version: 66.07
glider: 187
mission: 4
dive: 445
start: 6 17 111 9 15 53
data:
$ID,187
$MISSION,4
$DIVE,445
$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,-1585281.8
$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,33
$R_STBD_OVSHOOT,43
$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
$GPS1,170611,090837,4751.135,-12505.633,14,1.5,25,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-76.6
$GPS2,170611,091458,4751.095,-12505.691,16,2.5,35,18.7
$SPEED_LIMITS,0.192,0.308
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.263,-0.160
$KALMAN_X,69582.7,100.6,60.9,-67926.3,183.8
$KALMAN_Y,-181169.8,-788.4,-114.3,190568.2,83.9
$MHEAD_RNG_PITCHd_Wd,257.6,172626,-17.6,-11.111
$D_GRID,140
$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,-195.5,0.0,0.0,0,105,0.00,0.00,-84.62,0.000,2,0.000,0.000,131,2195,2847,0,0,0,0,0,0
$GC,109,-0.67,-195.5,3.9,-6.8,13,140,10.25,2.40,-12.62,0.000,4,0.235,0.060,2698,662,3533,0,0,0,0,0,0
$GC,250,-0.67,-195.5,35.8,-14.6,37,258,0.00,2.38,0.00,0.000,6,0.000,0.047,2689,2163,3535,0,0,0,0,0,0
$GC,388,-0.65,-195.5,56.9,-16.0,62,395,0.00,2.47,0.00,0.000,4,0.000,0.059,2677,3687,3535,0,0,0,0,0,0
$GC,430,-0.65,-195.5,63.4,-13.4,69,439,0.05,2.40,0.00,0.000,6,0.121,0.042,2710,2158,3536,0,0,0,0,0,0
$GC,567,-0.65,-195.5,79.0,-11.8,94,576,0.00,2.35,0.00,0.000,4,0.000,0.050,2710,662,3536,0,0,0,0,0,0
$GC,590,-0.65,-195.5,81.8,-11.5,97,598,0.00,2.38,0.00,0.000,6,0.000,0.047,2706,2173,3536,0,0,0,0,0,0
$GC,728,-0.65,-195.5,96.6,-11.0,122,735,0.00,2.42,0.00,0.000,4,0.000,0.059,2694,3685,3536,0,0,0,0,0,0
$GC,768,-0.65,-195.5,101.6,-11.3,128,775,0.00,2.33,0.00,0.000,6,0.000,0.042,2693,2187,3536,0,0,0,0,0,0
$GC,967,-0.65,-195.5,124.1,-11.3,147,971,0.00,2.33,0.00,0.000,4,0.000,0.050,2693,665,3536,0,0,0,0,0,0
$GC,1008,-0.65,-195.5,128.9,-11.9,150,1012,0.00,2.33,0.00,0.000,6,0.000,0.047,2685,2184,3536,0,0,0,0,0,0
$STATE,1109,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1109,begin apogee
$GC,1116,-0.22,0.0,141.1,12.4,159,1277,0.47,0.00,153.00,0.655,6,0.112,0.000,2845,2055,2734,0,0,0,0,0,0
$STATE,1279,end apogee,CONTROL_FINISHED_OK
$STATE,1279,begin climb
$GC,1282,0.67,195.5,149.8,0.0,175,1447,0.82,2.47,157.82,0.636,4,0.077,0.050,3144,551,1937,0,0,0,0,0,0
$GC,1531,0.65,195.5,130.5,14.0,195,1539,0.00,2.42,0.00,0.000,6,0.000,0.044,3144,2055,1930,0,0,0,0,0,0
$GC,1731,0.63,195.5,104.9,11.5,214,1738,0.00,0.00,0.00,0.000,6,0.000,0.000,3144,2056,1928,0,0,0,0,0,0
$GC,1932,0.61,195.5,82.4,12.8,247,1941,0.00,2.42,0.00,0.000,4,0.000,0.056,3145,3569,1926,0,0,0,0,0,0
$GC,2022,0.59,195.5,70.7,11.7,263,2030,0.10,2.40,0.00,0.000,6,0.132,0.042,3107,2050,1924,0,0,0,0,0,0
$GC,2162,0.63,265.5,59.6,8.4,288,2228,0.00,2.42,54.80,0.601,4,0.000,0.052,3115,553,1651,0,0,0,0,0,0
$GC,2260,0.71,348.6,52.2,7.9,302,2332,0.00,2.33,66.32,0.588,6,0.000,0.045,3115,2018,1312,0,0,0,0,0,0
$GC,2462,0.80,432.0,37.5,7.9,336,2531,0.17,0.00,66.10,0.575,6,0.070,0.000,3197,2018,972,0,0,0,0,0,0
$GC,2661,0.84,466.2,12.9,9.8,370,2698,0.00,2.55,27.52,0.552,4,0.000,0.056,3197,3563,832,0,0,0,0,0,0
$GC,2712,0.89,496.8,8.1,9.9,377,2747,0.00,2.50,25.45,0.542,6,0.000,0.044,3203,2016,707,0,0,0,0,0,0
$STATE,2758,end climb,SURFACE_DEPTH_REACHED
$STATE,2758,begin surface coast
$FINISH,0.7,1.011894
$STATE,2806,end surface coast,CONTROL_FINISHED_OK
$STATE,2807,begin surface
$SM_CCo,2885,0.00,0.000,0,0,701,498.94
$SM_GC,1.73,8.10,0.00,0.00,0.032,0.000,0.000,129,2183,701,-8.61,0.23,498.94
$IRIDIUM_FIX,4732.49,-12512.13,170611,080849
$TT8_MAMPS,0.026964
$HUMID,38.42
$INTERNAL_PRESSURE,9.01087
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,105.9,57.0
$24V_AH,24.1,46.121
$10V_AH,10.1,41.648
$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,19.975,43.725,551.025,0.000,0.000,28.541,36.327,184.153,1.750,0.000,37.480,854.424,454.037,526.407,1232.109,202.751,33.345,1028.092,0.000,900.799,0.000,13.297,0.000
$DEVICE_MAMPS,234.855,71.910,654.840,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,261.095,942.271,694.193,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20313,392
$CAP_FILE_SIZE,54792,0
$CFSIZE,260165632,184803328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.202,158.5,1
$GPS,170611,100507,4750.838,-12506.028,34,0.9,34,18.7