version: 66.07
glider: 187
mission: 4
dive: 45
start: 5 2 111 0 11 15
data:
$ID,187
$MISSION,4
$DIVE,45
$D_SURF,3
$D_FLARE,3
$D_TGT,120
$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,45
$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,120
$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,400
$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,-1583947.2
$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,26
$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,43
$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,2515
$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
$GPS1,020511,000514,4756.214,-12456.016,13,1.5,13,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-79.0
$GPS2,020511,001020,4756.239,-12455.928,34,1.4,34,18.7
$SPEED_LIMITS,0.154,0.228
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.189,-0.127
$KALMAN_X,8505.2,739.7,426.7,-9669.0,362.8
$KALMAN_Y,-12002.6,273.8,-34.9,-12927.0,-571.9
$MHEAD_RNG_PITCHd_Wd,262.7,188166,-18.9,-8.889
$D_GRID,120
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.80,-117.3,0.0,0.0,0,69,0.00,0.00,-52.03,0.000,2,0.000,0.000,135,2157,2209,0,0,0,0,0,0
$GC,73,-0.80,-117.3,3.1,-4.4,8,109,10.30,2.38,-19.33,0.000,4,0.240,0.061,2692,632,2996,0,0,0,0,0,0
$GC,193,-0.75,-117.3,18.7,-15.3,28,202,0.10,2.40,0.00,0.000,6,0.153,0.049,2713,2147,2997,0,0,0,0,0,0
$GC,269,-0.71,-117.3,30.2,-14.8,41,276,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2147,2998,0,0,0,0,0,0
$GC,342,-0.67,-117.3,41.4,-15.7,54,350,0.00,2.40,0.00,0.000,4,0.000,0.052,2713,632,2998,0,0,0,0,0,0
$GC,389,-0.64,-117.3,48.9,-16.0,62,398,0.12,2.38,0.00,0.000,6,0.138,0.049,2745,2136,2998,0,0,0,0,0,0
$GC,465,-0.63,-117.3,59.8,-13.5,75,472,0.00,2.47,0.00,0.000,4,0.000,0.061,2736,3661,2999,0,0,0,0,0,0
$GC,587,-0.63,-117.3,73.9,-10.2,97,594,0.00,2.35,0.00,0.000,6,0.000,0.044,2735,2156,2999,0,0,0,0,0,0
$GC,659,-0.63,-117.3,80.7,-9.0,110,667,0.00,2.38,0.00,0.000,4,0.000,0.052,2735,641,2999,0,0,0,0,0,0
$GC,676,-0.63,-117.3,82.0,-8.6,112,683,0.00,2.38,0.00,0.000,6,0.000,0.047,2725,2161,2999,0,0,0,0,0,0
$STATE,720,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,721,begin apogee
$GC,727,-0.19,0.0,85.6,7.1,120,828,0.52,0.00,93.85,0.615,6,0.132,0.000,2892,1939,2514,0,0,0,0,0,0
$STATE,829,end apogee,CONTROL_FINISHED_OK
$STATE,829,begin climb
$GC,833,0.80,117.3,87.8,0.0,135,935,0.93,0.00,96.43,0.596,6,0.082,0.000,3213,1940,2035,0,0,0,0,0,0
$GC,1002,0.76,117.3,67.5,14.9,162,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,1940,2030,0,0,0,0,0,0
$GC,1075,0.72,117.3,58.1,11.0,175,1083,0.00,2.50,0.00,0.000,4,0.000,0.057,3213,3464,2028,0,0,0,0,0,0
$GC,1216,0.68,117.3,41.4,14.6,201,1225,0.17,2.45,0.00,0.000,6,0.176,0.044,3181,1923,2026,0,0,0,0,0,0
$GC,1292,0.67,117.3,33.0,9.9,214,1300,0.00,2.38,0.00,0.000,4,0.000,0.054,3189,435,2026,0,0,0,0,0,0
$GC,1376,0.65,117.3,25.2,9.1,229,1383,0.00,2.30,0.00,0.000,6,0.000,0.047,3190,1896,2025,0,0,0,0,0,0
$GC,1448,0.63,117.3,18.2,9.2,242,1456,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,1896,2025,0,0,0,0,0,0
$GC,1522,0.65,166.6,12.5,6.4,255,1564,0.00,0.00,39.12,0.567,6,0.000,0.000,3190,1895,1835,0,0,0,0,0,0
$STATE,1628,end climb,SURFACE_DEPTH_REACHED
$STATE,1628,begin surface coast
$FINISH,2.9,1.021568
$STATE,1663,end surface coast,CONTROL_FINISHED_OK
$STATE,1663,begin surface
$SM_CCo,1681,139.93,0.526,2,0,883,400.08
$SM_GC,1.65,0.00,0.00,139.93,0.000,0.000,0.526,141,2167,883,-8.79,0.51,400.08
$IRIDIUM_FIX,4745.30,-12845.13,010511,232358
$TT8_MAMPS,0.027713
$HUMID,33.54
$INTERNAL_PRESSURE,8.99133
$TCM_TEMP,16.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.5,25.0
$24V_AH,24.1,6.621
$10V_AH,10.4,5.224
$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,20.575,29.475,229.400,139.925,0.000,28.191,35.046,123.276,0.500,0.000,35.185,644.950,99.552,433.266,842.806,128.291,33.316,757.032,0.000,655.297,0.000,5.481,0.000
$DEVICE_MAMPS,240.210,61.200,615.060,526.320,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,188.888,199.681,588.521,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,13648,279
$CAP_FILE_SIZE,42412,0
$CFSIZE,260165632,209108992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.264,160.1,1
$GPS,020511,004258,4756.026,-12456.052,13,3.2,32,18.7