version: 66.07
glider: 187
mission: 4
dive: 299
start: 5 24 111 4 23 21
data:
$ID,187
$MISSION,4
$DIVE,299
$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,-1584182
$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,29
$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
$GPS1,240511,033916,4753.481,-12457.315,13,2.8,32,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,15.36
$_SM_ANGLEo,-1.6
$GPS2,240511,033916,4753.481,-12457.315,13,2.8,32,18.7
$SPEED_LIMITS,0.231,0.327
$TGT_NAME,HEADING
$TGT_LATLONG,4802.834,-12449.238
$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,86
$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,12,begin dive
$GC,16,-0.75,-195.5,0.0,0.0,0,24,0.00,0.00,-6.43,0.000,2,0.000,0.000,2913,2075,3124,0,0,0,0,0,0
$GC,28,-0.75,-195.5,16.7,-0.0,1,42,0.70,0.00,-6.70,0.000,6,0.081,0.000,2660,2074,3532,0,0,0,0,0,0
$GC,107,-0.72,-195.5,28.6,-20.9,15,114,0.00,2.22,0.00,0.000,4,0.000,0.049,2659,666,3534,0,0,0,0,0,0
$GC,139,-0.68,-195.5,35.7,-22.5,20,147,0.08,2.38,0.00,0.000,6,0.145,0.047,2682,2168,3534,0,0,0,0,0,0
$GC,214,-0.66,-195.5,50.9,-19.0,33,221,0.00,2.47,0.00,0.000,4,0.000,0.058,2673,3686,3534,0,0,0,0,0,0
$GC,235,-0.64,-195.5,55.1,-19.8,36,242,0.00,2.38,0.00,0.000,6,0.000,0.042,2672,2172,3534,0,0,0,0,0,0
$GC,308,-0.63,-195.5,66.7,-16.8,49,316,0.10,2.38,0.00,0.000,4,0.169,0.049,2698,668,3534,0,0,0,0,0,0
$GC,329,-0.63,-195.5,70.5,-16.4,52,337,0.00,2.40,0.00,0.000,6,0.000,0.048,2690,2188,3534,0,0,0,0,0,0
$GC,404,-0.63,-195.5,80.2,-13.2,65,412,0.00,2.45,0.00,0.000,4,0.000,0.060,2678,3693,3534,0,0,0,0,0,0
$STATE,443,end dive,TARGET_DEPTH_EXCEEDED
$STATE,443,begin apogee
$GC,453,-0.22,0.0,86.5,14.4,72,610,0.45,0.00,151.68,0.625,6,0.125,0.000,2826,2058,2734,0,0,0,0,0,0
$STATE,611,end apogee,CONTROL_FINISHED_OK
$STATE,611,begin climb
$GC,615,0.75,195.5,95.4,0.0,96,787,0.93,2.62,157.68,0.606,4,0.093,0.055,3138,3582,1935,0,0,0,0,0,0
$GC,795,0.77,234.8,83.7,11.5,123,836,0.00,2.47,32.62,0.579,6,0.000,0.041,3149,2054,1777,0,0,0,0,0,0
$GC,904,0.78,247.6,69.9,12.8,141,925,0.00,2.58,11.48,0.537,4,0.000,0.055,3149,3576,1723,0,0,0,0,0,0
$GC,965,0.79,253.9,61.6,13.0,151,979,0.00,2.42,6.07,0.474,6,0.000,0.042,3158,2086,1700,0,0,0,0,0,0
$GC,1046,0.83,321.9,52.7,10.2,165,1113,0.00,2.58,55.78,0.578,4,0.000,0.050,3170,541,1419,0,0,0,0,0,0
$GC,1189,0.86,343.4,36.0,12.4,189,1217,0.00,2.42,18.12,0.549,6,0.000,0.044,3170,2055,1334,0,0,0,0,0,0
$GC,1285,0.87,343.4,21.0,18.2,205,1291,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,2055,1330,0,0,0,0,0,0
$STATE,1297,end climb,FINISH_DEPTH_REACHED
$STATE,1297,begin subsurface finish
$FINISH1,17.8,1.024919,-95
$GC,1304,-0.06,-95.1,17.8,-17.9,207,1345,0.85,2.42,-32.33,0.000,4,0.110,0.061,2892,530,3125,0,0,0,0,0,0
$FINISH2,14.9
$STATE,1346,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1346,begin surface
$IRIDIUM_FIX,4735.69,-12455.31,240511,010112
$TT8_MAMPS,0.026964
$HUMID,35.54
$INTERNAL_PRESSURE,9.18665
$TCM_TEMP,16.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,26.0
$24V_AH,24.1,29.533
$10V_AH,10.3,23.240
$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,3.100,36.775,433.425,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,392.286,64.015,380.738,488.702,67.090,0.000,711.255,0.000,503.814,0.000,5.486,0.000
$DEVICE_MAMPS,169.065,61.200,625.005,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,138.008,154.178,448.118,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297588
$DATA_FILE_SIZE,10311,213
$CAP_FILE_SIZE,31514,0
$CFSIZE,260165632,196366336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240511,033916,4753.481,-12457.315,13,2.8,32,18.7