version: 66.07
glider: 187
mission: 4
dive: 30
start: 5 1 111 13 37 17
data:
$ID,187
$MISSION,4
$DIVE,30
$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,2
$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,-1583928.4
$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,2955
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,35
$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,2040
$C_ROLL_CLIMB,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,31
$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,55
$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
$GPS1,010511,133110,4759.492,-12455.442,13,4.0,32,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-77.8
$GPS2,010511,133622,4759.480,-12455.441,11,3.6,30,18.8
$SPEED_LIMITS,0.173,0.297
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.283,-0.091
$KALMAN_X,2614.9,752.8,319.6,-3089.3,-16.9
$KALMAN_Y,-7209.3,-1578.1,-476.6,-9422.7,-164.1
$MHEAD_RNG_PITCHd_Wd,216.2,192056,-16.1,-10.000
$D_GRID,68
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.58,-195.5,0.0,0.0,0,79,0.00,0.00,-58.35,0.000,2,0.000,0.000,134,2004,2740,0,0,0,0,0,0
$GC,82,-0.58,-195.5,4.3,-7.9,9,112,10.52,1.90,-13.45,0.000,4,0.240,0.066,2761,811,3535,0,0,0,0,0,0
$GC,168,-0.58,-195.5,25.5,-12.7,23,177,0.00,1.95,0.00,0.000,6,0.000,0.050,2755,2043,3537,0,0,0,0,0,0
$GC,496,-0.58,-195.5,66.9,-10.8,84,504,0.00,1.95,0.00,0.000,4,0.000,0.060,2746,3269,3537,0,0,0,0,0,0
$STATE,510,end dive,TARGET_DEPTH_EXCEEDED
$STATE,510,begin apogee
$GC,518,-0.14,0.0,68.7,10.3,86,678,0.47,0.00,152.12,0.604,6,0.110,0.000,2906,2120,2734,0,0,0,0,0,0
$STATE,679,end apogee,CONTROL_FINISHED_OK
$STATE,679,begin climb
$GC,681,0.58,195.5,75.9,0.0,109,852,0.65,2.12,157.02,0.584,4,0.056,0.058,3149,3360,1936,0,0,0,0,0,0
$GC,898,0.55,195.5,62.5,12.4,141,905,0.00,2.03,0.00,0.000,6,0.000,0.045,3157,2122,1931,0,0,0,0,0,0
$GC,1224,0.62,343.3,32.0,4.9,202,1348,0.00,2.08,116.43,0.564,4,0.000,0.054,3166,888,1333,0,0,0,0,0,0
$GC,1502,0.71,415.2,7.8,7.5,248,1566,0.00,2.00,57.10,0.549,6,0.000,0.048,3166,2133,1041,0,0,0,0,0,0
$STATE,1603,end climb,SURFACE_DEPTH_REACHED
$STATE,1605,begin surface coast
$FINISH,0.2,1.002781
$STATE,1693,end surface coast,CONTROL_FINISHED_OK
$STATE,1694,begin surface
$SM_CCo,1773,0.00,0.000,0,0,1031,417.99
$SM_GC,1.44,8.20,0.00,0.00,0.046,0.000,0.000,149,2027,1031,-8.70,-0.37,417.99
$IRIDIUM_FIX,4738.89,-12508.73,010511,121202
$TT8_MAMPS,0.026964
$HUMID,35.03
$INTERNAL_PRESSURE,9.01087
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,55.3,31.9
$24V_AH,24.1,5.420
$10V_AH,10.4,4.458
$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,19.850,15.975,482.675,0.000,0.000,28.580,36.296,134.141,0.500,0.000,32.621,551.515,156.479,416.092,849.292,121.399,33.317,772.713,0.000,657.605,0.000,5.501,0.000
$DEVICE_MAMPS,240.210,80.325,603.585,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,186.801,200.311,592.704,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297744
$DATA_FILE_SIZE,13640,281
$CAP_FILE_SIZE,33334,0
$CFSIZE,260165632,209539072
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.303,158.0,1
$GPS,010511,140807,4759.102,-12455.657,42,0.9,42,18.8