version: 66.07
glider: 187
mission: 4
dive: 444
start: 6 17 111 8 22 57
data:
$ID,187
$MISSION,4
$DIVE,444
$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,-1585280.5
$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,40
$R_STBD_OVSHOOT,30
$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
$GPS1,170611,081608,4751.379,-12505.317,11,1.1,11,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-76.8
$GPS2,170611,082202,4751.312,-12505.354,10,2.0,10,18.7
$SPEED_LIMITS,0.192,0.308
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.275,-0.140
$KALMAN_X,69474.3,18.7,29.5,-67283.6,182.0
$KALMAN_Y,-180962.9,-772.3,-275.6,190908.5,20.5
$MHEAD_RNG_PITCHd_Wd,252.1,173204,-17.6,-11.111
$D_GRID,131
$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,-195.5,0.0,0.0,0,100,0.00,0.00,-79.82,0.000,2,0.000,0.000,126,2158,2788,0,0,0,0,0,0
$GC,104,-0.67,-195.5,3.3,-4.6,12,135,10.27,2.53,-14.35,0.000,4,0.234,0.070,2686,3689,3535,0,0,0,0,0,0
$GC,238,-0.65,-195.5,31.4,-15.9,35,246,0.00,2.38,0.00,0.000,6,0.000,0.042,2685,2182,3537,0,0,0,0,0,0
$GC,378,-0.63,-195.5,54.9,-17.2,60,386,0.12,2.38,0.00,0.000,4,0.157,0.050,2720,663,3538,0,0,0,0,0,0
$GC,411,-0.63,-195.5,60.2,-13.3,65,418,0.00,2.38,0.00,0.000,6,0.000,0.048,2713,2170,3538,0,0,0,0,0,0
$GC,547,-0.63,-195.5,77.9,-13.0,90,555,0.00,2.45,0.00,0.000,4,0.000,0.059,2701,3716,3538,0,0,0,0,0,0
$GC,581,-0.63,-195.5,82.1,-12.1,95,589,0.00,2.40,0.00,0.000,6,0.000,0.042,2700,2179,3538,0,0,0,0,0,0
$GC,724,-0.63,-195.5,98.7,-12.7,120,731,0.00,2.38,0.00,0.000,4,0.000,0.050,2700,663,3538,0,0,0,0,0,0
$GC,755,-0.63,-195.5,102.3,-11.8,123,760,0.00,2.35,0.00,0.000,6,0.000,0.047,2691,2195,3539,0,0,0,0,0,0
$GC,954,-0.63,-195.5,126.4,-12.1,141,958,0.00,2.38,0.00,0.000,4,0.000,0.059,2680,3692,3538,0,0,0,0,0,0
$STATE,989,end dive,TARGET_DEPTH_EXCEEDED
$STATE,989,begin apogee
$GC,998,-0.22,0.0,131.3,11.3,144,1156,0.47,0.00,153.15,0.647,6,0.112,0.000,2842,2059,2735,0,0,0,0,0,0
$STATE,1160,end apogee,CONTROL_FINISHED_OK
$STATE,1160,begin climb
$GC,1163,0.67,195.5,137.9,0.0,160,1328,0.82,2.47,157.25,0.629,4,0.077,0.049,3141,550,1938,0,0,0,0,0,0
$GC,1433,0.67,195.5,116.5,11.1,182,1441,0.00,2.42,0.00,0.000,6,0.000,0.043,3141,2062,1932,0,0,0,0,0,0
$GC,1633,0.65,195.5,93.9,11.5,206,1642,0.00,2.45,0.00,0.000,4,0.000,0.056,3141,3575,1929,0,0,0,0,0,0
$GC,1702,0.63,195.5,84.9,12.6,218,1710,0.00,2.33,0.00,0.000,6,0.000,0.042,3151,2108,1927,0,0,0,0,0,0
$GC,1842,0.61,195.5,69.0,11.2,243,1851,0.12,2.47,0.00,0.000,4,0.151,0.050,3126,540,1927,0,0,0,0,0,0
$GC,1886,0.65,253.0,64.0,8.9,250,1942,0.00,2.45,45.88,0.596,6,0.000,0.046,3126,2099,1701,0,0,0,0,0,0
$GC,2071,0.67,296.5,49.0,9.5,282,2114,0.00,2.50,34.72,0.584,4,0.000,0.050,3136,545,1525,0,0,0,0,0,0
$GC,2128,0.71,322.0,43.2,10.1,290,2158,0.00,2.47,21.52,0.562,6,0.000,0.045,3136,2094,1421,0,0,0,0,0,0
$GC,2287,0.76,382.3,28.1,8.8,318,2338,0.00,0.00,48.28,0.572,6,0.000,0.000,3136,2094,1176,0,0,0,0,0,0
$GC,2467,0.85,472.2,13.4,7.7,349,2544,0.17,0.00,71.43,0.562,6,0.070,0.000,3220,2094,809,0,0,0,0,0,0
$STATE,2561,end climb,SURFACE_DEPTH_REACHED
$STATE,2561,begin surface coast
$FINISH,0.8,1.022630
$STATE,2602,end surface coast,CONTROL_FINISHED_OK
$STATE,2602,begin surface
$SM_CCo,2680,0.00,0.000,0,0,802,474.41
$SM_GC,1.70,8.12,0.00,0.00,0.029,0.000,0.000,132,2196,802,-8.61,0.62,474.41
$IRIDIUM_FIX,4732.49,-12503.20,170611,070745
$TT8_MAMPS,0.026964
$HUMID,38.10
$INTERNAL_PRESSURE,9.02063
$TCM_TEMP,15.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.6,57.4
$24V_AH,24.1,46.012
$10V_AH,10.2,41.588
$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,20.125,43.850,532.225,0.000,0.000,27.388,40.534,180.260,1.500,0.000,11.842,813.194,364.549,510.900,1151.526,197.700,33.342,986.233,0.000,861.456,0.000,11.764,0.000
$DEVICE_MAMPS,234.090,88.740,647.190,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,246.342,886.224,675.115,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297608
$DATA_FILE_SIZE,20375,370
$CAP_FILE_SIZE,52504,0
$CFSIZE,260165632,184840192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.197,151.6,1
$GPS,170611,090837,4751.135,-12505.633,14,1.5,25,18.7