version: 66.07
glider: 187
mission: 4
dive: 145
start: 5 3 111 23 7 28
data:
$ID,187
$MISSION,4
$DIVE,145
$D_SURF,4
$D_FLARE,3
$D_TGT,180
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,4
$T_BOOST,0
$D_FINISH,20
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,30
$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,522.48901
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,-5
$UPLOAD_DIVES_MAX,1
$CALL_TRIES,10
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1584012.9
$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,2200
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,2600
$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
$GPS1,030511,211410,4740.325,-12500.061,17,3.5,36,18.7
$_CALLS,10
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,16.99
$_SM_ANGLEo,4.6
$GPS2,030511,211410,4740.325,-12500.061,17,3.5,36,18.7
$SPEED_LIMITS,0.346,0.356
$TGT_NAME,HEADING
$TGT_LATLONG,4744.019,-12515.148
$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,180
$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,16,-1.02,-146.6,0.0,0.0,0,25,0.00,0.00,-7.10,0.000,2,0.000,0.000,2969,529,3077,0,0,0,0,0,0
$GC,29,-1.02,-146.6,19.8,-0.0,1,44,0.98,5.18,-1.77,0.000,4,0.088,0.059,2616,3705,3201,0,0,0,0,0,0
$GC,203,-1.01,-146.6,57.6,-23.0,33,210,0.00,2.38,0.00,0.000,6,0.000,0.042,2616,2202,3202,0,0,0,0,0,0
$GC,276,-0.99,-146.6,75.0,-25.0,46,285,0.00,2.45,0.00,0.000,4,0.000,0.057,2605,3734,3203,0,0,0,0,0,0
$GC,314,-0.97,-146.6,83.3,-19.2,52,323,0.08,2.42,0.00,0.000,6,0.141,0.043,2640,2195,3202,0,0,0,0,0,0
$GC,393,-0.97,-146.6,97.1,-17.5,65,400,0.00,2.38,0.00,0.000,4,0.000,0.050,2640,692,3202,0,0,0,0,0,0
$GC,446,-0.97,-146.6,107.6,-17.6,70,453,0.00,2.33,0.00,0.000,6,0.000,0.047,2631,2185,3202,0,0,0,0,0,0
$GC,581,-0.97,-146.6,130.1,-16.1,83,585,0.00,2.30,0.00,0.000,4,0.000,0.050,2630,694,3203,0,0,0,0,0,0
$GC,670,-0.97,-146.6,144.9,-15.6,90,677,0.00,2.28,0.00,0.000,6,0.000,0.047,2620,2144,3203,0,0,0,0,0,0
$STATE,739,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,739,begin apogee
$GC,746,-0.23,0.0,155.3,15.0,97,867,0.80,0.00,117.38,0.659,6,0.142,0.000,2871,2049,2599,0,0,0,0,0,0
$STATE,868,end apogee,CONTROL_FINISHED_OK
$STATE,868,begin climb
$GC,870,1.02,146.6,160.0,0.0,109,999,1.20,0.00,122.78,0.636,6,0.080,0.000,3281,2048,2002,0,0,0,0,0,0
$GC,1127,0.99,146.6,110.3,25.4,133,1131,0.00,2.42,0.00,0.000,4,0.000,0.051,3293,535,1994,0,0,0,0,0,0
$GC,1156,0.96,146.6,103.2,23.6,135,1160,0.00,2.35,0.00,0.000,6,0.000,0.044,3293,2029,1994,0,0,0,0,0,0
$GC,1291,0.93,146.6,73.2,22.5,158,1298,0.15,0.00,0.00,0.000,6,0.194,0.000,3258,2032,1992,0,0,0,0,0,0
$GC,1362,0.96,199.2,59.7,16.2,171,1416,0.00,2.58,42.47,0.581,4,0.000,0.054,3258,3571,1785,0,0,0,0,0,0
$GC,1451,0.95,199.2,43.7,20.8,185,1458,0.00,2.45,0.00,0.000,6,0.000,0.043,3267,2053,1782,0,0,0,0,0,0
$GC,1522,0.95,199.2,28.8,21.2,198,1529,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,2053,1781,0,0,0,0,0,0
$GC,1594,0.99,265.6,15.3,15.2,211,1654,0.00,2.45,52.67,0.558,4,0.000,0.051,3279,533,1515,0,0,0,0,0,0
$GC,1680,1.05,345.1,5.4,14.3,224,1696,0.00,2.45,10.65,0.502,2,0.000,0.044,3278,2051,1465,0,0,0,0,0,0
$STATE,1697,end climb,SURFACE_DEPTH_REACHED
$STATE,1697,begin surface coast
$FINISH,0.2,1.011358
$STATE,1714,end surface coast,CONTROL_FINISHED_OK
$STATE,1714,begin surface
$SM_CCo,1733,136.88,0.520,1,0,470,522.49
$SM_GC,1.12,0.00,0.00,136.88,0.000,0.000,0.520,129,2212,470,-8.85,0.34,522.49
$IRIDIUM_FIX,4719.74,-12512.60,030511,212105
$TT8_MAMPS,0.027713
$HUMID,33.81
$INTERNAL_PRESSURE,8.95227
$TCM_TEMP,15.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,121.6,44.5
$24V_AH,23.9,13.221
$10V_AH,10.3,8.363
$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,11.675,36.750,345.950,136.875,0.000,0.000,0.000,0.000,3.000,0.000,0.000,547.511,316.185,476.335,530.011,74.954,0.000,764.992,0.000,537.531,0.000,20.901,0.000
$DEVICE_MAMPS,194.310,88.740,659.430,520.200,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,154.558,165.079,385.328,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297820
$DATA_FILE_SIZE,13634,229
$CAP_FILE_SIZE,38009,0
$CFSIZE,260165632,206716928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030511,234000,4739.741,-12501.262,39,1.8,39,18.7