version: 66.07
glider: 187
mission: 4
dive: 440
start: 6 17 111 5 3 47
data:
$ID,187
$MISSION,4
$DIVE,440
$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,-1585275.5
$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,45
$R_STBD_OVSHOOT,41
$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
$GPS1,170611,045626,4752.378,-12504.110,10,1.7,10,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-78.0
$GPS2,170611,050252,4752.290,-12504.071,10,2.3,29,18.7
$SPEED_LIMITS,0.192,0.308
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.306,-0.034
$KALMAN_X,68806.2,-280.1,-1.4,-64688.8,7.3
$KALMAN_Y,-179871.5,-433.8,-514.2,191532.6,-359.1
$MHEAD_RNG_PITCHd_Wd,255.1,175552,-17.6,-11.111
$D_GRID,118
$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,18,-0.67,-195.5,0.0,0.0,0,79,0.00,0.00,-59.10,0.000,2,0.000,0.000,127,2191,2780,0,0,0,0,0,0
$GC,82,-0.67,-195.5,3.7,-5.9,9,113,10.15,2.45,-14.60,0.000,4,0.230,0.069,2691,3682,3535,0,0,0,0,0,0
$GC,202,-0.67,-195.5,26.8,-11.3,29,209,0.00,2.35,0.00,0.000,6,0.000,0.041,2690,2186,3536,0,0,0,0,0,0
$GC,340,-0.65,-195.5,48.2,-16.4,54,348,0.00,2.40,0.00,0.000,4,0.000,0.050,2690,670,3537,0,0,0,0,0,0
$GC,374,-0.63,-195.5,53.2,-14.5,59,383,0.08,2.35,0.00,0.000,6,0.121,0.048,2709,2160,3537,0,0,0,0,0,0
$GC,513,-0.63,-195.5,68.9,-11.9,84,520,0.00,2.45,0.00,0.000,4,0.000,0.057,2700,3708,3537,0,0,0,0,0,0
$GC,555,-0.63,-195.5,74.4,-11.9,91,564,0.00,2.42,0.00,0.000,6,0.000,0.041,2699,2157,3537,0,0,0,0,0,0
$GC,699,-0.63,-195.5,92.0,-11.2,116,708,0.00,2.33,0.00,0.000,4,0.000,0.050,2698,669,3538,0,0,0,0,0,0
$GC,740,-0.63,-195.5,96.4,-10.5,122,747,0.00,2.33,0.00,0.000,6,0.000,0.047,2690,2158,3537,0,0,0,0,0,0
$GC,878,-0.63,-195.5,113.8,-13.3,137,879,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2157,3538,0,0,0,0,0,0
$STATE,907,end dive,TARGET_DEPTH_EXCEEDED
$STATE,907,begin apogee
$GC,914,-0.22,0.0,118.2,13.9,140,1074,0.45,0.00,152.40,0.636,6,0.114,0.000,2843,2045,2733,0,0,0,0,0,0
$STATE,1078,end apogee,CONTROL_FINISHED_OK
$STATE,1078,begin climb
$GC,1080,0.67,195.5,127.2,0.0,156,1251,0.82,2.50,156.82,0.620,4,0.080,0.050,3141,561,1937,0,0,0,0,0,0
$GC,1277,0.67,209.2,115.2,10.6,172,1294,0.00,2.40,12.15,0.555,6,0.000,0.045,3140,2060,1881,0,0,0,0,0,0
$GC,1491,0.66,209.2,86.8,13.4,200,1499,0.00,2.50,0.00,0.000,4,0.000,0.057,3141,3578,1875,0,0,0,0,0,0
$GC,1529,0.64,209.2,81.7,15.0,206,1537,0.00,2.40,0.00,0.000,6,0.000,0.042,3152,2078,1874,0,0,0,0,0,0
$GC,1669,0.70,325.5,68.2,6.7,231,1766,0.00,2.55,91.97,0.594,4,0.000,0.052,3162,539,1406,0,0,0,0,0,0
$GC,1820,0.72,338.3,53.0,10.6,254,1837,0.00,2.42,11.55,0.532,6,0.000,0.045,3162,2052,1355,0,0,0,0,0,0
$GC,1966,0.72,338.3,33.7,13.3,280,1974,0.00,2.50,0.00,0.000,4,0.000,0.056,3162,3572,1349,0,0,0,0,0,0
$GC,2004,0.72,338.3,28.6,14.1,286,2011,0.00,2.42,0.00,0.000,6,0.000,0.043,3171,2053,1347,0,0,0,0,0,0
$GC,2143,0.75,388.1,13.0,9.2,311,2186,0.00,0.00,39.97,0.565,6,0.000,0.000,3171,2053,1151,0,0,0,0,0,0
$STATE,2249,end climb,SURFACE_DEPTH_REACHED
$STATE,2249,begin surface coast
$FINISH,0.7,1.002812
$STATE,2310,end surface coast,CONTROL_FINISHED_OK
$STATE,2310,begin surface
$SM_CCo,2389,0.00,0.000,0,0,1140,391.01
$SM_GC,1.66,8.02,0.00,0.00,0.038,0.000,0.000,121,2196,1140,-8.61,0.59,391.01
$IRIDIUM_FIX,4735.69,-12502.41,170611,040416
$TT8_MAMPS,0.026964
$HUMID,37.91
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.5,53.2
$24V_AH,24.1,45.580
$10V_AH,10.2,41.363
$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,19.525,39.125,464.875,0.000,0.000,24.637,39.012,194.992,0.750,0.000,31.597,763.341,281.757,448.199,1089.576,196.776,33.332,872.830,0.000,788.160,0.000,7.107,0.000
$DEVICE_MAMPS,229.500,78.795,636.480,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,227.133,815.271,635.389,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297604
$DATA_FILE_SIZE,17007,340
$CAP_FILE_SIZE,47989,0
$CFSIZE,260165632,184971264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.208,158.4,1
$GPS,170611,054436,4752.082,-12504.392,15,1.6,25,18.7