version: 66.07
glider: 187
mission: 4
dive: 70
start: 5 2 111 15 55 47
data:
$ID,187
$MISSION,4
$DIVE,70
$D_SURF,4
$D_FLARE,3
$D_TGT,120
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,4
$T_BOOST,0
$D_FINISH,10
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,20
$T_MISSION,45
$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,200
$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,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,2
$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,-1583978.5
$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,28
$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,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
$GPS1,020511,155019,4752.340,-12453.425,9,1.8,25,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-73.9
$GPS2,020511,155525,4752.371,-12453.329,18,1.8,23,18.7
$SPEED_LIMITS,0.346,0.365
$TGT_NAME,HEADING
$TGT_LATLONG,4757.770,-12507.296
$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,293.7,20000,-27.4,-20.000
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.03,-195.5,0.0,0.0,0,89,0.00,0.00,-71.85,0.000,2,0.000,0.000,131,2116,2672,0,0,0,0,0,0
$GC,93,-1.03,-195.5,3.4,-6.3,11,122,9.98,2.40,-12.35,0.000,4,0.237,0.060,2617,581,3334,0,0,0,0,0,0
$GC,268,-1.03,-195.5,51.3,-23.8,42,275,0.00,2.38,0.00,0.000,6,0.000,0.047,2608,2082,3336,0,0,0,0,0,0
$GC,340,-1.02,-195.5,68.5,-23.9,55,353,0.00,2.45,0.00,0.000,4,0.000,0.060,2597,3625,3335,0,0,0,0,0,0
$STATE,387,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,387,begin apogee
$GC,396,-0.23,0.0,80.3,22.7,62,562,0.90,0.00,154.20,0.603,6,0.155,0.000,2871,1933,2533,0,0,0,0,0,0
$STATE,563,end apogee,CONTROL_FINISHED_OK
$STATE,563,begin climb
$GC,566,1.03,195.5,87.7,0.0,86,737,1.23,2.53,157.90,0.580,4,0.085,0.052,3294,436,1736,0,0,0,0,0,0
$GC,772,1.02,195.5,53.3,22.1,117,781,0.00,2.47,0.00,0.000,6,0.000,0.044,3294,1975,1732,0,0,0,0,0,0
$GC,846,1.00,195.5,37.3,22.1,130,854,0.00,2.45,0.00,0.000,4,0.000,0.054,3294,3490,1730,0,0,0,0,0,0
$GC,868,0.98,195.5,31.8,24.0,133,877,0.12,2.47,0.00,0.000,6,0.202,0.044,3279,1941,1729,0,0,0,0,0,0
$GC,942,1.02,253.8,16.6,16.0,146,992,0.00,0.50,46.30,0.540,3,0.000,0.054,3279,1623,1499,0,0,0,0,0,0
$STATE,993,end climb,FINISH_DEPTH_REACHED
$STATE,993,begin subsurface finish
$FINISH1,9.9,1.022949,3
$GC,1001,0.00,2.5,9.9,-13.7,153,1037,1.02,2.55,-24.85,0.000,4,0.141,0.068,2968,437,2528,0,0,0,0,0,0
$FINISH2,8.3
$STATE,1038,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1038,begin surface
$IRIDIUM_FIX,4735.69,-12451.64,020511,151548
$TT8_MAMPS,0.026964
$HUMID,33.89
$INTERNAL_PRESSURE,9.14759
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.3,19.8
$24V_AH,24.0,8.451
$10V_AH,10.4,6.321
$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,13.250,23.425,358.400,0.000,0.000,27.171,46.919,121.690,0.500,0.000,24.743,285.569,36.105,362.128,572.471,95.345,0.000,633.825,0.000,377.364,0.000,5.457,0.000
$DEVICE_MAMPS,237.150,68.085,602.820,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,103.523,110.470,332.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,7005,158
$CAP_FILE_SIZE,26543,0
$CFSIZE,260165632,208429056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,6.863,321.7,1
$GPS,020511,155525,4752.371,-12453.329,18,1.8,23,18.7