version: 66.07
glider: 187
mission: 4
dive: 422
start: 6 16 111 12 9 16
data:
$ID,187
$MISSION,4
$DIVE,422
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,2.5
$T_BOOST,0
$D_FINISH,10
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,540
$T_MISSION,600
$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,120
$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,-1585252.8
$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,32
$R_STBD_OVSHOOT,28
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$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
$GPS1,160611,115537,4751.787,-12509.629,8,1.5,13,18.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-74.9
$GPS2,160611,120820,4751.691,-12509.467,12,1.7,12,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.007,0.200
$KALMAN_X,66621.5,841.1,109.6,-70458.8,364.5
$KALMAN_Y,-170151.7,-1021.6,135.9,180640.3,-759.6
$MHEAD_RNG_PITCHd_Wd,349.2,19379,-13.6,-6.111
$D_GRID,154
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.50,-117.3,0.0,0.0,0,84,0.00,0.00,-64.97,0.000,2,0.000,0.000,128,2177,2731,0,0,0,0,0,0
$GC,88,-0.50,-117.3,3.3,-2.5,10,117,10.38,2.38,-10.12,0.000,4,0.230,0.060,2739,660,3216,0,0,0,0,0,0
$GC,169,-0.46,-117.3,19.4,-13.3,23,176,0.00,2.40,0.00,0.000,6,0.000,0.047,2729,2177,3218,0,0,0,0,0,0
$GC,307,-0.42,-117.3,36.4,-12.2,48,314,0.15,0.00,0.00,0.000,6,0.146,0.000,2771,2177,3218,0,0,0,0,0,0
$GC,447,-0.40,-117.3,51.7,-11.0,73,455,0.00,2.40,0.00,0.000,4,0.000,0.050,2772,657,3219,0,0,0,0,0,0
$GC,485,-0.39,-117.3,56.1,-11.0,79,493,0.00,2.38,0.00,0.000,6,0.000,0.048,2771,2165,3219,0,0,0,0,0,0
$GC,624,-0.38,-117.3,70.3,-10.2,104,631,0.00,2.45,0.00,0.000,4,0.000,0.059,2762,3690,3219,0,0,0,0,0,0
$GC,665,-0.38,-117.3,74.3,-9.1,111,672,0.00,2.38,0.00,0.000,6,0.000,0.042,2761,2165,3220,0,0,0,0,0,0
$GC,804,-0.36,-117.3,86.0,-8.3,136,812,0.00,2.33,0.00,0.000,4,0.000,0.049,2761,674,3220,0,0,0,0,0,0
$GC,878,-0.35,-117.3,92.3,-8.2,149,887,0.00,2.33,0.00,0.000,6,0.000,0.048,2759,2159,3220,0,0,0,0,0,0
$GC,1023,-0.34,-117.3,102.1,-6.1,172,1027,0.12,2.42,0.00,0.000,4,0.138,0.057,2787,3694,3219,0,0,0,0,0,0
$GC,1067,-0.35,-117.3,104.3,-4.5,175,1071,0.00,2.38,0.00,0.000,6,0.000,0.042,2787,2151,3220,0,0,0,0,0,0
$GC,1266,-0.35,-117.3,115.5,-6.9,193,1270,0.00,2.28,0.00,0.000,4,0.000,0.049,2787,662,3220,0,0,0,0,0,0
$GC,1340,-0.36,-117.3,121.6,-8.7,199,1344,0.00,2.28,0.00,0.000,6,0.000,0.047,2782,2154,3220,0,0,0,0,0,0
$GC,1539,-0.36,-117.3,138.6,-8.5,217,1540,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2153,3220,0,0,0,0,0,0
$GC,1731,-0.36,-117.3,150.3,-5.3,235,1738,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2153,3220,0,0,0,0,0,0
$STATE,1801,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1801,begin apogee
$GC,1807,-0.22,0.0,154.1,5.0,242,1905,0.17,0.00,92.72,0.672,6,0.117,0.000,2839,2054,2734,0,0,0,0,0,0
$STATE,1906,end apogee,CONTROL_FINISHED_OK
$STATE,1906,begin climb
$GC,1909,0.50,117.3,157.2,0.0,252,2014,0.62,0.00,97.07,0.651,6,0.083,0.000,3058,2054,2254,0,0,0,0,0,0
