version: 66.07
glider: 187
mission: 4
dive: 52
start: 5 2 111 4 50 22
data:
$ID,187
$MISSION,4
$DIVE,52
$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,-1583956
$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,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,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
$GPS1,020511,044428,4754.693,-12455.352,12,2.9,31,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-78.2
$GPS2,020511,044928,4754.663,-12455.352,13,3.3,32,18.7
$SPEED_LIMITS,0.154,0.209
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.175,-0.114
$KALMAN_X,13221.6,654.5,-210.9,-12947.4,625.5
$KALMAN_Y,-14188.2,1067.6,31.9,-14528.1,-382.0
$MHEAD_RNG_PITCHd_Wd,263.6,187178,-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,-97.8,0.0,0.0,0,83,0.00,0.00,-65.18,0.000,2,0.000,0.000,143,2116,2391,0,0,0,0,0,0
$GC,86,-0.80,-97.8,3.2,-4.9,10,116,10.15,2.38,-11.00,0.000,4,0.235,0.067,2686,3604,2916,0,0,0,0,0,0
$GC,355,-0.76,-97.8,56.9,-16.8,59,362,0.00,2.38,0.00,0.000,6,0.000,0.043,2685,2094,2918,0,0,0,0,0,0
$GC,428,-0.72,-97.8,66.2,-12.4,72,437,0.15,2.45,0.00,0.000,4,0.167,0.060,2717,3596,2918,0,0,0,0,0,0
$STATE,616,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,616,begin apogee
$GC,624,-0.29,0.0,85.3,7.6,106,708,0.45,0.00,78.62,0.616,6,0.145,0.000,2855,1937,2515,0,0,0,0,0,0
$STATE,709,end apogee,CONTROL_FINISHED_OK
$STATE,709,begin climb
$GC,713,0.80,97.8,87.8,0.0,118,803,1.05,2.47,81.47,0.596,4,0.099,0.051,3217,435,2115,0,0,0,0,0,0
$GC,960,0.77,97.8,57.2,9.8,160,968,0.00,2.40,0.00,0.000,6,0.000,0.045,3217,1939,2109,0,0,0,0,0,0
$GC,1035,0.74,97.8,49.9,10.6,173,1042,0.00,2.45,0.00,0.000,4,0.000,0.057,3217,3478,2108,0,0,0,0,0,0
$GC,1149,0.70,97.8,37.9,10.4,194,1157,0.10,2.40,0.00,0.000,6,0.165,0.044,3185,1966,2106,0,0,0,0,0,0
$GC,1224,0.71,115.5,31.8,7.8,207,1246,0.00,2.42,14.12,0.553,4,0.000,0.053,3194,428,2044,0,0,0,0,0,0
$GC,1362,0.71,115.5,20.4,9.3,231,1371,0.00,2.40,0.00,0.000,6,0.000,0.045,3195,1953,2041,0,0,0,0,0,0
$GC,1436,0.72,129.0,13.9,8.1,244,1458,0.00,2.45,12.50,0.542,4,0.000,0.055,3205,441,1988,0,0,0,0,0,0
$GC,1620,0.75,212.7,5.1,3.8,277,1699,0.00,2.30,66.95,0.565,6,0.000,0.045,3205,1910,1645,0,0,0,0,0,0
$STATE,1742,end climb,SURFACE_DEPTH_REACHED
$STATE,1742,begin surface coast
$FINISH,2.9,1.021520
$STATE,1904,end surface coast,NO_VERTICAL_VELOCITY
$STATE,1904,begin surface
$SM_CCo,1923,123.95,0.517,3,0,761,430.01
$SM_GC,0.98,0.00,0.00,123.95,0.000,0.000,0.517,150,2118,761,-8.78,0.51,430.01
$IRIDIUM_FIX,4738.89,-12457.15,020511,040428
$TT8_MAMPS,0.026964
$HUMID,34.72
$INTERNAL_PRESSURE,9.0011
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.5,24.7
$24V_AH,24.2,7.114
$10V_AH,10.4,5.558
$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,20.300,29.400,253.675,123.950,0.000,27.552,35.126,119.726,0.500,0.000,34.145,746.208,129.764,426.664,944.538,125.373,33.306,771.225,0.000,763.752,0.000,5.480,0.000
$DEVICE_MAMPS,234.855,67.320,615.825,517.140,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,223.584,229.880,687.991,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,16967,326
$CAP_FILE_SIZE,40174,0
$CFSIZE,260165632,208908288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.286,152.1,1
$GPS,020511,052606,4754.453,-12455.133,34,0.8,43,18.7