version: 66.07
glider: 187
mission: 4
dive: 64
start: 5 2 111 12 41 29
data:
$ID,187
$MISSION,4
$DIVE,64
$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,-1583971
$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,36
$R_STBD_OVSHOOT,29
$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
$GPS1,020511,123606,4752.575,-12454.454,31,1.5,31,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-73.1
$GPS2,020511,124108,4752.633,-12454.373,14,1.9,14,18.7
$SPEED_LIMITS,0.154,0.209
$TGT_NAME,HEADING
$TGT_LATLONG,4758.033,-12508.341
$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,322.4,20000,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.75,-97.8,0.0,0.0,0,84,0.00,0.00,-64.47,0.000,2,0.000,0.000,125,2096,2426,0,0,0,0,0,0
$GC,88,-0.75,-97.8,3.7,-6.5,10,117,10.27,2.42,-10.50,0.000,4,0.233,0.066,2712,587,2935,0,0,0,0,0,0
$GC,357,-0.72,-97.8,48.8,-14.4,59,365,0.00,2.38,0.00,0.000,6,0.000,0.048,2703,2093,2938,0,0,0,0,0,0
$GC,432,-0.69,-97.8,58.3,-13.0,72,440,0.12,2.38,0.00,0.000,4,0.172,0.052,2735,576,2938,0,0,0,0,0,0
$GC,533,-0.67,-97.8,70.0,-10.0,90,545,0.00,2.38,0.00,0.000,6,0.000,0.047,2726,2090,2938,0,0,0,0,0,0
$GC,611,-0.66,-97.8,76.4,-7.7,103,619,0.00,2.42,0.00,0.000,4,0.000,0.058,2715,3607,2938,0,0,0,0,0,0
$STATE,703,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,703,begin apogee
$GC,711,-0.23,0.0,84.5,8.5,120,795,0.50,0.00,78.70,0.614,6,0.135,0.000,2873,1941,2534,0,0,0,0,0,0
$STATE,796,end apogee,CONTROL_FINISHED_OK
$STATE,796,begin climb
$GC,799,0.75,97.8,87.4,0.0,132,889,0.93,2.47,81.30,0.593,4,0.088,0.051,3201,437,2137,0,0,0,0,0,0
$GC,951,0.72,97.8,70.5,14.2,156,958,0.00,2.45,0.00,0.000,6,0.000,0.044,3201,1952,2132,0,0,0,0,0,0
$GC,1024,0.70,97.8,61.2,13.1,169,1031,0.00,2.47,0.00,0.000,4,0.000,0.056,3201,3458,2130,0,0,0,0,0,0
$GC,1269,0.66,97.8,31.5,11.1,215,1278,0.12,2.28,0.00,0.000,6,0.159,0.043,3175,2015,2126,0,0,0,0,0,0
$GC,1345,0.68,117.9,25.6,7.7,228,1367,0.00,2.40,16.45,0.553,4,0.000,0.056,3175,3474,2052,0,0,0,0,0,0
$GC,1426,0.66,117.9,18.6,10.1,242,1433,0.00,2.28,0.00,0.000,6,0.000,0.044,3183,2037,2049,0,0,0,0,0,0
$GC,1499,0.68,138.3,12.2,7.6,255,1522,0.00,2.38,17.52,0.549,4,0.000,0.057,3183,3475,1970,0,0,0,0,0,0
$GC,1582,0.72,218.7,8.0,4.0,269,1652,0.00,2.20,64.82,0.560,6,0.000,0.044,3192,2080,1642,0,0,0,0,0,0
$GC,1721,0.83,356.5,5.4,0.5,291,1786,0.10,0.00,61.88,0.549,2,0.107,0.000,3235,2080,1324,0,0,0,0,0,0
$STATE,1787,end climb,SURFACE_DEPTH_REACHED
$STATE,1787,begin surface coast
$FINISH,0.1,1.010643
$STATE,1939,end surface coast,CONTROL_FINISHED_OK
$STATE,1939,begin surface
$SM_CCo,1958,75.95,0.501,1,0,781,430.01
$SM_GC,0.91,0.00,0.00,75.95,0.000,0.000,0.501,145,2079,781,-8.78,-0.59,430.01
$IRIDIUM_FIX,4735.69,-12453.48,020511,111111
$TT8_MAMPS,0.027713
$HUMID,34.48
$INTERNAL_PRESSURE,9.0011
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.7,23.7
$24V_AH,24.2,7.951
$10V_AH,10.4,6.115
$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,20.400,33.500,320.675,75.950,0.000,27.397,44.068,131.197,0.500,0.000,15.229,726.316,115.586,415.325,954.697,131.224,0.000,782.790,0.000,771.307,0.000,5.469,0.000
$DEVICE_MAMPS,233.325,65.790,613.530,501.075,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,224.630,232.935,694.018,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297744
$DATA_FILE_SIZE,16969,329
$CAP_FILE_SIZE,43013,0
$CFSIZE,260165632,208560128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.260,150.3,1
$GPS,020511,131628,4752.450,-12454.255,10,3.7,29,18.7