version: 66.07
glider: 187
mission: 4
dive: 295
start: 5 24 111 2 45 29
data:
$ID,187
$MISSION,4
$DIVE,295
$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,-1584180.8
$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,32
$R_STBD_OVSHOOT,30
$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
$GPS1,240511,015620,4753.587,-12458.380,14,1.6,14,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,19.28
$_SM_ANGLEo,-1.6
$GPS2,240511,015620,4753.587,-12458.380,14,1.6,14,18.7
$SPEED_LIMITS,0.231,0.327
$TGT_NAME,HEADING
$TGT_LATLONG,4802.940,-12450.303
$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,90
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.75,-195.5,0.0,0.0,0,24,0.00,0.00,-6.35,0.000,2,0.000,0.000,2908,2089,3175,0,0,0,0,0,0
$GC,28,-0.75,-195.5,21.6,-0.0,1,43,0.68,2.30,-5.12,0.000,4,0.075,0.062,2661,653,3536,0,0,0,0,0,0
$GC,67,-0.76,-195.5,26.7,-13.7,7,74,0.00,2.42,0.00,0.000,6,0.000,0.047,2650,2176,3537,0,0,0,0,0,0
$GC,139,-0.72,-195.5,43.1,-26.8,20,147,0.00,2.47,0.00,0.000,4,0.000,0.057,2638,3685,3537,0,0,0,0,0,0
$GC,171,-0.69,-195.5,51.4,-24.9,25,179,0.10,2.42,0.00,0.000,6,0.125,0.042,2683,2160,3537,0,0,0,0,0,0
$GC,244,-0.67,-195.5,66.4,-18.0,38,252,0.00,2.38,0.00,0.000,4,0.000,0.049,2683,654,3537,0,0,0,0,0,0
$GC,296,-0.67,-195.5,75.1,-15.7,47,304,0.00,2.30,0.00,0.000,6,0.000,0.048,2675,2107,3538,0,0,0,0,0,0
$GC,371,-0.66,-195.5,86.6,-16.0,60,378,0.00,2.55,0.00,0.000,4,0.000,0.059,2663,3691,3537,0,0,0,0,0,0
$STATE,394,end dive,TARGET_DEPTH_EXCEEDED
$STATE,394,begin apogee
$GC,404,-0.22,0.0,90.6,15.7,64,562,0.50,0.00,152.60,0.620,6,0.126,0.000,2825,2048,2735,0,0,0,0,0,0
$STATE,563,end apogee,CONTROL_FINISHED_OK
$STATE,563,begin climb
$GC,565,0.75,195.5,100.2,0.0,88,738,0.93,2.60,157.80,0.604,4,0.090,0.055,3137,3570,1935,0,0,0,0,0,0
$GC,768,0.74,195.5,83.5,15.1,117,775,0.00,2.47,0.00,0.000,6,0.000,0.041,3148,2040,1931,0,0,0,0,0,0
$GC,840,0.74,195.5,72.8,14.4,130,848,0.00,2.53,0.00,0.000,4,0.000,0.055,3148,3577,1929,0,0,0,0,0,0
$GC,871,0.74,195.5,68.0,15.3,135,879,0.00,2.40,0.00,0.000,6,0.000,0.042,3158,2097,1928,0,0,0,0,0,0
$GC,944,0.75,204.6,58.0,12.9,148,959,0.00,2.50,7.80,0.506,4,0.000,0.050,3170,532,1899,0,0,0,0,0,0
$GC,1018,0.75,204.6,47.8,14.4,161,1026,0.00,2.47,0.00,0.000,6,0.000,0.045,3170,2105,1898,0,0,0,0,0,0
$GC,1091,0.75,212.5,37.6,13.0,174,1106,0.00,0.00,7.93,0.507,6,0.000,0.000,3170,2105,1867,0,0,0,0,0,0
$GC,1171,0.76,222.2,27.2,12.9,188,1186,0.00,2.55,9.30,0.519,4,0.000,0.050,3181,539,1828,0,0,0,0,0,0
$GC,1210,0.79,270.5,22.6,11.1,194,1239,0.00,2.40,23.30,0.558,2,0.000,0.045,3181,2053,1717,0,0,0,0,0,0
$STATE,1240,end climb,FINISH_DEPTH_REACHED
$STATE,1240,begin subsurface finish
$FINISH1,19.6,1.025087,0
$GC,1247,0.00,0.0,19.6,-11.5,198,1268,0.85,0.00,-17.33,0.000,6,0.125,0.000,2910,2053,2739,0,0,0,0,0,0
$FINISH2,17.4
$STATE,1269,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1269,begin surface
$IRIDIUM_FIX,4738.89,-12459.78,240511,000020
$TT8_MAMPS,0.027713
$HUMID,35.58
$INTERNAL_PRESSURE,9.15736
$TCM_TEMP,15.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.4,29.1
$24V_AH,24.1,29.247
$10V_AH,10.3,23.118
$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,3.050,39.375,358.725,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,407.243,63.351,318.786,462.665,63.473,0.000,615.297,0.000,478.549,0.000,5.494,0.000
$DEVICE_MAMPS,126.225,61.965,620.415,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,131.089,148.225,418.530,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,10343,201
$CAP_FILE_SIZE,31105,0
$CFSIZE,260165632,196460544
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240511,015620,4753.587,-12458.380,14,1.6,14,18.7