version: 66.07
glider: 187
mission: 4
dive: 344
start: 5 25 111 7 29 44
data:
$ID,187
$MISSION,4
$DIVE,344
$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,32
$R_STBD_OVSHOOT,28
$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,13.61
$_SM_ANGLEo,-5.5
$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,16,-0.75,-195.5,0.0,0.0,0,25,0.00,0.00,-6.70,0.000,2,0.000,0.000,2900,3584,3260,0,0,0,0,0,0
$GC,28,-0.75,-195.5,16.0,-0.0,1,37,0.62,0.17,-4.55,0.000,4,0.057,0.282,2656,3694,3534,0,0,0,0,0,0
$GC,96,-0.75,-195.5,25.7,-16.1,13,104,0.00,2.40,0.00,0.000,6,0.000,0.042,2656,2174,3537,0,0,0,0,0,0
$GC,170,-0.72,-195.5,40.2,-21.4,26,177,0.00,2.40,0.00,0.000,4,0.000,0.050,2656,657,3537,0,0,0,0,0,0
$GC,197,-0.69,-195.5,46.2,-21.2,30,205,0.10,2.40,0.00,0.000,6,0.135,0.048,2678,2167,3537,0,0,0,0,0,0
$GC,271,-0.67,-195.5,60.2,-18.3,43,278,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2167,3538,0,0,0,0,0,0
$GC,343,-0.65,-195.5,72.9,-16.1,56,350,0.00,2.38,0.00,0.000,4,0.000,0.050,2678,667,3538,0,0,0,0,0,0
$GC,374,-0.64,-195.5,78.1,-16.6,61,381,0.00,2.35,0.00,0.000,6,0.000,0.048,2669,2155,3537,0,0,0,0,0,0
$GC,448,-0.62,-195.5,89.5,-14.5,74,457,0.12,2.47,0.00,0.000,4,0.158,0.060,2694,3694,3538,0,0,0,0,0,0
$GC,493,-0.64,-195.5,95.2,-11.5,81,501,0.00,2.40,0.00,0.000,6,0.000,0.044,2693,2169,3538,0,0,0,0,0,0
$GC,567,-0.64,-195.5,104.6,-13.3,91,568,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2166,3538,0,0,0,0,0,0
$GC,696,-0.64,-195.5,121.4,-13.1,103,700,0.00,2.33,0.00,0.000,4,0.000,0.050,2693,664,3538,0,0,0,0,0,0
$GC,718,-0.64,-195.5,124.9,-13.1,104,726,0.00,2.33,0.00,0.000,6,0.000,0.047,2684,2170,3538,0,0,0,0,0,0
$GC,854,-0.64,-195.5,144.2,-15.1,117,858,0.00,2.42,0.00,0.000,4,0.000,0.059,2672,3696,3538,0,0,0,0,0,0
$GC,881,-0.64,-195.5,149.0,-15.4,119,888,0.00,2.38,0.00,0.000,6,0.000,0.044,2671,2164,3538,0,0,0,0,0,0
$GC,1016,-0.64,-195.5,170.5,-16.1,132,1017,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2158,3538,0,0,0,0,0,0
$STATE,1110,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1111,begin apogee
$GC,1118,-0.22,0.0,185.9,16.1,141,1277,0.47,0.00,155.32,0.694,6,0.125,0.000,2828,2039,2735,0,0,0,0,0,0
$STATE,1279,end apogee,CONTROL_FINISHED_OK
$STATE,1279,begin climb
$GC,1282,0.75,195.5,196.6,0.0,157,1451,0.93,0.00,160.68,0.673,6,0.086,0.000,3143,2039,1937,0,0,0,0,0,0
$GC,1577,0.74,195.5,168.0,14.7,186,1578,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2039,1930,0,0,0,0,0,0
$GC,1704,0.73,195.5,149.7,13.8,198,1705,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2039,1929,0,0,0,0,0,0
$GC,1833,0.72,195.5,132.4,13.4,210,1837,0.00,2.47,0.00,0.000,4,0.000,0.056,3143,3580,1929,0,0,0,0,0,0
$GC,1866,0.70,195.5,127.0,15.3,212,1872,0.00,2.38,0.00,0.000,6,0.000,0.042,3154,2075,1928,0,0,0,0,0,0
$GC,2000,0.69,195.5,106.8,14.8,225,2004,0.00,2.40,0.00,0.000,4,0.000,0.052,3165,538,1928,0,0,0,0,0,0
$GC,2033,0.67,195.5,101.7,14.8,227,2042,0.15,2.35,0.00,0.000,6,0.156,0.046,3125,2050,1927,0,0,0,0,0,0
$GC,2167,0.71,264.7,87.0,10.2,251,2227,0.00,2.55,55.12,0.622,4,0.000,0.055,3125,3581,1655,0,0,0,0,0,0
$GC,2291,0.73,299.9,73.7,11.7,271,2325,0.00,2.40,29.15,0.598,6,0.000,0.043,3132,2084,1512,0,0,0,0,0,0
$GC,2395,0.76,319.7,61.8,12.4,288,2416,0.00,2.53,16.80,0.576,4,0.000,0.052,3142,546,1430,0,0,0,0,0,0
$GC,2508,0.84,390.9,49.2,10.1,308,2575,0.00,2.35,58.10,0.591,6,0.000,0.045,3141,2024,1140,0,0,0,0,0,0
$GC,2642,0.89,421.2,33.9,12.0,330,2677,0.15,2.58,25.17,0.566,4,0.083,0.055,3209,3568,1016,0,0,0,0,0,0
$GC,2685,0.89,421.2,26.7,18.1,336,2692,0.00,2.47,0.00,0.000,6,0.000,0.044,3219,2027,1014,0,0,0,0,0,0
$GC,2757,0.89,421.2,13.3,17.7,349,2764,0.00,2.40,0.00,0.000,4,0.000,0.054,3229,544,1011,0,0,0,0,0,0
$GC,2773,0.89,421.2,10.8,16.5,351,2781,0.08,2.42,0.00,0.000,6,0.109,0.045,3188,2066,1011,0,0,0,0,0,0
$STATE,2827,end climb,SURFACE_DEPTH_REACHED
$STATE,2827,begin surface coast
$FINISH,0.5,1.023442
$STATE,2867,end surface coast,CONTROL_FINISHED_OK
$STATE,2867,begin surface
$SM_CCo,2945,0.00,0.000,0,0,1007,423.88
$SM_GC,1.50,8.02,0.00,0.00,0.032,0.000,0.000,124,2197,1007,-8.57,0.62,423.88
$IRIDIUM_FIX,4732.49,-12505.82,250511,020252
$TT8_MAMPS,0.027713
$HUMID,36.96
$INTERNAL_PRESSURE,9.0011
$TCM_TEMP,15.00
$XPDR_PINGS,0
$24V_AH,23.9,33.537
$10V_AH,10.3,25.020
$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,10.650,56.050,500.350,0.000,0.000,0.000,0.000,0.000,5.500,0.000,0.000,828.906,776.337,481.055,794.490,117.222,0.000,901.924,0.000,800.214,0.000,35.012,0.000
$DEVICE_MAMPS,157.590,281.520,693.855,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,247.070,269.982,576.127,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20253,368
$CAP_FILE_SIZE,57495,0
$CFSIZE,260165632,195031040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250511,082007,4746.550,-12507.125,40,1.0,41,18.7