version: 66.08
glider: 187
mission: 1
dive: 4
start: 6 12 112 20 51 1
data:
$ID,187
$MISSION,1
$DIVE,4
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,4
$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,50
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,101
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51930
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,348
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1587246.4
$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,3350
$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,2050
$C_ROLL_CLIMB,2025
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,1869
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$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,-60.980541
$PRESSURE_SLOPE,0.0001138132
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$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,0.0043543722
$SEABIRD_T_H,0.00062483409
$SEABIRD_T_I,2.3277114e-05
$SEABIRD_T_J,2.4402393e-06
$SEABIRD_C_G,-9.9786949
$SEABIRD_C_H,1.1107863
$SEABIRD_C_I,-0.0017547003
$SEABIRD_C_J,0.0002234884
$GPS1,120612,203956,4743.131,-12224.807,32,1.8,32,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-77.9
$GPS2,120612,205006,4743.134,-12224.803,34,0.8,34,18.2
$SPEED_LIMITS,0.173,0.217
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.010,0.216
$KALMAN_X,-35.3,-58.8,-67.7,182.8,-27.2
$KALMAN_Y,-243.5,-265.3,-220.3,1436.0,-133.5
$MHEAD_RNG_PITCHd_Wd,344.4,1418,-22.7,-10.000
$D_GRID,177
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.75,-97.8,0.0,0.0,0,76,0.00,0.00,-58.15,0.000,2,0.000,0.000,135,2030,2092,0,0,0,0,0,0
$GC,80,-0.75,-97.8,3.3,-7.5,9,102,11.45,2.30,-3.85,0.000,4,0.229,0.061,3104,549,2270,0,0,0,0,0,0
$GC,338,-0.74,-97.8,45.9,-14.2,57,345,0.00,2.33,0.00,0.000,6,0.000,0.047,3095,2048,2276,0,0,0,0,0,0
$GC,412,-0.72,-97.8,56.3,-14.5,70,419,0.00,2.33,0.00,0.000,4,0.000,0.050,3094,554,2277,0,0,0,0,0,0
$GC,503,-0.72,-97.8,70.5,-14.5,86,511,0.08,2.33,0.00,0.000,6,0.151,0.047,3108,2054,2277,0,0,0,0,0,0
$GC,646,-0.72,-97.8,90.4,-14.0,111,652,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2053,2277,0,0,0,0,0,0
$GC,786,-0.72,-97.8,108.8,-12.8,136,794,0.00,2.38,0.00,0.000,4,0.000,0.060,3099,3563,2277,0,0,0,0,0,0
$GC,920,-0.72,-97.8,125.5,-12.5,159,927,0.00,2.30,0.00,0.000,6,0.000,0.042,3099,2033,2276,0,0,0,0,0,0
$GC,1067,-0.72,-97.8,144.5,-12.2,184,1074,0.00,2.42,0.00,0.000,4,0.000,0.060,3087,3560,2277,0,0,0,0,0,0
$STATE,1112,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1112,begin apogee
$GC,1121,-0.22,0.0,150.4,12.5,192,1209,0.57,0.00,83.90,0.660,4,0.145,0.000,3270,2012,1869,0,0,0,0,0,0
$STATE,1210,end apogee,CONTROL_FINISHED_OK
$STATE,1210,begin climb
$GC,1213,0.75,97.8,156.0,0.0,206,1300,0.88,2.42,78.97,0.642,4,0.087,0.051,3590,521,1470,0,0,0,0,0,0
$GC,1311,0.74,118.1,150.8,8.6,221,1337,0.00,2.40,17.62,0.598,6,0.000,0.046,3590,2035,1386,0,0,0,0,0,0
$GC,1475,0.73,118.1,132.4,12.5,249,1482,0.00,2.42,0.00,0.000,4,0.000,0.060,3590,3547,1382,0,0,0,0,0,0
$GC,1535,0.70,118.1,124.0,14.5,259,1542,0.00,2.33,0.00,0.000,6,0.000,0.045,3601,2049,1381,0,0,0,0,0,0
$GC,1677,0.68,118.1,104.5,14.1,284,1686,0.12,2.42,0.00,0.000,4,0.181,0.060,3571,3541,1380,0,0,0,0,0,0
$GC,1711,0.67,118.1,99.5,14.3,289,1717,0.00,2.30,0.00,0.000,6,0.000,0.046,3580,2056,1379,0,0,0,0,0,0
$GC,1851,0.67,118.1,81.1,13.5,314,1859,0.00,2.42,0.00,0.000,4,0.000,0.056,3591,514,1379,0,0,0,0,0,0
$GC,1872,0.67,118.1,78.5,12.3,317,1879,0.00,2.38,0.00,0.000,6,0.000,0.050,3592,2061,1379,0,0,0,0,0,0
$GC,2015,0.66,118.1,63.6,10.1,342,2023,0.00,2.35,0.00,0.000,4,0.000,0.061,3591,3540,1379,0,0,0,0,0,0
$GC,2037,0.64,118.1,61.0,11.5,345,2044,0.17,2.28,0.00,0.000,6,0.173,0.046,3557,2055,1379,0,0,0,0,0,0
$GC,2179,0.65,134.1,47.2,8.9,370,2201,0.00,2.42,12.77,0.564,4,0.000,0.055,3567,517,1321,0,0,0,0,0,0
$GC,2314,0.66,134.1,32.7,10.4,394,2321,0.00,2.35,0.00,0.000,6,0.000,0.048,3567,2028,1319,0,0,0,0,0,0
$GC,2387,0.66,145.8,25.4,9.2,407,2402,0.00,2.45,10.60,0.543,4,0.000,0.060,3567,3544,1273,0,0,0,0,0,0
$GC,2421,0.67,154.8,22.1,9.4,412,2436,0.00,2.33,8.60,0.516,6,0.000,0.046,3578,2057,1236,0,0,0,0,0,0
$GC,2500,0.67,154.8,13.7,11.0,426,2507,0.00,0.00,0.00,0.000,6,0.000,0.000,3578,2057,1234,0,0,0,0,0,0
$GC,2572,0.67,154.8,6.3,10.2,439,2579,0.00,2.40,0.00,0.000,4,0.000,0.060,3578,3542,1234,0,0,0,0,0,0
$STATE,2595,end climb,SURFACE_DEPTH_REACHED
$STATE,2595,begin surface coast
$FINISH,0.3,1.019017
$STATE,2632,end surface coast,CONTROL_FINISHED_OK
$STATE,2632,begin surface
$SM_CCo,2654,133.73,0.526,4,0,469,343.17
$SM_CCo,2812,0.00,0.000,0,0,468,343.67
$SM_CCo,2816,0.00,0.000,0,0,468,343.67
$SM_GC,1.17,0.00,0.00,0.00,0.000,0.000,0.000,137,2048,468,-10.04,-0.06,343.67
$IRIDIUM_FIX,4726.11,-12220.67,120612,202006
$TT8_MAMPS,0.026964
$HUMID,43.66
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,135.0,55.3
$24V_AH,24.3,0.478
$10V_AH,10.4,0.421
$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,22.275,56.775,212.475,133.725,0.000,56.954,76.824,254.268,3.500,0.000,35.313,1017.428,440.874,454.858,1328.993,193.954,32.331,882.538,0.000,913.539,0.000,25.504,0.000
$DEVICE_MAMPS,228.735,61.200,660.195,525.555,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,304.960,211.890,630.809,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323332
$DATA_FILE_SIZE,27033,450
$CAP_FILE_SIZE,62441,0
$CFSIZE,260165632,257212416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,120612,213850,4743.498,-12224.787,13,1.7,13,18.2