version: 66.07
glider: 187
mission: 4
dive: 338
start: 5 25 111 3 6 57
data:
$ID,187
$MISSION,4
$DIVE,338
$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,44
$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
$GPS1,250511,023126,4748.697,-12503.212,13,1.2,13,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,14.15
$_SM_ANGLEo,-8.0
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.75,-195.5,0.0,0.0,0,24,0.00,0.00,-6.35,0.000,2,0.000,0.000,2900,549,3274,0,0,0,0,0,0
$GC,28,-0.75,-195.5,16.9,-0.0,1,37,0.62,0.17,-4.22,0.000,4,0.069,0.262,2664,671,3535,0,0,0,0,0,0
$GC,170,-0.73,-195.5,42.9,-21.0,27,177,0.00,2.38,0.00,0.000,6,0.000,0.047,2653,2175,3538,0,0,0,0,0,0
$GC,242,-0.69,-195.5,59.8,-23.7,40,249,0.00,2.40,0.00,0.000,4,0.000,0.050,2652,667,3537,0,0,0,0,0,0
$GC,264,-0.66,-195.5,65.0,-23.4,43,272,0.12,2.33,0.00,0.000,6,0.137,0.047,2692,2145,3538,0,0,0,0,0,0
$GC,338,-0.66,-195.5,77.6,-15.1,56,344,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2145,3538,0,0,0,0,0,0
$GC,409,-0.66,-195.5,89.3,-14.6,69,419,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2145,3537,0,0,0,0,0,0
$GC,486,-0.66,-195.5,100.3,-13.9,82,492,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2145,3538,0,0,0,0,0,0
$GC,622,-0.66,-195.5,119.2,-14.3,95,629,0.00,2.42,0.00,0.000,4,0.000,0.058,2683,3697,3538,0,0,0,0,0,0
$GC,663,-0.67,-195.5,125.4,-13.8,98,670,0.00,2.42,0.00,0.000,6,0.000,0.043,2681,2129,3538,0,0,0,0,0,0
$STATE,712,end dive,TARGET_DEPTH_EXCEEDED
$STATE,712,begin apogee
$GC,719,-0.22,0.0,132.1,14.1,103,877,0.45,0.00,153.55,0.652,6,0.124,0.000,2830,2043,2735,0,0,0,0,0,0
$STATE,880,end apogee,CONTROL_FINISHED_OK
$STATE,880,begin climb
$GC,882,0.75,195.5,142.5,0.0,119,1049,0.90,2.58,158.70,0.634,4,0.086,0.053,3138,3581,1936,0,0,0,0,0,0
$GC,1088,0.74,195.5,124.7,15.7,137,1094,0.00,2.45,0.00,0.000,6,0.000,0.041,3149,2070,1931,0,0,0,0,0,0
$GC,1223,0.75,230.4,107.4,11.7,150,1253,0.00,0.00,28.75,0.601,6,0.000,0.000,3149,2070,1795,0,0,0,0,0,0
$GC,1379,0.75,230.4,87.1,16.0,173,1388,0.00,2.45,0.00,0.000,4,0.000,0.052,3160,547,1789,0,0,0,0,0,0
$GC,1426,0.75,230.4,79.4,13.9,181,1434,0.00,2.42,0.00,0.000,6,0.000,0.044,3160,2075,1788,0,0,0,0,0,0
$GC,1500,0.75,230.4,70.1,14.0,194,1506,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,2075,1788,0,0,0,0,0,0
$GC,1572,0.78,292.7,61.5,10.5,207,1624,0.00,0.00,49.95,0.591,6,0.000,0.000,3160,2075,1540,0,0,0,0,0,0
$GC,1690,0.80,311.3,46.7,12.5,227,1712,0.00,2.53,15.82,0.555,4,0.000,0.051,3171,546,1464,0,0,0,0,0,0
$GC,1763,0.85,365.5,37.8,10.9,239,1816,0.00,2.40,44.28,0.572,6,0.000,0.045,3171,2050,1245,0,0,0,0,0,0
$GC,1884,0.86,365.5,23.5,13.8,259,1891,0.00,2.50,0.00,0.000,4,0.000,0.056,3171,3586,1239,0,0,0,0,0,0
$GC,1916,0.88,365.5,18.5,14.3,264,1923,0.00,2.42,0.00,0.000,6,0.000,0.043,3179,2079,1237,0,0,0,0,0,0
$GC,1989,0.96,448.4,11.3,9.5,277,2005,0.10,0.00,13.20,0.535,2,0.103,0.000,3230,2074,1181,0,0,0,0,0,0
$STATE,2006,end climb,FINISH_DEPTH_REACHED
$STATE,2006,begin subsurface finish
$FINISH1,9.8,1.023603,-30
$GC,2014,-0.02,-29.9,9.8,-9.6,279,2062,1.00,2.50,-40.90,0.000,4,0.113,0.064,2904,537,2859,0,0,0,0,0,0
$FINISH2,8.8
$STATE,2063,end subsurface finish,CONTROL_FINISHED_OK
$STATE,2063,begin surface
$IRIDIUM_FIX,4732.49,-12458.73,250511,000031
$TT8_MAMPS,0.026964
$HUMID,36.45
$INTERNAL_PRESSURE,9.17689
$TCM_TEMP,16.00
$XPDR_PINGS,0
$24V_AH,24.0,32.981
$10V_AH,10.2,24.763
$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,3.200,34.475,464.250,0.000,0.000,0.000,0.000,0.000,2.750,0.000,0.000,611.987,312.128,448.273,649.973,87.046,0.000,813.959,0.000,659.521,0.000,17.997,0.000
$DEVICE_MAMPS,136.935,261.630,651.780,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,191.580,205.783,496.487,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297572
$DATA_FILE_SIZE,13636,286
$CAP_FILE_SIZE,41339,0
$CFSIZE,260165632,195239936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250511,023126,4748.697,-12503.212,13,1.2,13,18.7