version: 66.07
glider: 187
mission: 4
dive: 443
start: 6 17 111 7 32 8
data:
$ID,187
$MISSION,4
$DIVE,443
$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,-1585279.2
$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,37
$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
$GPS1,170611,072506,4751.577,-12505.007,16,0.9,32,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-76.5
$GPS2,170611,073113,4751.510,-12504.993,15,1.7,20,18.7
$SPEED_LIMITS,0.192,0.308
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.289,-0.107
$KALMAN_X,69379.7,-69.5,-7.2,-66618.3,213.1
$KALMAN_Y,-180764.8,-724.3,-411.3,191162.0,-55.3
$MHEAD_RNG_PITCHd_Wd,262.0,173784,-17.6,-11.111
$D_GRID,128
$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,-195.5,0.0,0.0,0,118,0.00,0.00,-97.40,0.000,2,0.000,0.000,132,2190,2821,0,0,0,0,0,0
$GC,122,-0.67,-195.5,3.4,-5.0,15,153,10.20,2.38,-13.27,0.000,4,0.233,0.067,2686,3689,3534,0,0,0,0,0,0
$GC,225,-0.67,-195.5,31.4,-17.4,32,232,0.00,2.40,0.00,0.000,6,0.000,0.042,2685,2165,3535,0,0,0,0,0,0
$GC,363,-0.64,-195.5,53.1,-15.0,57,371,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2160,3536,0,0,0,0,0,0
$GC,500,-0.63,-195.5,73.4,-12.9,82,509,0.10,2.47,0.00,0.000,4,0.168,0.057,2703,3683,3536,0,0,0,0,0,0
$GC,550,-0.64,-195.5,78.9,-9.5,90,558,0.00,2.35,0.00,0.000,6,0.000,0.041,2702,2173,3537,0,0,0,0,0,0
$GC,691,-0.64,-195.5,93.9,-11.5,115,698,0.00,2.35,0.00,0.000,4,0.000,0.048,2702,670,3537,0,0,0,0,0,0
$GC,717,-0.64,-195.5,96.7,-11.7,118,725,0.00,2.35,0.00,0.000,6,0.000,0.047,2694,2170,3537,0,0,0,0,0,0
$GC,855,-0.64,-195.5,112.3,-11.9,133,860,0.00,2.45,0.00,0.000,4,0.000,0.058,2683,3698,3537,0,0,0,0,0,0
$GC,929,-0.64,-195.5,120.8,-10.7,139,934,0.10,2.30,0.00,0.000,6,0.147,0.041,2711,2191,3537,0,0,0,0,0,0
$STATE,999,end dive,TARGET_DEPTH_EXCEEDED
$STATE,999,begin apogee
$GC,1006,-0.22,0.0,128.3,10.2,145,1165,0.38,0.00,152.45,0.643,6,0.109,0.000,2842,2052,2735,0,0,0,0,0,0
$STATE,1167,end apogee,CONTROL_FINISHED_OK
$STATE,1167,begin climb
$GC,1170,0.67,195.5,135.4,0.0,161,1337,0.82,2.45,156.68,0.627,4,0.080,0.049,3141,560,1937,0,0,0,0,0,0
$GC,1363,0.67,197.5,122.5,11.0,177,1372,0.00,2.45,0.00,0.000,6,0.000,0.044,3141,2065,1934,0,0,0,0,0,0
$GC,1564,0.65,197.5,99.2,11.7,196,1572,0.00,2.45,0.00,0.000,4,0.000,0.054,3141,3577,1930,0,0,0,0,0,0
$GC,1616,0.62,197.5,92.2,13.7,205,1625,0.00,2.38,0.00,0.000,6,0.000,0.041,3152,2089,1928,0,0,0,0,0,0
$GC,1757,0.60,197.5,74.9,11.6,230,1766,0.12,0.00,0.00,0.000,6,0.152,0.000,3118,2087,1928,0,0,0,0,0,0
$GC,1898,0.64,259.2,60.9,8.8,255,1955,0.00,2.50,50.40,0.596,4,0.000,0.056,3117,3578,1677,0,0,0,0,0,0
$GC,1969,0.71,355.9,55.4,7.4,265,2053,0.00,2.42,76.57,0.586,6,0.000,0.043,3122,2073,1282,0,0,0,0,0,0
$GC,2185,0.79,431.7,38.9,8.2,301,2257,0.15,2.53,59.85,0.573,4,0.075,0.053,3205,548,973,0,0,0,0,0,0
$GC,2295,0.80,431.7,24.5,13.7,317,2303,0.00,2.45,0.00,0.000,6,0.000,0.044,3205,2074,969,0,0,0,0,0,0
$GC,2435,0.83,452.0,8.2,10.3,342,2457,0.00,2.50,16.70,0.540,4,0.000,0.056,3205,3581,891,0,0,0,0,0,0
$STATE,2473,end climb,SURFACE_DEPTH_REACHED
$STATE,2473,begin surface coast
$FINISH,0.8,1.016699
$STATE,2512,end surface coast,CONTROL_FINISHED_OK
$STATE,2512,begin surface
$SM_CCo,2594,0.00,0.000,0,0,884,453.80
$SM_GC,1.63,8.10,0.00,0.00,0.036,0.000,0.000,126,2156,884,-8.61,-0.54,453.80
$IRIDIUM_FIX,4735.69,-12500.57,170611,060636
$TT8_MAMPS,0.026964
$HUMID,38.42
$INTERNAL_PRESSURE,9.0304
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.8,54.9
$24V_AH,24.1,45.906
$10V_AH,10.1,41.530
$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,19.975,43.625,512.650,0.000,0.000,27.995,38.371,183.860,1.250,0.000,21.587,771.906,369.531,512.611,1120.669,190.362,33.335,981.049,0.000,820.905,0.000,10.194,0.000
$DEVICE_MAMPS,233.325,72.675,642.600,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,235.507,853.279,645.847,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20269,355
$CAP_FILE_SIZE,51784,0
$CFSIZE,260165632,184872960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.173,151.6,1
$GPS,170611,081608,4751.379,-12505.317,11,1.1,11,18.7