version: 66.07
glider: 187
mission: 4
dive: 273
start: 5 23 111 15 27 39
data:
$ID,187
$MISSION,4
$DIVE,273
$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,-1584165.8
$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,35
$R_STBD_OVSHOOT,31
$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
$GPS1,230511,152156,4753.280,-12503.246,12,1.3,12,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-77.5
$GPS2,230511,152643,4753.278,-12503.244,13,1.2,30,18.7
$SPEED_LIMITS,0.231,0.327
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.184,0.270
$KALMAN_X,-135.3,-78.0,-67.5,886.0,-64.5
$KALMAN_Y,-350.5,-264.5,-239.0,1224.8,-174.4
$MHEAD_RNG_PITCHd_Wd,359.0,11680,-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,-195.5,0.0,0.0,0,83,0.00,0.00,-65.35,0.000,2,0.000,0.000,119,2168,2752,0,0,0,0,0,0
$GC,87,-0.75,-195.5,3.3,-4.2,10,123,10.12,2.42,-15.02,0.000,4,0.239,0.063,2655,656,3536,0,0,0,0,0,0
$GC,227,-0.72,-195.5,40.1,-22.2,34,235,0.00,2.40,0.00,0.000,6,0.000,0.047,2645,2176,3538,0,0,0,0,0,0
$GC,299,-0.67,-195.5,57.6,-23.0,47,307,0.15,0.00,0.00,0.000,6,0.170,0.000,2686,2176,3537,0,0,0,0,0,0
$GC,374,-0.65,-195.5,71.2,-15.7,60,382,0.00,2.42,0.00,0.000,4,0.000,0.059,2676,3685,3538,0,0,0,0,0,0
$GC,445,-0.65,-195.5,81.9,-13.5,72,453,0.00,2.40,0.00,0.000,6,0.000,0.041,2676,2152,3539,0,0,0,0,0,0
$GC,527,-0.64,-195.5,94.8,-16.7,85,533,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2147,3539,0,0,0,0,0,0
$GC,602,-0.62,-195.5,107.8,-17.1,94,608,0.10,0.00,0.00,0.000,6,0.171,0.000,2701,2146,3539,0,0,0,0,0,0
$STATE,617,end dive,TARGET_DEPTH_EXCEEDED
$STATE,617,begin apogee
$GC,623,-0.22,0.0,110.8,16.2,96,782,0.38,0.00,153.00,0.638,6,0.126,0.000,2828,2046,2734,0,0,0,0,0,0
$STATE,785,end apogee,CONTROL_FINISHED_OK
$STATE,785,begin climb
$GC,787,0.75,195.5,118.8,0.0,112,959,0.93,2.50,157.45,0.620,4,0.090,0.050,3152,563,1936,0,0,0,0,0,0
$GC,984,0.75,198.4,102.7,13.2,130,989,0.00,2.40,0.00,0.000,6,0.000,0.044,3152,2067,1933,0,0,0,0,0,0
$GC,1120,0.74,198.4,83.4,14.7,152,1128,0.00,2.45,0.00,0.000,4,0.000,0.055,3152,3583,1929,0,0,0,0,0,0
$GC,1157,0.73,198.4,77.1,16.6,158,1165,0.00,2.40,0.00,0.000,6,0.000,0.041,3163,2085,1927,0,0,0,0,0,0
$GC,1231,0.72,198.4,66.2,14.4,171,1238,0.00,0.00,0.00,0.000,6,0.000,0.000,3163,2086,1928,0,0,0,0,0,0
$GC,1304,0.72,203.4,56.0,13.1,184,1320,0.00,2.45,6.20,0.488,4,0.000,0.056,3162,3569,1905,0,0,0,0,0,0
$GC,1381,0.73,220.2,45.5,12.6,197,1404,0.10,2.35,15.38,0.563,6,0.137,0.041,3131,2086,1837,0,0,0,0,0,0
$GC,1472,0.78,287.7,36.6,10.3,212,1535,0.00,2.47,54.95,0.579,4,0.000,0.050,3140,546,1559,0,0,0,0,0,0
$GC,1555,0.84,333.1,27.4,11.3,224,1599,0.10,2.47,36.83,0.562,6,0.097,0.045,3194,2113,1376,0,0,0,0,0,0
$GC,1667,0.84,333.1,11.3,16.1,242,1674,0.00,0.00,0.00,0.000,6,0.000,0.000,3194,2113,1370,0,0,0,0,0,0
$GC,1740,0.93,450.9,4.3,7.9,255,1748,0.00,0.00,6.40,0.470,2,0.000,0.000,3194,2113,1345,0,0,0,0,0,0
$STATE,1749,end climb,SURFACE_DEPTH_REACHED
$STATE,1749,begin surface coast
$FINISH,0.7,1.011030
$STATE,1797,end surface coast,CONTROL_FINISHED_OK
$STATE,1797,begin surface
$SM_CCo,1816,20.05,0.363,1,0,1205,375.06
$SM_GC,2.08,0.00,0.00,20.05,0.000,0.000,0.363,129,2184,1205,-8.68,0.28,375.06
$IRIDIUM_FIX,4735.69,-12506.88,230511,141426
$TT8_MAMPS,0.027713
$HUMID,35.62
$INTERNAL_PRESSURE,9.0304
$TCM_TEMP,15.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.6,39.4
$24V_AH,24.1,27.482
$10V_AH,10.2,22.359
$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,19.975,29.350,430.200,20.050,0.000,23.412,37.382,99.394,1.500,0.000,34.142,585.962,136.205,491.903,793.293,134.757,32.325,832.066,0.000,614.513,0.000,14.347,0.000
$DEVICE_MAMPS,239.445,118.575,638.010,363.375,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,176.882,189.500,498.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297456
$DATA_FILE_SIZE,13680,265
$CAP_FILE_SIZE,43660,0
$CFSIZE,260165632,197046272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.181,174.9,1
$GPS,230511,155913,4753.348,-12503.151,9,1.8,14,18.7