version: 66.07
glider: 187
mission: 4
dive: 152
start: 5 4 111 3 19 12
data:
$ID,187
$MISSION,4
$DIVE,152
$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,-1584015.4
$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,30
$R_STBD_OVSHOOT,27
$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
$GPS1,040511,024502,4738.741,-12502.256,12,1.5,12,18.7
$_CALLS,10
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,13.59
$_SM_ANGLEo,1.0
$GPS2,040511,024502,4738.741,-12502.256,12,1.5,12,18.7
$SPEED_LIMITS,0.346,0.356
$TGT_NAME,HEADING
$TGT_LATLONG,4742.434,-12517.337
$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,-6.35,0.000,2,0.000,0.000,2965,2047,2985,0,0,0,0,0,0
$GC,28,-1.02,-146.6,16.0,-0.0,1,36,0.93,0.00,-3.47,0.000,6,0.067,0.000,2626,2047,3200,0,0,0,0,0,0
$GC,100,-1.00,-146.6,27.6,-24.1,14,108,0.00,2.67,0.00,0.000,4,0.000,0.057,2614,3715,3202,0,0,0,0,0,0
$GC,123,-0.98,-146.6,33.9,-28.3,17,130,0.00,2.42,0.00,0.000,6,0.000,0.043,2613,2194,3202,0,0,0,0,0,0
$GC,196,-0.95,-146.6,53.2,-23.4,30,204,0.12,0.00,0.00,0.000,6,0.182,0.000,2643,2187,3202,0,0,0,0,0,0
$GC,268,-0.95,-146.6,68.7,-17.5,43,275,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2187,3202,0,0,0,0,0,0
$GC,343,-0.95,-146.6,83.4,-19.0,56,350,0.00,2.45,0.00,0.000,4,0.000,0.059,2634,3720,3202,0,0,0,0,0,0
$GC,374,-0.95,-146.6,89.0,-17.7,61,382,0.00,2.45,0.00,0.000,6,0.000,0.044,2633,2170,3202,0,0,0,0,0,0
$GC,449,-0.95,-146.6,102.4,-18.8,73,450,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2165,3202,0,0,0,0,0,0
$GC,578,-0.95,-146.6,125.5,-17.7,85,583,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2165,3202,0,0,0,0,0,0
$GC,712,-0.95,-146.6,145.7,-14.3,98,716,0.00,2.30,0.00,0.000,4,0.000,0.049,2633,680,3202,0,0,0,0,0,0
$GC,730,-0.95,-146.6,148.4,-14.9,99,734,0.00,2.40,0.00,0.000,6,0.000,0.047,2622,2222,3202,0,0,0,0,0,0
$STATE,842,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,842,begin apogee
$GC,848,-0.23,0.0,165.3,15.1,109,970,0.80,0.00,117.45,0.666,6,0.146,0.000,2873,2047,2600,0,0,0,0,0,0
$STATE,970,end apogee,CONTROL_FINISHED_OK
$STATE,970,begin climb
$GC,974,1.02,146.6,169.5,0.0,121,1106,1.20,2.58,122.88,0.642,4,0.080,0.053,3283,3566,2001,0,0,0,0,0,0
$GC,1156,0.98,146.6,138.1,26.7,137,1163,0.00,2.45,0.00,0.000,6,0.000,0.041,3295,2054,1995,0,0,0,0,0,0
$GC,1292,0.95,146.6,104.0,23.6,150,1293,0.12,0.00,0.00,0.000,6,0.203,0.000,3268,2050,1992,0,0,0,0,0,0
$GC,1418,0.94,160.3,79.0,19.0,172,1432,0.00,0.00,11.02,0.549,6,0.000,0.000,3268,2050,1945,0,0,0,0,0,0
$GC,1498,0.93,160.3,65.1,20.1,186,1505,0.00,2.50,0.00,0.000,4,0.000,0.054,3268,3591,1943,0,0,0,0,0,0
$GC,1514,0.91,162.1,61.7,19.9,188,1521,0.00,2.45,0.00,0.000,6,0.000,0.043,3277,2058,1943,0,0,0,0,0,0
$GC,1587,0.91,188.0,47.9,18.1,201,1621,0.00,2.47,23.92,0.571,4,0.000,0.052,3289,537,1832,0,0,0,0,0,0
$GC,1646,0.90,188.2,36.9,20.0,210,1654,0.15,2.45,0.00,0.000,6,0.184,0.044,3253,2072,1830,0,0,0,0,0,0
$GC,1720,0.93,239.4,24.2,16.3,223,1756,0.00,0.00,34.12,0.562,2,0.000,0.000,3254,2071,1663,0,0,0,0,0,0
$STATE,1757,end climb,FINISH_DEPTH_REACHED
$STATE,1757,begin subsurface finish
$FINISH1,19.2,1.024730,0
$GC,1765,0.00,0.0,19.2,-14.1,228,1793,0.95,2.47,-16.62,0.000,4,0.145,0.070,2962,3562,2605,0,0,0,0,0,0
$FINISH2,15.4
$STATE,1794,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1794,begin surface
$IRIDIUM_FIX,4722.92,-12507.37,040511,020215
$TT8_MAMPS,0.027713
$HUMID,35.54
$INTERNAL_PRESSURE,9.13782
$TCM_TEMP,15.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,125.5,51.5
$24V_AH,23.9,13.661
$10V_AH,10.3,8.586
$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,4.275,32.325,309.400,0.000,0.000,0.000,0.000,0.000,3.250,0.000,0.000,554.197,393.709,311.628,522.438,73.546,0.000,601.682,0.000,530.256,0.000,22.445,0.000
$DEVICE_MAMPS,202.725,70.380,665.550,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,156.217,169.265,376.772,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,13588,232
$CAP_FILE_SIZE,37924,0
$CFSIZE,260165632,206512128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040511,024502,4738.741,-12502.256,12,1.5,12,18.7