version: 66.07
glider: 187
mission: 4
dive: 54
start: 5 2 111 6 11 59
data:
$ID,187
$MISSION,4
$DIVE,54
$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,-7
$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,2
$HD_A,0.0046000001
$HD_B,0.0099999998
$HD_C,1.34e-05
$HEADING,300
$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,-1583958.5
$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,30
$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,32
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,2535
$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
$GPS1,020511,060644,4754.180,-12455.143,11,1.5,11,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-77.2
$GPS2,020511,061138,4754.150,-12455.146,15,1.6,15,18.7
$SPEED_LIMITS,0.154,0.209
$TGT_NAME,HEADING
$TGT_LATLONG,4759.550,-12509.120
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.176,-0.114
$KALMAN_X,14438.9,303.9,-305.7,-13432.8,797.0
$KALMAN_Y,-14155.7,856.3,103.6,-14859.7,-275.4
$MHEAD_RNG_PITCHd_Wd,326.3,20000,-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,-0.75,-97.8,0.0,0.0,0,84,0.00,0.00,-65.88,0.000,2,0.000,0.000,145,2115,2431,0,0,0,0,0,0
$GC,87,-0.75,-97.8,3.6,-6.1,10,117,10.30,2.42,-10.57,0.000,4,0.237,0.070,2702,3602,2936,0,0,0,0,0,0
$GC,355,-0.72,-97.8,54.3,-17.9,59,362,0.00,2.38,0.00,0.000,6,0.000,0.044,2701,2096,2938,0,0,0,0,0,0
$GC,428,-0.70,-97.8,65.4,-15.2,72,436,0.12,2.42,0.00,0.000,4,0.174,0.060,2724,3605,2939,0,0,0,0,0,0
$GC,553,-0.70,-97.8,80.5,-10.2,94,561,0.00,2.30,0.00,0.000,6,0.000,0.044,2724,2136,2938,0,0,0,0,0,0
$STATE,608,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,608,begin apogee
$GC,615,-0.23,0.0,86.0,8.0,104,700,0.47,0.00,78.68,0.614,6,0.137,0.000,2874,1934,2534,0,0,0,0,0,0
$STATE,701,end apogee,CONTROL_FINISHED_OK
$STATE,701,begin climb
$GC,703,0.75,97.8,88.1,0.0,116,793,0.93,2.60,81.55,0.594,4,0.089,0.055,3191,3462,2135,0,0,0,0,0,0
$GC,804,0.72,97.8,78.3,13.9,130,812,0.00,2.47,0.00,0.000,6,0.000,0.044,3203,1936,2131,0,0,0,0,0,0
$GC,877,0.69,97.8,67.6,13.3,143,884,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,1936,2130,0,0,0,0,0,0
$GC,948,0.66,97.8,59.6,10.6,156,956,0.12,0.00,0.00,0.000,6,0.181,0.000,3173,1933,2128,0,0,0,0,0,0
$GC,1023,0.65,103.2,53.0,8.6,169,1040,0.00,2.53,4.50,0.425,4,0.000,0.056,3173,3462,2113,0,0,0,0,0,0
$GC,1048,0.64,103.2,50.7,8.9,172,1056,0.00,2.40,0.00,0.000,6,0.000,0.045,3182,1966,2113,0,0,0,0,0,0
$GC,1123,0.64,116.1,44.5,8.1,185,1138,0.00,0.00,12.12,0.544,6,0.000,0.000,3182,1966,2060,0,0,0,0,0,0
$GC,1204,0.64,117.7,37.5,8.8,199,1211,0.00,2.45,0.00,0.000,4,0.000,0.054,3193,411,2058,0,0,0,0,0,0
$GC,1408,0.65,142.8,21.5,7.4,237,1437,0.00,2.47,22.60,0.563,6,0.000,0.045,3193,2017,1951,0,0,0,0,0,0
$GC,1503,0.65,144.1,13.8,8.8,253,1510,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2017,1948,0,0,0,0,0,0
$GC,1574,0.68,191.0,8.7,6.0,266,1623,0.00,2.60,39.42,0.560,4,0.000,0.055,3204,403,1754,0,0,0,0,0,0
$GC,1632,0.71,219.2,4.5,7.2,274,1641,0.00,2.47,3.95,0.377,2,0.000,0.047,3203,1975,1740,0,0,0,0,0,0
$STATE,1642,end climb,SURFACE_DEPTH_REACHED
$STATE,1642,begin surface coast
$FINISH,2.7,1.021904
$STATE,1702,end surface coast,CONTROL_FINISHED_OK
$STATE,1703,begin surface
$SM_CCo,1721,135.05,0.518,3,0,781,430.01
$SM_GC,1.11,0.00,0.00,135.05,0.000,0.000,0.518,143,2125,781,-8.80,0.71,430.01
$IRIDIUM_FIX,4735.69,-12455.31,020511,050541
$TT8_MAMPS,0.027713
$HUMID,33.30
$INTERNAL_PRESSURE,8.98157
$TCM_TEMP,15.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.5,25.4
$24V_AH,24.2,7.256
$10V_AH,10.4,5.650
$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,20.425,30.000,242.825,135.050,0.000,26.937,37.458,129.836,0.500,0.000,15.891,655.796,101.808,441.465,848.651,128.488,0.000,771.525,0.000,672.486,0.000,5.484,0.000
$DEVICE_MAMPS,237.150,73.440,613.530,517.905,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,194.672,203.131,603.484,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297768
$DATA_FILE_SIZE,16941,286
$CAP_FILE_SIZE,42499,0
$CFSIZE,260165632,208846848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.249,159.5,1
$GPS,020511,064402,4754.067,-12454.994,13,1.7,13,18.7