version: 66.07
glider: 187
mission: 4
dive: 21
start: 5 1 111 8 49 41
data:
$ID,187
$MISSION,4
$DIVE,21
$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,-1583917.1
$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,33
$R_STBD_OVSHOOT,34
$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
$GPS1,010511,084438,4802.680,-12455.198,65,2.0,78,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-79.0
$GPS2,010511,084844,4802.674,-12455.117,12,1.6,12,18.8
$SPEED_LIMITS,0.173,0.297
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.197,-0.223
$KALMAN_X,1400.6,437.6,162.2,-1001.6,164.4
$KALMAN_Y,-4287.6,-1445.0,-56.7,-6984.7,8.8
$MHEAD_RNG_PITCHd_Wd,202.7,8966,-16.1,-10.000
$D_GRID,59
$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,-0.65,-195.5,0.0,0.0,0,70,0.00,0.00,-52.42,0.000,2,0.000,0.000,135,2011,2717,0,0,0,0,0,0
$GC,74,-0.65,-195.5,3.4,-6.6,8,108,10.77,1.98,-14.57,0.000,4,0.253,0.070,2723,3245,3535,0,0,0,0,0,0
$GC,196,-0.64,-195.5,31.8,-18.0,29,204,0.00,1.92,0.00,0.000,6,0.000,0.047,2722,2023,3537,0,0,0,0,0,0
$STATE,364,end dive,TARGET_DEPTH_EXCEEDED
$STATE,364,begin apogee
$GC,370,-0.17,0.0,59.4,16.3,61,529,0.52,0.00,151.85,0.600,6,0.123,0.000,2892,2136,2735,0,0,0,0,0,0
$STATE,531,end apogee,CONTROL_FINISHED_OK
$STATE,531,begin climb
$GC,533,0.65,195.5,68.0,0.0,85,705,0.75,2.10,157.30,0.584,4,0.078,0.051,3163,889,1936,0,0,0,0,0,0
$GC,762,0.65,220.3,56.7,9.1,121,789,0.00,2.00,21.00,0.557,6,0.000,0.048,3163,2116,1835,0,0,0,0,0,0
$GC,1105,0.66,241.3,22.5,9.3,185,1133,0.00,2.05,17.25,0.548,4,0.000,0.059,3163,3360,1750,0,0,0,0,0,0
$GC,1370,0.76,395.1,3.8,4.7,234,1399,0.00,1.90,18.40,0.250,2,0.000,0.046,3170,2150,1675,0,0,0,0,1,0
$STATE,1399,end climb,SURFACE_DEPTH_REACHED
$STATE,1400,begin surface coast
$FINISH,0.2,1.022091
$STATE,1485,end surface coast,CONTROL_FINISHED_OK
$STATE,1485,begin surface
$SM_CCo,1504,41.42,0.369,2,0,1409,325.02
$SM_GC,1.42,0.00,0.00,41.42,0.000,0.000,0.369,146,2001,1409,-8.76,-0.48,325.02
$IRIDIUM_FIX,4745.30,-12458.20,010511,080804
$TT8_MAMPS,0.026964
$HUMID,34.68
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,16.60
$XPDR_PINGS,0
$24V_AH,24.1,4.712
$10V_AH,10.4,4.112
$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,20.250,12.300,365.800,41.425,0.000,27.184,35.761,89.445,0.000,0.000,13.694,495.133,96.361,378.731,740.336,107.049,33.322,694.774,0.000,601.142,0.000,0.536,0.000
$DEVICE_MAMPS,253.215,87.975,599.760,369.495,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,168.937,180.600,536.031,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297732
$DATA_FILE_SIZE,13604,254
$CAP_FILE_SIZE,29846,0
$CFSIZE,260165632,209764352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,010511,091644,4802.381,-12455.051,30,1.5,30,18.8