version: 66.07
glider: 187
mission: 4
dive: 437
start: 6 17 111 2 39 47
data:
$ID,187
$MISSION,4
$DIVE,437
$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,-1585271.8
$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,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,31
$R_STBD_OVSHOOT,42
$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
$GPS1,170611,023316,4752.555,-12504.490,13,3.9,32,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-76.3
$GPS2,170611,023852,4752.501,-12504.409,11,3.4,30,18.7
$SPEED_LIMITS,0.192,0.308
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.060,0.302
$KALMAN_X,68907.6,-406.8,28.4,-65115.4,51.3
$KALMAN_Y,-178443.6,-52.8,-223.8,189824.0,-433.4
$MHEAD_RNG_PITCHd_Wd,338.5,13716,-17.6,-11.111
$D_GRID,115
$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,15,begin dive
$GC,17,-0.67,-195.5,0.0,0.0,0,102,0.00,0.00,-82.60,0.000,2,0.000,0.000,131,2201,2656,0,0,0,0,0,0
$GC,106,-0.67,-195.5,3.0,-3.2,12,142,10.18,2.40,-17.98,0.000,4,0.232,0.060,2699,660,3534,0,0,0,0,0,0
$GC,179,-0.65,-195.5,18.7,-14.3,23,186,0.00,2.38,0.00,0.000,6,0.000,0.047,2690,2163,3535,0,0,0,0,0,0
$GC,315,-0.63,-195.5,41.2,-17.5,48,322,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2162,3536,0,0,0,0,0,0
$GC,455,-0.60,-195.5,64.0,-16.1,73,462,0.12,0.00,0.00,0.000,6,0.160,0.000,2725,2162,3536,0,0,0,0,0,0
$GC,596,-0.60,-195.5,82.3,-12.2,98,604,0.00,2.35,0.00,0.000,4,0.000,0.049,2725,664,3537,0,0,0,0,0,0
$GC,653,-0.62,-195.5,87.8,-8.5,107,660,0.00,2.33,0.00,0.000,6,0.000,0.047,2723,2146,3537,0,0,0,0,0,0
$GC,789,-0.62,-195.5,101.2,-9.8,131,794,0.00,2.45,0.00,0.000,4,0.000,0.059,2713,3695,3537,0,0,0,0,0,0
$GC,824,-0.63,-195.5,104.9,-10.1,133,832,0.00,2.40,0.00,0.000,6,0.000,0.043,2712,2152,3538,0,0,0,0,0,0
$STATE,926,end dive,TARGET_DEPTH_EXCEEDED
$STATE,926,begin apogee
$GC,932,-0.22,0.0,116.0,11.5,143,1092,0.40,0.00,152.50,0.632,6,0.108,0.000,2848,2049,2734,0,0,0,0,0,0
$STATE,1096,end apogee,CONTROL_FINISHED_OK
$STATE,1096,begin climb
$GC,1098,0.67,195.5,124.7,0.0,159,1269,0.80,2.60,156.75,0.615,4,0.075,0.053,3130,3576,1935,0,0,0,0,0,0
$GC,1387,0.65,195.5,101.8,12.1,183,1394,0.00,2.42,0.00,0.000,6,0.000,0.041,3141,2072,1928,0,0,0,0,0,0
$GC,1584,0.64,195.5,80.3,11.5,219,1592,0.00,2.42,0.00,0.000,4,0.000,0.051,3152,548,1927,0,0,0,0,0,0
$GC,1612,0.64,197.5,77.3,11.0,223,1620,0.00,2.38,0.00,0.000,6,0.000,0.044,3152,2056,1926,0,0,0,0,0,0
$GC,1752,0.64,219.6,62.3,10.3,248,1782,0.00,2.45,19.27,0.572,4,0.000,0.051,3163,540,1838,0,0,0,0,0,0
$GC,1834,0.67,274.5,54.3,9.0,261,1885,0.00,2.33,44.60,0.581,6,0.000,0.045,3162,2017,1615,0,0,0,0,0,0
$GC,2014,0.67,274.5,34.5,11.1,292,2021,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2018,1607,0,0,0,0,0,0
$GC,2150,0.67,274.5,18.9,12.1,317,2157,0.00,2.35,0.00,0.000,4,0.000,0.053,3172,546,1606,0,0,0,0,0,0
$GC,2202,0.71,314.1,13.4,9.6,326,2239,0.00,2.30,31.45,0.562,6,0.000,0.046,3172,2013,1453,0,0,0,0,0,0
$STATE,2345,end climb,SURFACE_DEPTH_REACHED
$STATE,2345,begin surface coast
$FINISH,0.7,1.013243
$STATE,2413,end surface coast,CONTROL_FINISHED_OK
$STATE,2413,begin surface
$SM_CCo,2431,10.68,0.163,1,0,1410,325.02
$SM_GC,2.88,0.00,0.00,10.68,0.000,0.000,0.163,141,2196,1410,-8.69,0.59,325.02
$IRIDIUM_FIX,4738.89,-12504.26,170611,010148
$TT8_MAMPS,0.026964
$HUMID,38.10
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.6,57.4
$24V_AH,24.1,45.314
$10V_AH,10.2,41.199
$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,19.425,33.925,404.575,10.675,0.000,27.057,36.391,146.114,0.500,0.000,32.516,829.684,207.553,448.431,1132.215,172.209,33.329,883.751,0.000,860.540,0.000,5.568,0.000
$DEVICE_MAMPS,231.795,89.505,631.890,162.945,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,244.004,872.890,688.451,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297448
$DATA_FILE_SIZE,20274,364
$CAP_FILE_SIZE,48625,0
$CFSIZE,260165632,185065472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.280,166.3,1
$GPS,170611,032201,4752.466,-12504.336,49,1.2,49,18.7