version: 66.07
glider: 187
mission: 4
dive: 271
start: 5 23 111 14 11 56
data:
$ID,187
$MISSION,4
$DIVE,271
$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,0
$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,2
$FERRY_MAX,45
$KALMAN_USE,0
$HD_A,0.0046000001
$HD_B,0.0099999998
$HD_C,1.34e-05
$HEADING,-1
$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,0
$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,-1584163.2
$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,31
$R_STBD_OVSHOOT,40
$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
$GPS1,230511,140626,4753.118,-12503.426,11,1.8,11,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-78.3
$GPS2,230511,141102,4753.100,-12503.459,15,1.9,15,18.7
$SPEED_LIMITS,0.231,0.327
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.154,0.288
$KALMAN_X,-7.5,-7.5,-7.5,360.5,-17.9
$KALMAN_Y,-88.6,-88.6,-88.6,312.7,-209.8
$MHEAD_RNG_PITCHd_Wd,357.6,12104,-20.3,-13.333
$D_GRID,111
$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,-195.5,0.0,0.0,0,84,0.00,0.00,-65.90,0.000,2,0.000,0.000,133,2186,2581,0,0,0,0,0,0
$GC,87,-0.75,-195.5,3.1,-4.9,10,123,10.12,2.40,-19.35,0.000,4,0.239,0.062,2657,659,3535,0,0,0,0,0,0
$GC,254,-0.72,-195.5,46.1,-23.1,39,261,0.00,2.38,0.00,0.000,6,0.000,0.047,2648,2161,3536,0,0,0,0,0,0
$GC,327,-0.68,-195.5,61.8,-21.7,52,335,0.12,2.45,0.00,0.000,4,0.168,0.058,2671,3692,3537,0,0,0,0,0,0
$GC,383,-0.67,-195.5,72.2,-16.9,61,390,0.00,2.30,0.00,0.000,6,0.000,0.042,2670,2230,3537,0,0,0,0,0,0
$GC,458,-0.65,-195.5,85.0,-17.3,74,465,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2225,3537,0,0,0,0,0,0
$GC,530,-0.64,-195.5,97.0,-16.1,87,537,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2226,3537,0,0,0,0,0,0
$GC,603,-0.62,-195.5,109.2,-16.6,95,605,0.12,0.00,0.00,0.000,6,0.161,0.000,2705,2226,3537,0,0,0,0,0,0
$STATE,623,end dive,TARGET_DEPTH_EXCEEDED
$STATE,623,begin apogee
$GC,630,-0.22,0.0,112.7,16.7,97,789,0.38,0.00,153.15,0.638,6,0.123,0.000,2831,2043,2735,0,0,0,0,0,0
$STATE,792,end apogee,CONTROL_FINISHED_OK
$STATE,792,begin climb
$GC,795,0.75,195.5,121.5,0.0,113,965,0.90,2.45,157.48,0.622,4,0.088,0.048,3149,547,1935,0,0,0,0,0,0
$GC,1015,0.75,195.5,103.3,14.3,132,1023,0.00,2.45,0.00,0.000,6,0.000,0.044,3149,2059,1931,0,0,0,0,0,0
$GC,1149,0.74,195.5,82.9,16.0,155,1156,0.00,2.45,0.00,0.000,4,0.000,0.056,3149,3574,1928,0,0,0,0,0,0
$GC,1191,0.72,195.5,75.5,17.6,162,1198,0.00,2.38,0.00,0.000,6,0.000,0.041,3160,2090,1927,0,0,0,0,0,0
$GC,1264,0.71,195.5,63.9,14.7,175,1272,0.00,2.47,0.00,0.000,4,0.000,0.050,3171,523,1927,0,0,0,0,0,0
$GC,1289,0.71,195.5,60.5,13.5,179,1298,0.10,2.45,0.00,0.000,6,0.139,0.044,3139,2068,1927,0,0,0,0,0,0
$GC,1364,0.76,272.6,52.5,9.8,192,1433,0.00,2.47,61.00,0.589,4,0.000,0.054,3139,3579,1622,0,0,0,0,0,0
$GC,1522,0.78,290.6,35.3,12.5,218,1544,0.00,2.35,15.02,0.552,6,0.000,0.041,3146,2112,1550,0,0,0,0,0,0
$GC,1611,0.81,315.0,24.8,12.2,233,1640,0.00,2.53,20.55,0.558,4,0.000,0.050,3154,538,1448,0,0,0,0,0,0
$GC,1712,0.91,425.4,14.8,8.3,250,1808,0.12,2.47,88.05,0.565,6,0.086,0.046,3216,2118,999,0,0,0,0,0,0
$STATE,1821,end climb,SURFACE_DEPTH_REACHED
$STATE,1822,begin surface coast
$FINISH,0.7,1.023594
$STATE,1855,end surface coast,CONTROL_FINISHED_OK
$STATE,1855,begin surface
$SM_CCo,1933,0.00,0.000,0,0,989,428.05
$SM_GC,1.76,8.25,0.00,0.00,0.036,0.000,0.000,136,2182,989,-8.56,0.20,428.05
$IRIDIUM_FIX,4735.69,-12500.57,230511,131315
$TT8_MAMPS,0.026964
$HUMID,35.50
$INTERNAL_PRESSURE,9.01087
$TCM_TEMP,15.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.0,53.8
$24V_AH,24.1,27.310
$10V_AH,10.2,22.278
$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,20.125,34.325,495.250,0.000,0.000,26.897,35.400,106.429,0.500,0.000,16.691,580.116,204.293,500.596,799.734,134.041,30.174,869.998,0.000,639.768,0.000,5.559,0.000
$DEVICE_MAMPS,239.445,116.280,638.010,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,181.532,196.076,509.072,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297464
$DATA_FILE_SIZE,13710,272
$CAP_FILE_SIZE,43725,0
$CFSIZE,260165632,197103616
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.146,173.0,1
$GPS,230511,144456,4753.203,-12503.371,12,1.7,12,18.7