
$GC,1795,-0.23,0.0,300.1,13.7,200,1922,0.80,0.00,119.18,0.756,6,0.144,0.000,2868,2096,2599,0,0,0,0,0,0
$STATE,1923,end apogee,CONTROL_FINISHED_OK
$STATE,1923,begin climb
$GC,1926,1.02,146.6,303.4,0.0,213,2058,1.17,2.62,124.12,0.729,4,0.079,0.054,3272,3614,2001,0,0,0,0,0,0
$GC,2073,0.99,146.6,279.6,23.7,227,2078,0.00,2.47,0.00,0.000,6,0.000,0.041,3284,2104,1997,0,0,0,0,0,0
$GC,2208,0.96,146.6,243.6,26.7,239,2209,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,2101,1993,0,0,0,0,0,0
$GC,2336,0.92,146.6,211.5,24.9,251,2341,0.15,2.47,0.00,0.000,4,0.197,0.055,3250,3616,1991,0,0,0,0,0,0
$GC,2358,0.89,146.6,205.2,25.3,252,2366,0.00,2.42,0.00,0.000,6,0.000,0.043,3259,2103,1990,0,0,0,0,0,0
$GC,2494,0.87,146.6,173.7,23.9,265,2498,0.00,2.38,0.00,0.000,4,0.000,0.052,3271,582,1989,0,0,0,0,0,0
$GC,2513,0.85,146.6,169.5,22.2,266,2518,0.17,2.38,0.00,0.000,6,0.184,0.044,3227,2100,1990,0,0,0,0,0,0
$GC,2647,0.85,157.8,142.5,19.2,278,2662,0.00,2.45,8.57,0.584,4,0.000,0.055,3227,3610,1956,0,0,0,0,0,0
$GC,2680,0.84,157.8,135.5,21.1,281,2685,0.00,2.38,0.00,0.000,6,0.000,0.043,3236,2086,1954,0,0,0,0,0,0
$GC,2815,0.84,157.8,107.9,20.3,293,2817,0.00,0.00,0.00,0.000,6,0.000,0.000,3236,2086,1954,0,0,0,0,0,0
$GC,2941,0.87,212.8,85.3,16.1,313,2994,0.00,2.50,45.45,0.617,4,0.000,0.054,3236,3617,1731,0,0,0,0,0,0
$GC,3072,0.87,212.8,58.1,20.4,335,3079,0.00,2.45,0.00,0.000,6,0.000,0.043,3248,2086,1725,0,0,0,0,0,0
$GC,3144,0.89,242.3,44.8,17.9,348,3179,0.00,2.45,23.75,0.583,4,0.000,0.053,3259,589,1610,0,0,0,0,0,0
$GC,3198,0.90,254.9,34.9,19.1,356,3219,0.00,2.40,11.68,0.543,6,0.000,0.044,3259,2090,1559,0,0,0,0,0,0
$GC,3284,0.90,254.9,17.3,20.2,371,3291,0.00,2.45,0.00,0.000,4,0.000,0.054,3259,3624,1555,0,0,0,0,0,0
$GC,3299,0.90,254.9,13.9,21.3,373,3307,0.12,2.47,0.00,0.000,6,0.174,0.044,3241,2058,1554,0,0,0,0,0,0
$GC,3372,1.02,386.1,4.8,10.6,386,3381,0.10,0.00,6.28,0.481,2,0.110,0.000,3288,2053,1529,0,0,0,0,0,0
$STATE,3382,end climb,SURFACE_DEPTH_REACHED
$STATE,3382,begin surface coast
$FINISH,0.3,1.011433
$STATE,3419,end surface coast,CONTROL_FINISHED_OK
$STATE,3419,begin surface
$SM_CCo,3438,142.75,0.533,1,0,469,522.49
$SM_GC,1.21,0.00,0.00,142.75,0.000,0.000,0.533,131,2272,469,-8.81,0.62,522.49
$IRIDIUM_FIX,4719.74,-12508.15,040511,121201
$TT8_MAMPS,0.027713
$HUMID,34.01
$INTERNAL_PRESSURE,8.95227
$TCM_TEMP,15.60
$XPDR_PINGS,0
$24V_AH,23.8,14.676
$10V_AH,10.3,9.041
$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,21.175,63.250,339.025,142.750,0.000,276.884,800.789,0.000,0.000,0.000,33.982,946.676,1762.453,552.254,1934.247,164.621,0.000,991.826,0.000,841.136,0.000,0.535,0.000
$DEVICE_MAMPS,240.975,62.730,755.820,533.205,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,267.248,296.101,526.306,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297736
$DATA_FILE_SIZE,20290,394
$CAP_FILE_SIZE,70042,0
$CFSIZE,260165632,206106624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040511,132325,4734.975,-12507.232,13,1.6,19,18.6