version: 66.07
glider: 187
mission: 4
dive: 272
start: 5 23 111 14 50 13
data:
$ID,187
$MISSION,4
$DIVE,272
$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,-1584164.5
$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,32
$R_STBD_OVSHOOT,38
$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
$GPS1,230511,144456,4753.203,-12503.371,12,1.7,12,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-77.2
$GPS2,230511,144919,4753.199,-12503.380,8,1.1,13,18.7
$SPEED_LIMITS,0.231,0.327
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.176,0.276
$KALMAN_X,-69.9,-49.4,-46.8,604.5,-57.0
$KALMAN_Y,-214.2,-175.8,-170.4,784.0,-192.6
$MHEAD_RNG_PITCHd_Wd,3.3,11901,-20.3,-13.333
$D_GRID,109
$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,-195.5,0.0,0.0,0,90,0.00,0.00,-71.47,0.000,2,0.000,0.000,131,2182,2707,0,0,0,0,0,0
$GC,93,-0.75,-195.5,3.2,-3.9,11,129,10.10,2.45,-16.12,0.000,4,0.239,0.064,2657,659,3535,0,0,0,0,0,0
$GC,254,-0.72,-195.5,44.4,-22.8,39,262,0.00,2.38,0.00,0.000,6,0.000,0.047,2648,2161,3536,0,0,0,0,0,0
$GC,327,-0.68,-195.5,60.2,-20.2,52,335,0.12,2.45,0.00,0.000,4,0.170,0.059,2671,3696,3537,0,0,0,0,0,0
$GC,392,-0.68,-195.5,72.2,-16.2,63,400,0.00,2.35,0.00,0.000,6,0.000,0.042,2670,2198,3537,0,0,0,0,0,0
$GC,467,-0.66,-195.5,84.1,-16.7,76,474,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2193,3538,0,0,0,0,0,0
$GC,539,-0.64,-195.5,96.4,-16.9,89,546,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2193,3538,0,0,0,0,0,0
$STATE,613,end dive,TARGET_DEPTH_EXCEEDED
$STATE,614,begin apogee
$GC,621,-0.22,0.0,109.5,16.7,98,779,0.47,0.00,153.02,0.635,6,0.131,0.000,2825,2041,2734,0,0,0,0,0,0
$STATE,781,end apogee,CONTROL_FINISHED_OK
$STATE,781,begin climb
$GC,784,0.75,195.5,118.6,0.0,114,946,0.93,0.00,157.82,0.618,6,0.091,0.000,3138,2041,1938,0,0,0,0,0,0
$GC,1070,0.75,195.5,89.9,13.6,149,1078,0.00,2.50,0.00,0.000,4,0.000,0.055,3138,3576,1930,0,0,0,0,0,0
$GC,1097,0.75,195.5,86.3,14.2,153,1104,0.00,2.42,0.00,0.000,6,0.000,0.041,3149,2071,1929,0,0,0,0,0,0
$GC,1170,0.74,195.5,76.0,14.6,166,1178,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2071,1929,0,0,0,0,0,0
$GC,1244,0.74,199.5,65.6,13.2,179,1251,0.00,2.42,0.00,0.000,4,0.000,0.050,3160,546,1928,0,0,0,0,0,0
$GC,1265,0.75,215.1,63.0,12.6,182,1288,0.00,2.40,16.08,0.569,6,0.000,0.044,3161,2065,1858,0,0,0,0,0,0
$GC,1353,0.78,254.5,52.6,11.5,197,1395,0.00,2.50,32.85,0.582,4,0.000,0.056,3161,3570,1695,0,0,0,0,0,0
$GC,1498,0.78,254.5,31.7,15.5,222,1507,0.00,2.30,0.00,0.000,6,0.000,0.041,3170,2122,1689,0,0,0,0,0,0
$GC,1573,0.78,269.5,21.3,12.6,235,1587,0.00,0.00,12.35,0.543,6,0.000,0.000,3170,2122,1636,0,0,0,0,0,0
$GC,1653,0.86,375.9,12.6,8.5,249,1750,0.00,2.45,84.78,0.568,4,0.000,0.055,3170,3572,1200,0,0,0,0,0,0
$STATE,1769,end climb,SURFACE_DEPTH_REACHED
$STATE,1769,begin surface coast
$FINISH,3.1,1.023579
$STATE,1776,end surface coast,CONTROL_FINISHED_OK
$STATE,1776,begin surface
$SM_CCo,1856,0.00,0.000,0,0,1192,378.50
$SM_GC,1.46,8.38,0.00,0.00,0.052,0.000,0.000,119,2166,1192,-8.57,-0.28,378.50
$IRIDIUM_FIX,4735.69,-12505.04,230511,141457
$TT8_MAMPS,0.026964
$HUMID,35.19
$INTERNAL_PRESSURE,9.0304
$TCM_TEMP,16.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.3,49.2
$24V_AH,24.1,27.397
$10V_AH,10.2,22.318
$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,20.000,29.100,456.900,0.000,0.000,26.429,34.978,98.051,0.500,0.000,16.701,563.362,195.219,486.603,754.669,127.850,31.401,823.077,0.000,607.539,0.000,5.548,0.000
$DEVICE_MAMPS,238.680,67.320,634.950,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,178.910,191.282,502.693,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297540
$DATA_FILE_SIZE,13681,267
$CAP_FILE_SIZE,39677,0
$CFSIZE,260165632,197079040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.160,166.1,1
$GPS,230511,152156,4753.280,-12503.246,12,1.3,12,18.7