version: 66.07
glider: 187
mission: 4
dive: 292
start: 5 24 111 1 24 18
data:
$ID,187
$MISSION,4
$DIVE,292
$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,20
$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,30
$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,-1584179.5
$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,39
$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
$GPS1,240511,000654,4753.417,-12459.645,28,1.2,45,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,16.87
$_SM_ANGLEo,0.4
$GPS2,240511,000654,4753.417,-12459.645,28,1.2,45,18.7
$SPEED_LIMITS,0.231,0.327
$TGT_NAME,HEADING
$TGT_LATLONG,4802.769,-12451.567
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.195,0.262
$KALMAN_X,-581.1,-164.8,73.8,3254.4,-1.0
$KALMAN_Y,-4164.7,-1110.7,-315.0,5923.2,1022.5
$MHEAD_RNG_PITCHd_Wd,11.3,20000,-20.3,-13.333
$D_GRID,97
$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,-6.38,0.000,2,0.000,0.000,2908,3578,3153,0,0,0,0,0,0
$GC,28,-0.75,-195.5,19.1,-0.0,1,43,0.68,4.60,-5.78,0.000,4,0.087,0.051,2665,663,3536,0,0,0,0,0,0
$GC,126,-0.74,-195.5,36.2,-20.8,18,133,0.00,2.40,0.00,0.000,6,0.000,0.049,2657,2178,3537,0,0,0,0,0,0
$GC,198,-0.70,-195.5,54.9,-26.4,31,205,0.00,2.47,0.00,0.000,4,0.000,0.058,2645,3697,3537,0,0,0,0,0,0
$GC,216,-0.67,-195.5,59.5,-27.1,33,224,0.08,2.42,0.00,0.000,6,0.119,0.044,2683,2166,3537,0,0,0,0,0,0
$GC,290,-0.66,-195.5,76.1,-20.2,46,297,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2160,3537,0,0,0,0,0,0
$GC,364,-0.66,-195.5,88.7,-16.3,59,371,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2160,3537,0,0,0,0,0,0
$STATE,422,end dive,TARGET_DEPTH_EXCEEDED
$STATE,422,begin apogee
$GC,428,-0.22,0.0,97.7,14.6,70,585,0.45,0.00,153.18,0.633,6,0.127,0.000,2833,2046,2734,0,0,0,0,0,0
$STATE,589,end apogee,CONTROL_FINISHED_OK
$STATE,589,begin climb
$GC,591,0.75,195.5,106.6,0.0,86,759,0.90,2.45,157.70,0.610,4,0.086,0.049,3151,559,1937,0,0,0,0,0,0
$GC,788,0.75,195.5,91.8,13.4,108,796,0.00,2.45,0.00,0.000,6,0.000,0.044,3151,2061,1933,0,0,0,0,0,0
$GC,861,0.74,195.5,81.8,14.1,121,869,0.00,2.47,0.00,0.000,4,0.000,0.057,3151,3577,1931,0,0,0,0,0,0
$GC,960,0.73,195.5,66.9,14.7,139,967,0.00,2.38,0.00,0.000,6,0.000,0.041,3162,2097,1928,0,0,0,0,0,0
$GC,1032,0.75,228.5,57.4,11.8,152,1067,0.00,2.50,27.05,0.575,4,0.000,0.050,3172,539,1801,0,0,0,0,0,0
$GC,1112,0.75,241.0,47.5,12.8,165,1133,0.00,2.42,10.98,0.532,6,0.000,0.045,3172,2058,1753,0,0,0,0,0,0
$GC,1199,0.75,241.0,35.3,14.1,180,1206,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2058,1750,0,0,0,0,0,0
$GC,1271,0.75,241.0,25.3,13.7,193,1278,0.00,2.42,0.00,0.000,4,0.000,0.050,3182,545,1749,0,0,0,0,0,0
$GC,1303,0.76,250.6,21.0,12.9,198,1319,0.08,2.40,9.05,0.517,6,0.132,0.046,3146,2065,1712,0,0,0,0,0,0
$GC,1386,0.82,325.3,12.9,9.9,212,1453,0.00,2.47,60.28,0.565,4,0.000,0.050,3146,536,1407,0,0,0,0,0,0
$GC,1490,0.98,484.6,6.2,6.1,228,1520,0.15,2.38,23.65,0.543,2,0.044,0.045,3238,2019,1292,0,0,0,0,0,0
$STATE,1520,end climb,SURFACE_DEPTH_REACHED
$STATE,1520,begin surface coast
$FINISH,1.6,1.023482
$STATE,1532,end surface coast,CONTROL_FINISHED_OK
$STATE,1533,begin surface
$SM_CCo,1551,17.85,0.333,1,0,1205,375.06
$SM_GC,1.48,0.00,0.00,17.85,0.000,0.000,0.333,136,2184,1205,-8.65,0.25,375.06
$IRIDIUM_FIX,4735.69,-12502.41,230511,222215
$TT8_MAMPS,0.027713
$HUMID,35.54
$INTERNAL_PRESSURE,9.02063
$TCM_TEMP,15.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.6,31.9
$24V_AH,24.1,29.015
$10V_AH,10.3,23.024
$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,10.700,36.625,441.875,17.850,0.000,0.000,0.000,0.000,0.500,0.000,0.000,498.286,84.852,422.068,543.261,80.023,0.000,735.482,0.000,559.462,0.000,5.501,0.000
$DEVICE_MAMPS,132.345,78.795,633.420,332.775,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,154.485,168.636,456.458,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297588
$DATA_FILE_SIZE,13664,234
$CAP_FILE_SIZE,36391,0
$CFSIZE,260165632,196534272
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240511,015136,4753.647,-12458.420,10,1.6,26,18.7