version: 66.07
glider: 187
mission: 4
dive: 448
start: 6 17 111 12 8 28
data:
$ID,187
$MISSION,4
$DIVE,448
$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,-1585285.5
$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,32
$R_STBD_OVSHOOT,42
$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
$GPS1,170611,120134,4750.283,-12507.002,15,4.0,34,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-77.4
$GPS2,170611,120732,4750.276,-12507.031,13,1.7,13,18.7
$SPEED_LIMITS,0.192,0.308
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.269,-0.150
$KALMAN_X,69774.6,300.6,89.8,-70014.9,46.9
$KALMAN_Y,-181913.7,-670.0,279.8,189282.2,-54.2
$MHEAD_RNG_PITCHd_Wd,262.3,170380,-17.6,-11.111
$D_GRID,168
$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,14,begin dive
$GC,17,-0.67,-195.5,0.0,0.0,0,110,0.00,0.00,-90.90,0.000,2,0.000,0.000,131,2185,2904,0,0,0,0,0,0
$GC,114,-0.67,-195.5,3.9,-7.1,14,144,10.27,2.40,-11.43,0.000,4,0.235,0.062,2697,653,3535,0,0,0,0,0,0
$GC,153,-0.49,-195.5,18.4,-34.7,19,161,0.17,2.38,0.00,0.000,6,0.122,0.048,2756,2153,3535,0,0,0,0,0,0
$GC,292,-0.49,-195.5,36.6,-11.5,44,301,0.00,2.35,0.00,0.000,4,0.000,0.050,2757,665,3536,0,0,0,0,0,0
$GC,362,-0.52,-195.5,44.4,-9.6,56,371,0.00,2.40,0.00,0.000,6,0.000,0.047,2750,2189,3536,0,0,0,0,0,0
$GC,501,-0.52,-195.5,58.8,-10.4,81,508,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2189,3537,0,0,0,0,0,0
$GC,638,-0.53,-195.5,73.4,-9.4,106,645,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2189,3537,0,0,0,0,0,0
$GC,778,-0.55,-195.5,84.5,-9.2,131,789,0.00,2.40,0.00,0.000,4,0.000,0.049,2750,659,3537,0,0,0,0,0,0
$GC,809,-0.57,-195.5,87.6,-10.0,135,817,0.00,2.38,0.00,0.000,6,0.000,0.048,2749,2173,3538,0,0,0,0,0,0
$GC,952,-0.59,-195.5,102.9,-11.7,159,956,0.00,2.42,0.00,0.000,4,0.000,0.060,2739,3693,3538,0,0,0,0,0,0
$GC,1001,-0.62,-195.5,108.0,-10.3,163,1005,0.00,2.35,0.00,0.000,6,0.000,0.042,2738,2163,3538,0,0,0,0,0,0
$GC,1203,-0.64,-195.5,126.5,-8.2,181,1207,0.00,2.28,0.00,0.000,4,0.000,0.050,2738,670,3538,0,0,0,0,0,0
$GC,1267,-0.67,-195.5,132.1,-8.0,186,1271,0.00,2.28,0.00,0.000,6,0.000,0.047,2733,2156,3538,0,0,0,0,0,0
$GC,1476,-0.69,-195.5,150.2,-9.2,205,1480,0.10,2.45,0.00,0.000,4,0.098,0.059,2660,3695,3538,0,0,0,0,0,0
$GC,1520,-0.69,-195.5,156.0,-13.3,208,1529,0.10,2.40,0.00,0.000,6,0.108,0.042,2697,2151,3538,0,0,0,0,0,0
$STATE,1631,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1631,begin apogee
$GC,1637,-0.22,0.0,169.3,12.2,219,1796,0.43,0.00,153.73,0.676,6,0.111,0.000,2844,2047,2735,0,0,0,0,0,0
$STATE,1800,end apogee,CONTROL_FINISHED_OK
$STATE,1800,begin climb
$GC,1802,0.67,195.5,179.2,0.0,235,1968,0.82,2.45,158.55,0.658,4,0.075,0.049,3146,561,1937,0,0,0,0,0,0
$GC,1987,0.66,219.7,171.0,10.2,249,2018,0.00,2.45,20.90,0.615,6,0.000,0.044,3146,2056,1837,0,0,0,0,0,0
$GC,2209,0.64,219.7,144.5,12.7,270,2213,0.00,2.40,0.00,0.000,4,0.000,0.051,3157,560,1830,0,0,0,0,0,0
$GC,2240,0.62,219.7,140.7,13.2,272,2245,0.15,2.33,0.00,0.000,6,0.146,0.044,3116,2054,1829,0,0,0,0,0,0
$GC,2443,0.62,220.3,118.7,11.1,290,2450,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2054,1828,0,0,0,0,0,0
$GC,2642,0.63,234.3,93.8,10.6,314,2665,0.00,2.45,11.68,0.580,4,0.000,0.056,3116,3566,1777,0,0,0,0,0,0
$GC,2699,0.66,284.0,88.2,9.2,323,2748,0.00,2.42,40.70,0.615,6,0.000,0.043,3124,2037,1576,0,0,0,0,0,0
$GC,2879,0.70,328.6,70.6,9.4,354,2921,0.00,2.45,35.97,0.599,4,0.000,0.054,3133,548,1394,0,0,0,0,0,0
$GC,2961,0.77,400.5,63.2,8.4,367,3031,0.08,2.35,58.10,0.592,6,0.055,0.045,3189,2023,1100,0,0,0,0,0,0
$GC,3162,0.77,400.5,36.4,15.7,401,3170,0.00,2.40,0.00,0.000,4,0.000,0.055,3194,545,1093,0,0,0,0,0,0
$GC,3188,0.77,400.5,32.6,14.7,405,3197,0.00,2.33,0.00,0.000,6,0.000,0.045,3194,2009,1093,0,0,0,0,0,0
$GC,3330,0.81,434.5,15.8,9.8,430,3358,0.00,0.00,27.00,0.564,6,0.000,0.000,3194,2010,963,0,0,0,0,0,0
$STATE,3470,end climb,SURFACE_DEPTH_REACHED
$STATE,3470,begin surface coast
$FINISH,0.8,1.001580
$STATE,3513,end surface coast,CONTROL_FINISHED_OK
$STATE,3513,begin surface
$SM_CCo,3592,0.00,0.000,0,0,954,436.88
$SM_GC,1.56,8.00,0.00,0.00,0.034,0.000,0.000,132,2186,954,-8.60,0.31,436.88
$IRIDIUM_FIX,4732.49,-12503.20,170611,111132
$TT8_MAMPS,0.026964
$HUMID,38.65
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,16.20
$XPDR_PINGS,1
$24V_AH,24.0,46.449
$10V_AH,10.2,41.838
$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,20.125,52.875,506.625,0.000,0.000,26.569,35.248,186.228,4.750,0.000,14.122,1066.711,747.242,518.598,1393.603,228.062,33.339,1072.520,0.000,1043.621,0.000,30.483,0.000
$DEVICE_MAMPS,234.855,87.975,676.260,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,310.769,1108.924,768.147,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,23594,463
$CAP_FILE_SIZE,67081,0
$CFSIZE,260165632,184688640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.223,160.8,1
$GPS,170611,130908,4749.929,-12507.557,12,1.8,12,18.7