version: 66.07
glider: 187
mission: 4
dive: 331
start: 5 24 111 23 8 2
data:
$ID,187
$MISSION,4
$DIVE,331
$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,-1584214.5
$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
$GPS1,240511,220816,4750.171,-12501.067,13,3.2,32,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,13.28
$_SM_ANGLEo,-7.0
$GPS2,240511,220816,4750.171,-12501.067,13,3.2,32,18.7
$SPEED_LIMITS,0.231,0.327
$TGT_NAME,HEADING
$TGT_LATLONG,4750.171,-12517.155
$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,107
$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,-6.60,0.000,2,0.000,0.000,2899,545,3303,0,0,0,0,0,0
$GC,29,-0.75,-195.5,15.9,-0.0,1,37,0.62,0.17,-3.85,0.000,4,0.062,0.262,2659,667,3535,0,0,0,0,0,0
$GC,117,-0.72,-195.5,31.3,-21.6,17,125,0.00,2.38,0.00,0.000,6,0.000,0.047,2648,2172,3537,0,0,0,0,0,0
$GC,190,-0.68,-195.5,47.4,-23.4,30,198,0.12,2.45,0.00,0.000,4,0.164,0.059,2671,3698,3537,0,0,0,0,0,0
$GC,278,-0.68,-195.5,64.8,-18.2,46,286,0.00,2.33,0.00,0.000,6,0.000,0.042,2670,2217,3537,0,0,0,0,0,0
$GC,351,-0.66,-195.5,78.0,-20.3,59,359,0.00,2.42,0.00,0.000,4,0.000,0.050,2670,667,3537,0,0,0,0,0,0
$GC,381,-0.64,-195.5,84.3,-20.2,63,392,0.12,2.47,0.00,0.000,6,0.158,0.047,2693,2264,3537,0,0,0,0,0,0
$GC,456,-0.64,-195.5,95.6,-15.1,76,463,0.00,2.30,0.00,0.000,4,0.000,0.059,2685,3697,3537,0,0,0,0,0,0
$GC,493,-0.64,-195.5,101.0,-15.6,82,497,0.00,2.25,0.00,0.000,6,0.000,0.043,2684,2244,3537,0,0,0,0,0,0
$STATE,540,end dive,TARGET_DEPTH_EXCEEDED
$STATE,540,begin apogee
$GC,546,-0.22,0.0,108.5,14.5,86,704,0.43,0.00,153.40,0.639,6,0.126,0.000,2825,2056,2734,0,0,0,0,0,0
$STATE,705,end apogee,CONTROL_FINISHED_OK
$STATE,708,begin climb
$GC,710,0.75,195.5,117.8,0.0,102,876,0.93,0.00,158.10,0.620,6,0.089,0.000,3139,2055,1937,0,0,0,0,0,0
$GC,1000,0.77,228.7,90.2,11.8,137,1034,0.00,2.53,27.52,0.588,4,0.000,0.054,3139,3582,1801,0,0,0,0,0,0
$GC,1099,0.77,228.7,76.8,14.5,154,1106,0.00,2.38,0.00,0.000,6,0.000,0.041,3149,2111,1796,0,0,0,0,0,0
$GC,1171,0.81,291.5,68.5,10.5,167,1232,0.00,2.58,50.42,0.589,4,0.000,0.052,3160,552,1544,0,0,0,0,0,0
$GC,1264,0.85,331.8,58.0,11.5,181,1304,0.00,2.45,33.33,0.574,6,0.000,0.044,3160,2075,1381,0,0,0,0,0,0
$GC,1372,0.87,356.5,44.0,12.2,199,1400,0.00,2.45,20.55,0.557,4,0.000,0.054,3160,3578,1280,0,0,0,0,0,0
$GC,1426,0.89,366.1,37.1,12.9,207,1441,0.00,2.45,9.07,0.509,6,0.000,0.042,3170,2065,1242,0,0,0,0,0,0
$GC,1506,0.91,366.1,26.2,13.7,221,1514,0.00,2.45,0.00,0.000,4,0.000,0.052,3181,519,1238,0,0,0,0,0,0
$GC,1585,0.94,371.1,15.6,13.1,235,1599,0.00,2.33,4.95,0.432,6,0.000,0.044,3181,1988,1221,0,0,0,0,0,0
$STATE,1636,end climb,FINISH_DEPTH_REACHED
$STATE,1636,begin subsurface finish
$FINISH1,9.7,1.023771,-38
$GC,1644,-0.02,-38.2,9.7,-9.8,244,1692,0.82,2.38,-38.88,0.000,4,0.098,0.070,2898,3558,2893,0,0,0,0,0,0
$FINISH2,9.4
$STATE,1693,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1693,begin surface
$IRIDIUM_FIX,4735.69,-12503.20,240511,191922
$TT8_MAMPS,0.026964
$HUMID,36.41
$INTERNAL_PRESSURE,9.18665
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.5,45.4
$24V_AH,24.1,32.403
$10V_AH,10.3,24.502
$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,3.050,39.125,457.350,0.000,0.000,0.000,0.000,0.000,1.000,0.000,0.000,520.027,140.815,437.879,566.768,73.099,0.000,764.060,0.000,578.717,0.000,9.958,0.000
$DEVICE_MAMPS,163.710,262.395,638.775,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,166.727,179.258,469.103,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297600
$DATA_FILE_SIZE,13613,251
$CAP_FILE_SIZE,36194,0
$CFSIZE,260165632,195448832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240511,220816,4750.171,-12501.067,13,3.2,32,18.7