version: 66.07
glider: 187
mission: 4
dive: 430
start: 6 16 111 20 55 15
data:
$ID,187
$MISSION,4
$DIVE,430
$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,-1585262.9
$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,30
$R_STBD_OVSHOOT,29
$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
$GPS1,160611,204850,4752.636,-12506.091,10,1.8,10,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-76.4
$GPS2,160611,205420,4752.593,-12506.055,16,1.4,16,18.7
$SPEED_LIMITS,0.192,0.308
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.213,0.223
$KALMAN_X,68879.8,-234.3,-51.9,-67228.9,93.1
$KALMAN_Y,-175336.0,346.0,127.7,186134.9,6.1
$MHEAD_RNG_PITCHd_Wd,356.5,15045,-17.6,-11.111
$D_GRID,124
$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,-0.67,-195.5,0.0,0.0,0,110,0.00,0.00,-90.43,0.000,2,0.000,0.000,116,2190,2742,0,0,0,0,0,0
$GC,113,-0.67,-195.5,3.6,-5.5,14,150,10.32,2.42,-15.05,0.000,4,0.234,0.060,2694,663,3535,0,0,0,0,0,0
$GC,210,-0.64,-195.5,29.7,-19.5,29,217,0.00,2.38,0.00,0.000,6,0.000,0.047,2686,2167,3536,0,0,0,0,0,0
$GC,348,-0.62,-195.5,53.6,-17.2,54,356,0.12,2.45,0.00,0.000,4,0.161,0.059,2711,3696,3538,0,0,0,0,0,0
$GC,376,-0.62,-195.5,58.6,-16.2,58,383,0.00,2.42,0.00,0.000,6,0.000,0.044,2710,2157,3537,0,0,0,0,0,0
$GC,511,-0.62,-195.5,76.2,-11.9,83,518,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2151,3538,0,0,0,0,0,0
$GC,654,-0.62,-195.5,93.9,-13.4,108,665,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2151,3538,0,0,0,0,0,0
$GC,794,-0.62,-195.5,112.6,-13.1,124,796,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2152,3538,0,0,0,0,0,0
$STATE,888,end dive,TARGET_DEPTH_EXCEEDED
$STATE,888,begin apogee
$GC,896,-0.22,0.0,124.1,11.5,133,1056,0.40,0.00,152.95,0.641,6,0.112,0.000,2845,2048,2734,0,0,0,0,0,0
$STATE,1058,end apogee,CONTROL_FINISHED_OK
$STATE,1059,begin climb
$GC,1061,0.67,195.5,132.7,0.0,149,1230,0.82,0.00,158.48,0.626,6,0.079,0.000,3133,2047,1937,0,0,0,0,0,0
$GC,1419,0.65,195.5,101.5,11.8,182,1420,0.00,0.00,0.00,0.000,6,0.000,0.000,3133,2047,1929,0,0,0,0,0,0
$GC,1610,0.64,195.5,80.4,11.5,216,1618,0.00,2.47,0.00,0.000,4,0.000,0.055,3132,3577,1927,0,0,0,0,0,0
$GC,1695,0.63,195.5,69.9,12.2,231,1702,0.00,2.38,0.00,0.000,6,0.000,0.042,3143,2076,1926,0,0,0,0,0,0
$GC,1835,0.63,216.3,55.4,10.3,256,1857,0.00,0.00,16.80,0.575,6,0.000,0.000,3143,2075,1852,0,0,0,0,0,0
$GC,1987,0.65,262.0,40.0,9.4,283,2031,0.00,2.50,37.08,0.584,4,0.000,0.052,3154,541,1666,0,0,0,0,0,0
$GC,2046,0.68,302.2,34.3,9.6,291,2090,0.00,2.45,33.08,0.571,6,0.000,0.046,3154,2081,1500,0,0,0,0,0,0
$GC,2220,0.71,333.2,16.1,9.9,321,2256,0.00,2.53,25.15,0.562,4,0.000,0.051,3163,545,1374,0,0,0,0,0,0
$GC,2289,0.78,401.8,10.2,8.5,331,2352,0.00,2.42,54.88,0.563,6,0.000,0.045,3164,2068,1095,0,0,0,0,0,0
$STATE,2374,end climb,SURFACE_DEPTH_REACHED
$STATE,2374,begin surface coast
$FINISH,0.8,1.011694
$STATE,2445,end surface coast,CONTROL_FINISHED_OK
$STATE,2445,begin surface
$SM_CCo,2525,0.00,0.000,0,0,1086,404.50
$SM_GC,1.92,8.05,0.00,0.00,0.037,0.000,0.000,127,2203,1086,-8.60,0.79,404.50
$IRIDIUM_FIX,4735.69,-12506.88,160611,191926
$TT8_MAMPS,0.026964
$HUMID,37.55
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,16.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,105.7,47.6
$24V_AH,24.1,44.641
$10V_AH,10.2,40.810
$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,19.725,24.725,478.400,0.000,0.000,27.628,35.861,149.585,1.750,0.000,16.894,777.660,347.032,486.188,1081.217,166.680,33.345,916.733,0.000,804.850,0.000,13.274,0.000
$DEVICE_MAMPS,234.090,88.740,641.070,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,237.838,855.718,654.080,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297432
$DATA_FILE_SIZE,20324,357
$CAP_FILE_SIZE,46257,0
$CFSIZE,260165632,185286656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.192,140.4,1
$GPS,160611,213808,4752.760,-12505.689,13,1.2,13,18.7