version: 66.07
glider: 187
mission: 4
dive: 149
start: 5 4 111 1 13 34
data:
$ID,187
$MISSION,4
$DIVE,149
$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,320
$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,-1584014.1
$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,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,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
$GPS1,030511,234431,4739.744,-12501.240,12,1.7,17,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,16.59
$_SM_ANGLEo,2.4
$GPS2,030511,234431,4739.744,-12501.240,12,1.7,17,18.7
$SPEED_LIMITS,0.346,0.356
$TGT_NAME,HEADING
$TGT_LATLONG,4743.438,-12516.325
$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,-146.6,0.0,0.0,0,24,0.00,0.00,-6.32,0.000,2,0.000,0.000,2968,2025,3025,0,0,0,0,0,0
$GC,28,-1.02,-146.6,19.7,-0.0,1,36,0.93,0.00,-2.58,0.000,6,0.068,0.000,2628,2025,3202,0,0,0,0,0,0
$GC,101,-1.01,-146.6,30.6,-20.8,14,108,0.00,2.70,0.00,0.000,4,0.000,0.057,2615,3713,3203,0,0,0,0,0,0
$GC,138,-1.00,-146.6,39.0,-22.7,20,145,0.00,2.35,0.00,0.000,6,0.000,0.044,2615,2238,3204,0,0,0,0,0,0
$GC,211,-0.97,-146.6,57.0,-26.2,33,218,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2232,3204,0,0,0,0,0,0
$GC,285,-0.96,-146.6,75.2,-23.9,46,293,0.12,2.40,0.00,0.000,4,0.180,0.060,2636,3719,3204,0,0,0,0,0,0
$GC,341,-0.96,-146.6,85.8,-18.5,55,348,0.00,2.35,0.00,0.000,6,0.000,0.044,2635,2231,3204,0,0,0,0,0,0
$GC,415,-0.96,-146.6,98.4,-15.0,68,422,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2228,3204,0,0,0,0,0,0
$GC,496,-0.96,-146.6,111.8,-17.3,76,500,0.00,2.38,0.00,0.000,4,0.000,0.050,2635,691,3205,0,0,0,0,0,0
$GC,506,-0.96,-146.6,114.2,-16.6,76,514,0.00,2.45,0.00,0.000,6,0.000,0.047,2624,2273,3204,0,0,0,0,0,0
$GC,642,-0.96,-146.6,135.3,-16.2,89,647,0.00,2.45,0.00,0.000,4,0.000,0.050,2623,688,3205,0,0,0,0,0,0
$GC,676,-0.96,-146.6,141.4,-16.9,91,683,0.12,2.45,0.00,0.000,6,0.177,0.048,2643,2260,3204,0,0,0,0,0,0
$STATE,798,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,798,begin apogee
$GC,804,-0.23,0.0,159.3,14.3,103,926,0.73,0.00,117.70,0.662,6,0.138,0.000,2875,2037,2599,0,0,0,0,0,0
$STATE,927,end apogee,CONTROL_FINISHED_OK
$STATE,927,begin climb
$GC,929,1.02,146.6,163.8,0.0,115,1062,1.17,2.62,123.32,0.639,4,0.077,0.053,3281,3564,2001,0,0,0,0,0,0
$GC,1113,0.98,146.6,132.4,27.2,131,1120,0.00,2.45,0.00,0.000,6,0.000,0.041,3292,2053,1995,0,0,0,0,0,0
$GC,1248,0.95,146.6,99.1,21.9,144,1255,0.00,2.45,0.00,0.000,4,0.000,0.050,3304,537,1992,0,0,0,0,0,0
$GC,1269,0.92,146.6,94.4,22.4,147,1277,0.15,2.40,0.00,0.000,6,0.176,0.044,3262,2037,1992,0,0,0,0,0,0
$GC,1343,0.90,147.3,79.1,20.0,160,1350,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,2037,1991,0,0,0,0,0,0
$GC,1416,0.93,208.6,66.3,15.6,173,1476,0.00,2.55,49.85,0.586,4,0.000,0.055,3262,3562,1748,0,0,0,0,0,0
$GC,1522,0.93,208.6,46.9,22.0,190,1529,0.00,2.47,0.00,0.000,6,0.000,0.042,3272,2011,1744,0,0,0,0,0,0
$GC,1594,0.93,208.6,31.4,20.5,203,1601,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,2012,1741,0,0,0,0,0,0
$STATE,1653,end climb,FINISH_DEPTH_REACHED
$STATE,1653,begin subsurface finish
$FINISH1,19.5,1.024632,0
$GC,1661,0.00,0.0,19.5,-18.6,214,1682,1.02,0.00,-15.25,0.000,6,0.155,0.000,2964,2070,2604,0,0,0,0,0,0
$FINISH2,15.3
$STATE,1682,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1683,begin surface
$IRIDIUM_FIX,4722.92,-12451.41,030511,212156
$TT8_MAMPS,0.027713
$HUMID,34.95
$INTERNAL_PRESSURE,9.13782
$TCM_TEMP,15.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,126.7,44.4
$24V_AH,23.9,13.442
$10V_AH,10.3,8.479
$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,4.250,34.875,290.875,0.000,0.000,0.000,0.000,0.000,3.250,0.000,0.000,521.588,355.640,308.452,491.120,67.953,0.000,582.309,0.000,500.854,0.000,22.439,0.000
$DEVICE_MAMPS,179.775,114.750,662.490,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,145.499,159.619,351.531,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,10280,217
$CAP_FILE_SIZE,36291,0
$CFSIZE,260165632,206618624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030511,234431,4739.744,-12501.240,12,1.7,17,18.7