version: 66.07
glider: 187
mission: 4
dive: 47
start: 5 2 111 1 26 37
data:
$ID,187
$MISSION,4
$DIVE,47
$D_SURF,4
$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,-8
$MAX_BUOY,100
$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,430
$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,-1583949.8
$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,28
$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,2100
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,40
$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
$GPS1,020511,012100,4755.855,-12455.974,41,2.0,41,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-78.8
$GPS2,020511,012543,4755.870,-12455.866,9,1.4,14,18.7
$SPEED_LIMITS,0.154,0.209
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.159,0.136
$KALMAN_X,10271.8,483.5,17.2,-10696.6,693.8
$KALMAN_Y,-11548.3,358.1,-539.0,-13659.3,-189.1
$MHEAD_RNG_PITCHd_Wd,262.9,187853,-20.7,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.80,-97.8,0.0,0.0,0,70,0.00,0.00,-52.38,0.000,2,0.000,0.000,135,2171,2230,0,0,0,0,0,0
$GC,74,-0.80,-97.8,3.2,-5.3,8,110,10.12,2.53,-15.40,0.000,4,0.236,0.063,2692,585,2916,0,0,0,0,0,0
$GC,193,-0.75,-97.8,20.9,-14.8,28,202,0.10,2.38,0.00,0.000,6,0.158,0.047,2712,2091,2918,0,0,0,0,0,0
$GC,268,-0.72,-97.8,31.5,-13.2,41,275,0.00,2.38,0.00,0.000,4,0.000,0.052,2712,589,2918,0,0,0,0,0,0
$GC,352,-0.68,-97.8,43.9,-15.8,56,360,0.08,2.38,0.00,0.000,6,0.155,0.048,2740,2098,2918,0,0,0,0,0,0
$GC,426,-0.67,-97.8,54.7,-13.6,69,433,0.00,2.42,0.00,0.000,4,0.000,0.060,2731,3608,2918,0,0,0,0,0,0
$GC,594,-0.67,-97.8,74.0,-10.0,100,602,0.00,2.30,0.00,0.000,6,0.000,0.044,2730,2133,2918,0,0,0,0,0,0
$GC,667,-0.67,-97.8,81.2,-9.8,113,674,0.00,2.38,0.00,0.000,4,0.000,0.060,2719,3613,2918,0,0,0,0,0,0
$STATE,717,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,717,begin apogee
$GC,726,-0.29,0.0,85.8,8.6,122,809,0.45,0.00,78.65,0.617,6,0.138,0.000,2861,1949,2515,0,0,0,0,0,0
$STATE,810,end apogee,CONTROL_FINISHED_OK
$STATE,810,begin climb
$GC,813,0.80,97.8,88.8,0.0,134,903,1.02,2.53,80.78,0.596,4,0.097,0.054,3205,3468,2115,0,0,0,0,0,0
$GC,944,0.76,97.8,74.1,16.3,154,953,0.00,2.47,0.00,0.000,6,0.000,0.044,3217,1952,2111,0,0,0,0,0,0
$GC,1018,0.72,97.8,63.3,13.5,167,1025,0.00,2.45,0.00,0.000,4,0.000,0.056,3218,3467,2111,0,0,0,0,0,0
$GC,1034,0.69,97.8,61.3,12.3,169,1042,0.12,2.38,0.00,0.000,6,0.167,0.044,3182,1996,2110,0,0,0,0,0,0
$GC,1110,0.68,114.0,54.2,7.9,182,1131,0.00,0.00,13.68,0.554,6,0.000,0.000,3182,1995,2049,0,0,0,0,0,0
$GC,1196,0.68,114.0,46.2,9.2,197,1204,0.00,2.40,0.00,0.000,4,0.000,0.056,3181,3466,2046,0,0,0,0,0,0
$GC,1296,0.66,114.0,36.3,10.3,215,1304,0.00,2.30,0.00,0.000,6,0.000,0.044,3190,2017,2045,0,0,0,0,0,0
$GC,1370,0.65,114.0,27.8,11.0,228,1378,0.00,2.47,0.00,0.000,4,0.000,0.054,3202,433,2044,0,0,0,0,0,0
$GC,1617,0.68,172.2,9.2,5.3,274,1672,0.00,2.42,47.28,0.570,6,0.000,0.045,3202,1986,1810,0,0,0,0,0,0
$GC,1740,0.76,263.3,4.6,3.3,294,1769,0.00,0.00,26.95,0.553,2,0.000,0.000,3202,1986,1674,0,0,0,0,0,0
$STATE,1770,end climb,SURFACE_DEPTH_REACHED
$STATE,1770,begin surface coast
$FINISH,2.4,1.021966
$STATE,1931,end surface coast,CONTROL_FINISHED_OK
$STATE,1931,begin surface
$SM_CCo,1949,119.12,0.527,1,0,762,430.01
$SM_GC,1.02,0.00,0.00,119.12,0.000,0.000,0.527,148,2119,762,-8.78,0.54,430.01
$IRIDIUM_FIX,4742.09,-12451.88,020511,000022
$TT8_MAMPS,0.027713
$HUMID,34.13
$INTERNAL_PRESSURE,8.99133
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.1,25.5
$24V_AH,24.2,6.753
$10V_AH,10.4,5.319
$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,20.325,38.950,247.325,119.125,0.000,24.955,35.585,122.985,0.500,0.000,15.414,763.051,114.500,419.873,930.324,140.127,33.326,775.926,0.000,771.192,0.000,5.483,0.000
$DEVICE_MAMPS,235.620,79.560,617.355,527.085,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,225.198,231.358,691.960,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297748
$DATA_FILE_SIZE,16926,328
$CAP_FILE_SIZE,45633,0
$CFSIZE,260165632,209043456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.257,150.4,1
$GPS,020511,020222,4755.657,-12455.877,13,2.8,32,18.7