version: 66.07
glider: 187
mission: 4
dive: 156
start: 5 4 111 5 36 43
data:
$ID,187
$MISSION,4
$DIVE,156
$D_SURF,4
$D_FLARE,3
$D_TGT,240
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,4
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,40
$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,0
$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,-1584016.6
$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,31
$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,110
$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
$GPS1,040511,052822,4737.870,-12504.094,11,2.4,30,18.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-74.6
$GPS2,040511,053606,4737.812,-12504.039,39,1.0,39,18.6
$SPEED_LIMITS,0.346,0.356
$TGT_NAME,HEADING
$TGT_LATLONG,4741.505,-12519.115
$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,271.4,20000,-28.0,-20.000
$D_GRID,240
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.02,-146.6,0.0,0.0,0,111,0.00,0.00,-91.03,0.000,2,0.000,0.000,130,2194,2746,0,0,0,0,0,0
$GC,114,-1.02,-146.6,3.4,-6.9,14,136,10.07,0.00,-8.77,0.000,6,0.240,0.000,2624,2195,3199,0,0,0,0,0,0
$GC,202,-1.00,-146.6,29.3,-24.6,29,209,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2195,3202,0,0,0,0,0,0
$GC,273,-0.98,-146.6,46.8,-22.9,42,280,0.00,2.45,0.00,0.000,4,0.000,0.056,2614,3729,3202,0,0,0,0,0,0
$GC,291,-0.97,-146.6,50.6,-23.5,44,300,0.05,2.42,0.00,0.000,6,0.142,0.042,2640,2195,3203,0,0,0,0,0,0
$GC,364,-0.97,-146.6,66.9,-21.3,57,371,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2192,3203,0,0,0,0,0,0
$GC,435,-0.97,-146.6,81.2,-17.6,70,442,0.00,2.50,0.00,0.000,4,0.000,0.058,2631,3742,3202,0,0,0,0,0,0
$GC,467,-0.97,-146.6,86.5,-17.5,75,474,0.00,2.45,0.00,0.000,6,0.000,0.043,2630,2191,3203,0,0,0,0,0,0
$GC,539,-0.97,-146.6,99.7,-17.1,88,546,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2185,3203,0,0,0,0,0,0
$GC,610,-0.97,-146.6,111.9,-17.5,95,611,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2185,3203,0,0,0,0,0,0
$GC,738,-0.97,-146.6,133.8,-16.5,107,739,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2185,3203,0,0,0,0,0,0
$GC,865,-0.97,-146.6,153.3,-15.5,119,866,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2185,3203,0,0,0,0,0,0
$GC,992,-0.97,-146.6,172.7,-14.9,131,993,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2185,3203,0,0,0,0,0,0
$STATE,1032,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1032,begin apogee
$GC,1039,-0.23,0.0,178.9,14.7,135,1167,0.77,0.00,117.88,0.673,6,0.145,0.000,2873,2035,2598,0,0,0,0,0,0
$STATE,1168,end apogee,CONTROL_FINISHED_OK
$STATE,1168,begin climb
$GC,1170,1.02,146.6,183.7,0.0,148,1303,1.17,0.00,123.32,0.649,6,0.081,0.000,3277,2035,2000,0,0,0,0,0,0
$GC,1430,0.99,146.6,133.9,24.5,173,1435,0.00,2.50,0.00,0.000,4,0.000,0.054,3277,3578,1993,0,0,0,0,0,0
$GC,1528,0.96,146.6,107.8,25.4,181,1533,0.00,2.40,0.00,0.000,6,0.000,0.041,3288,2053,1991,0,0,0,0,0,0
$GC,1664,0.93,146.6,78.3,20.4,202,1672,0.12,2.40,0.00,0.000,4,0.200,0.051,3270,527,1991,0,0,0,0,0,0
$GC,1700,0.93,172.0,70.4,18.2,208,1728,0.00,2.40,20.62,0.578,6,0.000,0.044,3270,2046,1897,0,0,0,0,0,0
$GC,1796,0.92,179.9,53.9,19.4,224,1811,0.00,2.45,7.57,0.507,4,0.000,0.053,3271,3571,1865,0,0,0,0,0,0
$GC,1831,0.90,179.9,46.4,21.1,229,1839,0.12,2.45,0.00,0.000,6,0.193,0.042,3254,2041,1864,0,0,0,0,0,0
$GC,1904,0.93,227.0,32.8,16.6,242,1951,0.00,2.50,38.65,0.570,4,0.000,0.054,3254,3570,1673,0,0,0,0,0,0
$GC,1971,0.95,266.6,21.8,17.2,252,2012,0.00,2.47,32.65,0.552,6,0.000,0.044,3264,2020,1510,0,0,0,0,0,0
$STATE,2076,end climb,SURFACE_DEPTH_REACHED
$STATE,2076,begin surface coast
$FINISH,0.4,1.023396
$STATE,2104,end surface coast,CONTROL_FINISHED_OK
$STATE,2104,begin surface
$SM_CCo,2123,30.98,0.431,1,0,1295,320.12
$SM_GC,1.88,0.00,0.00,30.98,0.000,0.000,0.431,142,2211,1295,-8.80,0.34,320.12
$IRIDIUM_FIX,4722.92,-12500.31,040511,020202
$TT8_MAMPS,0.027713
$HUMID,34.60
$INTERNAL_PRESSURE,9.02063
$TCM_TEMP,15.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,110.0,79.5
$24V_AH,23.9,13.934
$10V_AH,10.3,8.715
$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,20.825,29.900,340.700,30.975,0.000,50.927,119.915,108.454,0.500,0.000,40.161,623.752,544.580,444.045,907.405,131.843,0.000,780.254,0.000,611.431,0.000,5.631,0.000
$DEVICE_MAMPS,240.210,68.085,673.200,430.695,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,184.996,199.501,446.219,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297684
$DATA_FILE_SIZE,13628,275
$CAP_FILE_SIZE,46908,0
$CFSIZE,260165632,206397440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040511,061337,4737.693,-12504.422,12,1.9,17,18.6