version: 66.07
glider: 187
mission: 4
dive: 442
start: 6 17 111 6 41 11
data:
$ID,187
$MISSION,4
$DIVE,442
$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,-1585278
$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,35
$R_STBD_OVSHOOT,38
$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
$GPS1,170611,063358,4751.775,-12504.698,13,3.0,32,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-76.8
$GPS2,170611,064016,4751.678,-12504.706,12,3.3,31,18.7
$SPEED_LIMITS,0.192,0.308
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.302,-0.064
$KALMAN_X,69186.3,-159.1,-30.9,-65955.4,176.2
$KALMAN_Y,-180578.4,-647.5,-501.6,191304.3,-190.7
$MHEAD_RNG_PITCHd_Wd,263.0,174259,-17.6,-11.111
$D_GRID,125
$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,-195.5,0.0,0.0,0,104,0.00,0.00,-83.95,0.000,2,0.000,0.000,124,2197,2790,0,0,0,0,0,0
$GC,108,-0.67,-195.5,3.4,-4.7,13,139,10.32,2.45,-14.25,0.000,4,0.236,0.070,2686,3681,3535,0,0,0,0,0,0
$GC,238,-0.65,-195.5,33.4,-17.1,35,246,0.00,2.38,0.00,0.000,6,0.000,0.041,2685,2175,3537,0,0,0,0,0,0
$GC,376,-0.63,-195.5,54.0,-13.6,60,384,0.10,2.40,0.00,0.000,4,0.172,0.050,2711,659,3537,0,0,0,0,0,0
$GC,393,-0.61,-195.5,57.3,-15.0,62,401,0.00,2.35,0.00,0.000,6,0.000,0.047,2704,2154,3538,0,0,0,0,0,0
$GC,530,-0.61,-195.5,74.2,-12.0,87,538,0.00,2.50,0.00,0.000,4,0.000,0.060,2693,3715,3538,0,0,0,0,0,0
$GC,586,-0.61,-195.5,80.0,-10.7,96,593,0.00,2.42,0.00,0.000,6,0.000,0.042,2692,2161,3538,0,0,0,0,0,0
$GC,725,-0.61,-195.5,98.6,-13.4,121,733,0.10,2.35,0.00,0.000,4,0.172,0.050,2719,673,3538,0,0,0,0,0,0
$GC,756,-0.61,-195.5,102.4,-11.2,124,763,0.00,2.33,0.00,0.000,6,0.000,0.049,2719,2154,3538,0,0,0,0,0,0
$GC,955,-0.61,-195.5,123.5,-11.0,143,960,0.00,2.42,0.00,0.000,4,0.000,0.059,2708,3695,3538,0,0,0,0,0,0
$STATE,964,end dive,TARGET_DEPTH_EXCEEDED
$STATE,964,begin apogee
$GC,973,-0.22,0.0,125.1,11.2,143,1132,0.40,0.00,152.50,0.642,6,0.109,0.000,2844,2049,2735,0,0,0,0,0,0
$STATE,1134,end apogee,CONTROL_FINISHED_OK
$STATE,1135,begin climb
$GC,1137,0.67,195.5,133.9,0.0,159,1305,0.82,2.55,157.35,0.625,4,0.076,0.052,3132,3574,1937,0,0,0,0,0,0
$GC,1320,0.65,195.5,123.2,11.8,174,1325,0.00,2.45,0.00,0.000,6,0.000,0.041,3143,2064,1933,0,0,0,0,0,0
$GC,1521,0.63,195.5,97.4,12.4,194,1529,0.00,2.47,0.00,0.000,4,0.000,0.054,3143,3571,1928,0,0,0,0,0,0
$GC,1569,0.61,195.5,90.9,13.8,202,1577,0.10,2.35,0.00,0.000,6,0.132,0.041,3120,2100,1927,0,0,0,0,0,0
$GC,1708,0.62,228.0,75.9,9.9,227,1746,0.00,2.50,26.08,0.590,4,0.000,0.051,3129,553,1803,0,0,0,0,0,0
$GC,1792,0.67,308.2,68.0,8.1,240,1862,0.00,2.40,64.32,0.593,6,0.000,0.045,3129,2068,1477,0,0,0,0,0,0
$GC,1994,0.71,341.7,47.9,9.8,274,2030,0.00,2.50,27.17,0.573,4,0.000,0.055,3129,3577,1340,0,0,0,0,0,0
$GC,2049,0.78,421.7,43.2,8.1,282,2123,0.05,2.45,64.12,0.575,6,0.062,0.042,3193,2058,1014,0,0,0,0,0,0
$GC,2254,0.83,474.1,19.2,9.1,316,2304,0.00,2.45,41.67,0.559,4,0.000,0.052,3193,543,801,0,0,0,0,0,0
$GC,2356,0.93,570.3,11.3,7.4,332,2427,0.00,2.38,65.10,0.555,6,0.000,0.044,3193,2032,470,0,0,0,0,0,0
$STATE,2439,end climb,SURFACE_DEPTH_REACHED
$STATE,2439,begin surface coast
$FINISH,0.7,1.006102
$STATE,2489,end surface coast,CONTROL_FINISHED_OK
$STATE,2489,begin surface
$SM_CCo,2568,0.00,0.000,0,0,463,557.32
$SM_GC,1.49,8.10,0.00,0.00,0.033,0.000,0.000,133,2189,463,-8.60,0.42,557.32
$IRIDIUM_FIX,4735.69,-12500.57,170611,050518
$TT8_MAMPS,0.026964
$HUMID,37.79
$INTERNAL_PRESSURE,9.01087
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.2,57.3
$24V_AH,24.1,45.803
$10V_AH,10.2,41.474
$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,20.000,48.900,598.325,0.000,0.000,27.759,38.022,182.519,1.000,0.000,32.900,742.233,337.605,562.201,1115.151,193.977,33.336,1040.242,0.000,812.490,0.000,8.664,0.000
$DEVICE_MAMPS,236.385,70.380,641.835,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,233.024,849.644,650.165,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297632
$DATA_FILE_SIZE,20368,353
$CAP_FILE_SIZE,52484,0
$CFSIZE,260165632,184905728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.214,149.6,1
$GPS,170611,072506,4751.577,-12505.007,16,0.9,32,18.7