version: 66.07
glider: 187
mission: 4
dive: 155
start: 5 4 111 4 53 34
data:
$ID,187
$MISSION,4
$DIVE,155
$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,33
$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,14.77
$_SM_ANGLEo,8.8
$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,17,-1.02,-146.6,0.0,0.0,0,25,0.00,0.00,-6.82,0.000,2,0.000,0.000,2967,3565,3028,0,0,0,0,0,0
$GC,28,-1.02,-146.6,17.0,-0.0,1,44,0.98,4.65,-2.70,0.000,4,0.091,0.052,2629,687,3201,0,0,0,0,0,0
$GC,152,-1.01,-146.6,40.4,-23.1,23,160,0.00,2.42,0.00,0.000,6,0.000,0.047,2618,2207,3202,0,0,0,0,0,0
$GC,224,-1.00,-146.6,57.8,-24.5,36,231,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2207,3202,0,0,0,0,0,0
$GC,297,-0.99,-146.6,73.9,-22.0,49,307,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2207,3203,0,0,0,0,0,0
$GC,374,-0.99,-146.6,90.0,-21.1,62,381,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2207,3203,0,0,0,0,0,0
$GC,447,-0.99,-146.6,104.6,-17.1,73,448,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2207,3203,0,0,0,0,0,0
$GC,575,-0.99,-146.6,126.9,-18.7,85,579,0.00,2.40,0.00,0.000,4,0.000,0.058,2606,3719,3203,0,0,0,0,0,0
$GC,620,-0.99,-146.6,134.8,-16.5,88,630,0.12,2.40,0.00,0.000,6,0.167,0.043,2637,2173,3203,0,0,0,0,0,0
$GC,757,-1.00,-146.6,154.7,-15.7,101,761,0.00,2.47,0.00,0.000,4,0.000,0.059,2628,3721,3203,0,0,0,0,0,0
$GC,779,-1.00,-146.6,158.5,-14.9,102,786,0.00,2.35,0.00,0.000,6,0.000,0.043,2627,2213,3203,0,0,0,0,0,0
$STATE,858,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,858,begin apogee
$GC,864,-0.23,0.0,170.7,15.5,110,985,0.77,0.00,117.47,0.672,6,0.143,0.000,2872,2048,2600,0,0,0,0,0,0
$STATE,986,end apogee,CONTROL_FINISHED_OK
$STATE,986,begin climb
$GC,989,1.02,146.6,174.9,0.0,122,1117,1.20,0.00,123.43,0.647,6,0.080,0.000,3283,2048,2002,0,0,0,0,0,0
$GC,1243,0.99,146.6,124.7,27.1,146,1247,0.00,2.50,0.00,0.000,4,0.000,0.054,3283,3571,1994,0,0,0,0,0,0
$GC,1343,0.96,146.6,99.3,23.9,154,1350,0.00,2.33,0.00,0.000,6,0.000,0.041,3294,2100,1991,0,0,0,0,0,0
$GC,1478,0.93,146.6,69.6,20.5,179,1486,0.15,0.00,0.00,0.000,6,0.194,0.000,3260,2095,1991,0,0,0,0,0,0
$GC,1552,0.95,199.2,56.7,16.2,192,1599,0.00,2.47,42.40,0.584,4,0.000,0.055,3259,3569,1786,0,0,0,0,0,0
$GC,1613,0.98,248.0,46.3,16.5,201,1660,0.00,2.38,39.95,0.568,6,0.000,0.042,3268,2102,1588,0,0,0,0,0,0
$GC,1727,0.98,248.0,23.6,21.5,220,1734,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,2102,1581,0,0,0,0,0,0
$GC,1799,0.98,257.9,8.5,19.3,233,1814,0.00,2.40,8.30,0.495,4,0.000,0.054,3268,3572,1546,0,0,0,0,0,0
$STATE,1825,end climb,SURFACE_DEPTH_REACHED
$STATE,1825,begin surface coast
$FINISH,2.9,1.023398
$STATE,1832,end surface coast,CONTROL_FINISHED_OK
$STATE,1832,begin surface
$SM_CCo,1853,155.65,0.525,2,0,469,522.49
$SM_GC,1.17,0.00,0.00,155.65,0.000,0.000,0.525,132,2194,469,-8.81,-0.17,522.49
$IRIDIUM_FIX,4722.92,-12507.37,040511,020215
$TT8_MAMPS,0.027713
$HUMID,33.73
$INTERNAL_PRESSURE,8.95227
$TCM_TEMP,14.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,135.7,46.5
$24V_AH,23.9,13.856
$10V_AH,10.3,8.675
$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,11.925,31.225,331.550,155.650,0.000,0.000,0.000,0.000,3.750,0.000,0.000,569.748,404.937,495.040,538.822,79.318,0.000,784.147,0.000,545.077,0.000,25.505,0.000
$DEVICE_MAMPS,193.545,66.555,671.670,524.790,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,159.955,175.071,382.873,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,13655,238
$CAP_FILE_SIZE,38782,0
$CFSIZE,260165632,206430208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,040511,052822,4737.870,-12504.094,11,2.4,30,18.6