version: 66.07
glider: 187
mission: 4
dive: 282
start: 5 23 111 20 43 48
data:
$ID,187
$MISSION,4
$DIVE,282
$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,-1584174.5
$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,31
$R_STBD_OVSHOOT,27
$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
$GPS1,230511,201543,4753.258,-12501.652,11,1.4,16,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,23.45
$_SM_ANGLEo,0.5
$GPS2,230511,201543,4753.258,-12501.652,11,1.4,16,18.7
$SPEED_LIMITS,0.231,0.327
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.038,0.325
$KALMAN_X,-335.3,-242.2,9.7,3151.7,82.9
$KALMAN_Y,-3264.0,-1090.7,-277.3,4967.7,-283.5
$MHEAD_RNG_PITCHd_Wd,59.6,10508,-20.3,-13.333
$D_GRID,102
$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,17,-0.75,-195.5,0.0,0.0,0,25,0.00,0.00,-5.55,0.000,6,0.000,0.000,2890,2077,3536,0,0,0,0,0,0
$GC,28,-0.75,-195.5,29.1,-0.0,1,36,0.60,2.20,0.00,0.000,4,0.070,0.045,2661,656,3538,0,0,0,0,0,0
$GC,117,-0.73,-195.5,42.1,-18.6,17,124,0.00,2.40,0.00,0.000,6,0.000,0.049,2650,2174,3539,0,0,0,0,0,0
$GC,191,-0.69,-195.5,58.8,-23.9,30,200,0.12,2.42,0.00,0.000,4,0.163,0.059,2674,3692,3538,0,0,0,0,0,0
$GC,230,-0.67,-195.5,67.9,-21.0,36,237,0.00,2.38,0.00,0.000,6,0.000,0.043,2673,2183,3538,0,0,0,0,0,0
$GC,305,-0.65,-195.5,83.0,-19.8,49,312,0.00,2.47,0.00,0.000,4,0.000,0.058,2663,3695,3538,0,0,0,0,0,0
$GC,326,-0.63,-195.5,87.6,-21.0,52,334,0.08,2.38,0.00,0.000,6,0.132,0.044,2698,2184,3538,0,0,0,0,0,0
$GC,400,-0.63,-195.5,98.8,-13.8,65,407,0.00,2.38,0.00,0.000,4,0.000,0.050,2698,669,3538,0,0,0,0,0,0
$STATE,422,end dive,TARGET_DEPTH_EXCEEDED
$STATE,422,begin apogee
$GC,431,-0.22,0.0,102.4,14.3,68,589,0.43,0.00,153.02,0.630,6,0.123,0.000,2831,2067,2734,0,0,0,0,0,0
$STATE,590,end apogee,CONTROL_FINISHED_OK
$STATE,592,begin climb
$GC,594,0.75,195.5,110.5,0.0,84,763,0.90,2.53,157.27,0.610,4,0.085,0.053,3138,3581,1935,0,0,0,0,0,0
$GC,787,0.75,195.5,94.4,13.9,103,794,0.00,2.45,0.00,0.000,6,0.000,0.041,3150,2058,1931,0,0,0,0,0,0
$GC,861,0.78,238.2,85.2,11.4,116,903,0.00,2.45,34.62,0.586,4,0.000,0.050,3161,548,1762,0,0,0,0,0,0
$GC,949,0.84,332.2,76.1,9.0,130,1031,0.00,2.38,75.43,0.588,6,0.000,0.044,3161,2024,1379,0,0,0,0,0,0
$GC,1098,0.85,342.9,59.6,12.8,154,1113,0.00,2.55,9.18,0.515,4,0.000,0.054,3161,3575,1336,0,0,0,0,0,0
$GC,1133,0.86,342.9,54.8,14.4,159,1140,0.00,2.50,0.00,0.000,6,0.000,0.042,3169,2010,1334,0,0,0,0,0,0
$GC,1205,0.86,342.9,44.0,15.7,172,1214,0.00,2.38,0.00,0.000,4,0.000,0.053,3180,540,1333,0,0,0,0,0,0
$GC,1239,0.87,342.9,39.6,13.8,177,1247,0.00,2.35,0.00,0.000,6,0.000,0.046,3180,2014,1332,0,0,0,0,0,0
$GC,1313,0.88,350.3,29.9,13.0,190,1328,0.00,2.55,7.05,0.487,4,0.000,0.057,3180,3567,1304,0,0,0,0,0,0
$GC,1341,0.88,350.3,26.0,13.5,194,1350,0.00,2.47,0.00,0.000,6,0.000,0.043,3190,2022,1303,0,0,0,0,0,0
$STATE,1392,end climb,FINISH_DEPTH_REACHED
$STATE,1392,begin subsurface finish
$FINISH1,19.5,1.024670,-83
$GC,1399,-0.05,-82.7,19.5,-12.9,203,1436,0.90,2.40,-28.83,0.000,4,0.115,0.064,2893,533,3075,0,0,0,0,0,0
$FINISH2,18.8
$STATE,1436,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1437,begin surface
$IRIDIUM_FIX,4735.69,-12449.01,230511,191930
$TT8_MAMPS,0.027713
$HUMID,35.62
$INTERNAL_PRESSURE,9.19642
$TCM_TEMP,16.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.5,39.7
$24V_AH,24.1,28.248
$10V_AH,10.3,22.699
$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,3.025,45.825,436.575,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,454.688,64.084,415.638,480.295,69.757,33.297,717.432,0.000,495.016,0.000,5.523,0.000
$DEVICE_MAMPS,162.945,64.260,630.360,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,137.053,150.315,393.475,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297588
$DATA_FILE_SIZE,10299,208
$CAP_FILE_SIZE,33621,0
$CFSIZE,260165632,196800512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.224, 73.3,1
$GPS,230511,201543,4753.258,-12501.652,11,1.4,16,18.7