version: 66.07
glider: 187
mission: 4
dive: 325
start: 5 24 111 20 3 58
data:
$ID,187
$MISSION,4
$DIVE,325
$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,10
$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,270
$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,-1584213.2
$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,29
$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,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
$GPS1,240511,195752,4751.142,-12500.004,10,4.5,29,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-76.3
$GPS2,240511,200336,4751.127,-12459.937,42,1.1,47,18.7
$SPEED_LIMITS,0.231,0.327
$TGT_NAME,HEADING
$TGT_LATLONG,4751.127,-12516.029
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.294,0.143
$KALMAN_X,3782.5,745.2,232.9,-9202.7,214.5
$KALMAN_Y,-5690.9,-906.1,-167.0,3167.6,-119.0
$MHEAD_RNG_PITCHd_Wd,251.3,20000,-20.3,-13.333
$D_GRID,103
$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,-195.5,0.0,0.0,0,90,0.00,0.00,-72.18,0.000,2,0.000,0.000,121,2190,2745,0,0,0,0,0,0
$GC,94,-0.75,-195.5,3.3,-5.1,11,122,10.12,0.00,-15.38,0.000,6,0.238,0.000,2658,2186,3535,0,0,0,0,0,0
$GC,188,-0.71,-195.5,29.4,-23.2,27,195,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2187,3537,0,0,0,0,0,0
$GC,260,-0.67,-195.5,48.0,-26.4,40,267,0.10,0.00,0.00,0.000,6,0.187,0.000,2684,2187,3538,0,0,0,0,0,0
$GC,334,-0.65,-195.5,63.3,-18.9,53,341,0.00,2.40,0.00,0.000,4,0.000,0.049,2684,662,3538,0,0,0,0,0,0
$GC,360,-0.63,-195.5,68.3,-19.3,57,368,0.00,2.30,0.00,0.000,6,0.000,0.046,2676,2133,3538,0,0,0,0,0,0
$GC,435,-0.60,-195.5,80.7,-17.4,70,443,0.12,2.47,0.00,0.000,4,0.163,0.059,2699,3683,3538,0,0,0,0,0,0
$GC,499,-0.61,-195.5,90.3,-11.2,81,507,0.00,2.33,0.00,0.000,6,0.000,0.041,2699,2186,3539,0,0,0,0,0,0
$GC,571,-0.61,-195.5,99.5,-14.2,94,578,0.00,2.38,0.00,0.000,4,0.000,0.049,2698,669,3539,0,0,0,0,0,0
$STATE,595,end dive,TARGET_DEPTH_EXCEEDED
$STATE,595,begin apogee
$GC,603,-0.22,0.0,103.4,15.1,97,761,0.43,0.00,153.82,0.623,6,0.117,0.000,2833,2057,2734,0,0,0,0,0,0
$STATE,765,end apogee,CONTROL_FINISHED_OK
$STATE,765,begin climb
$GC,767,0.75,195.5,112.7,0.0,113,939,0.90,2.58,157.30,0.608,4,0.090,0.054,3138,3575,1936,0,0,0,0,0,0
$GC,952,0.75,196.9,98.7,13.3,130,960,0.00,2.45,0.00,0.000,6,0.000,0.041,3149,2079,1932,0,0,0,0,0,0
$GC,1025,0.75,196.9,87.6,14.6,143,1032,0.00,2.45,0.00,0.000,4,0.000,0.051,3160,545,1930,0,0,0,0,0,0
$GC,1051,0.75,196.9,84.1,13.6,147,1058,0.00,2.45,0.00,0.000,6,0.000,0.044,3160,2074,1930,0,0,0,0,0,0
$GC,1124,0.77,229.1,75.4,11.9,160,1158,0.00,2.45,27.35,0.577,4,0.000,0.052,3160,3576,1799,0,0,0,0,0,0
$GC,1213,0.77,229.1,62.7,14.2,175,1221,0.00,2.40,0.00,0.000,6,0.000,0.041,3171,2079,1795,0,0,0,0,0,0
$GC,1287,0.77,229.1,52.5,13.6,188,1294,0.00,2.45,0.00,0.000,4,0.000,0.051,3182,525,1795,0,0,0,0,0,0
$GC,1334,0.79,256.1,46.6,12.1,196,1361,0.00,2.42,22.10,0.562,6,0.000,0.044,3182,2061,1691,0,0,0,0,0,0
$GC,1426,0.79,256.1,35.1,13.5,212,1432,0.00,0.00,0.00,0.000,6,0.000,0.000,3182,2061,1687,0,0,0,0,0,0
$GC,1498,0.80,275.9,26.2,12.4,225,1518,0.00,0.00,16.70,0.547,6,0.000,0.000,3182,2061,1609,0,0,0,0,0,0
$GC,1585,0.81,300.9,15.0,12.2,240,1613,0.00,2.45,21.33,0.546,4,0.000,0.054,3182,3577,1505,0,0,0,0,0,0
$STATE,1633,end climb,FINISH_DEPTH_REACHED
$STATE,1634,begin subsurface finish
$FINISH1,9.9,1.023654,-32
$GC,1644,-0.02,-32.4,9.9,-8.4,248,1685,0.88,2.47,-32.00,0.000,4,0.109,0.070,2901,3570,2870,0,0,0,0,0,0
$FINISH2,9.4
$STATE,1686,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1686,begin surface
$IRIDIUM_FIX,4732.49,-12458.73,240511,191946
$TT8_MAMPS,0.026964
$HUMID,36.25
$INTERNAL_PRESSURE,9.18665
$TCM_TEMP,16.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.7,38.0
$24V_AH,24.1,31.933
$10V_AH,10.2,24.292
$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,12.550,41.075,398.600,0.000,0.000,25.399,37.401,140.862,0.500,0.000,48.494,520.963,97.458,464.614,818.363,132.700,0.000,803.294,0.000,594.612,0.000,5.518,0.000
$DEVICE_MAMPS,237.915,69.615,622.710,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,168.199,182.013,485.883,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297584
$DATA_FILE_SIZE,13577,254
$CAP_FILE_SIZE,41736,0
$CFSIZE,260165632,195612672
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240511,200336,4751.127,-12459.937,42,1.1,47,18.7