version: 66.07
glider: 187
mission: 4
dive: 343
start: 5 25 111 6 41 48
data:
$ID,187
$MISSION,4
$DIVE,343
$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,36
$R_STBD_OVSHOOT,36
$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,13.00
$_SM_ANGLEo,-5.7
$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,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,-6.35,0.000,2,0.000,0.000,2901,3569,3248,0,0,0,0,0,0
$GC,28,-0.75,-195.5,15.4,-0.0,1,37,0.62,0.20,-4.85,0.000,4,0.060,0.255,2659,3691,3533,0,0,0,0,0,0
$GC,86,-0.74,-195.5,22.9,-16.0,11,93,0.00,2.40,0.00,0.000,6,0.000,0.042,2658,2169,3537,0,0,0,0,0,0
$GC,158,-0.70,-195.5,36.5,-21.5,24,166,0.00,2.38,0.00,0.000,4,0.000,0.050,2658,664,3536,0,0,0,0,0,0
$GC,196,-0.67,-195.5,44.8,-21.7,30,204,0.08,2.38,0.00,0.000,6,0.142,0.048,2683,2162,3537,0,0,0,0,0,0
$GC,269,-0.65,-195.5,59.4,-19.8,43,276,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2162,3537,0,0,0,0,0,0
$GC,341,-0.64,-195.5,72.1,-16.6,56,348,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2162,3537,0,0,0,0,0,0
$GC,413,-0.63,-195.5,84.8,-18.8,69,422,0.00,2.35,0.00,0.000,4,0.000,0.050,2683,668,3537,0,0,0,0,0,0
$GC,429,-0.63,-195.5,87.8,-17.8,71,437,0.00,2.33,0.00,0.000,6,0.000,0.047,2675,2149,3537,0,0,0,0,0,0
$GC,510,-0.62,-195.5,102.0,-17.9,84,515,0.12,2.45,0.00,0.000,4,0.157,0.060,2699,3690,3537,0,0,0,0,0,0
$GC,538,-0.62,-195.5,106.9,-15.8,86,543,0.00,2.40,0.00,0.000,6,0.000,0.043,2698,2143,3537,0,0,0,0,0,0
$GC,674,-0.62,-195.5,123.9,-12.6,98,678,0.00,2.30,0.00,0.000,4,0.000,0.051,2697,656,3537,0,0,0,0,0,0
$GC,691,-0.62,-195.5,126.3,-12.3,99,695,0.00,2.30,0.00,0.000,6,0.000,0.049,2689,2145,3537,0,0,0,0,0,0
$GC,834,-0.62,-195.5,145.3,-14.2,112,838,0.00,2.45,0.00,0.000,4,0.000,0.060,2677,3695,3537,0,0,0,0,0,0
$GC,862,-0.62,-195.5,149.7,-14.3,114,869,0.00,2.42,0.00,0.000,6,0.000,0.044,2676,2131,3537,0,0,0,0,0,0
$GC,1008,-0.62,-195.5,170.8,-14.4,127,1015,0.10,0.00,0.00,0.000,6,0.168,0.000,2702,2125,3537,0,0,0,0,0,0
$STATE,1110,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1111,begin apogee
$GC,1118,-0.22,0.0,185.4,12.8,137,1276,0.38,0.00,155.02,0.693,6,0.120,0.000,2831,2045,2735,0,0,0,0,0,0
$STATE,1279,end apogee,CONTROL_FINISHED_OK
$STATE,1279,begin climb
$GC,1281,0.75,195.5,192.4,0.0,153,1449,0.90,0.00,160.07,0.671,6,0.085,0.000,3139,2044,1938,0,0,0,0,0,0
$GC,1574,0.74,195.5,159.8,15.1,181,1578,0.00,2.38,0.00,0.000,4,0.000,0.050,3150,556,1930,0,0,0,0,0,0
$GC,1606,0.74,195.5,154.8,14.7,183,1614,0.00,2.40,0.00,0.000,6,0.000,0.045,3150,2056,1930,0,0,0,0,0,0
$GC,1743,0.74,211.7,137.3,12.6,196,1767,0.00,2.50,13.80,0.604,4,0.000,0.056,3150,3569,1869,0,0,0,0,0,0
$GC,1780,0.72,211.7,131.8,14.3,199,1785,0.00,2.42,0.00,0.000,6,0.000,0.042,3162,2043,1869,0,0,0,0,0,0
$GC,1917,0.70,211.7,111.3,14.5,211,1923,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,2042,1867,0,0,0,0,0,0
$GC,2052,0.69,211.7,91.2,13.9,229,2060,0.12,2.38,0.00,0.000,4,0.161,0.052,3137,536,1867,0,0,0,0,0,0
$GC,2074,0.69,211.7,88.0,14.1,232,2081,0.00,2.38,0.00,0.000,6,0.000,0.046,3137,2045,1866,0,0,0,0,0,0
$GC,2147,0.71,242.8,79.1,11.9,245,2182,0.00,2.50,25.88,0.610,4,0.000,0.057,3137,3565,1744,0,0,0,0,0,0
$GC,2221,0.72,264.1,70.0,12.4,257,2249,0.00,2.40,18.52,0.589,6,0.000,0.043,3147,2060,1657,0,0,0,0,0,0
$GC,2315,0.76,326.6,59.3,10.5,273,2375,0.00,2.47,51.00,0.600,4,0.000,0.053,3156,553,1401,0,0,0,0,0,0
$GC,2468,0.83,402.5,43.5,9.9,299,2535,0.00,2.40,61.03,0.587,6,0.000,0.045,3156,2060,1093,0,0,0,0,0,0
$GC,2601,0.89,451.7,27.5,11.1,321,2649,0.10,2.47,39.85,0.569,4,0.099,0.052,3215,546,892,0,0,0,0,0,0
$GC,2674,0.90,451.7,16.4,16.6,332,2681,0.00,2.42,0.00,0.000,6,0.000,0.045,3215,2047,890,0,0,0,0,0,0
$STATE,2723,end climb,FINISH_DEPTH_REACHED
$STATE,2723,begin subsurface finish
$FINISH1,9.8,1.023638,-32
$GC,2730,-0.02,-31.7,9.8,-12.4,341,2784,0.95,2.50,-45.88,0.000,4,0.104,0.069,2901,3584,2866,0,0,0,0,0,0
$FINISH2,9.7
$STATE,2785,end subsurface finish,CONTROL_FINISHED_OK
$STATE,2785,begin surface
$IRIDIUM_FIX,4732.49,-12505.82,250511,020252
$TT8_MAMPS,0.027713
$HUMID,36.13
$INTERNAL_PRESSURE,9.16712
$TCM_TEMP,15.80
$XPDR_PINGS,0
$24V_AH,24.0,33.445
$10V_AH,10.2,24.976
$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,3.375,58.075,525.175,0.000,0.000,0.000,0.000,0.000,5.500,0.000,0.000,756.255,680.174,518.823,769.637,107.206,0.000,959.112,0.000,771.545,0.000,35.025,0.000
$DEVICE_MAMPS,168.300,254.745,693.090,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,232.865,254.602,542.578,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20264,349
$CAP_FILE_SIZE,55181,0
$CFSIZE,260165632,195067904
$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