version: 66.07
glider: 187
mission: 4
dive: 433
start: 6 16 111 23 21 32
data:
$ID,187
$MISSION,4
$DIVE,433
$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,-1585266.6
$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,33
$R_STBD_OVSHOOT,45
$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
$GPS1,160611,231454,4752.742,-12505.186,16,8.9,35,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-76.5
$GPS2,160611,232037,4752.715,-12505.154,31,2.0,31,18.7
$SPEED_LIMITS,0.192,0.308
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.144,0.273
$KALMAN_X,68852.0,-403.0,49.2,-66009.5,-28.6
$KALMAN_Y,-176653.8,330.2,255.9,187571.2,-310.8
$MHEAD_RNG_PITCHd_Wd,342.5,14073,-17.6,-11.111
$D_GRID,117
$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,-195.5,0.0,0.0,0,77,0.00,0.00,-57.40,0.000,2,0.000,0.000,118,2192,2806,0,0,0,0,0,0
$GC,80,-0.67,-195.5,3.9,-5.7,9,111,10.38,2.45,-14.00,0.000,4,0.236,0.060,2695,659,3535,0,0,0,0,0,0
$GC,153,-0.64,-195.5,20.7,-16.1,20,160,0.00,2.38,0.00,0.000,6,0.000,0.048,2686,2159,3536,0,0,0,0,0,0
$GC,290,-0.62,-195.5,41.7,-17.2,45,298,0.12,2.45,0.00,0.000,4,0.163,0.057,2710,3693,3537,0,0,0,0,0,0
$GC,325,-0.61,-195.5,47.4,-16.0,50,333,0.00,2.40,0.00,0.000,6,0.000,0.044,2710,2171,3538,0,0,0,0,0,0
$GC,462,-0.61,-195.5,65.7,-12.5,75,471,0.00,2.35,0.00,0.000,4,0.000,0.050,2709,669,3538,0,0,0,0,0,0
$GC,532,-0.61,-195.5,74.6,-12.1,87,540,0.00,2.35,0.00,0.000,6,0.000,0.048,2702,2167,3538,0,0,0,0,0,0
$GC,676,-0.61,-195.5,93.1,-13.1,112,683,0.00,2.45,0.00,0.000,4,0.000,0.058,2690,3693,3538,0,0,0,0,0,0
$GC,735,-0.61,-195.5,100.2,-11.8,121,743,0.08,2.38,0.00,0.000,6,0.104,0.042,2720,2166,3539,0,0,0,0,0,0
$STATE,890,end dive,TARGET_DEPTH_EXCEEDED
$STATE,890,begin apogee
$GC,898,-0.22,0.0,117.8,10.4,136,1058,0.35,0.00,152.48,0.640,6,0.108,0.000,2843,2049,2733,0,0,0,0,0,0
$STATE,1061,end apogee,CONTROL_FINISHED_OK
$STATE,1061,begin climb
$GC,1064,0.67,195.5,125.9,0.0,152,1232,0.82,2.47,156.73,0.622,4,0.079,0.050,3143,567,1937,0,0,0,0,0,0
$GC,1258,0.65,195.5,113.6,11.3,168,1262,0.00,2.42,0.00,0.000,6,0.000,0.044,3142,2074,1934,0,0,0,0,0,0
$GC,1458,0.64,195.5,87.7,13.1,194,1466,0.00,2.45,0.00,0.000,4,0.000,0.056,3142,3578,1929,0,0,0,0,0,0
$GC,1542,0.61,195.5,75.0,14.7,209,1551,0.10,2.35,0.00,0.000,6,0.132,0.042,3120,2101,1927,0,0,0,0,0,0
$GC,1682,0.64,249.2,60.2,9.1,234,1733,0.00,2.47,42.62,0.591,4,0.000,0.050,3129,545,1718,0,0,0,0,0,0
$GC,1759,0.67,274.1,52.4,10.2,245,1788,0.00,2.45,21.10,0.568,6,0.000,0.045,3129,2085,1616,0,0,0,0,0,0
$GC,1915,0.71,309.5,37.2,9.8,273,1951,0.00,2.47,28.58,0.571,4,0.000,0.051,3137,539,1472,0,0,0,0,0,0
$GC,1972,0.75,347.6,31.9,9.7,281,2014,0.00,2.47,31.67,0.565,6,0.000,0.046,3137,2087,1316,0,0,0,0,0,0
$GC,2146,0.84,453.9,15.9,7.1,311,2237,0.15,2.60,84.28,0.563,4,0.078,0.053,3216,538,883,0,0,0,0,0,0
$GC,2270,0.94,564.6,4.7,6.9,329,2286,0.00,2.50,10.70,0.503,2,0.000,0.046,3215,2089,834,0,0,0,0,0,0
$STATE,2286,end climb,SURFACE_DEPTH_REACHED
$STATE,2287,begin surface coast
$FINISH,0.9,1.019370
$STATE,2350,end surface coast,CONTROL_FINISHED_OK
$STATE,2350,begin surface
$SM_CCo,2430,0.00,0.000,0,0,827,468.03
$SM_GC,1.65,8.18,0.00,0.00,0.034,0.000,0.000,133,2187,827,-8.61,0.34,468.03
$IRIDIUM_FIX,4735.69,-12502.41,160611,222238
$TT8_MAMPS,0.026964
$HUMID,37.16
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.2,47.7
$24V_AH,24.1,44.922
$10V_AH,10.3,40.973
$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,20.175,44.150,528.150,0.000,0.000,25.739,42.709,146.635,2.000,0.000,31.972,750.844,285.414,493.990,1076.703,171.946,33.335,938.052,0.000,794.831,0.000,17.488,0.000
$DEVICE_MAMPS,236.385,91.800,640.305,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,227.840,820.652,641.568,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297464
$DATA_FILE_SIZE,16936,343
$CAP_FILE_SIZE,49917,0
$CFSIZE,260165632,185192448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.251,163.7,1
$GPS,170611,000306,4752.747,-12505.035,13,1.6,29,18.7