version: 66.07
glider: 187
mission: 4
dive: 125
start: 5 3 111 13 31 14
data:
$ID,187
$MISSION,4
$DIVE,125
$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,-1584007.9
$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,30
$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,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
$GPS1,030511,131537,4743.021,-12456.352,57,1.1,57,18.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-73.9
$GPS2,030511,133034,4742.799,-12456.181,16,2.1,35,18.7
$SPEED_LIMITS,0.346,0.356
$TGT_NAME,HEADING
$TGT_LATLONG,4746.493,-12511.280
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.02,-146.6,0.0,0.0,0,82,0.00,0.00,-64.78,0.000,2,0.000,0.000,131,2114,2922,0,0,0,0,0,0
$GC,86,-1.02,-146.6,3.8,-8.1,10,107,9.93,0.00,-4.18,0.000,6,0.239,0.000,2621,2114,3150,0,0,0,0,0,0
$GC,173,-0.99,-146.6,32.2,-24.1,25,180,0.00,2.40,0.00,0.000,4,0.000,0.057,2612,3600,3151,0,0,0,0,0,0
$GC,205,-0.97,-146.6,40.6,-24.9,30,213,0.08,2.38,0.00,0.000,6,0.163,0.044,2644,2096,3151,0,0,0,0,0,0
$GC,279,-0.95,-146.6,56.8,-20.4,43,286,0.00,2.42,0.00,0.000,4,0.000,0.059,2634,3596,3152,0,0,0,0,0,0
$GC,316,-0.94,-146.6,64.9,-21.8,49,324,0.00,2.33,0.00,0.000,6,0.000,0.043,2633,2121,3152,0,0,0,0,0,0
$GC,392,-0.94,-146.6,79.6,-17.5,62,399,0.00,2.42,0.00,0.000,4,0.000,0.051,2633,575,3152,0,0,0,0,0,0
$GC,419,-0.94,-146.6,84.7,-18.8,66,427,0.08,2.38,0.00,0.000,6,0.158,0.047,2646,2087,3152,0,0,0,0,0,0
$GC,493,-0.94,-146.6,96.5,-15.2,79,500,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2087,3151,0,0,0,0,0,0
$STATE,546,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,546,begin apogee
$GC,553,-0.23,0.0,106.0,16.3,86,673,0.73,0.00,116.78,0.627,6,0.143,0.000,2875,1927,2550,0,0,0,0,0,0
$STATE,674,end apogee,CONTROL_FINISHED_OK
$STATE,674,begin climb
$GC,677,1.02,146.6,111.3,0.0,98,809,1.20,2.58,120.35,0.604,4,0.084,0.051,3283,3472,1951,0,0,0,0,0,0
$GC,818,0.99,146.6,92.9,20.4,112,826,0.00,2.47,0.00,0.000,6,0.000,0.041,3294,1947,1949,0,0,0,0,0,0
$GC,893,0.96,146.6,75.5,23.1,125,900,0.00,2.47,0.00,0.000,4,0.000,0.052,3294,3468,1946,0,0,0,0,0,0
$GC,913,0.92,146.6,70.7,22.8,128,921,0.20,2.47,0.00,0.000,6,0.190,0.042,3258,1922,1944,0,0,0,0,0,0
$GC,986,0.95,188.4,56.7,17.0,141,1026,0.00,0.00,34.30,0.566,6,0.000,0.000,3258,1921,1781,0,0,0,0,0,0
$GC,1092,0.96,201.4,37.4,19.1,159,1113,0.00,2.58,11.52,0.519,4,0.000,0.054,3258,3466,1728,0,0,0,0,0,0
$STATE,1199,end climb,FINISH_DEPTH_REACHED
$STATE,1199,begin subsurface finish
$FINISH1,14.8,1.024117,-55
$GC,1209,-0.03,-55.4,14.8,-19.1,178,1238,1.05,2.55,-21.48,0.000,4,0.152,0.069,2952,3472,2779,0,0,0,0,0,0
$FINISH2,11.3
$STATE,1239,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1239,begin surface
$IRIDIUM_FIX,4726.11,-12453.24,030511,131326
$TT8_MAMPS,0.026964
$HUMID,34.36
$INTERNAL_PRESSURE,9.16712
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.1,46.9
$24V_AH,24.0,11.995
$10V_AH,10.4,7.782
$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,13.250,32.125,282.950,0.000,0.000,133.172,400.400,0.000,0.500,0.000,37.127,410.566,322.195,336.945,991.912,99.237,0.000,599.403,0.000,436.660,0.000,5.542,0.000
$DEVICE_MAMPS,238.680,68.850,626.535,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,122.006,129.440,347.550,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297808
$DATA_FILE_SIZE,10340,182
$CAP_FILE_SIZE,32959,0
$CFSIZE,260165632,207245312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030511,133034,4742.799,-12456.181,16,2.1,35,18.7