version: 66.07
glider: 187
mission: 4
dive: 33
start: 5 1 111 15 36 4
data:
$ID,187
$MISSION,4
$DIVE,33
$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,0
$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,350
$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,-1583932.1
$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,2958
$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,34
$R_STBD_OVSHOOT,29
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,60
$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
$GPS1,010511,153028,4758.675,-12456.062,14,3.8,33,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-79.4
$GPS2,010511,153508,4758.698,-12455.971,15,1.8,15,18.8
$SPEED_LIMITS,0.173,0.297
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.255,-0.153
$KALMAN_X,3312.0,744.0,160.5,-4275.9,51.2
$KALMAN_Y,-8076.9,-1549.9,-544.8,-9970.2,-14.8
$MHEAD_RNG_PITCHd_Wd,261.4,190680,-16.1,-10.000
$D_GRID,90
$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,-0.58,-195.5,0.0,0.0,0,63,0.00,0.00,-45.17,0.000,2,0.000,0.000,134,2039,2220,0,0,0,0,0,0
$GC,66,-0.58,-195.5,3.3,-6.5,7,109,10.35,1.92,-24.75,0.000,4,0.236,0.067,2762,805,3533,0,0,0,0,0,0
$GC,177,-0.58,-195.5,23.8,-16.1,25,185,0.00,1.95,0.00,0.000,6,0.000,0.049,2755,2039,3534,0,0,0,0,0,0
$GC,506,-0.58,-195.5,66.4,-10.2,86,513,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2039,3534,0,0,0,0,0,0
$STATE,670,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,670,begin apogee
$GC,676,-0.14,0.0,82.3,8.9,117,839,0.45,0.00,151.57,0.614,6,0.110,0.000,2908,2140,2735,0,0,0,0,0,0
$STATE,840,end apogee,CONTROL_FINISHED_OK
$STATE,840,begin climb
$GC,842,0.58,195.5,89.7,0.0,140,1011,0.65,2.03,157.57,0.596,4,0.060,0.057,3148,3348,1936,0,0,0,0,0,0
$GC,1093,0.55,195.5,72.0,13.6,179,1100,0.00,1.98,0.00,0.000,6,0.000,0.044,3157,2130,1929,0,0,0,0,0,0
$GC,1416,0.58,273.1,38.4,7.3,240,1486,0.00,2.03,60.88,0.578,4,0.000,0.054,3166,899,1620,0,0,0,0,0,0
$GC,1533,0.58,278.2,27.4,9.8,258,1548,0.00,1.98,5.18,0.441,6,0.000,0.048,3165,2126,1600,0,0,0,0,0,0
$GC,1867,0.78,531.1,6.6,1.3,320,1994,0.12,0.00,123.35,0.562,2,0.092,0.000,3221,2126,960,0,0,0,0,0,0
$STATE,1996,end climb,SURFACE_DEPTH_REACHED
$STATE,1996,begin surface coast
$FINISH,0.0,1.011362
$STATE,2070,end surface coast,CONTROL_FINISHED_OK
$STATE,2070,begin surface
$SM_CCo,2149,0.00,0.000,0,0,951,437.37
$SM_GC,1.19,8.27,0.00,0.00,0.037,0.000,0.000,147,2037,951,-8.71,-0.08,437.37
$IRIDIUM_FIX,4742.09,-12501.63,010511,141427
$TT8_MAMPS,0.026964
$HUMID,35.43
$INTERNAL_PRESSURE,9.01087
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,60.4,31.7
$24V_AH,24.1,5.685
$10V_AH,10.4,4.611
$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,19.850,12.125,498.550,0.000,0.000,28.001,37.677,108.785,0.500,0.000,15.944,718.100,183.244,429.680,988.088,117.916,33.318,836.477,0.000,821.785,0.000,5.501,0.000
$DEVICE_MAMPS,235.620,97.920,613.530,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,235.503,252.730,742.316,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297708
$DATA_FILE_SIZE,20284,352
$CAP_FILE_SIZE,37504,0
$CFSIZE,260165632,209448960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.264,165.3,1
$GPS,010511,161336,4758.529,-12456.092,64,1.0,68,18.8