version: 66.07
glider: 187
mission: 4
dive: 429
start: 6 16 111 20 3 28
data:
$ID,187
$MISSION,4
$DIVE,429
$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,10
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,60
$T_MISSION,75
$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,325
$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,-1585261.6
$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,2920
$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,47
$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,12
$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
$GPS1,160611,195646,4752.442,-12506.671,16,3.3,35,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-74.5
$GPS2,160611,200233,4752.421,-12506.624,18,3.4,37,18.7
$SPEED_LIMITS,0.192,0.308
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.245,0.187
$KALMAN_X,68693.6,-143.4,-88.3,-67805.8,62.4
$KALMAN_Y,-174986.6,257.2,-43.5,185723.4,110.0
$MHEAD_RNG_PITCHd_Wd,6.9,15786,-17.6,-11.111
$D_GRID,129
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.67,-195.5,0.0,0.0,0,91,0.00,0.00,-70.65,0.000,2,0.000,0.000,116,2210,2683,0,0,0,0,0,0
$GC,94,-0.67,-195.5,3.2,-3.8,11,130,10.30,2.47,-17.00,0.000,4,0.234,0.060,2697,656,3535,0,0,0,0,0,0
$GC,208,-0.65,-195.5,29.7,-16.6,30,216,0.00,2.38,0.00,0.000,6,0.000,0.048,2689,2158,3537,0,0,0,0,0,0
$GC,347,-0.63,-195.5,51.3,-15.9,55,355,0.10,2.45,0.00,0.000,4,0.173,0.058,2705,3693,3537,0,0,0,0,0,0
$GC,375,-0.63,-195.5,56.3,-15.2,59,382,0.00,2.42,0.00,0.000,6,0.000,0.044,2704,2154,3538,0,0,0,0,0,0
$GC,509,-0.63,-195.5,72.7,-11.3,84,516,0.00,2.33,0.00,0.000,4,0.000,0.049,2703,664,3538,0,0,0,0,0,0
$GC,548,-0.63,-195.5,77.0,-11.8,90,555,0.00,2.33,0.00,0.000,6,0.000,0.047,2695,2149,3538,0,0,0,0,0,0
$GC,689,-0.63,-195.5,93.7,-11.6,115,696,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2149,3538,0,0,0,0,0,0
$GC,833,-0.63,-195.5,109.7,-10.7,133,837,0.00,2.47,0.00,0.000,4,0.000,0.059,2683,3694,3538,0,0,0,0,0,0
$GC,875,-0.63,-195.5,114.4,-10.8,136,880,0.12,2.38,0.00,0.000,6,0.135,0.042,2720,2141,3539,0,0,0,0,0,0
$STATE,1029,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1029,begin apogee
$GC,1036,-0.22,0.0,129.9,9.9,150,1196,0.35,0.00,153.02,0.649,6,0.109,0.000,2844,2051,2735,0,0,0,0,0,0
$STATE,1200,end apogee,CONTROL_FINISHED_OK
$STATE,1200,begin climb
$GC,1202,0.67,195.5,137.7,0.0,166,1367,0.82,2.55,157.05,0.631,4,0.078,0.054,3132,3574,1937,0,0,0,0,0,0
$GC,1442,0.65,195.5,118.1,13.8,186,1450,0.00,2.42,0.00,0.000,6,0.000,0.041,3143,2080,1930,0,0,0,0,0,0
$GC,1645,0.63,195.5,92.9,11.7,210,1651,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2077,1929,0,0,0,0,0,0
$GC,1779,0.61,195.5,75.4,13.0,235,1787,0.00,2.45,0.00,0.000,4,0.000,0.052,3154,544,1928,0,0,0,0,0,0
$GC,1852,0.59,195.5,65.7,13.6,248,1860,0.08,2.42,0.00,0.000,6,0.131,0.045,3114,2085,1927,0,0,0,0,0,0
$GC,1993,0.65,282.6,53.1,7.8,273,2069,0.00,0.00,68.65,0.598,6,0.000,0.000,3114,2085,1579,0,0,0,0,0,0
$GC,2199,0.75,420.1,38.1,5.9,308,2318,0.15,2.53,108.25,0.581,4,0.076,0.052,3192,546,1019,0,0,0,0,0,0
$GC,2332,0.77,453.0,25.4,9.9,327,2367,0.00,2.47,27.15,0.552,6,0.000,0.045,3193,2078,887,0,0,0,0,0,0
$GC,2498,0.86,539.8,10.5,7.8,356,2575,0.00,2.53,68.50,0.558,4,0.000,0.051,3193,538,532,0,0,0,0,0,0
$STATE,2586,end climb,SURFACE_DEPTH_REACHED
$STATE,2586,begin surface coast
$FINISH,3.6,1.023397
$STATE,2596,end surface coast,CONTROL_FINISHED_OK
$STATE,2596,begin surface
$SM_CCo,2677,0.00,0.000,0,0,527,541.62
$SM_GC,1.67,8.32,0.00,0.00,0.045,0.000,0.000,117,2188,527,-8.61,0.37,541.62
$IRIDIUM_FIX,4738.89,-12522.93,160611,191928
$TT8_MAMPS,0.026964
$HUMID,37.20
$INTERNAL_PRESSURE,9.0011
$TCM_TEMP,15.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,100.3,57.5
$24V_AH,24.1,44.547
$10V_AH,10.2,40.755
$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,20.250,39.375,582.625,0.000,0.000,28.681,35.409,149.574,1.750,0.000,38.986,789.473,369.791,538.747,1152.439,177.130,33.343,1021.561,0.000,852.554,0.000,11.762,0.000
$DEVICE_MAMPS,234.090,99.450,648.720,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,245.340,882.889,673.001,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297480
$DATA_FILE_SIZE,20251,370
$CAP_FILE_SIZE,50866,0
$CFSIZE,260165632,185315328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.174,123.1,1
$GPS,160611,204850,4752.636,-12506.091,10,1.8,10,18.7