$GC,2205,0.50,117.3,140.3,7.3,279,2209,0.00,2.47,0.00,0.000,4,0.000,0.057,3058,3579,2247,0,0,0,0,0,0
$GC,2258,0.48,117.3,136.3,8.4,283,2262,0.00,2.35,0.00,0.000,6,0.000,0.041,3068,2070,2245,0,0,0,0,0,0
$GC,2457,0.47,117.3,121.9,6.5,301,2462,0.00,2.38,0.00,0.000,4,0.000,0.051,3080,542,2246,0,0,0,0,0,0
$GC,2522,0.47,117.3,117.4,6.6,306,2531,0.00,2.33,0.00,0.000,6,0.000,0.045,3079,2031,2245,0,0,0,0,0,0
$GC,2724,0.47,148.1,106.5,5.0,325,2752,0.00,0.00,24.27,0.624,6,0.000,0.000,3079,2031,2130,0,0,0,0,0,0
$GC,2941,0.49,173.0,94.7,5.2,355,2970,0.00,2.50,21.12,0.616,4,0.000,0.056,3080,3579,2027,0,0,0,0,0,0
$GC,2995,0.50,184.4,91.6,5.7,363,3011,0.00,2.47,10.35,0.571,6,0.000,0.042,3088,2023,1982,0,0,0,0,0,0
$GC,3139,0.50,184.4,81.2,8.0,389,3147,0.00,0.00,0.00,0.000,6,0.000,0.000,3088,2023,1978,0,0,0,0,0,0
$GC,3278,0.50,184.4,71.0,7.2,414,3285,0.00,2.35,0.00,0.000,4,0.000,0.052,3098,541,1978,0,0,0,0,0,0
$GC,3358,0.50,184.4,65.6,6.5,428,3366,0.08,2.35,0.00,0.000,6,0.105,0.046,3067,2043,1977,0,0,0,0,0,0
$GC,3497,0.54,233.6,58.4,4.4,453,3547,0.00,2.50,39.78,0.611,4,0.000,0.056,3067,3569,1780,0,0,0,0,0,0
$GC,3562,0.58,277.3,55.5,4.6,462,3604,0.00,2.42,35.60,0.596,6,0.000,0.042,3069,2047,1603,0,0,0,0,0,0
$GC,3735,0.65,297.5,45.4,5.4,492,3758,0.12,2.47,16.50,0.574,4,0.087,0.053,3133,537,1521,0,0,0,0,0,0
$GC,3766,0.70,307.3,43.5,5.8,496,3783,0.00,2.25,9.40,0.528,6,0.000,0.045,3133,1956,1481,0,0,0,0,0,0
$GC,3915,0.73,307.3,32.4,8.2,522,3922,0.00,2.28,0.00,0.000,4,0.000,0.054,3134,545,1475,0,0,0,0,0,0
$GC,3931,0.75,307.3,30.9,7.9,524,3939,0.00,2.40,0.00,0.000,6,0.000,0.046,3133,2064,1475,0,0,0,0,0,0
$GC,4072,0.79,307.3,21.3,6.5,549,4081,0.00,2.42,0.00,0.000,4,0.000,0.057,3133,3564,1473,0,0,0,0,0,0
$GC,4126,0.79,307.3,17.2,7.2,558,4134,0.00,2.35,0.00,0.000,6,0.000,0.044,3134,2078,1473,0,0,0,0,0,0
$GC,4265,0.84,353.6,9.9,4.5,583,4309,0.12,2.45,37.22,0.577,4,0.086,0.051,3202,538,1291,0,0,0,0,0,0
$STATE,4342,end climb,SURFACE_DEPTH_REACHED
$STATE,4342,begin surface coast
$FINISH,0.9,1.022562
$STATE,4393,end surface coast,CONTROL_FINISHED_OK
$STATE,4393,begin surface
$SM_CCo,4415,14.88,0.292,1,0,1205,375.06
$SM_GC,1.92,0.00,0.00,14.88,0.000,0.000,0.292,122,2178,1205,-8.70,0.08,375.06
$IRIDIUM_FIX,4735.69,-12505.04,160611,121217
$TT8_MAMPS,0.027713
$HUMID,37.83
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,16.50
$XPDR_PINGS,0
$24V_AH,24.3,43.859
$10V_AH,10.2,40.283
$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,19.850,71.850,384.050,14.875,0.000,78.026,153.261,279.893,0.000,0.000,13.365,1450.498,1031.951,469.288,1969.379,278.700,33.343,1085.905,0.000,1348.457,0.000,0.536,0.000
$DEVICE_MAMPS,230.265,85.680,671.670,292.230,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,409.518,1447.295,1035.168,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297512
$DATA_FILE_SIZE,33539,604
$CAP_FILE_SIZE,82946,0
$CFSIZE,260165632,185528320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.174,181.7,1
$GPS,160611,132423,4751.663,-12509.245,12,7.2,31,18.7