version: 66.07
glider: 187
mission: 4
dive: 39
start: 5 1 111 20 20 11
data:
$ID,187
$MISSION,4
$DIVE,39
$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,-1583939.8
$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,39
$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
$GPS1,010511,201403,4757.702,-12455.840,461,1.6,461,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-79.8
$GPS2,010511,201916,4757.704,-12455.785,21,2.0,21,18.8
$SPEED_LIMITS,0.181,0.302
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.251,-0.169
$KALMAN_X,5773.1,721.4,258.0,-6582.0,172.2
$KALMAN_Y,-9078.1,-771.2,113.9,-12243.5,107.3
$MHEAD_RNG_PITCHd_Wd,261.9,189829,-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,16,-0.60,-195.5,0.0,0.0,0,58,0.00,0.00,-39.55,0.000,2,0.000,0.000,134,2161,2355,0,0,0,0,0,0
$GC,61,-0.60,-195.5,4.0,-9.9,6,103,10.38,1.92,-24.90,0.000,4,0.238,0.065,2756,915,3533,0,0,0,0,0,0
$GC,139,-0.58,-195.5,15.8,-14.0,18,146,0.00,1.92,0.00,0.000,6,0.000,0.050,2750,2135,3534,0,0,0,0,0,0
$GC,464,-0.58,-195.5,61.8,-12.1,79,472,0.00,1.92,0.00,0.000,4,0.000,0.052,2750,908,3535,0,0,0,0,0,0
$GC,506,-0.58,-195.5,67.1,-12.5,86,514,0.00,1.92,0.00,0.000,6,0.000,0.050,2743,2138,3535,0,0,0,0,0,0
$STATE,659,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,659,begin apogee
$GC,666,-0.14,0.0,83.7,9.8,114,829,0.47,0.00,151.68,0.614,6,0.110,0.000,2904,1930,2734,0,0,0,0,0,0
$STATE,830,end apogee,CONTROL_FINISHED_OK
$STATE,830,begin climb
$GC,833,0.60,195.5,91.1,0.0,136,1002,0.68,2.08,157.25,0.595,4,0.060,0.054,3153,3179,1937,0,0,0,0,0,0
$GC,1072,0.57,195.5,73.0,13.3,173,1080,0.00,1.98,0.00,0.000,6,0.000,0.044,3162,1964,1931,0,0,0,0,0,0
$GC,1398,0.57,211.1,38.2,9.9,234,1420,0.00,2.00,12.77,0.540,4,0.000,0.057,3162,3183,1873,0,0,0,0,0,0
$GC,1551,0.58,248.8,22.8,9.1,261,1592,0.00,2.00,31.12,0.562,6,0.000,0.046,3170,1918,1720,0,0,0,0,0,0
$STATE,1798,end climb,SURFACE_DEPTH_REACHED
$STATE,1798,begin surface coast
$FINISH,3.0,1.021605
$STATE,1882,end surface coast,CONTROL_FINISHED_OK
$STATE,1882,begin surface
$SM_CCo,1885,180.77,0.530,2,0,469,555.60
$SM_GC,1.32,8.25,0.00,0.00,0.037,0.000,0.000,141,2162,463,-8.72,0.31,557.08
$IRIDIUM_FIX,4738.89,-12459.78,010511,191910
$TT8_MAMPS,0.026964
$HUMID,34.32
$INTERNAL_PRESSURE,8.96204
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.1,23.6
$24V_AH,24.1,6.229
$10V_AH,10.4,4.956
$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,19.775,16.425,352.825,180.775,0.000,25.005,52.527,121.695,0.500,0.000,22.235,700.657,211.692,524.301,953.846,116.116,33.323,877.507,0.000,754.475,0.000,5.479,0.000
$DEVICE_MAMPS,237.915,65.025,613.530,530.145,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,216.991,228.815,677.190,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297720
$DATA_FILE_SIZE,16990,321
$CAP_FILE_SIZE,37147,0
$CFSIZE,260165632,209276928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$CURRENT,0.238,151.1,1
$GPS,010511,205736,4757.438,-12455.901,13,1.7,24,18.8