version: 66.07
glider: 187
mission: 4
dive: 336
start: 5 25 111 1 53 0
data:
$ID,187
$MISSION,4
$DIVE,336
$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,-1584215.8
$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,31
$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
$GPS1,250511,001356,4749.400,-12502.141,15,0.9,15,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,16.14
$_SM_ANGLEo,-5.9
$GPS2,250511,001356,4749.400,-12502.141,15,0.9,15,18.7
$SPEED_LIMITS,0.231,0.327
$TGT_NAME,HEADING
$TGT_LATLONG,4749.400,-12518.225
$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,119
$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,-6.53,0.000,2,0.000,0.000,2906,539,3269,0,0,0,0,0,0
$GC,29,-0.75,-195.5,19.3,-0.0,1,37,0.62,0.17,-4.03,0.000,4,0.050,0.264,2653,663,3535,0,0,0,0,0,0
$GC,130,-0.73,-195.5,36.9,-17.5,19,137,0.00,2.40,0.00,0.000,6,0.000,0.048,2642,2177,3538,0,0,0,0,0,0
$GC,202,-0.69,-195.5,53.1,-23.9,32,209,0.15,0.00,0.00,0.000,6,0.161,0.000,2682,2177,3538,0,0,0,0,0,0
$GC,275,-0.68,-195.5,67.7,-16.8,45,281,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2177,3537,0,0,0,0,0,0
$GC,346,-0.68,-195.5,79.7,-15.4,58,356,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2177,3538,0,0,0,0,0,0
$GC,422,-0.68,-195.5,91.5,-15.9,71,429,0.00,2.42,0.00,0.000,4,0.000,0.059,2673,3686,3538,0,0,0,0,0,0
$GC,454,-0.68,-195.5,96.4,-15.3,76,461,0.00,2.40,0.00,0.000,6,0.000,0.042,2672,2155,3538,0,0,0,0,0,0
$GC,534,-0.67,-195.5,107.6,-14.2,85,538,0.00,2.30,0.00,0.000,4,0.000,0.049,2672,653,3538,0,0,0,0,0,0
$GC,550,-0.65,-195.5,110.6,-14.3,86,558,0.12,2.38,0.00,0.000,6,0.155,0.047,2696,2182,3538,0,0,0,0,0,0
$STATE,618,end dive,TARGET_DEPTH_EXCEEDED
$STATE,618,begin apogee
$GC,625,-0.22,0.0,120.0,13.7,93,783,0.40,0.00,154.20,0.641,6,0.120,0.000,2832,2056,2735,0,0,0,0,0,0
$STATE,784,end apogee,CONTROL_FINISHED_OK
$STATE,787,begin climb
$GC,789,0.75,195.5,128.5,0.0,109,957,0.90,2.47,157.52,0.625,4,0.086,0.049,3151,556,1939,0,0,0,0,0,0
$GC,982,0.75,201.9,114.4,13.0,126,996,0.00,2.42,6.85,0.503,6,0.000,0.043,3151,2062,1911,0,0,0,0,0,0
$GC,1123,0.74,201.9,91.9,15.0,143,1131,0.00,2.50,0.00,0.000,4,0.000,0.055,3151,3570,1906,0,0,0,0,0,0
$GC,1183,0.73,201.9,82.9,14.4,153,1190,0.00,2.42,0.00,0.000,6,0.000,0.041,3162,2057,1904,0,0,0,0,0,0
$GC,1256,0.75,258.2,74.5,10.8,166,1310,0.00,2.42,45.72,0.594,4,0.000,0.050,3174,545,1680,0,0,0,0,0,0
$GC,1334,0.75,258.2,65.0,15.4,178,1342,0.00,2.42,0.00,0.000,6,0.000,0.044,3174,2058,1677,0,0,0,0,0,0
$GC,1406,0.75,258.2,54.0,15.0,191,1413,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2058,1676,0,0,0,0,0,0
$GC,1476,0.75,258.2,43.9,13.5,204,1484,0.00,2.42,0.00,0.000,4,0.000,0.052,3183,550,1674,0,0,0,0,0,0
$GC,1524,0.78,314.7,38.7,10.8,212,1578,0.00,2.40,45.30,0.576,6,0.000,0.044,3183,2069,1450,0,0,0,0,0,0
$GC,1645,0.80,339.1,23.8,12.2,232,1674,0.00,2.47,20.60,0.551,4,0.000,0.054,3184,3566,1350,0,0,0,0,0,0
$GC,1710,0.83,380.6,16.0,11.4,242,1751,0.00,2.30,34.05,0.556,6,0.000,0.042,3190,2130,1182,0,0,0,0,0,0
$GC,1819,0.90,442.9,4.8,10.5,260,1827,0.00,0.00,6.43,0.462,2,0.000,0.000,3190,2128,1154,0,0,0,0,0,0
$STATE,1828,end climb,SURFACE_DEPTH_REACHED
$STATE,1828,begin surface coast
$FINISH,0.6,1.003828
$STATE,1870,end surface coast,CONTROL_FINISHED_OK
$STATE,1871,begin surface
$SM_CCo,1950,0.00,0.000,0,0,1147,389.29
$SM_GC,1.58,8.12,0.00,0.00,0.037,0.000,0.000,147,2184,1147,-8.55,0.25,389.29
$IRIDIUM_FIX,4732.49,-12503.20,240511,222227
$TT8_MAMPS,0.026964
$HUMID,36.76
$INTERNAL_PRESSURE,9.02063
$TCM_TEMP,16.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,100.1,58.3
$24V_AH,24.0,32.806
$10V_AH,10.3,24.685
$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,10.325,36.600,470.675,0.000,0.000,0.000,0.000,0.000,1.750,0.000,0.000,583.140,277.809,427.869,622.498,89.006,0.000,783.765,0.000,631.295,0.000,11.754,0.000
$DEVICE_MAMPS,160.650,263.925,641.070,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,179.675,191.091,488.074,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297580
$DATA_FILE_SIZE,13640,269
$CAP_FILE_SIZE,42043,0
$CFSIZE,260165632,195297280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250511,022614,4748.711,-12503.227,9,2.0,9,18.7