version: 66.07
glider: 187
mission: 4
dive: 435
start: 6 17 111 1 1 57
data:
$ID,187
$MISSION,4
$DIVE,435
$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,-1585269.2
$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,34
$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
$GPS1,170611,004949,4752.705,-12504.888,13,1.8,18,18.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-76.1
$GPS2,170611,010101,4752.621,-12504.753,12,1.9,17,18.7
$SPEED_LIMITS,0.192,0.308
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.087,0.296
$KALMAN_X,68840.5,-437.3,51.1,-65469.7,-8.4
$KALMAN_Y,-177576.5,173.4,59.7,188669.4,-435.3
$MHEAD_RNG_PITCHd_Wd,340.3,13845,-17.6,-11.111
$D_GRID,115
$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,-0.67,-195.5,0.0,0.0,0,102,0.00,0.00,-83.65,0.000,2,0.000,0.000,128,2190,2759,0,0,0,0,0,0
$GC,107,-0.67,-195.5,3.3,-4.2,13,138,10.30,2.45,-14.82,0.000,4,0.235,0.061,2698,662,3535,0,0,0,0,0,0
$GC,188,-0.65,-195.5,22.2,-12.9,26,196,0.00,2.35,0.00,0.000,6,0.000,0.047,2690,2155,3537,0,0,0,0,0,0
$GC,328,-0.63,-195.5,43.0,-15.6,51,336,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2155,3537,0,0,0,0,0,0
$GC,465,-0.61,-195.5,64.7,-15.6,76,472,0.12,0.00,0.00,0.000,6,0.161,0.000,2725,2155,3538,0,0,0,0,0,0
$GC,604,-0.61,-195.5,80.7,-10.9,101,611,0.00,2.35,0.00,0.000,4,0.000,0.050,2725,657,3538,0,0,0,0,0,0
$GC,655,-0.61,-195.5,86.5,-10.7,109,662,0.00,2.38,0.00,0.000,6,0.000,0.048,2722,2170,3538,0,0,0,0,0,0
$GC,794,-0.61,-195.5,101.5,-11.0,133,798,0.00,2.40,0.00,0.000,4,0.000,0.060,2711,3695,3538,0,0,0,0,0,0
$GC,838,-0.63,-195.5,106.4,-9.9,136,845,0.00,2.35,0.00,0.000,6,0.000,0.042,2709,2175,3538,0,0,0,0,0,0
$STATE,918,end dive,TARGET_DEPTH_EXCEEDED
$STATE,918,begin apogee
$GC,924,-0.22,0.0,115.2,11.7,144,1084,0.40,0.00,152.32,0.632,6,0.110,0.000,2846,2054,2734,0,0,0,0,0,0
$STATE,1088,end apogee,CONTROL_FINISHED_OK
$STATE,1088,begin climb
$GC,1090,0.67,195.5,124.6,0.0,160,1255,0.80,2.42,156.73,0.614,4,0.078,0.048,3138,566,1937,0,0,0,0,0,0
$GC,1315,0.67,204.2,110.7,10.8,178,1328,0.00,2.42,7.85,0.511,6,0.000,0.044,3138,2067,1901,0,0,0,0,0,0
$GC,1521,0.66,204.2,87.0,12.5,207,1530,0.00,2.45,0.00,0.000,4,0.000,0.054,3138,3577,1896,0,0,0,0,0,0
$GC,1538,0.65,204.2,84.6,12.9,209,1546,0.00,2.40,0.00,0.000,6,0.000,0.041,3149,2070,1896,0,0,0,0,0,0
$GC,1676,0.64,204.2,68.5,11.7,234,1683,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2069,1896,0,0,0,0,0,0
$GC,1813,0.65,224.2,53.8,10.3,259,1836,0.00,2.47,16.85,0.565,4,0.000,0.051,3158,535,1820,0,0,0,0,0,0
$GC,1912,0.67,254.1,43.0,10.0,276,1948,0.00,2.42,25.20,0.571,6,0.000,0.045,3158,2078,1697,0,0,0,0,0,0
$GC,2079,0.68,283.6,25.6,10.0,305,2107,0.00,0.00,24.02,0.561,6,0.000,0.000,3158,2078,1577,0,0,0,0,0,0
$GC,2239,0.78,395.1,9.9,6.9,333,2337,0.00,2.53,87.82,0.562,4,0.000,0.052,3163,552,1121,0,0,0,0,0,0
$STATE,2345,end climb,SURFACE_DEPTH_REACHED
$STATE,2345,begin surface coast
$FINISH,1.4,1.023500
$STATE,2384,end surface coast,CONTROL_FINISHED_OK
$STATE,2384,begin surface
$SM_CCo,2464,0.00,0.000,0,0,1114,397.63
$SM_GC,1.76,8.02,0.00,0.00,0.032,0.000,0.000,120,2190,1114,-8.62,0.40,397.63
$IRIDIUM_FIX,4735.69,-12509.51,170611,000019
$TT8_MAMPS,0.026964
$HUMID,37.91
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.5,55.8
$24V_AH,24.1,45.127
$10V_AH,10.2,41.085
$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,19.650,34.175,470.800,0.000,0.000,79.383,201.808,153.787,0.750,0.000,18.520,786.747,395.773,467.217,1324.854,170.447,33.326,912.201,0.000,834.209,0.000,7.115,0.000
$DEVICE_MAMPS,234.855,78.795,631.890,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,236.934,849.484,671.250,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297436
$DATA_FILE_SIZE,20297,355
$CAP_FILE_SIZE,49634,0
$CFSIZE,260165632,185126912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.283,172.4,1
$GPS,170611,014410,4752.587,-12504.642,13,5.6,32,18.7