version: 66.07
glider: 187
mission: 4
dive: 164
start: 5 4 111 13 29 3
data:
$ID,187
$MISSION,4
$DIVE,164
$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,320
$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,-1584026.6
$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,32
$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,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
$GPS1,040511,132325,4734.975,-12507.232,13,1.6,19,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-75.4
$GPS2,040511,132825,4734.955,-12507.280,13,1.8,19,18.6
$SPEED_LIMITS,0.346,0.356
$TGT_NAME,HEADING
$TGT_LATLONG,4738.648,-12522.343
$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,458
$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,-146.6,0.0,0.0,0,114,0.00,0.00,-96.22,0.000,2,0.000,0.000,131,2272,2876,0,0,0,0,0,0
$GC,118,-1.02,-146.6,4.1,-8.5,15,140,10.07,2.47,-5.80,0.000,4,0.240,0.074,2606,3753,3201,0,0,0,0,0,0
$GC,375,-1.01,-146.6,74.7,-21.0,63,382,0.00,2.40,0.00,0.000,6,0.000,0.041,2605,2238,3203,0,0,0,0,0,0
$GC,447,-0.99,-146.6,89.8,-21.9,76,455,0.00,2.45,0.00,0.000,4,0.000,0.059,2594,3764,3204,0,0,0,0,0,0
$GC,537,-0.99,-146.6,110.4,-20.1,88,542,0.12,2.30,0.00,0.000,6,0.177,0.043,2624,2273,3203,0,0,0,0,0,0
$GC,674,-0.99,-146.6,133.9,-17.6,100,680,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2268,3204,0,0,0,0,0,0
$GC,808,-0.99,-146.6,155.4,-15.0,113,809,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2267,3204,0,0,0,0,0,0
$GC,936,-0.99,-146.6,174.9,-15.8,125,937,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2268,3204,0,0,0,0,0,0
$GC,1063,-0.99,-146.6,193.5,-14.3,137,1067,0.00,2.35,0.00,0.000,4,0.000,0.049,2624,731,3204,0,0,0,0,0,0
$GC,1097,-0.99,-146.6,198.7,-15.0,139,1103,0.00,2.38,0.00,0.000,6,0.000,0.047,2615,2262,3204,0,0,0,0,0,0
$GC,1231,-0.99,-146.6,218.0,-14.8,152,1232,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2262,3204,0,0,0,0,0,0
$GC,1359,-0.99,-146.6,236.7,-14.8,164,1363,0.00,2.33,0.00,0.000,4,0.000,0.049,2614,740,3205,0,0,0,0,0,0
$GC,1381,-0.99,-146.6,240.7,-15.9,165,1389,0.00,2.40,0.00,0.000,6,0.000,0.047,2603,2276,3204,0,0,0,0,0,0
$GC,1517,-0.99,-146.6,263.1,-16.6,178,1521,0.00,2.38,0.00,0.000,4,0.000,0.050,2603,734,3204,0,0,0,0,0,0
$GC,1540,-0.99,-146.6,267.5,-17.5,180,1545,0.15,2.35,0.00,0.000,6,0.176,0.048,2631,2268,3204,0,0,0,0,0,0
$GC,1676,-0.99,-146.6,288.2,-15.0,192,1677,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2268,3204,0,0,0,0,0,0
$STATE,1758,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1759,begin apogee
$GC,1765,-0.23,0.0,301.3,15.4,200,1892,0.73,0.00,119.55,0.757,6,0.139,0.000,2866,2093,2599,0,0,0,0,0,0
$STATE,1893,end apogee,CONTROL_FINISHED_OK
$STATE,1893,begin climb
