version: 66.07
glider: 187
mission: 4
dive: 342
start: 5 25 111 5 52 22
data:
$ID,187
$MISSION,4
$DIVE,342
$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,-1584218.2
$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,25
$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
$GPS1,250511,050113,4747.792,-12504.730,12,1.2,17,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,13.14
$_SM_ANGLEo,-5.1
$GPS2,250511,050113,4747.792,-12504.730,12,1.2,17,18.7
$SPEED_LIMITS,0.231,0.327
$TGT_NAME,HEADING
$TGT_LATLONG,4747.792,-12520.807
$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,185
$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,-7.00,0.000,2,0.000,0.000,2905,2054,3283,0,0,0,0,0,0
$GC,29,-0.75,-195.5,15.8,-0.0,1,44,0.65,2.70,-4.20,0.000,4,0.068,0.070,2660,3694,3534,0,0,0,0,0,0
$GC,119,-0.74,-195.5,29.3,-18.5,17,126,0.00,2.42,0.00,0.000,6,0.000,0.042,2660,2171,3536,0,0,0,0,0,0
$GC,192,-0.71,-195.5,43.3,-21.2,30,200,0.00,2.40,0.00,0.000,4,0.000,0.050,2660,657,3536,0,0,0,0,0,0
$GC,224,-0.68,-195.5,50.0,-19.5,35,232,0.08,2.38,0.00,0.000,6,0.134,0.050,2685,2145,3536,0,0,0,0,0,0
$GC,298,-0.66,-195.5,63.5,-18.5,48,305,0.00,2.47,0.00,0.000,4,0.000,0.059,2675,3694,3536,0,0,0,0,0,0
$GC,319,-0.65,-195.5,67.5,-18.3,51,326,0.00,2.50,0.00,0.000,6,0.000,0.044,2674,2120,3537,0,0,0,0,0,0
$GC,394,-0.63,-195.5,80.0,-18.0,64,401,0.00,2.30,0.00,0.000,4,0.000,0.052,2674,663,3536,0,0,0,0,0,0
$GC,438,-0.63,-195.5,87.6,-16.3,71,446,0.10,2.25,0.00,0.000,6,0.121,0.050,2699,2082,3537,0,0,0,0,0,0
$GC,512,-0.63,-195.5,95.1,-8.7,84,519,0.00,2.58,0.00,0.000,4,0.000,0.060,2690,3695,3537,0,0,0,0,0,0
$GC,538,-0.63,-195.5,97.6,-9.2,88,545,0.00,2.53,0.00,0.000,6,0.000,0.044,2689,2074,3536,0,0,0,0,0,0
$GC,613,-0.63,-195.5,105.6,-12.0,97,619,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2069,3537,0,0,0,0,0,0
$GC,748,-0.63,-195.5,126.5,-16.1,110,749,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2069,3536,0,0,0,0,0,0
$GC,875,-0.63,-195.5,146.8,-15.5,122,879,0.00,2.58,0.00,0.000,4,0.000,0.058,2678,3697,3537,0,0,0,0,0,0
$GC,931,-0.64,-195.5,154.9,-13.4,126,939,0.00,2.50,0.00,0.000,6,0.000,0.044,2677,2076,3537,0,0,0,0,0,0
$GC,1067,-0.64,-195.5,175.8,-15.8,139,1068,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2072,3537,0,0,0,0,0,0
$STATE,1129,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1129,begin apogee
$GC,1136,-0.22,0.0,185.4,15.1,145,1294,0.45,0.00,154.65,0.692,6,0.125,0.000,2827,2071,2735,0,0,0,0,0,0
$STATE,1296,end apogee,CONTROL_FINISHED_OK
$STATE,1296,begin climb
$GC,1299,0.75,195.5,194.8,0.0,161,1467,0.93,0.00,160.15,0.672,6,0.086,0.000,3140,2072,1937,0,0,0,0,0,0
$GC,1595,0.74,195.5,163.3,15.1,190,1596,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2071,1930,0,0,0,0,0,0
$GC,1722,0.73,195.5,145.0,13.6,202,1723,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2071,1928,0,0,0,0,0,0
$GC,1850,0.73,201.6,128.0,13.1,214,1858,0.00,0.00,4.88,0.478,6,0.000,0.000,3141,2071,1913,0,0,0,0,0,0
$GC,1985,0.74,208.8,109.2,13.0,227,1995,0.00,0.00,7.82,0.553,6,0.000,0.000,3140,2071,1883,0,0,0,0,0,0
$GC,2121,0.74,208.8,91.1,14.9,245,2128,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2072,1881,0,0,0,0,0,0
$GC,2192,0.74,208.8,80.9,13.6,258,2200,0.00,2.42,0.00,0.000,4,0.000,0.055,3140,3576,1881,0,0,0,0,0,0
$GC,2239,0.77,261.9,75.2,10.9,266,2293,0.00,2.40,43.45,0.617,6,0.000,0.043,3151,2056,1667,0,0,0,0,0,0
$GC,2361,0.77,266.5,61.9,13.1,286,2376,0.00,2.42,4.75,0.455,4,0.000,0.053,3162,557,1648,0,0,0,0,0,0
$GC,2446,0.83,338.5,52.4,10.0,301,2512,0.00,2.35,59.15,0.599,6,0.000,0.046,3162,2043,1354,0,0,0,0,0,0
$GC,2580,0.85,352.4,36.0,12.7,323,2594,0.00,0.00,11.90,0.546,6,0.000,0.000,3161,2043,1297,0,0,0,0,0,0
$GC,2659,0.87,353.4,26.2,13.3,337,2667,0.00,2.42,0.00,0.000,4,0.000,0.054,3171,550,1293,0,0,0,0,0,0
$GC,2707,0.92,373.5,20.2,12.4,345,2736,0.00,2.33,17.85,0.562,6,0.000,0.045,3171,2014,1210,0,0,0,0,0,0
$GC,2803,1.00,456.9,10.7,9.5,361,2812,0.15,0.00,6.47,0.482,2,0.082,0.000,3237,2014,1185,0,0,0,0,0,0
$STATE,2813,end climb,FINISH_DEPTH_REACHED
$STATE,2813,begin subsurface finish
$FINISH1,9.9,1.023716,-35
$GC,2822,-0.02,-35.5,9.9,-8.8,362,2875,1.02,2.50,-41.45,0.000,4,0.116,0.071,2901,3568,2883,0,0,0,0,0,0
$FINISH2,9.0
$STATE,2876,end subsurface finish,CONTROL_FINISHED_OK
$STATE,2876,begin surface
$IRIDIUM_FIX,4732.49,-12505.82,250511,020252
$TT8_MAMPS,0.027713
$HUMID,36.61
$INTERNAL_PRESSURE,9.17689
$TCM_TEMP,15.80
$XPDR_PINGS,0
$24V_AH,24.0,33.349
$10V_AH,10.2,24.933
$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,3.375,46.500,471.075,0.000,0.000,0.000,0.000,0.000,5.500,0.000,0.000,806.028,728.484,492.600,787.843,107.499,0.000,910.192,0.000,793.323,0.000,35.038,0.000
$DEVICE_MAMPS,133.875,153.765,692.325,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,247.559,271.525,580.439,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297616
$DATA_FILE_SIZE,20266,370
$CAP_FILE_SIZE,53262,0
$CFSIZE,260165632,195100672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250511,050113,4747.792,-12504.730,12,1.2,17,18.7