version: 66.07
glider: 187
mission: 4
dive: 120
start: 5 3 111 11 20 11
data:
$ID,187
$MISSION,4
$DIVE,120
$D_SURF,4
$D_FLARE,3
$D_TGT,120
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,4
$T_BOOST,0
$D_FINISH,15
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51930
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0046000001
$HD_B,0.0099999998
$HD_C,1.34e-05
$HEADING,290
$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,510.224
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,-4
$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,-1584005.2
$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,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,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,2550
$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,12
$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
$GPS1,030511,101938,4744.017,-12454.556,14,1.3,14,18.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,16.35
$_SM_ANGLEo,8.4
$GPS2,030511,101938,4744.017,-12454.556,14,1.3,14,18.7
$SPEED_LIMITS,0.346,0.356
$TGT_NAME,HEADING
$TGT_LATLONG,4747.710,-12509.661
$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,271.3,20000,-28.0,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-1.02,-146.6,0.0,0.0,0,25,0.00,0.00,-5.07,0.000,6,0.000,0.000,2957,433,3150,0,0,0,0,0,0
$GC,28,-1.02,-146.6,20.8,-0.0,1,37,0.90,5.10,0.00,0.000,4,0.076,0.050,2626,3620,3151,0,0,0,0,0,0
$GC,211,-1.01,-146.6,58.1,-21.6,35,218,0.00,2.40,0.00,0.000,6,0.000,0.043,2626,2101,3152,0,0,0,0,0,0
$GC,286,-1.00,-146.6,73.2,-18.5,48,294,0.00,2.45,0.00,0.000,4,0.000,0.057,2614,3613,3152,0,0,0,0,0,0
$GC,309,-0.99,-146.6,77.5,-18.9,51,316,0.00,2.40,0.00,0.000,6,0.000,0.044,2614,2094,3152,0,0,0,0,0,0
$GC,382,-0.99,-146.6,91.2,-18.3,64,389,0.00,2.38,0.00,0.000,4,0.000,0.050,2613,581,3152,0,0,0,0,0,0
$GC,398,-0.99,-146.6,94.2,-17.9,66,406,0.08,2.38,0.00,0.000,6,0.151,0.047,2638,2086,3152,0,0,0,0,0,0
$STATE,432,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,433,begin apogee
$GC,440,-0.23,0.0,99.8,14.2,72,560,0.75,0.00,116.85,0.620,6,0.144,0.000,2874,1946,2550,0,0,0,0,0,0
$STATE,561,end apogee,CONTROL_FINISHED_OK
$STATE,561,begin climb
$GC,563,1.02,146.6,104.4,0.0,84,695,1.20,2.60,121.32,0.597,4,0.083,0.052,3280,3469,1951,0,0,0,0,0,0
$GC,730,0.99,146.6,76.8,25.8,106,738,0.00,2.47,0.00,0.000,6,0.000,0.042,3292,1941,1946,0,0,0,0,0,0
$GC,803,0.97,146.6,59.6,21.7,119,811,0.00,2.50,0.00,0.000,4,0.000,0.054,3292,3477,1944,0,0,0,0,0,0
$GC,824,0.94,146.6,55.3,20.0,122,832,0.10,2.38,0.00,0.000,6,0.174,0.042,3267,2012,1943,0,0,0,0,0,0
$GC,897,0.95,180.5,42.3,17.6,135,931,0.00,0.00,27.75,0.555,6,0.000,0.000,3267,2010,1813,0,0,0,0,0,0
$GC,997,0.95,187.6,23.7,19.5,152,1011,0.00,0.00,6.82,0.469,6,0.000,0.000,3267,2010,1784,0,0,0,0,0,0
$GC,1077,1.01,278.2,9.3,13.5,166,1126,0.00,0.00,46.83,0.545,2,0.000,0.000,3267,2007,1550,0,0,0,0,0,0
$STATE,1127,end climb,SURFACE_DEPTH_REACHED
$STATE,1127,begin surface coast
$FINISH,0.4,1.003843
$STATE,1160,end surface coast,CONTROL_FINISHED_OK
$STATE,1160,begin surface
$SM_CCo,1179,141.95,0.517,1,0,470,510.22
$SM_GC,1.10,0.00,0.00,141.95,0.000,0.000,0.517,132,2115,470,-8.83,0.42,510.22
$IRIDIUM_FIX,4729.30,-12458.73,030511,101054
$TT8_MAMPS,0.027713
$HUMID,33.22
$INTERNAL_PRESSURE,8.95227
$TCM_TEMP,15.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,71.0,40.2
$24V_AH,24.0,11.721
$10V_AH,10.4,7.644
$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,11.575,27.400,319.575,141.950,0.000,0.000,0.000,0.000,0.500,0.000,0.000,418.039,66.496,436.169,414.610,60.870,0.000,676.385,0.000,431.259,0.000,5.525,0.000
$DEVICE_MAMPS,174.420,87.975,620.415,517.140,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,118.637,126.210,354.047,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297800
$DATA_FILE_SIZE,10300,179
$CAP_FILE_SIZE,29510,0
$CFSIZE,260165632,207376384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030511,114328,4743.614,-12455.382,13,2.1,32,18.7