version: 66.07
glider: 187
mission: 4
dive: 328
start: 5 24 111 21 31 49
data:
$ID,187
$MISSION,4
$DIVE,328
$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,34
$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
$GPS1,240511,200336,4751.127,-12459.937,42,1.1,47,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,13.64
$_SM_ANGLEo,-2.0
$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,-6.75,0.000,2,0.000,0.000,2899,2055,3304,0,0,0,0,0,0
$GC,29,-0.75,-195.5,16.2,-0.0,1,44,0.62,2.22,-3.80,0.000,4,0.066,0.063,2661,660,3535,0,0,0,0,0,0
$GC,78,-0.74,-195.5,22.9,-16.2,9,85,0.00,2.38,0.00,0.000,6,0.000,0.047,2651,2172,3537,0,0,0,0,0,0
$GC,152,-0.70,-195.5,39.2,-23.6,22,159,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2172,3537,0,0,0,0,0,0
$GC,224,-0.66,-195.5,56.0,-23.6,35,232,0.15,2.42,0.00,0.000,4,0.161,0.057,2681,3693,3537,0,0,0,0,0,0
$GC,265,-0.66,-195.5,64.5,-17.8,42,273,0.00,2.40,0.00,0.000,6,0.000,0.044,2680,2169,3538,0,0,0,0,0,0
$GC,338,-0.64,-195.5,74.9,-15.1,55,346,0.00,2.35,0.00,0.000,4,0.000,0.050,2679,668,3537,0,0,0,0,0,0
$GC,355,-0.62,-195.5,77.3,-14.5,57,363,0.08,2.38,0.00,0.000,6,0.141,0.047,2705,2181,3537,0,0,0,0,0,0
$GC,430,-0.62,-195.5,89.0,-15.6,70,438,0.00,2.42,0.00,0.000,4,0.000,0.060,2695,3690,3537,0,0,0,0,0,0
$GC,482,-0.64,-195.5,95.6,-11.6,79,490,0.00,2.33,0.00,0.000,6,0.000,0.043,2695,2201,3537,0,0,0,0,0,0
$STATE,542,end dive,TARGET_DEPTH_EXCEEDED
$STATE,542,begin apogee
$GC,548,-0.22,0.0,103.6,13.5,88,706,0.40,0.00,153.05,0.634,6,0.127,0.000,2828,2050,2735,0,0,0,0,0,0
$STATE,707,end apogee,CONTROL_FINISHED_OK
$STATE,710,begin climb
$GC,712,0.75,195.5,112.1,0.0,104,884,0.93,2.60,158.07,0.616,4,0.088,0.054,3141,3577,1935,0,0,0,0,0,0
$GC,924,0.74,195.5,95.6,13.6,126,932,0.00,2.47,0.00,0.000,6,0.000,0.041,3152,2040,1931,0,0,0,0,0,0
$GC,996,0.76,224.5,85.6,12.0,139,1023,0.00,0.00,24.23,0.580,6,0.000,0.000,3152,2040,1818,0,0,0,0,0,0
$GC,1089,0.76,224.5,74.5,13.5,155,1095,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2040,1814,0,0,0,0,0,0
$GC,1159,0.76,224.5,64.0,13.6,168,1167,0.00,2.50,0.00,0.000,4,0.000,0.055,3152,3584,1813,0,0,0,0,0,0
$GC,1184,0.76,224.5,60.4,14.7,172,1192,0.00,2.42,0.00,0.000,6,0.000,0.042,3162,2070,1812,0,0,0,0,0,0
$GC,1257,0.80,297.7,52.2,10.0,185,1322,0.00,0.00,58.65,0.581,6,0.000,0.000,3162,2069,1519,0,0,0,0,0,0
$GC,1389,0.83,341.5,38.0,11.3,207,1431,0.00,2.55,35.62,0.565,4,0.000,0.055,3162,3578,1342,0,0,0,0,0,0
$GC,1445,0.84,341.5,30.6,13.3,215,1452,0.00,2.45,0.00,0.000,6,0.000,0.043,3172,2074,1339,0,0,0,0,0,0
$GC,1518,0.85,341.5,20.4,14.0,228,1525,0.00,2.45,0.00,0.000,4,0.000,0.053,3183,528,1337,0,0,0,0,0,0
$GC,1591,0.94,429.2,11.1,9.3,241,1670,0.00,2.42,70.07,0.558,6,0.000,0.046,3183,2054,983,0,0,0,0,0,0
$STATE,1675,end climb,SURFACE_DEPTH_REACHED
$STATE,1676,begin surface coast
$FINISH,0.7,1.023607
$STATE,1726,end surface coast,CONTROL_FINISHED_OK
$STATE,1726,begin surface
$SM_CCo,1804,0.00,0.000,0,0,976,431.48
$SM_GC,1.51,8.15,0.00,0.00,0.037,0.000,0.000,138,2189,976,-8.55,0.42,431.48
$IRIDIUM_FIX,4732.49,-12458.73,240511,191946
$TT8_MAMPS,0.026964
$HUMID,36.10
$INTERNAL_PRESSURE,9.02063
$TCM_TEMP,16.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.8,43.4
$24V_AH,24.1,32.167
$10V_AH,10.3,24.396
$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,10.325,39.150,499.700,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,545.473,165.750,457.961,602.773,82.400,0.000,806.800,0.000,615.973,0.000,5.533,0.000
$DEVICE_MAMPS,160.650,75.735,634.185,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,174.784,187.577,504.968,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,13662,263
$CAP_FILE_SIZE,39946,0
$CFSIZE,260165632,195530752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240511,220258,4750.189,-12501.125,10,2.6,29,18.7