version: 66.07
glider: 187
mission: 4
dive: 337
start: 5 25 111 2 31 48
data:
$ID,187
$MISSION,4
$DIVE,337
$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,-1584217
$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,35
$R_STBD_OVSHOOT,35
$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
$GPS1,250511,022614,4748.711,-12503.227,9,2.0,9,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-76.6
$GPS2,250511,023126,4748.697,-12503.212,13,1.2,13,18.7
$SPEED_LIMITS,0.231,0.327
$TGT_NAME,HEADING
$TGT_LATLONG,4748.697,-12519.292
$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,131
$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,15,-0.75,-195.5,0.0,0.0,0,89,0.00,0.00,-71.35,0.000,2,0.000,0.000,133,2184,2881,0,0,0,0,0,0
$GC,92,-0.75,-195.5,4.0,-8.1,11,121,10.00,2.38,-11.75,0.000,4,0.235,0.057,2658,659,3535,0,0,0,0,0,0
$GC,234,-0.72,-195.5,43.6,-20.5,36,241,0.00,2.40,0.00,0.000,6,0.000,0.047,2649,2172,3537,0,0,0,0,0,0
$GC,306,-0.68,-195.5,59.5,-22.1,49,314,0.12,0.00,0.00,0.000,6,0.174,0.000,2680,2173,3537,0,0,0,0,0,0
$GC,380,-0.66,-195.5,71.3,-14.4,62,388,0.00,2.38,0.00,0.000,4,0.000,0.050,2681,670,3537,0,0,0,0,0,0
$GC,422,-0.65,-195.5,79.6,-19.9,69,430,0.00,2.35,0.00,0.000,6,0.000,0.047,2672,2166,3538,0,0,0,0,0,0
$GC,497,-0.63,-195.5,92.6,-17.3,82,504,0.00,2.47,0.00,0.000,4,0.000,0.059,2661,3691,3538,0,0,0,0,0,0
$GC,538,-0.62,-195.5,99.2,-16.2,89,549,0.10,2.40,0.00,0.000,6,0.125,0.042,2707,2157,3538,0,0,0,0,0,0
$GC,609,-0.62,-195.5,108.9,-13.5,96,614,0.00,2.33,0.00,0.000,4,0.000,0.050,2707,656,3538,0,0,0,0,0,0
$GC,635,-0.62,-195.5,112.6,-15.4,98,639,0.00,2.35,0.00,0.000,6,0.000,0.048,2700,2169,3539,0,0,0,0,0,0
$GC,769,-0.62,-195.5,131.0,-12.7,110,773,0.00,2.08,0.00,0.000,3,0.000,0.058,2691,3493,3538,0,0,0,0,0,0
$STATE,774,end dive,TARGET_DEPTH_EXCEEDED
$STATE,774,begin apogee
$GC,782,-0.22,0.0,131.9,12.8,110,940,0.43,0.00,153.50,0.646,6,0.122,0.000,2831,2051,2735,0,0,0,0,0,0
$STATE,944,end apogee,CONTROL_FINISHED_OK
$STATE,944,begin climb
$GC,946,0.75,195.5,139.5,0.0,126,1109,0.90,0.00,157.73,0.629,6,0.086,0.000,3138,2051,1937,0,0,0,0,0,0
$GC,1237,0.77,227.5,109.7,11.9,153,1266,0.00,0.00,26.50,0.596,6,0.000,0.000,3138,2050,1807,0,0,0,0,0,0
$GC,1394,0.78,240.1,89.3,12.8,175,1408,0.00,0.00,10.90,0.552,6,0.000,0.000,3138,2051,1755,0,0,0,0,0,0
$GC,1474,0.81,287.7,80.0,11.2,189,1521,0.00,0.00,39.55,0.593,6,0.000,0.000,3138,2051,1560,0,0,0,0,0,0
$GC,1586,0.82,287.7,67.2,13.5,208,1593,0.00,2.42,0.00,0.000,4,0.000,0.052,3149,556,1556,0,0,0,0,0,0
$GC,1627,0.86,318.6,61.9,11.9,215,1661,0.00,2.40,25.42,0.575,6,0.000,0.044,3149,2065,1435,0,0,0,0,0,0
$GC,1729,0.92,386.8,51.7,10.2,232,1792,0.15,2.47,55.35,0.578,4,0.080,0.051,3228,555,1157,0,0,0,0,0,0
$GC,1829,0.92,386.8,34.9,18.1,247,1837,0.00,2.40,0.00,0.000,6,0.000,0.044,3228,2049,1154,0,0,0,0,0,0
$GC,1901,0.91,386.8,20.2,19.7,260,1909,0.00,2.45,0.00,0.000,4,0.000,0.054,3228,3577,1152,0,0,0,0,0,0
$GC,1937,0.91,386.8,13.5,17.2,266,1945,0.10,2.35,0.00,0.000,6,0.136,0.042,3195,2111,1151,0,0,0,0,0,0
$STATE,1966,end climb,FINISH_DEPTH_REACHED
$STATE,1966,begin subsurface finish
$FINISH1,9.5,1.023752,-37
$GC,1974,-0.02,-37.3,9.5,-12.5,271,2022,0.88,2.53,-40.75,0.000,4,0.105,0.063,2900,549,2890,0,0,0,0,0,0
$FINISH2,9.7
$STATE,2023,end subsurface finish,CONTROL_FINISHED_OK
$STATE,2023,begin surface
$IRIDIUM_FIX,4732.49,-12458.73,250511,000031
$TT8_MAMPS,0.027713
$HUMID,36.10
$INTERNAL_PRESSURE,9.17689
$TCM_TEMP,15.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,115.3,58.5
$24V_AH,24.0,32.900
$10V_AH,10.2,24.726
$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,12.675,40.400,468.950,0.000,0.000,28.720,41.456,138.826,2.250,0.000,14.425,567.063,296.915,498.744,835.999,141.221,0.000,882.722,0.000,637.796,0.000,16.375,0.000
$DEVICE_MAMPS,234.855,62.730,646.425,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,184.473,200.168,485.842,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297548
$DATA_FILE_SIZE,13670,278
$CAP_FILE_SIZE,45700,0
$CFSIZE,260165632,195264512
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250511,023126,4748.697,-12503.212,13,1.2,13,18.7