version: 66.07
glider: 187
mission: 4
dive: 441
start: 6 17 111 5 51 45
data:
$ID,187
$MISSION,4
$DIVE,441
$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,-1585276.8
$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,30
$R_STBD_OVSHOOT,46
$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
$GPS1,170611,054436,4752.082,-12504.392,15,1.6,25,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-77.0
$GPS2,170611,055050,4751.978,-12504.373,12,1.9,12,18.7
$SPEED_LIMITS,0.192,0.308
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.303,-0.056
$KALMAN_X,68988.5,-212.2,-11.7,-65310.2,57.5
$KALMAN_Y,-180235.9,-545.4,-530.8,191442.9,-283.7
$MHEAD_RNG_PITCHd_Wd,259.4,174915,-17.6,-11.111
$D_GRID,122
$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,-71.12,0.000,2,0.000,0.000,120,2197,2872,0,0,0,0,0,0
$GC,94,-0.67,-195.5,4.1,-7.0,11,124,10.27,2.38,-12.43,0.000,4,0.233,0.069,2690,3681,3534,0,0,0,0,0,0
$GC,213,-0.67,-195.5,29.9,-14.6,31,220,0.00,2.38,0.00,0.000,6,0.000,0.042,2689,2169,3536,0,0,0,0,0,0
$GC,352,-0.64,-195.5,53.7,-17.4,56,360,0.00,2.35,0.00,0.000,4,0.000,0.050,2689,669,3537,0,0,0,0,0,0
$GC,375,-0.63,-195.5,58.3,-17.6,59,383,0.10,2.33,0.00,0.000,6,0.124,0.047,2715,2149,3537,0,0,0,0,0,0
$GC,513,-0.63,-195.5,74.6,-9.8,84,520,0.00,2.47,0.00,0.000,4,0.000,0.059,2706,3690,3537,0,0,0,0,0,0
$GC,551,-0.63,-195.5,78.3,-9.4,90,558,0.00,2.38,0.00,0.000,6,0.000,0.043,2705,2168,3537,0,0,0,0,0,0
$GC,690,-0.63,-195.5,92.4,-11.5,115,698,0.00,2.35,0.00,0.000,4,0.000,0.050,2704,667,3537,0,0,0,0,0,0
$GC,724,-0.63,-195.5,96.6,-12.5,120,732,0.00,2.35,0.00,0.000,6,0.000,0.048,2696,2167,3538,0,0,0,0,0,0
$GC,862,-0.63,-195.5,113.5,-11.9,135,866,0.00,2.45,0.00,0.000,4,0.000,0.059,2685,3697,3538,0,0,0,0,0,0
$GC,877,-0.63,-195.5,115.7,-12.1,136,885,0.08,2.40,0.00,0.000,6,0.119,0.043,2712,2159,3537,0,0,0,0,0,0
$STATE,936,end dive,TARGET_DEPTH_EXCEEDED
$STATE,936,begin apogee
$GC,944,-0.22,0.0,122.4,11.4,142,1104,0.38,0.00,152.40,0.641,6,0.109,0.000,2844,2039,2733,0,0,0,0,0,0
$STATE,1106,end apogee,CONTROL_FINISHED_OK
$STATE,1106,begin climb
$GC,1109,0.67,195.5,131.7,0.0,158,1273,0.82,2.58,156.50,0.625,4,0.077,0.053,3133,3582,1937,0,0,0,0,0,0
$GC,1313,0.64,195.5,119.2,12.6,174,1321,0.00,2.47,0.00,0.000,6,0.000,0.041,3143,2067,1931,0,0,0,0,0,0
$GC,1514,0.63,195.5,92.8,13.8,198,1522,0.00,2.42,0.00,0.000,4,0.000,0.052,3155,553,1929,0,0,0,0,0,0
$GC,1572,0.61,195.5,85.0,12.0,208,1580,0.10,2.40,0.00,0.000,6,0.126,0.044,3107,2069,1928,0,0,0,0,0,0
$GC,1712,0.66,283.9,72.7,7.7,233,1790,0.00,2.45,69.80,0.599,4,0.000,0.053,3107,3576,1574,0,0,0,0,0,0
$GC,1836,0.75,386.2,64.6,7.2,252,1928,0.10,2.40,81.25,0.586,6,0.050,0.042,3186,2080,1157,0,0,0,0,0,0
$GC,2058,0.75,386.2,34.5,13.2,289,2067,0.00,2.47,0.00,0.000,4,0.000,0.054,3194,548,1151,0,0,0,0,0,0
$GC,2087,0.75,386.2,30.7,13.6,293,2096,0.08,2.42,0.00,0.000,6,0.113,0.045,3158,2071,1150,0,0,0,0,0,0
$GC,2228,0.78,407.0,15.6,10.3,318,2250,0.00,2.47,16.38,0.546,4,0.000,0.055,3158,3575,1075,0,0,0,0,0,0
$GC,2274,0.86,479.0,11.2,8.4,325,2340,0.08,2.42,58.17,0.558,6,0.056,0.043,3215,2054,780,0,0,0,0,0,0
$STATE,2346,end climb,SURFACE_DEPTH_REACHED
$STATE,2346,begin surface coast
$FINISH,0.7,1.013055
$STATE,2386,end surface coast,CONTROL_FINISHED_OK
$STATE,2386,begin surface
$SM_CCo,2465,0.00,0.000,0,0,774,481.03
$SM_GC,1.66,8.20,0.00,0.00,0.036,0.000,0.000,124,2196,774,-8.61,0.59,481.03
$IRIDIUM_FIX,4738.89,-12504.26,170611,040402
$TT8_MAMPS,0.026964
$HUMID,37.91
$INTERNAL_PRESSURE,9.02063
$TCM_TEMP,16.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.2,57.9
$24V_AH,24.1,45.687
$10V_AH,10.2,41.418
$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,20.200,48.700,534.500,0.000,0.000,27.283,45.599,193.364,0.750,0.000,13.078,743.407,301.829,509.975,1090.260,199.211,33.337,971.366,0.000,794.558,0.000,7.118,0.000
$DEVICE_MAMPS,232.560,79.560,641.070,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,226.667,821.310,631.050,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297616
$DATA_FILE_SIZE,16953,342
$CAP_FILE_SIZE,51915,0
$CFSIZE,260165632,184938496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.228,151.8,1
$GPS,170611,063358,4751.775,-12504.698,13,3.0,32,18.7