version: 66.07
glider: 187
mission: 4
dive: 279
start: 5 23 111 19 12 48
data:
$ID,187
$MISSION,4
$DIVE,279
$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,20
$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,-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,-1584173.2
$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,30
$R_STBD_OVSHOOT,43
$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
$GPS1,230511,190655,4753.492,-12502.181,11,1.9,16,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-76.2
$GPS2,230511,191152,4753.473,-12502.135,15,6.7,34,18.7
$SPEED_LIMITS,0.231,0.327
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.128,0.301
$KALMAN_X,-435.5,-195.1,-77.5,2688.7,25.7
$KALMAN_Y,-1851.0,-866.1,-198.5,3651.3,-175.8
$MHEAD_RNG_PITCHd_Wd,350.4,10528,-20.3,-13.333
$D_GRID,105
$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,-195.5,0.0,0.0,0,96,0.00,0.00,-77.70,0.000,2,0.000,0.000,131,2196,2777,0,0,0,0,0,0
$GC,99,-0.75,-195.5,3.5,-6.0,12,130,10.02,2.42,-14.20,0.000,4,0.238,0.068,2646,3678,3534,0,0,0,0,0,0
$GC,338,-0.73,-195.5,65.1,-19.5,55,346,0.00,2.38,0.00,0.000,6,0.000,0.040,2645,2165,3537,0,0,0,0,0,0
$GC,415,-0.69,-195.5,82.2,-23.3,68,423,0.12,2.38,0.00,0.000,4,0.172,0.050,2678,639,3538,0,0,0,0,0,0
$GC,461,-0.68,-195.5,90.7,-15.7,75,468,0.00,2.35,0.00,0.000,6,0.000,0.047,2670,2140,3538,0,0,0,0,0,0
$GC,538,-0.66,-195.5,104.2,-17.4,87,542,0.00,2.05,0.00,0.000,3,0.000,0.048,2668,793,3538,0,0,0,0,0,0
$STATE,543,end dive,TARGET_DEPTH_EXCEEDED
$STATE,543,begin apogee
$GC,552,-0.22,0.0,105.3,17.5,87,712,0.52,0.00,152.93,0.631,6,0.129,0.000,2831,2070,2734,0,0,0,0,0,0
$STATE,713,end apogee,CONTROL_FINISHED_OK
$STATE,714,begin climb
$GC,717,0.75,195.5,115.2,0.0,103,884,0.90,2.58,157.32,0.614,4,0.086,0.054,3138,3577,1936,0,0,0,0,0,0
$GC,908,0.76,217.2,100.6,12.3,120,936,0.00,2.45,18.35,0.573,6,0.000,0.041,3150,2054,1849,0,0,0,0,0,0
$GC,1002,0.77,225.7,88.5,12.9,135,1016,0.00,2.45,8.10,0.517,4,0.000,0.050,3161,538,1814,0,0,0,0,0,0
$GC,1087,0.81,295.2,78.9,10.2,150,1150,0.00,2.33,56.17,0.591,6,0.000,0.045,3161,1994,1530,0,0,0,0,0,0
$GC,1218,0.81,295.2,62.4,13.3,171,1226,0.00,2.60,0.00,0.000,4,0.000,0.055,3161,3572,1524,0,0,0,0,0,0
$GC,1235,0.81,295.2,59.9,13.9,173,1243,0.00,2.50,0.00,0.000,6,0.000,0.041,3171,2021,1523,0,0,0,0,0,0
$GC,1308,0.81,301.4,50.0,13.0,186,1323,0.00,2.40,5.12,0.445,4,0.000,0.051,3182,545,1506,0,0,0,0,0,0
$GC,1342,0.82,306.3,45.7,13.1,191,1357,0.00,2.30,5.95,0.471,6,0.000,0.045,3182,1992,1485,0,0,0,0,0,0
$GC,1424,0.82,306.3,34.4,14.7,205,1432,0.00,2.53,0.00,0.000,4,0.000,0.056,3182,3569,1482,0,0,0,0,0,0
$GC,1455,0.82,306.3,29.5,15.6,210,1464,0.00,2.50,0.00,0.000,6,0.000,0.042,3192,1972,1481,0,0,0,0,0,0
$STATE,1526,end climb,FINISH_DEPTH_REACHED
$STATE,1526,begin subsurface finish
$FINISH1,19.6,1.024580,-78
$GC,1535,-0.05,-78.3,19.6,-14.0,223,1572,0.90,2.45,-26.40,0.000,4,0.120,0.063,2898,548,3059,0,0,0,0,0,0
$FINISH2,17.5
$STATE,1573,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1573,begin surface
$IRIDIUM_FIX,4732.49,-12500.57,230511,181824
$TT8_MAMPS,0.027713
$HUMID,35.27
$INTERNAL_PRESSURE,9.18665
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,86.2,36.3
$24V_AH,24.1,28.018
$10V_AH,10.2,22.599
$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,12.475,40.800,403.950,0.000,0.000,26.692,41.451,103.102,1.000,0.000,35.955,485.911,89.741,455.810,725.880,117.338,33.321,773.365,0.000,537.528,0.000,9.923,0.000
$DEVICE_MAMPS,237.915,77.265,631.125,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,151.576,160.196,429.139,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297528
$DATA_FILE_SIZE,10349,228
$CAP_FILE_SIZE,37577,0
$CFSIZE,260165632,196882432
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,5.174, 23.8,1
$GPS,230511,191152,4753.473,-12502.135,15,6.7,34,18.7