version: 66.07
glider: 187
mission: 4
dive: 275
start: 5 23 111 16 41 49
data:
$ID,187
$MISSION,4
$DIVE,275
$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,-1584168.2
$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
$GPS1,230511,163552,4753.408,-12503.003,15,2.2,34,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-77.1
$GPS2,230511,164052,4753.394,-12503.006,14,2.1,33,18.7
$SPEED_LIMITS,0.231,0.327
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.196,0.262
$KALMAN_X,-336.9,-158.6,-95.5,1491.8,-80.3
$KALMAN_Y,-707.5,-459.3,-303.5,2056.4,-152.2
$MHEAD_RNG_PITCHd_Wd,357.4,11324,-20.3,-13.333
$D_GRID,108
$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,-195.5,0.0,0.0,0,85,0.00,0.00,-66.32,0.000,2,0.000,0.000,122,2195,2817,0,0,0,0,0,0
$GC,88,-0.75,-195.5,3.8,-6.9,10,118,10.15,2.42,-13.07,0.000,4,0.240,0.065,2649,3686,3535,0,0,0,0,0,0
$GC,127,-0.57,-195.5,19.2,-39.3,15,135,0.17,2.40,0.00,0.000,6,0.154,0.041,2716,2169,3537,0,0,0,0,0,0
$GC,200,-0.55,-195.5,34.1,-17.6,28,208,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2166,3538,0,0,0,0,0,0
$GC,274,-0.54,-195.5,47.2,-18.4,41,280,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2166,3539,0,0,0,0,0,0
$GC,347,-0.54,-195.5,60.1,-17.5,54,354,0.00,2.38,0.00,0.000,4,0.000,0.050,2717,659,3539,0,0,0,0,0,0
$GC,373,-0.54,-195.5,64.6,-16.7,58,381,0.00,2.40,0.00,0.000,6,0.000,0.048,2709,2180,3539,0,0,0,0,0,0
$GC,445,-0.54,-195.5,75.1,-15.0,71,453,0.00,2.42,0.00,0.000,4,0.000,0.060,2697,3685,3539,0,0,0,0,0,0
$GC,519,-0.56,-195.5,84.0,-10.9,83,527,0.00,2.30,0.00,0.000,6,0.000,0.041,2697,2211,3539,0,0,0,0,0,0
$GC,595,-0.56,-195.5,93.6,-14.1,96,603,0.00,2.42,0.00,0.000,4,0.000,0.050,2696,660,3539,0,0,0,0,0,0
$GC,632,-0.56,-195.5,99.1,-14.5,102,640,0.08,2.42,0.00,0.000,6,0.108,0.049,2727,2202,3539,0,0,0,0,0,0
$GC,705,-0.57,-195.5,107.9,-11.7,109,709,0.00,2.05,0.00,0.000,3,0.000,0.060,2719,3502,3539,0,0,0,0,0,0
$STATE,710,end dive,TARGET_DEPTH_EXCEEDED
$STATE,710,begin apogee
$GC,718,-0.22,0.0,109.1,11.9,109,877,0.32,0.00,153.02,0.635,6,0.117,0.000,2829,2048,2734,0,0,0,0,0,0
$STATE,881,end apogee,CONTROL_FINISHED_OK
$STATE,881,begin climb
$GC,883,0.75,195.5,117.6,0.0,125,1056,0.93,2.53,158.32,0.616,4,0.089,0.050,3153,552,1936,0,0,0,0,0,0
$GC,1073,0.76,205.6,104.3,12.9,143,1093,0.00,2.42,9.48,0.535,6,0.000,0.044,3153,2067,1895,0,0,0,0,0,0
$GC,1221,0.75,205.6,84.2,14.6,167,1229,0.00,2.45,0.00,0.000,4,0.000,0.056,3154,3578,1889,0,0,0,0,0,0
$GC,1238,0.74,205.6,81.6,14.6,169,1245,0.00,2.45,0.00,0.000,6,0.000,0.041,3164,2055,1889,0,0,0,0,0,0
$GC,1312,0.75,225.8,71.7,12.4,182,1334,0.00,0.00,17.00,0.571,6,0.000,0.000,3165,2055,1813,0,0,0,0,0,0
$GC,1399,0.77,258.3,61.4,11.8,197,1435,0.00,2.55,27.15,0.579,4,0.000,0.057,3165,3577,1680,0,0,0,0,0,0
$GC,1475,0.77,258.3,51.4,15.9,209,1482,0.00,2.42,0.00,0.000,6,0.000,0.042,3175,2073,1676,0,0,0,0,0,0
$GC,1549,0.77,258.3,41.2,14.2,222,1555,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2073,1675,0,0,0,0,0,0
$GC,1622,0.77,258.3,30.6,14.9,235,1628,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2073,1675,0,0,0,0,0,0
$GC,1692,0.77,258.3,19.7,15.0,248,1701,0.00,2.45,0.00,0.000,4,0.000,0.057,3175,3572,1673,0,0,0,0,0,0
$GC,1726,0.77,258.3,14.6,16.5,253,1734,0.08,2.38,0.00,0.000,6,0.142,0.042,3147,2078,1673,0,0,0,0,0,0
$GC,1801,0.90,419.8,7.3,6.0,266,1852,0.15,0.00,47.95,0.568,2,0.078,0.000,3216,2072,1436,0,0,0,0,0,0
$STATE,1852,end climb,SURFACE_DEPTH_REACHED
$STATE,1852,begin surface coast
$FINISH,0.6,1.012031
$STATE,1903,end surface coast,CONTROL_FINISHED_OK
$STATE,1903,begin surface
$SM_CCo,1922,30.12,0.073,0,0,1206,375.06
$SM_GC,1.96,0.00,0.00,30.12,0.000,0.000,0.073,125,2198,1206,-8.69,0.65,375.06
$IRIDIUM_FIX,4735.69,-12500.57,230511,161641
$TT8_MAMPS,0.027713
$HUMID,35.46
$INTERNAL_PRESSURE,9.0304
$TCM_TEMP,15.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.7,42.2
$24V_AH,24.1,27.649
$10V_AH,10.2,22.442
$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,20.050,43.325,412.925,30.125,0.000,28.628,35.243,110.839,1.000,0.000,35.753,633.886,141.279,512.058,834.620,143.137,33.314,864.441,0.000,645.058,0.000,9.939,0.000
$DEVICE_MAMPS,240.210,81.855,634.950,73.440,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,189.622,199.037,529.954,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297516
$DATA_FILE_SIZE,13685,282
$CAP_FILE_SIZE,47455,0
$CFSIZE,260165632,196984832
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.192,174.7,1
$GPS,230511,171508,4753.459,-12502.862,9,1.7,9,18.7