version: 66.07
glider: 187
mission: 4
dive: 127
start: 5 3 111 14 15 11
data:
$ID,187
$MISSION,4
$DIVE,127
$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,35
$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,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
$GPS1,030511,133034,4742.799,-12456.181,16,2.1,35,18.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,14.30
$_SM_ANGLEo,8.8
$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,12,begin dive
$GC,16,-1.02,-146.6,0.0,0.0,0,24,0.00,0.00,-6.60,0.000,2,0.000,0.000,2956,3467,3113,0,0,0,0,0,0
$GC,28,-1.02,-146.6,17.3,-0.0,1,36,0.93,0.22,-0.55,0.000,4,0.090,0.203,2634,3620,3150,0,0,0,0,0,0
$GC,267,-1.01,-146.6,62.4,-20.9,46,274,0.00,2.40,0.00,0.000,6,0.000,0.041,2633,2099,3150,0,0,0,0,0,0
$GC,342,-1.00,-146.6,77.4,-19.5,59,350,0.00,2.38,0.00,0.000,4,0.000,0.050,2633,591,3150,0,0,0,0,0,0
$GC,401,-1.00,-146.6,87.3,-17.4,69,408,0.00,2.35,0.00,0.000,6,0.000,0.047,2622,2078,3150,0,0,0,0,0,0
$GC,474,-1.00,-146.6,99.9,-17.1,82,481,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2078,3150,0,0,0,0,0,0
$STATE,521,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,521,begin apogee
$GC,527,-0.23,0.0,109.1,18.5,87,648,0.80,0.00,116.60,0.627,6,0.148,0.000,2870,1936,2550,0,0,0,0,0,0
$STATE,648,end apogee,CONTROL_FINISHED_OK
$STATE,648,begin climb
$GC,652,1.02,146.6,113.9,0.0,99,780,1.23,0.00,121.45,0.603,6,0.086,0.000,3283,1936,1952,0,0,0,0,0,0
$GC,847,1.00,146.6,83.0,21.3,123,854,0.00,2.50,0.00,0.000,4,0.000,0.053,3283,3470,1946,0,0,0,0,0,0
$GC,899,0.97,146.6,70.3,22.1,132,906,0.00,2.45,0.00,0.000,6,0.000,0.042,3294,1959,1943,0,0,0,0,0,0
$GC,971,0.95,154.3,55.1,19.5,145,985,0.00,0.00,6.47,0.477,6,0.000,0.000,3294,1959,1921,0,0,0,0,0,0
$GC,1052,0.95,179.4,39.7,18.2,159,1081,0.12,2.53,22.25,0.552,4,0.201,0.054,3267,3468,1816,0,0,0,0,0,0
$STATE,1180,end climb,FINISH_DEPTH_REACHED
$STATE,1180,begin subsurface finish
$FINISH1,14.5,1.024209,-60
$GC,1191,-0.04,-59.9,14.5,-15.3,182,1219,1.08,2.47,-19.83,0.000,4,0.158,0.067,2956,3470,2796,0,0,0,0,0,0
$FINISH2,12.0
$STATE,1220,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1220,begin surface
$IRIDIUM_FIX,4726.11,-12453.24,030511,131326
$TT8_MAMPS,0.026964
$HUMID,34.40
$INTERNAL_PRESSURE,9.16712
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.0,50.0
$24V_AH,24.0,12.088
$10V_AH,10.4,7.832
$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,4.150,19.950,266.775,0.000,0.000,0.000,0.000,0.000,0.500,0.000,0.000,441.896,99.157,262.730,428.286,50.762,0.000,484.629,0.000,443.518,0.000,5.549,0.000
$DEVICE_MAMPS,201.195,203.490,626.535,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,125.089,133.197,353.780,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297784
$DATA_FILE_SIZE,10318,186
$CAP_FILE_SIZE,24875,0
$CFSIZE,260165632,207208448
$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