version: 66.07
glider: 187
mission: 4
dive: 37
start: 5 1 111 18 49 36
data:
$ID,187
$MISSION,4
$DIVE,37
$D_SURF,3
$D_FLARE,3
$D_TGT,110
$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,35
$T_MISSION,50
$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,-1583937.1
$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,2150
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,30
$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,70
$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
$GPS1,010511,184346,4758.163,-12455.789,38,2.4,57,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-79.3
$GPS2,010511,184840,4758.178,-12455.730,10,2.7,29,18.8
$SPEED_LIMITS,0.181,0.302
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.228,-0.199
$KALMAN_X,5079.0,715.0,126.4,-5678.8,238.8
$KALMAN_Y,-8495.6,-1120.3,-139.0,-11347.7,249.8
$MHEAD_RNG_PITCHd_Wd,256.5,190383,-16.7,-10.476
$D_GRID,110
$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,-0.60,-195.5,0.0,0.0,0,76,0.00,0.00,-58.03,0.000,2,0.000,0.000,135,2025,2451,0,0,0,0,0,0
$GC,79,-0.60,-195.5,4.1,-8.9,9,116,10.50,1.80,-20.90,0.000,4,0.239,0.068,2758,902,3534,0,0,0,0,0,0
$GC,209,-0.60,-195.5,27.9,-13.6,31,217,0.00,1.98,0.00,0.000,6,0.000,0.048,2752,2153,3536,0,0,0,0,0,0
$GC,537,-0.60,-195.5,71.2,-10.4,92,543,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2153,3537,0,0,0,0,0,0
$STATE,650,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,650,begin apogee
$GC,656,-0.14,0.0,82.7,9.4,113,818,0.45,0.00,152.57,0.613,6,0.107,0.000,2905,1928,2732,0,0,0,0,0,0
$STATE,819,end apogee,CONTROL_FINISHED_OK
$STATE,819,begin climb
$GC,821,0.60,195.5,89.3,0.0,136,988,0.68,2.15,157.12,0.595,4,0.056,0.054,3156,3185,1937,0,0,0,0,0,0
$GC,1054,0.57,195.5,71.4,13.3,172,1063,0.00,1.98,0.00,0.000,6,0.000,0.044,3165,1967,1930,0,0,0,0,0,0
$GC,1381,0.60,273.3,38.4,7.7,233,1449,0.00,0.00,60.47,0.577,6,0.000,0.000,3165,1967,1622,0,0,0,0,0,0
$GC,1768,0.69,382.2,5.2,6.6,303,1818,0.00,0.00,47.62,0.559,2,0.000,0.000,3164,1967,1377,0,0,0,0,0,0
$STATE,1819,end climb,SURFACE_DEPTH_REACHED
$STATE,1819,begin surface coast
$FINISH,1.3,1.021405
$STATE,1895,end surface coast,CONTROL_FINISHED_OK
$STATE,1895,begin surface
$SM_CCo,1914,10.75,0.164,1,0,1308,350.04
$SM_GC,1.85,0.00,0.00,10.75,0.000,0.000,0.164,153,2164,1308,-8.77,0.40,350.04
$IRIDIUM_FIX,4738.89,-12455.31,010511,181810
$TT8_MAMPS,0.026964
$HUMID,35.43
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,15.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.5,22.1
$24V_AH,24.0,6.049
$10V_AH,10.4,4.841
$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,19.825,8.525,417.800,10.750,0.000,24.896,46.760,104.131,0.500,0.000,31.684,676.432,116.776,387.931,940.661,113.675,33.329,756.832,0.000,759.590,0.000,5.476,0.000
$DEVICE_MAMPS,239.445,68.085,612.765,164.475,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,218.491,230.064,683.462,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297684
$DATA_FILE_SIZE,16940,324
$CAP_FILE_SIZE,34707,0
$CFSIZE,260165632,209338368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.262,144.3,1
$GPS,010511,192534,4757.937,-12455.869,170,7.7,189,18.8