version: 66.07
glider: 187
mission: 4
dive: 154
start: 5 4 111 4 22 30
data:
$ID,187
$MISSION,4
$DIVE,154
$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,34
$R_STBD_OVSHOOT,25
$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,14.50
$_SM_ANGLEo,3.3
$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,-6.38,0.000,2,0.000,0.000,2969,2040,2992,0,0,0,0,0,0
$GC,28,-1.02,-146.6,16.6,-0.0,1,37,0.95,2.20,-3.33,0.000,4,0.079,0.065,2630,685,3201,0,0,0,0,0,0
$GC,50,-1.09,-146.6,18.5,-7.3,4,58,0.00,2.42,0.00,0.000,6,0.000,0.048,2619,2197,3202,0,0,0,0,0,0
$GC,124,-1.08,-146.6,34.0,-25.2,17,131,0.00,2.45,0.00,0.000,4,0.000,0.059,2607,3723,3203,0,0,0,0,0,0
$GC,201,-1.08,-146.6,54.7,-25.5,31,209,0.00,2.42,0.00,0.000,6,0.000,0.043,2607,2199,3203,0,0,0,0,0,0
$GC,276,-1.06,-146.6,71.7,-23.2,44,283,0.00,2.40,0.00,0.000,4,0.000,0.050,2607,682,3203,0,0,0,0,0,0
$GC,296,-1.04,-146.6,76.5,-22.1,47,304,0.00,2.40,0.00,0.000,6,0.000,0.048,2596,2192,3203,0,0,0,0,0,0
$GC,371,-1.02,-146.6,92.8,-19.2,60,379,0.12,0.00,0.00,0.000,6,0.193,0.000,2625,2193,3203,0,0,0,0,0,0
$GC,452,-1.02,-146.6,107.8,-18.2,70,453,0.00,0.00,0.00,0.000,6,0.000,0.000,2626,2193,3203,0,0,0,0,0,0
$GC,579,-1.02,-146.6,129.6,-17.1,82,586,0.00,2.42,0.00,0.000,4,0.000,0.058,2616,3719,3203,0,0,0,0,0,0
$GC,608,-1.02,-146.6,134.8,-15.4,84,616,0.00,2.42,0.00,0.000,6,0.000,0.044,2616,2176,3203,0,0,0,0,0,0
$GC,745,-1.02,-146.6,156.0,-17.1,97,746,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2172,3203,0,0,0,0,0,0
$STATE,825,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,825,begin apogee
$GC,831,-0.23,0.0,169.7,16.1,105,953,0.82,0.00,117.47,0.671,6,0.145,0.000,2874,2038,2600,0,0,0,0,0,0
$STATE,953,end apogee,CONTROL_FINISHED_OK
$STATE,953,begin climb
$GC,957,1.02,146.6,174.3,0.0,117,1086,1.20,0.00,122.78,0.646,6,0.080,0.000,3283,2038,2002,0,0,0,0,0,0
$GC,1214,0.99,146.6,124.2,26.6,141,1219,0.00,2.50,0.00,0.000,4,0.000,0.054,3283,3569,1994,0,0,0,0,0,0
$GC,1311,0.95,146.6,100.8,24.1,149,1315,0.00,2.40,0.00,0.000,6,0.000,0.041,3294,2055,1992,0,0,0,0,0,0
$GC,1446,0.94,173.5,73.2,18.1,173,1474,0.12,2.53,21.88,0.581,4,0.200,0.054,3267,3569,1892,0,0,0,0,0,0
$GC,1493,0.93,173.5,63.2,20.4,180,1500,0.00,2.42,0.00,0.000,6,0.000,0.043,3276,2062,1889,0,0,0,0,0,0
$GC,1564,0.92,178.3,48.6,19.7,193,1579,0.00,2.47,4.97,0.445,4,0.000,0.052,3288,534,1872,0,0,0,0,0,0
$GC,1600,0.90,178.3,41.7,20.3,198,1608,0.10,2.42,0.00,0.000,6,0.159,0.044,3248,2059,1872,0,0,0,0,0,0
$GC,1672,0.93,227.7,28.5,16.5,211,1719,0.00,2.53,41.00,0.570,4,0.000,0.056,3248,3567,1670,0,0,0,0,0,0
$STATE,1725,end climb,FINISH_DEPTH_REACHED
$STATE,1725,begin subsurface finish
$FINISH1,19.0,1.024992,0
$GC,1735,0.00,0.0,19.0,-17.6,219,1764,0.98,2.55,-16.92,0.000,4,0.151,0.071,2967,3564,2605,0,0,0,0,0,0
$FINISH2,14.7
$STATE,1765,end subsurface finish,CONTROL_FINISHED_OK
$STATE,1765,begin surface
$IRIDIUM_FIX,4722.92,-12507.37,040511,020215
$TT8_MAMPS,0.027713
$HUMID,34.80
$INTERNAL_PRESSURE,9.14759
$TCM_TEMP,15.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,131.1,50.1
$24V_AH,23.9,13.774
$10V_AH,10.3,8.643
$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,4.300,41.625,308.100,0.000,0.000,0.000,0.000,0.000,3.500,0.000,0.000,543.209,400.448,311.266,503.597,68.656,0.000,596.441,0.000,509.852,0.000,23.998,0.000
$DEVICE_MAMPS,200.430,73.440,670.905,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,149.608,163.216,353.350,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,10312,223
$CAP_FILE_SIZE,38035,0
$CFSIZE,260165632,206462976
$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