version: 66.07
glider: 187
mission: 4
dive: 287
start: 5 23 111 23 4 48
data:
$ID,187
$MISSION,4
$DIVE,287
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0046000001
$HD_B,0.0099999998
$HD_C,1.34e-05
$HEADING,30
$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,-1584178.2
$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,31
$R_STBD_OVSHOOT,40
$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
$GPS1,230511,221316,4753.187,-12500.808,15,5.5,34,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,20.42
$_SM_ANGLEo,-3.5
$GPS2,230511,221316,4753.187,-12500.808,15,5.5,34,18.7
$SPEED_LIMITS,0.231,0.327
$TGT_NAME,HEADING
$TGT_LATLONG,4802.540,-12452.731
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.195,0.262
$KALMAN_X,-581.1,-164.8,73.8,3254.4,-1.0
$KALMAN_Y,-4164.7,-1110.7,-315.0,5923.2,1022.5
$MHEAD_RNG_PITCHd_Wd,11.3,20000,-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,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,-7.05,0.000,2,0.000,0.000,2898,2072,3519,0,0,0,0,0,0
$GC,29,-0.75,-195.5,22.5,-0.0,1,37,0.65,2.60,-0.15,0.000,4,0.093,0.068,2667,3690,3532,0,0,0,0,0,0
$GC,66,-0.76,-195.5,25.9,-9.7,7,73,0.00,2.40,0.00,0.000,6,0.000,0.041,2666,2164,3532,0,0,0,0,0,0
$GC,139,-0.73,-195.5,38.1,-19.3,20,146,0.00,2.35,0.00,0.000,4,0.000,0.049,2666,668,3533,0,0,0,0,0,0
$GC,197,-0.71,-195.5,49.8,-18.7,30,204,0.00,2.33,0.00,0.000,6,0.000,0.048,2656,2141,3533,0,0,0,0,0,0
$GC,271,-0.68,-195.5,65.6,-23.5,43,278,0.00,2.33,0.00,0.000,4,0.000,0.050,2656,669,3533,0,0,0,0,0,0
$GC,307,-0.65,-195.5,73.7,-22.7,49,314,0.12,2.30,0.00,0.000,6,0.129,0.048,2688,2128,3533,0,0,0,0,0,0
$GC,382,-0.65,-195.5,85.4,-13.5,62,388,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2128,3532,0,0,0,0,0,0
$GC,454,-0.65,-195.5,95.1,-12.4,75,462,0.00,2.30,0.00,0.000,4,0.000,0.050,2688,666,3532,0,0,0,0,0,0
$STATE,487,end dive,TARGET_DEPTH_EXCEEDED
$STATE,487,begin apogee
$GC,495,-0.22,0.0,100.4,13.3,81,653,0.43,0.00,151.73,0.633,6,0.119,0.000,2826,2061,2735,0,0,0,0,0,0
$STATE,654,end apogee,CONTROL_FINISHED_OK
$STATE,656,begin climb
$GC,659,0.75,195.5,108.3,0.0,97,825,0.93,0.00,157.65,0.613,6,0.091,0.000,3138,2061,1937,0,0,0,0,0,0
$GC,889,0.76,214.7,87.6,12.5,126,911,0.00,2.53,16.45,0.568,4,0.000,0.050,3150,550,1859,0,0,0,0,0,0
$GC,972,0.77,225.7,76.6,12.8,140,987,0.00,2.42,10.12,0.538,6,0.000,0.044,3149,2060,1813,0,0,0,0,0,0
$GC,1052,0.79,257.6,66.5,11.9,154,1086,0.00,0.00,27.00,0.581,6,0.000,0.000,3150,2060,1682,0,0,0,0,0,0
$GC,1152,0.82,317.2,56.9,10.6,171,1208,0.00,2.45,48.35,0.581,4,0.000,0.050,3158,551,1438,0,0,0,0,0,0
$GC,1249,0.86,334.1,45.8,12.6,186,1271,0.00,2.45,14.43,0.545,6,0.000,0.044,3158,2073,1371,0,0,0,0,0,0
$GC,1337,0.87,334.1,32.1,18.3,201,1344,0.00,0.00,0.00,0.000,6,0.000,0.000,3158,2073,1367,0,0,0,0,0,0
$GC,1409,0.90,334.1,21.0,14.5,214,1417,0.10,2.45,0.00,0.000,4,0.099,0.056,3211,3587,1366,0,0,0,0,0,0
$STATE,1424,end climb,FINISH_DEPTH_REACHED
$STATE,1424,begin subsurface finish
$FINISH1,18.4,1.023954,-47
$GC,1434,-0.03,-47.3,18.4,-14.8,216,1469,0.98,2.47,-27.35,0.000,4,0.116,0.063,2901,536,2932,0,0,0,0,0,0
$FINISH2,16.2
$STATE,1470,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1470,begin surface
$IRIDIUM_FIX,4732.49,-12503.20,230511,202039
$TT8_MAMPS,0.027713
$HUMID,35.50
$INTERNAL_PRESSURE,9.17689
$TCM_TEMP,15.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.1,37.0
$24V_AH,24.1,28.629
$10V_AH,10.3,22.859
$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,3.200,36.025,425.725,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,464.015,78.025,402.996,504.728,66.730,0.000,698.173,0.000,519.340,0.000,5.515,0.000
$DEVICE_MAMPS,128.520,68.085,633.420,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,146.450,157.704,424.893,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297560
$DATA_FILE_SIZE,10357,221
$CAP_FILE_SIZE,32590,0
$CFSIZE,260165632,196673536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230511,221316,4753.187,-12500.808,15,5.5,34,18.7