version: 66.07
glider: 187
mission: 4
dive: 327
start: 5 24 111 21 3 13
data:
$ID,187
$MISSION,4
$DIVE,327
$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,32
$R_STBD_OVSHOOT,37
$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,14.70
$_SM_ANGLEo,-8.3
$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,17,-0.75,-195.5,0.0,0.0,0,25,0.00,0.00,-6.32,0.000,2,0.000,0.000,2906,538,3287,0,0,0,0,0,0
$GC,28,-0.75,-195.5,17.9,-0.0,1,37,0.65,0.17,-3.88,0.000,4,0.069,0.262,2663,659,3533,0,0,0,0,0,0
$GC,129,-0.73,-195.5,32.1,-16.9,19,137,0.00,2.38,0.00,0.000,6,0.000,0.047,2652,2159,3536,0,0,0,0,0,0
$GC,202,-0.69,-195.5,47.4,-22.8,32,210,0.12,2.47,0.00,0.000,4,0.166,0.060,2675,3694,3536,0,0,0,0,0,0
$GC,266,-0.69,-195.5,61.0,-18.8,43,273,0.00,2.40,0.00,0.000,6,0.000,0.043,2674,2176,3537,0,0,0,0,0,0
$GC,339,-0.67,-195.5,74.0,-16.5,56,347,0.00,2.38,0.00,0.000,4,0.000,0.050,2674,664,3537,0,0,0,0,0,0
$GC,356,-0.64,-195.5,76.9,-17.7,58,365,0.12,2.45,0.00,0.000,6,0.158,0.048,2697,2214,3537,0,0,0,0,0,0
$GC,431,-0.64,-195.5,87.9,-14.0,71,439,0.00,2.38,0.00,0.000,4,0.000,0.060,2688,3690,3536,0,0,0,0,0,0
$GC,484,-0.66,-195.5,94.5,-11.7,80,492,0.00,2.28,0.00,0.000,6,0.000,0.042,2687,2236,3537,0,0,0,0,0,0
$STATE,543,end dive,TARGET_DEPTH_EXCEEDED
$STATE,543,begin apogee
$GC,549,-0.22,0.0,103.6,15.4,89,707,0.43,0.00,153.07,0.629,6,0.125,0.000,2828,2053,2735,0,0,0,0,0,0
$STATE,708,end apogee,CONTROL_FINISHED_OK
$STATE,710,begin climb
$GC,713,0.75,195.5,110.9,0.0,105,881,0.93,2.58,157.57,0.612,4,0.086,0.054,3142,3582,1936,0,0,0,0,0,0
$GC,906,0.74,195.5,96.5,13.4,124,913,0.00,2.47,0.00,0.000,6,0.000,0.041,3153,2056,1932,0,0,0,0,0,0
$GC,979,0.73,196.5,86.9,13.3,137,986,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,2056,1930,0,0,0,0,0,0
$GC,1051,0.78,277.0,79.5,9.7,150,1123,0.00,0.00,64.95,0.591,6,0.000,0.000,3153,2055,1604,0,0,0,0,0,0
$GC,1189,0.78,277.0,61.1,14.2,173,1197,0.00,2.45,0.00,0.000,4,0.000,0.052,3165,527,1599,0,0,0,0,0,0
$GC,1236,0.80,287.9,54.5,12.8,181,1251,0.00,2.50,9.52,0.522,6,0.000,0.044,3165,2116,1561,0,0,0,0,0,0
$GC,1318,0.80,287.9,44.2,13.6,195,1325,0.00,2.38,0.00,0.000,4,0.000,0.054,3165,3576,1557,0,0,0,0,0,0
$GC,1354,0.81,302.3,39.4,12.7,201,1375,0.00,2.35,12.88,0.541,6,0.000,0.042,3175,2105,1501,0,0,0,0,0,0
$GC,1440,0.81,302.3,27.9,14.5,216,1447,0.00,2.45,0.00,0.000,4,0.000,0.052,3186,548,1498,0,0,0,0,0,0
$GC,1477,0.81,302.3,22.9,13.8,222,1485,0.00,2.42,0.00,0.000,6,0.000,0.044,3186,2081,1497,0,0,0,0,0,0
$GC,1550,0.81,309.9,12.9,13.0,235,1564,0.00,2.40,7.25,0.490,4,0.000,0.054,3185,3579,1469,0,0,0,0,0,0
$STATE,1580,end climb,FINISH_DEPTH_REACHED
$STATE,1581,begin subsurface finish
$FINISH1,9.5,1.023819,-41
$GC,1591,-0.02,-40.6,9.5,-10.9,240,1631,0.88,0.00,-34.53,0.000,6,0.106,0.000,2899,2055,2903,0,0,0,0,0,0
$FINISH2,8.9
$STATE,1632,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1632,begin surface
$IRIDIUM_FIX,4732.49,-12458.73,240511,191946
$TT8_MAMPS,0.026964
$HUMID,36.17
$INTERNAL_PRESSURE,9.18665
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.3,41.4
$24V_AH,24.1,32.082
$10V_AH,10.3,24.360
$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,3.125,41.575,405.250,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,528.070,101.937,401.418,569.077,78.446,0.000,725.490,0.000,585.165,0.000,5.529,0.000
$DEVICE_MAMPS,166.005,261.630,628.830,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,163.713,177.024,471.373,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,13644,246
$CAP_FILE_SIZE,37232,0
$CFSIZE,260165632,195559424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240511,200336,4751.127,-12459.937,42,1.1,47,18.7