version: 66.07
glider: 187
mission: 4
dive: 425
start: 6 16 111 16 21 58
data:
$ID,187
$MISSION,4
$DIVE,425
$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,-1585256.6
$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,2905
$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,39
$R_STBD_OVSHOOT,32
$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
$GPS1,160611,161455,4751.657,-12508.781,40,1.9,40,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-74.9
$GPS2,160611,162102,4751.608,-12508.783,34,1.8,34,18.7
$SPEED_LIMITS,0.192,0.308
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.187,0.245
$KALMAN_X,67688.9,424.9,6.4,-70148.5,-19.2
$KALMAN_Y,-173217.0,-365.3,-561.6,183589.2,-270.2
$MHEAD_RNG_PITCHd_Wd,6.6,18806,-17.6,-11.111
$D_GRID,150
$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,14,begin dive
$GC,16,-0.67,-195.5,0.0,0.0,0,83,0.00,0.00,-64.57,0.000,2,0.000,0.000,123,2166,2748,0,0,0,0,0,0
$GC,88,-0.67,-195.5,3.5,-4.5,10,124,10.25,2.40,-15.15,0.000,4,0.233,0.061,2681,668,3536,0,0,0,0,0,0
$GC,196,-0.64,-195.5,29.3,-18.5,28,204,0.00,2.38,0.00,0.000,6,0.000,0.047,2672,2170,3538,0,0,0,0,0,0
$GC,335,-0.61,-195.5,53.5,-18.8,53,343,0.12,0.00,0.00,0.000,6,0.158,0.000,2705,2170,3538,0,0,0,0,0,0
$GC,474,-0.61,-195.5,73.8,-11.4,78,482,0.00,2.47,0.00,0.000,4,0.000,0.059,2697,3691,3539,0,0,0,0,0,0
$GC,505,-0.61,-195.5,77.8,-12.7,83,512,0.00,2.40,0.00,0.000,6,0.000,0.043,2696,2165,3539,0,0,0,0,0,0
$GC,649,-0.61,-195.5,96.3,-12.8,108,657,0.00,2.35,0.00,0.000,4,0.000,0.050,2695,664,3539,0,0,0,0,0,0
$GC,708,-0.61,-195.5,103.7,-12.2,116,712,0.00,2.30,0.00,0.000,6,0.000,0.047,2687,2154,3539,0,0,0,0,0,0
$GC,911,-0.61,-195.5,129.2,-13.5,134,916,0.00,2.30,0.00,0.000,4,0.000,0.049,2686,655,3539,0,0,0,0,0,0
$GC,930,-0.61,-195.5,132.1,-12.6,135,935,0.10,2.28,0.00,0.000,6,0.156,0.047,2704,2140,3540,0,0,0,0,0,0
$STATE,1095,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1095,begin apogee
$GC,1102,-0.22,0.0,150.1,10.3,150,1261,0.35,0.00,153.00,0.665,6,0.111,0.000,2827,2045,2735,0,0,0,0,0,0
$STATE,1264,end apogee,CONTROL_FINISHED_OK
$STATE,1264,begin climb
$GC,1266,0.67,195.5,156.9,0.0,166,1432,0.85,2.45,158.00,0.643,4,0.084,0.049,3130,557,1936,0,0,0,0,0,0
$GC,1457,0.67,200.4,144.3,10.9,181,1471,0.00,2.42,4.97,0.463,6,0.000,0.045,3129,2068,1917,0,0,0,0,0,0
$GC,1665,0.66,200.4,118.5,13.2,200,1669,0.00,2.42,0.00,0.000,4,0.000,0.055,3129,3584,1913,0,0,0,0,0,0
$GC,1727,0.64,200.4,108.8,15.2,205,1731,0.00,2.35,0.00,0.000,6,0.000,0.042,3140,2078,1911,0,0,0,0,0,0
$GC,1927,0.62,200.4,81.2,13.3,235,1936,0.12,2.45,0.00,0.000,4,0.154,0.052,3115,546,1911,0,0,0,0,0,0
$GC,2016,0.63,200.4,70.2,11.2,251,2024,0.00,2.35,0.00,0.000,6,0.000,0.046,3114,2044,1910,0,0,0,0,0,0
$GC,2156,0.68,275.5,57.1,8.2,276,2221,0.00,2.55,59.70,0.603,4,0.000,0.056,3114,3575,1611,0,0,0,0,0,0
$GC,2258,0.73,323.6,49.2,9.3,291,2307,0.00,2.42,39.10,0.583,6,0.000,0.043,3121,2065,1414,0,0,0,0,0,0
$GC,2436,0.78,365.5,33.7,9.5,322,2478,0.10,2.45,34.58,0.574,4,0.099,0.052,3183,546,1241,0,0,0,0,0,0
$GC,2549,0.83,405.6,21.6,9.6,340,2586,0.00,2.42,32.50,0.564,6,0.000,0.046,3183,2066,1081,0,0,0,0,0,0
$GC,2716,0.90,486.7,5.2,8.0,369,2731,0.00,0.00,13.23,0.532,2,0.000,0.000,3183,2066,1017,0,0,0,0,0,0
$STATE,2732,end climb,SURFACE_DEPTH_REACHED
$STATE,2732,begin surface coast
$FINISH,1.1,1.023665
$STATE,2780,end surface coast,CONTROL_FINISHED_OK
$STATE,2781,begin surface
$SM_CCo,2860,0.00,0.000,0,0,1010,423.14
$SM_GC,1.91,8.00,0.00,0.00,0.032,0.000,0.000,129,2205,1010,-8.55,0.85,423.14
$IRIDIUM_FIX,4735.69,-12427.70,160611,141425
$TT8_MAMPS,0.026964
$HUMID,37.99
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,16.30
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,115.0,55.8
$24V_AH,24.1,44.121
$10V_AH,10.3,40.521
$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,19.900,43.475,495.075,0.000,0.000,25.483,35.419,165.157,2.750,0.000,35.192,867.415,503.755,469.838,1195.595,191.942,33.346,937.482,0.000,871.829,0.000,16.408,0.000
$DEVICE_MAMPS,233.325,87.210,664.785,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,254.224,908.620,662.727,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297480
$DATA_FILE_SIZE,20317,380
$CAP_FILE_SIZE,55311,0
$CFSIZE,260165632,185442304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,9
$CURRENT,0.128,151.2,1
$GPS,160611,171027,4751.745,-12508.351,13,1.3,14,18.7