version: 66.07
glider: 187
mission: 4
dive: 17
start: 5 1 111 6 42 47
data:
$ID,187
$MISSION,4
$DIVE,17
$D_SURF,3
$D_FLARE,3
$D_TGT,90
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,4
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,30
$T_MISSION,45
$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,-5
$MAX_BUOY,200
$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,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,-1583912.1
$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,2950
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$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,35
$C_ROLL_DIVE,2018
$C_ROLL_CLIMB,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,43
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$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
$GPS1,010511,063737,4803.525,-12455.782,8,1.5,13,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-77.1
$GPS2,010511,064150,4803.524,-12455.726,13,1.5,13,18.8
$SPEED_LIMITS,0.173,0.297
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.106,-0.278
$KALMAN_X,565.9,219.5,16.0,-553.9,86.3
$KALMAN_Y,-3706.1,-1548.0,-276.0,-5673.2,82.2
$MHEAD_RNG_PITCHd_Wd,182.1,10351,-16.1,-10.000
$D_GRID,58
$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,15,-0.65,-195.5,0.0,0.0,0,82,0.00,0.00,-64.55,0.000,2,0.000,0.000,132,2010,2817,0,0,0,0,0,0
$GC,85,-0.65,-195.5,3.4,-5.0,10,114,10.25,1.98,-12.77,0.000,4,0.234,0.069,2724,3239,3536,0,0,0,0,0,0
$GC,227,-0.64,-195.5,34.5,-14.6,35,234,0.00,1.92,0.00,0.000,6,0.000,0.047,2723,2018,3538,0,0,0,0,0,0
$STATE,367,end dive,TARGET_DEPTH_EXCEEDED
$STATE,368,begin apogee
$GC,375,-0.17,0.0,58.1,16.3,62,535,0.50,0.00,151.90,0.599,6,0.122,0.000,2888,2126,2735,0,0,0,0,0,0
$STATE,536,end apogee,CONTROL_FINISHED_OK
$STATE,536,begin climb
$GC,538,0.65,195.5,66.3,0.0,86,704,0.77,2.10,156.82,0.581,4,0.077,0.057,3157,3348,1937,0,0,0,0,0,0
$GC,792,0.63,195.5,50.8,10.4,127,800,0.00,1.98,0.00,0.000,6,0.000,0.045,3167,2129,1931,0,0,0,0,0,0
$GC,1114,0.64,237.7,20.1,8.5,188,1155,0.00,1.95,33.70,0.558,4,0.000,0.051,3176,892,1764,0,0,0,0,0,0
$GC,1389,0.75,414.2,4.8,3.9,239,1431,0.00,1.90,36.35,0.554,2,0.000,0.050,3176,2092,1579,0,0,0,0,0,0
$STATE,1432,end climb,SURFACE_DEPTH_REACHED
$STATE,1432,begin surface coast
$FINISH,0.2,1.021072
$STATE,1497,end surface coast,CONTROL_FINISHED_OK
$STATE,1497,begin surface
$SM_CCo,1516,24.45,0.079,0,0,1410,325.02
$SM_GC,1.40,0.00,0.00,24.45,0.000,0.000,0.079,135,2002,1410,-8.80,-0.45,325.02
$IRIDIUM_FIX,4745.30,-12453.72,010511,060636
$TT8_MAMPS,0.026964
$HUMID,34.68
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,15.80
$XPDR_PINGS,0
$24V_AH,24.1,4.422
$10V_AH,10.4,3.957
$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,19.725,12.100,378.775,24.450,0.000,26.979,35.412,92.231,0.000,0.000,14.864,499.800,96.788,356.980,752.516,103.689,33.336,677.403,0.000,607.763,0.000,0.536,0.000
$DEVICE_MAMPS,234.090,90.270,598.995,78.795,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,172.824,181.600,542.383,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297704
$DATA_FILE_SIZE,13680,257
$CAP_FILE_SIZE,29803,0
$CFSIZE,260165632,209862656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010511,070949,4803.341,-12455.683,34,1.9,43,18.8