version: 66.07
glider: 187
mission: 4
dive: 427
start: 6 16 111 18 13 29
data:
$ID,187
$MISSION,4
$DIVE,427
$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,-1585259.1
$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,31
$R_STBD_OVSHOOT,41
$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
$GPS1,160611,180638,4751.983,-12507.830,12,1.7,12,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-74.1
$GPS2,160611,181234,4751.949,-12507.830,14,3.5,33,18.7
$SPEED_LIMITS,0.192,0.308
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.240,0.194
$KALMAN_X,68146.5,111.1,-85.3,-69016.9,-46.1
$KALMAN_Y,-174308.0,-5.2,-389.0,184776.8,-25.7
$MHEAD_RNG_PITCHd_Wd,10.7,17492,-17.6,-11.111
$D_GRID,141
$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,-195.5,0.0,0.0,0,99,0.00,0.00,-79.80,0.000,2,0.000,0.000,128,2191,2674,0,0,0,0,0,0
$GC,103,-0.67,-195.5,3.6,-5.9,12,139,10.40,2.42,-16.90,0.000,4,0.240,0.060,2683,659,3536,0,0,0,0,0,0
$GC,207,-0.64,-195.5,29.4,-16.3,29,215,0.00,2.38,0.00,0.000,6,0.000,0.047,2674,2163,3537,0,0,0,0,0,0
$GC,345,-0.61,-195.5,53.0,-17.9,54,353,0.12,0.00,0.00,0.000,6,0.161,0.000,2708,2163,3537,0,0,0,0,0,0
$GC,483,-0.61,-195.5,72.0,-11.7,79,490,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2163,3538,0,0,0,0,0,0
$GC,620,-0.61,-195.5,86.9,-10.4,104,627,0.00,2.35,0.00,0.000,4,0.000,0.050,2708,664,3539,0,0,0,0,0,0
$GC,672,-0.61,-195.5,92.4,-11.3,113,680,0.00,2.33,0.00,0.000,6,0.000,0.047,2702,2149,3539,0,0,0,0,0,0
$GC,810,-0.61,-195.5,107.4,-11.6,132,815,0.00,2.45,0.00,0.000,4,0.000,0.058,2690,3695,3538,0,0,0,0,0,0
$GC,853,-0.61,-195.5,112.4,-12.2,135,857,0.00,2.40,0.00,0.000,6,0.000,0.043,2689,2133,3539,0,0,0,0,0,0
$GC,1053,-0.61,-195.5,136.9,-12.8,153,1057,0.00,2.25,0.00,0.000,4,0.000,0.050,2689,656,3539,0,0,0,0,0,0
$STATE,1082,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1082,begin apogee
$GC,1091,-0.22,0.0,141.5,13.4,155,1251,0.45,0.00,153.12,0.656,6,0.116,0.000,2831,2062,2734,0,0,0,0,0,0
$STATE,1254,end apogee,CONTROL_FINISHED_OK
$STATE,1254,begin climb
$GC,1256,0.67,195.5,149.7,0.0,171,1421,0.82,0.00,158.05,0.638,6,0.084,0.000,3114,2062,1937,0,0,0,0,0,0
$GC,1610,0.67,195.5,119.9,11.8,204,1614,0.00,2.40,0.00,0.000,4,0.000,0.052,3126,553,1929,0,0,0,0,0,0
$GC,1631,0.67,195.5,117.1,11.5,205,1639,0.00,2.40,0.00,0.000,6,0.000,0.045,3126,2059,1928,0,0,0,0,0,0
$GC,1834,0.67,223.6,96.5,10.0,227,1863,0.00,0.00,22.88,0.601,6,0.000,0.000,3126,2059,1821,0,0,0,0,0,0
$GC,1993,0.68,240.8,79.0,10.5,255,2015,0.00,2.42,14.45,0.576,4,0.000,0.051,3137,542,1754,0,0,0,0,0,0
$GC,2072,0.70,262.5,70.6,10.3,268,2101,0.00,2.40,19.20,0.583,6,0.000,0.046,3137,2060,1662,0,0,0,0,0,0
$GC,2232,0.72,301.3,54.4,9.6,296,2274,0.00,2.50,31.60,0.588,4,0.000,0.057,3137,3569,1504,0,0,0,0,0,0
$GC,2284,0.75,344.9,49.6,9.4,303,2326,0.00,2.40,36.05,0.581,6,0.000,0.043,3145,2076,1327,0,0,0,0,0,0
$GC,2456,0.76,344.9,32.2,11.2,333,2464,0.00,2.45,0.00,0.000,4,0.000,0.053,3153,552,1320,0,0,0,0,0,0
$GC,2521,0.81,373.9,25.5,10.0,344,2550,0.00,2.40,23.33,0.566,6,0.000,0.045,3152,2068,1209,0,0,0,0,0,0
$GC,2680,0.92,486.7,11.2,6.8,372,2764,0.12,0.00,81.38,0.567,2,0.085,0.000,3217,2068,792,0,0,0,0,0,0
$STATE,2765,end climb,SURFACE_DEPTH_REACHED
$STATE,2765,begin surface coast
$FINISH,0.8,1.023501
$STATE,2807,end surface coast,CONTROL_FINISHED_OK
$STATE,2807,begin surface
$SM_CCo,2886,0.00,0.000,0,0,784,478.58
$SM_GC,1.58,8.18,0.00,0.00,0.031,0.000,0.000,140,2206,784,-8.55,0.88,478.58
$IRIDIUM_FIX,4732.49,-12505.04,160611,171706
$TT8_MAMPS,0.026964
$HUMID,37.28
$INTERNAL_PRESSURE,9.02063
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,115.9,52.6
$24V_AH,24.1,44.336
$10V_AH,10.2,40.638
$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,20.100,38.325,540.050,0.000,0.000,25.535,37.408,160.811,2.250,0.000,35.512,851.907,488.201,523.863,1197.294,184.099,33.337,1000.694,0.000,879.847,0.000,16.394,0.000
$DEVICE_MAMPS,240.210,74.205,655.605,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,260.510,934.655,689.979,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297492
$DATA_FILE_SIZE,20313,391
$CAP_FILE_SIZE,52761,0
$CFSIZE,260165632,185380864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.121,113.7,1
$GPS,160611,190243,4752.192,-12507.239,16,1.8,33,18.7