$GC,1896,1.02,146.6,307.2,0.0,213,2026,1.20,0.00,125.25,0.734,6,0.080,0.000,3277,2092,2002,0,0,0,0,0,0
$GC,2152,0.99,146.6,259.3,25.9,238,2157,0.00,2.47,0.00,0.000,4,0.000,0.054,3277,3614,1993,0,0,0,0,0,0
$GC,2170,0.96,146.6,254.2,25.6,239,2176,0.12,2.42,0.00,0.000,6,0.200,0.041,3262,2104,1992,0,0,0,0,0,0
$GC,2305,0.93,146.6,220.9,24.9,251,2306,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,2104,1991,0,0,0,0,0,0
$GC,2433,0.91,146.6,190.7,23.1,263,2437,0.00,2.40,0.00,0.000,4,0.000,0.051,3271,584,1990,0,0,0,0,0,0
$GC,2455,0.88,146.6,184.9,23.2,264,2463,0.08,2.40,0.00,0.000,6,0.173,0.045,3239,2094,1990,0,0,0,0,0,0
$GC,2591,0.87,146.6,156.6,20.9,277,2595,0.00,2.42,0.00,0.000,4,0.000,0.057,3239,3616,1989,0,0,0,0,0,0
$GC,2609,0.85,146.6,152.4,22.4,278,2613,0.00,2.38,0.00,0.000,6,0.000,0.044,3248,2102,1988,0,0,0,0,0,0
$GC,2744,0.83,146.6,123.1,21.3,290,2748,0.00,2.42,0.00,0.000,4,0.000,0.057,3248,3615,1988,0,0,0,0,0,0
$GC,2773,0.81,146.6,117.0,21.6,292,2778,0.17,2.33,0.00,0.000,6,0.190,0.044,3216,2117,1988,0,0,0,0,0,0
$GC,2908,0.85,206.6,92.3,15.7,308,2961,0.00,2.53,47.40,0.626,4,0.000,0.057,3216,3622,1756,0,0,0,0,0,0
$GC,3032,0.85,211.9,69.4,19.6,329,3047,0.00,2.42,4.90,0.463,6,0.000,0.044,3225,2113,1735,0,0,0,0,0,0
$GC,3113,0.89,252.3,55.4,17.1,343,3154,0.00,2.47,33.47,0.592,4,0.000,0.052,3237,577,1571,0,0,0,0,0,0
$GC,3193,0.94,292.0,41.7,17.2,356,3233,0.00,2.47,32.72,0.575,6,0.000,0.046,3237,2140,1409,0,0,0,0,0,0
$GC,3301,0.96,292.0,21.1,20.9,374,3307,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,2140,1402,0,0,0,0,0,0
$GC,3371,1.03,359.3,8.4,15.2,387,3412,0.12,0.00,38.15,0.559,2,0.093,0.000,3293,2140,1215,0,0,0,0,0,0
$STATE,3413,end climb,SURFACE_DEPTH_REACHED
$STATE,3413,begin surface coast
$FINISH,0.4,1.023047
$STATE,3440,end surface coast,CONTROL_FINISHED_OK
$STATE,3440,begin surface
$SM_CCo,3520,0.00,0.000,0,0,1207,341.70
$SM_GC,1.19,8.62,0.00,0.00,0.044,0.000,0.000,126,2272,1207,-8.71,0.62,341.70
$IRIDIUM_FIX,4716.56,-12450.38,040511,121244
$TT8_MAMPS,0.026964
$HUMID,35.46
$INTERNAL_PRESSURE,9.01087
$TCM_TEMP,15.60
$XPDR_PINGS,0
$24V_AH,23.8,14.764
$10V_AH,10.3,9.090
$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,21.400,53.375,401.450,0.000,0.000,28.112,35.785,126.805,0.000,0.000,20.076,912.425,1288.350,454.858,1030.310,155.065,0.000,907.638,0.000,843.069,0.000,0.536,0.000
$DEVICE_MAMPS,240.210,78.795,757.350,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,269.048,300.232,534.639,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297708
$DATA_FILE_SIZE,23546,398
$CAP_FILE_SIZE,63793,0
$CFSIZE,260165632,206077952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040511,142852,4734.688,-12507.916,13,5.9,32,18.6