version: 66.07
glider: 187
mission: 4
dive: 335
start: 5 25 111 1 19 46
data:
$ID,187
$MISSION,4
$DIVE,335
$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,36
$R_STBD_OVSHOOT,29
$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
$GPS1,250511,001356,4749.400,-12502.141,15,0.9,15,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,12.83
$_SM_ANGLEo,-6.7
$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,17,-0.75,-195.5,0.0,0.0,0,25,0.00,0.00,-6.40,0.000,2,0.000,0.000,2901,549,3300,0,0,0,0,0,0
$GC,29,-0.75,-195.5,15.2,-0.0,1,44,0.65,5.03,-4.03,0.000,4,0.076,0.057,2656,3691,3536,0,0,0,0,0,0
$GC,162,-0.74,-195.5,34.2,-17.4,25,169,0.00,2.40,0.00,0.000,6,0.000,0.042,2656,2172,3537,0,0,0,0,0,0
$GC,235,-0.70,-195.5,49.0,-21.3,38,243,0.00,2.38,0.00,0.000,4,0.000,0.050,2656,663,3537,0,0,0,0,0,0
$GC,278,-0.68,-195.5,58.7,-22.3,45,286,0.10,2.35,0.00,0.000,6,0.139,0.048,2689,2151,3537,0,0,0,0,0,0
$GC,352,-0.67,-195.5,72.2,-16.7,58,359,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2151,3537,0,0,0,0,0,0
$GC,425,-0.67,-195.5,84.9,-15.1,71,432,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2151,3537,0,0,0,0,0,0
$GC,500,-0.67,-195.5,95.2,-13.4,84,508,0.00,2.45,0.00,0.000,4,0.000,0.060,2680,3694,3537,0,0,0,0,0,0
$GC,540,-0.67,-195.5,100.3,-12.8,90,544,0.00,2.45,0.00,0.000,6,0.000,0.043,2679,2113,3537,0,0,0,0,0,0
$GC,674,-0.67,-195.5,118.8,-13.9,102,678,0.00,2.40,0.00,0.000,3,0.000,0.057,2668,3625,3537,0,0,0,0,0,0
$STATE,679,end dive,TARGET_DEPTH_EXCEEDED
$STATE,679,begin apogee
$GC,688,-0.22,0.0,119.7,13.6,102,848,0.47,0.00,153.75,0.642,6,0.127,0.000,2825,2046,2734,0,0,0,0,0,0
$STATE,850,end apogee,CONTROL_FINISHED_OK
$STATE,850,begin climb
$GC,853,0.75,195.5,126.3,0.0,118,1018,0.93,0.00,158.18,0.623,6,0.087,0.000,3139,2046,1938,0,0,0,0,0,0
$GC,1144,0.76,206.8,97.4,12.8,146,1160,0.00,2.58,9.62,0.541,4,0.000,0.054,3139,3578,1891,0,0,0,0,0,0
$GC,1218,0.76,206.8,86.7,14.4,159,1226,0.00,2.45,0.00,0.000,6,0.000,0.041,3150,2058,1888,0,0,0,0,0,0
$GC,1292,0.78,247.7,78.1,11.5,172,1334,0.00,2.50,33.97,0.591,4,0.000,0.054,3150,3575,1724,0,0,0,0,0,0
$GC,1347,0.83,330.8,72.4,9.5,180,1421,0.00,2.42,67.55,0.588,6,0.000,0.042,3160,2079,1385,0,0,0,0,0,0
$GC,1489,0.84,330.8,51.5,16.1,203,1496,0.00,2.47,0.00,0.000,4,0.000,0.052,3171,537,1379,0,0,0,0,0,0
$GC,1551,0.88,350.2,43.1,12.4,214,1573,0.00,2.45,16.10,0.549,6,0.000,0.045,3171,2070,1306,0,0,0,0,0,0
$GC,1639,0.89,364.5,32.3,12.7,229,1654,0.00,0.00,12.73,0.535,6,0.000,0.000,3171,2070,1248,0,0,0,0,0,0
$GC,1718,0.91,364.5,21.2,13.9,243,1726,0.00,2.47,0.00,0.000,4,0.000,0.056,3171,3572,1244,0,0,0,0,0,0
$GC,1755,0.94,391.8,16.4,12.1,249,1789,0.00,2.40,23.15,0.552,6,0.000,0.043,3179,2075,1136,0,0,0,0,0,0
$STATE,1854,end climb,FINISH_DEPTH_REACHED
$STATE,1854,begin subsurface finish
$FINISH1,9.7,1.023538,-27
$GC,1861,-0.02,-26.7,9.7,-7.1,266,1909,0.80,2.42,-38.80,0.000,4,0.098,0.062,2906,539,2847,0,0,0,0,0,0
$FINISH2,10.5
$STATE,1909,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1910,begin surface
$IRIDIUM_FIX,4732.49,-12503.20,240511,222227
$TT8_MAMPS,0.027713
$HUMID,37.08
$INTERNAL_PRESSURE,9.17689
$TCM_TEMP,16.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,105.6,51.1
$24V_AH,24.1,32.726
$10V_AH,10.3,24.650
$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,2.950,44.100,475.050,0.000,0.000,0.000,0.000,0.000,2.000,0.000,0.000,568.904,234.095,449.846,617.812,84.571,0.000,804.696,0.000,630.581,0.000,16.172,0.000
$DEVICE_MAMPS,139.230,61.965,641.835,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,181.808,198.496,498.601,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297580
$DATA_FILE_SIZE,13627,273
$CAP_FILE_SIZE,38774,0
$CFSIZE,260165632,195330048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250511,001356,4749.400,-12502.141,15,0.9,15,18.7