version: 66.07
glider: 187
mission: 4
dive: 326
start: 5 24 111 20 33 30
data:
$ID,187
$MISSION,4
$DIVE,326
$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,33
$R_STBD_OVSHOOT,31
$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
$GPS1,240511,200336,4751.127,-12459.937,42,1.1,47,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,12.35
$_SM_ANGLEo,-5.6
$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,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,-6.38,0.000,2,0.000,0.000,2901,3570,3227,0,0,0,0,0,0
$GC,28,-0.75,-195.5,14.4,-0.0,1,37,0.65,0.20,-5.40,0.000,4,0.070,0.253,2660,3694,3535,0,0,0,0,0,0
$GC,111,-0.75,-195.5,25.7,-14.7,16,119,0.00,2.40,0.00,0.000,6,0.000,0.041,2659,2171,3537,0,0,0,0,0,0
$GC,184,-0.72,-195.5,39.6,-23.1,29,192,0.00,2.38,0.00,0.000,4,0.000,0.050,2659,664,3537,0,0,0,0,0,0
$GC,226,-0.68,-195.5,49.9,-23.6,36,234,0.10,2.35,0.00,0.000,6,0.134,0.048,2693,2154,3537,0,0,0,0,0,0
$GC,300,-0.67,-195.5,64.7,-18.7,49,307,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2154,3537,0,0,0,0,0,0
$GC,372,-0.66,-195.5,76.7,-14.9,62,378,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2154,3537,0,0,0,0,0,0
$GC,445,-0.66,-195.5,88.4,-15.7,75,453,0.00,2.45,0.00,0.000,4,0.000,0.059,2684,3698,3537,0,0,0,0,0,0
$GC,488,-0.66,-195.5,93.8,-12.4,82,495,0.00,2.45,0.00,0.000,6,0.000,0.042,2683,2135,3537,0,0,0,0,0,0
$STATE,557,end dive,TARGET_DEPTH_EXCEEDED
$STATE,558,begin apogee
$GC,564,-0.22,0.0,103.2,13.6,93,723,0.45,0.00,152.93,0.630,6,0.125,0.000,2830,2049,2734,0,0,0,0,0,0
$STATE,726,end apogee,CONTROL_FINISHED_OK
$STATE,726,begin climb
$GC,728,0.75,195.5,111.4,0.0,109,896,0.93,2.55,157.20,0.610,4,0.087,0.052,3144,3576,1936,0,0,0,0,0,0
$GC,938,0.74,196.4,96.1,13.3,130,946,0.00,2.47,0.00,0.000,6,0.000,0.041,3155,2044,1930,0,0,0,0,0,0
$GC,1010,0.72,196.4,86.1,15.2,143,1017,0.00,2.42,0.00,0.000,4,0.000,0.050,3166,547,1929,0,0,0,0,0,0
$GC,1036,0.73,210.8,82.8,12.7,147,1057,0.00,2.42,12.07,0.547,6,0.000,0.044,3166,2063,1878,0,0,0,0,0,0
$GC,1123,0.73,210.8,70.9,14.5,162,1130,0.00,2.45,0.00,0.000,4,0.000,0.055,3166,3582,1875,0,0,0,0,0,0
$GC,1155,0.72,210.8,66.0,15.4,167,1163,0.15,2.45,0.00,0.000,6,0.161,0.042,3139,2056,1874,0,0,0,0,0,0
$GC,1230,0.76,282.4,57.1,10.1,180,1296,0.00,2.45,58.58,0.582,4,0.000,0.050,3148,539,1581,0,0,0,0,0,0
$GC,1333,0.81,316.8,47.3,11.8,196,1368,0.00,2.35,28.40,0.562,6,0.000,0.045,3148,2005,1443,0,0,0,0,0,0
$GC,1434,0.83,318.8,34.5,13.2,213,1442,0.00,2.55,0.00,0.000,4,0.000,0.056,3148,3579,1436,0,0,0,0,0,0
$GC,1492,0.86,332.2,27.0,12.7,223,1514,0.00,2.47,12.90,0.532,6,0.000,0.043,3155,2011,1380,0,0,0,0,0,0
$GC,1579,0.92,401.4,16.9,10.2,238,1634,0.12,0.00,51.35,0.558,2,0.089,0.000,3214,2011,1123,0,0,0,0,0,0
$STATE,1635,end climb,FINISH_DEPTH_REACHED
$STATE,1635,begin subsurface finish
$FINISH1,9.8,1.023771,-38
$GC,1643,-0.02,-38.2,9.8,-13.8,246,1697,0.95,2.45,-43.88,0.000,4,0.111,0.063,2906,538,2894,0,0,0,0,0,0
$FINISH2,8.7
$STATE,1698,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1698,begin surface
$IRIDIUM_FIX,4732.49,-12458.73,240511,191946
$TT8_MAMPS,0.027713
$HUMID,36.13
$INTERNAL_PRESSURE,9.18665
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.5,38.9
$24V_AH,24.1,32.013
$10V_AH,10.3,24.326
$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,3.350,39.450,473.425,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,520.367,107.607,450.158,589.097,77.657,0.000,801.624,0.000,602.610,0.000,5.521,0.000
$DEVICE_MAMPS,161.415,253.215,629.595,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,169.178,180.452,486.034,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,13633,254
$CAP_FILE_SIZE,38357,0
$CFSIZE,260165632,195588096
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240511,200336,4751.127,-12459.937,42,1.1,47,18.7