version: 66.07
glider: 187
mission: 4
dive: 49
start: 5 2 111 2 50 50
data:
$ID,187
$MISSION,4
$DIVE,49
$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,-1583952.2
$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,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,35
$R_STBD_OVSHOOT,41
$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
$GPS1,020511,024502,4755.468,-12455.491,12,1.5,12,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-76.7
$GPS2,020511,024956,4755.450,-12455.389,17,1.2,17,18.7
$SPEED_LIMITS,0.154,0.209
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.175,-0.115
$KALMAN_X,12480.5,168.7,-388.1,-11597.3,852.0
$KALMAN_Y,-13312.8,999.3,-269.4,-13577.5,-428.4
$MHEAD_RNG_PITCHd_Wd,263.2,187932,-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,-97.8,0.0,0.0,0,96,0.00,0.00,-77.75,0.000,2,0.000,0.000,134,2113,2430,0,0,0,0,0,0
$GC,99,-0.80,-97.8,3.2,-5.2,12,129,10.20,2.42,-10.48,0.000,4,0.237,0.070,2682,3604,2917,0,0,0,0,0,0
$GC,171,-0.76,-97.8,17.4,-16.2,23,179,0.08,2.38,0.00,0.000,6,0.163,0.044,2704,2098,2918,0,0,0,0,0,0
$GC,245,-0.72,-97.8,28.2,-13.4,36,253,0.00,2.38,0.00,0.000,4,0.000,0.052,2704,592,2919,0,0,0,0,0,0
$GC,293,-0.68,-97.8,35.5,-15.6,44,301,0.12,2.30,0.00,0.000,6,0.151,0.047,2734,2051,2919,0,0,0,0,0,0
$GC,368,-0.66,-97.8,46.3,-14.3,57,375,0.00,2.30,0.00,0.000,4,0.000,0.051,2734,594,2920,0,0,0,0,0,0
$GC,388,-0.64,-97.8,49.4,-14.2,60,396,0.00,2.33,0.00,0.000,6,0.000,0.048,2726,2072,2919,0,0,0,0,0,0
$GC,463,-0.62,-97.8,59.1,-12.1,73,470,0.12,0.00,0.00,0.000,6,0.171,0.000,2757,2072,2920,0,0,0,0,0,0
$GC,536,-0.62,-97.8,67.4,-11.0,86,545,0.00,2.45,0.00,0.000,4,0.000,0.059,2748,3625,2920,0,0,0,0,0,0
$GC,634,-0.62,-97.8,76.6,-8.2,103,641,0.00,2.47,0.00,0.000,6,0.000,0.044,2748,2020,2920,0,0,0,0,0,0
$GC,707,-0.62,-97.8,82.3,-6.9,116,715,0.00,2.55,0.00,0.000,4,0.000,0.059,2736,3617,2920,0,0,0,0,0,0
$STATE,736,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,737,begin apogee
$GC,745,-0.29,0.0,84.7,7.4,121,829,0.38,0.00,78.70,0.615,6,0.132,0.000,2856,1937,2515,0,0,0,0,0,0
$STATE,830,end apogee,CONTROL_FINISHED_OK
$STATE,830,begin climb
$GC,834,0.80,97.8,87.9,0.0,133,923,1.05,0.00,81.15,0.594,6,0.098,0.000,3208,1937,2114,0,0,0,0,0,0
$GC,989,0.77,97.8,70.3,14.5,158,997,0.00,2.50,0.00,0.000,4,0.000,0.056,3208,3476,2109,0,0,0,0,0,0
$GC,1017,0.74,97.8,66.6,13.0,162,1025,0.00,2.45,0.00,0.000,6,0.000,0.044,3219,1957,2108,0,0,0,0,0,0
$GC,1092,0.70,97.8,58.4,9.8,175,1100,0.12,2.42,0.00,0.000,4,0.184,0.056,3190,3473,2107,0,0,0,0,0,0
$GC,1151,0.68,97.8,52.6,10.8,185,1158,0.00,2.38,0.00,0.000,6,0.000,0.044,3199,1986,2106,0,0,0,0,0,0
$GC,1223,0.67,102.6,45.9,8.6,198,1233,0.00,2.45,4.10,0.408,4,0.000,0.056,3199,3473,2095,0,0,0,0,0,0
$GC,1278,0.64,103.7,41.0,8.8,207,1286,0.12,2.33,0.00,0.000,6,0.158,0.044,3158,2010,2095,0,0,0,0,0,0
$GC,1352,0.65,125.4,34.7,7.6,220,1381,0.00,2.55,19.92,0.564,4,0.000,0.055,3167,433,2002,0,0,0,0,0,0
$GC,1437,0.67,158.5,28.7,6.9,234,1473,0.00,2.47,27.88,0.565,6,0.000,0.046,3168,2025,1867,0,0,0,0,0,0
$GC,1541,0.68,158.5,19.6,9.8,251,1548,0.00,0.00,0.00,0.000,6,0.000,0.000,3168,2025,1862,0,0,0,0,0,0
$GC,1613,0.70,158.5,12.8,9.1,264,1621,0.00,2.53,0.00,0.000,4,0.000,0.054,3179,427,1862,0,0,0,0,0,0
$STATE,1825,end climb,SURFACE_DEPTH_REACHED
$STATE,1825,begin surface coast
$FINISH,2.9,1.022734
$STATE,1884,end surface coast,CONTROL_FINISHED_OK
$STATE,1884,begin surface
$SM_CCo,1905,156.57,0.528,3,0,762,430.01
$SM_GC,1.32,0.00,0.00,156.57,0.000,0.000,0.528,146,2114,762,-8.78,0.40,430.01
$IRIDIUM_FIX,4738.89,-12452.68,020511,020251
$TT8_MAMPS,0.027713
$HUMID,33.54
$INTERNAL_PRESSURE,8.99133
$TCM_TEMP,15.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.2,24.0
$24V_AH,24.2,6.901
$10V_AH,10.4,5.416
$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,20.500,48.925,211.750,156.575,0.000,27.829,37.409,126.484,0.500,0.000,18.429,737.200,113.489,476.862,914.297,140.183,33.312,833.889,0.000,739.612,0.000,5.481,0.000
$DEVICE_MAMPS,237.150,70.380,615.060,527.850,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,213.355,224.189,664.722,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,17026,315
$CAP_FILE_SIZE,49338,0
$CFSIZE,260165632,208982016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.289,150.2,1
$GPS,020511,032619,4755.224,-12455.386,14,1.2,14,18.7