version: 66.07
glider: 187
mission: 4
dive: 333
start: 5 25 111 0 14 18
data:
$ID,187
$MISSION,4
$DIVE,333
$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,-1584215.8
$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,29
$R_STBD_OVSHOOT,43
$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
$GPS1,250511,000901,4749.435,-12502.149,66,1.8,66,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-78.0
$GPS2,250511,001356,4749.400,-12502.141,15,0.9,15,18.7
$SPEED_LIMITS,0.231,0.327
$TGT_NAME,HEADING
$TGT_LATLONG,4749.400,-12518.225
$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,119
$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,15,-0.75,-195.5,0.0,0.0,0,83,0.00,0.00,-65.18,0.000,2,0.000,0.000,131,2195,2744,0,0,0,0,0,0
$GC,86,-0.75,-195.5,3.1,-4.6,10,121,10.02,2.47,-15.90,0.000,4,0.236,0.066,2655,624,3535,0,0,0,0,0,0
$GC,225,-0.73,-195.5,38.9,-22.7,34,232,0.00,2.42,0.00,0.000,6,0.000,0.047,2646,2161,3538,0,0,0,0,0,0
$GC,297,-0.68,-195.5,56.0,-23.6,47,305,0.12,2.45,0.00,0.000,4,0.169,0.057,2669,3695,3538,0,0,0,0,0,0
$GC,331,-0.66,-195.5,62.8,-19.6,52,338,0.00,2.40,0.00,0.000,6,0.000,0.043,2668,2170,3538,0,0,0,0,0,0
$GC,404,-0.64,-195.5,75.3,-17.5,65,412,0.10,2.38,0.00,0.000,4,0.177,0.051,2694,667,3538,0,0,0,0,0,0
$GC,425,-0.62,-195.5,79.2,-17.6,68,436,0.00,2.35,0.00,0.000,6,0.000,0.047,2685,2166,3538,0,0,0,0,0,0
$GC,505,-0.62,-195.5,91.5,-16.2,81,512,0.00,2.47,0.00,0.000,4,0.000,0.059,2673,3693,3539,0,0,0,0,0,0
$GC,561,-0.62,-195.5,100.9,-15.2,91,566,0.12,2.30,0.00,0.000,6,0.146,0.042,2708,2194,3539,0,0,0,0,0,0
$STATE,694,end dive,TARGET_DEPTH_EXCEEDED
$STATE,694,begin apogee
$GC,702,-0.22,0.0,119.8,14.7,103,860,0.35,0.00,153.40,0.642,6,0.122,0.000,2828,2054,2735,0,0,0,0,0,0
$STATE,862,end apogee,CONTROL_FINISHED_OK
$STATE,862,begin climb
$GC,864,0.75,195.5,129.5,0.0,119,1032,0.93,2.55,157.60,0.623,4,0.090,0.052,3140,3583,1937,0,0,0,0,0,0
$GC,1081,0.74,195.5,109.8,14.6,138,1089,0.00,2.47,0.00,0.000,6,0.000,0.041,3152,2046,1931,0,0,0,0,0,0
$GC,1216,0.73,195.5,90.2,15.5,157,1223,0.00,2.40,0.00,0.000,4,0.000,0.051,3163,553,1929,0,0,0,0,0,0
$GC,1231,0.73,195.5,87.6,15.4,159,1239,0.00,2.40,0.00,0.000,6,0.000,0.044,3163,2064,1929,0,0,0,0,0,0
$GC,1305,0.72,202.3,77.6,13.0,172,1320,0.00,2.47,5.65,0.471,4,0.000,0.055,3163,3573,1909,0,0,0,0,0,0
$GC,1355,0.70,202.3,70.5,14.8,180,1363,0.10,2.35,0.00,0.000,6,0.136,0.041,3133,2097,1908,0,0,0,0,0,0
$GC,1429,0.73,251.9,61.6,11.1,193,1476,0.00,2.55,41.20,0.587,4,0.000,0.051,3142,546,1707,0,0,0,0,0,0
$GC,1519,0.81,338.3,52.9,9.4,207,1598,0.00,2.45,69.60,0.579,6,0.000,0.045,3142,2081,1353,0,0,0,0,0,0
$GC,1667,0.85,372.3,37.0,11.8,231,1700,0.10,0.00,27.55,0.557,6,0.100,0.000,3193,2082,1216,0,0,0,0,0,0
$GC,1766,0.85,372.3,21.6,14.4,248,1773,0.00,2.45,0.00,0.000,4,0.000,0.052,3204,546,1212,0,0,0,0,0,0
$GC,1786,0.85,372.3,18.4,15.0,251,1793,0.00,2.47,0.00,0.000,6,0.000,0.045,3204,2121,1211,0,0,0,0,0,0
$STATE,1856,end climb,FINISH_DEPTH_REACHED
$STATE,1856,begin subsurface finish
$FINISH1,9.9,1.023866,-43
$GC,1864,-0.03,-43.0,9.9,-12.5,264,1912,0.90,0.00,-41.05,0.000,6,0.109,0.000,2904,2049,2913,0,0,0,0,0,0
$FINISH2,8.5
$STATE,1913,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1913,begin surface
$IRIDIUM_FIX,4732.49,-12503.20,240511,222227
$TT8_MAMPS,0.027713
$HUMID,35.50
$INTERNAL_PRESSURE,9.18665
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.5,51.1
$24V_AH,24.1,32.569
$10V_AH,10.2,24.578
$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,12.750,44.100,455.000,0.000,0.000,25.591,37.943,125.912,0.750,0.000,16.731,546.730,222.717,489.009,816.580,137.199,0.000,875.475,0.000,639.154,0.000,7.091,0.000
$DEVICE_MAMPS,236.385,95.625,641.835,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,179.284,192.117,494.353,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297556
$DATA_FILE_SIZE,13633,271
$CAP_FILE_SIZE,45681,0
$CFSIZE,260165632,195379200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,250511,001356,4749.400,-12502.141,15,0.9,15,18.7