version: 66.07
glider: 187
mission: 4
dive: 158
start: 5 4 111 7 25 45
data:
$ID,187
$MISSION,4
$DIVE,158
$D_SURF,4
$D_FLARE,3
$D_TGT,300
$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,50
$T_MISSION,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-1
$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,-1584019.1
$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,2950
$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,2250
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,32
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$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
$GPS1,040511,072026,4737.322,-12504.448,10,1.5,10,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-75.7
$GPS2,040511,072507,4737.265,-12504.421,12,1.3,12,18.6
$SPEED_LIMITS,0.346,0.356
$TGT_NAME,HEADING
$TGT_LATLONG,4740.958,-12519.494
$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,172
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.02,-146.6,0.0,0.0,0,108,0.00,0.00,-90.20,0.000,2,0.000,0.000,131,2185,2714,0,0,0,0,0,0
$GC,111,-1.02,-146.6,3.4,-7.0,14,140,9.95,2.55,-9.65,0.000,4,0.236,0.071,2602,3762,3202,0,0,0,0,0,0
$GC,267,-1.00,-146.6,46.7,-25.5,42,274,0.00,2.40,0.00,0.000,6,0.000,0.042,2602,2248,3203,0,0,0,0,0,0
$GC,340,-0.98,-146.6,63.9,-24.2,55,347,0.12,0.00,0.00,0.000,6,0.187,0.000,2632,2242,3203,0,0,0,0,0,0
$GC,414,-0.98,-146.6,78.4,-20.2,68,420,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2242,3204,0,0,0,0,0,0
$GC,486,-0.98,-146.6,92.4,-18.5,81,493,0.00,2.45,0.00,0.000,4,0.000,0.058,2623,3779,3204,0,0,0,0,0,0
$GC,507,-0.98,-146.6,96.5,-19.3,84,514,0.00,2.40,0.00,0.000,6,0.000,0.042,2622,2257,3204,0,0,0,0,0,0
$GC,583,-0.98,-146.6,110.8,-18.7,92,587,0.00,2.35,0.00,0.000,4,0.000,0.050,2622,740,3204,0,0,0,0,0,0
$GC,690,-0.98,-146.6,131.3,-18.7,101,694,0.00,2.30,0.00,0.000,6,0.000,0.047,2611,2221,3204,0,0,0,0,0,0
$GC,825,-0.98,-146.6,154.1,-16.8,113,829,0.00,2.45,0.00,0.000,4,0.000,0.059,2599,3765,3204,0,0,0,0,0,0
$STATE,928,end dive,TARGET_DEPTH_EXCEEDED
$STATE,928,begin apogee
$GC,937,-0.23,0.0,172.3,16.6,122,1063,0.88,0.00,118.03,0.665,6,0.151,0.000,2869,2086,2598,0,0,0,0,0,0
$STATE,1064,end apogee,CONTROL_FINISHED_OK
$STATE,1064,begin climb
$GC,1067,1.02,146.6,177.5,0.0,135,1199,1.17,2.60,123.22,0.643,4,0.082,0.054,3271,3606,2000,0,0,0,0,0,0
$GC,1242,0.99,146.6,148.8,25.8,152,1246,0.00,2.42,0.00,0.000,6,0.000,0.041,3283,2098,1995,0,0,0,0,0,0
$GC,1377,0.96,146.6,115.9,23.5,164,1381,0.00,2.47,0.00,0.000,4,0.000,0.052,3283,3619,1992,0,0,0,0,0,0
$GC,1395,0.92,146.6,110.8,25.4,165,1400,0.20,2.42,0.00,0.000,6,0.194,0.041,3247,2094,1992,0,0,0,0,0,0
$GC,1531,0.91,146.6,80.4,21.6,185,1538,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,2094,1991,0,0,0,0,0,0
$GC,1603,0.94,202.8,66.8,16.0,198,1655,0.00,0.00,44.85,0.584,6,0.000,0.000,3246,2092,1772,0,0,0,0,0,0
$GC,1722,0.96,234.7,47.1,17.7,218,1757,0.00,2.53,26.20,0.562,4,0.000,0.055,3247,3622,1642,0,0,0,0,0,0
$GC,1776,0.96,234.7,36.3,20.2,226,1784,0.00,2.42,0.00,0.000,6,0.000,0.043,3256,2126,1639,0,0,0,0,0,0
$GC,1849,0.99,285.0,23.3,16.4,239,1897,0.00,2.47,40.65,0.554,4,0.000,0.054,3256,3624,1436,0,0,0,0,0,0
$GC,1945,1.04,325.2,4.4,17.1,254,1954,0.00,2.47,3.95,0.373,2,0.000,0.043,3267,2068,1419,0,0,0,0,0,0
$STATE,1954,end climb,SURFACE_DEPTH_REACHED
$STATE,1954,begin surface coast
$FINISH,0.3,1.023422
$STATE,1981,end surface coast,CONTROL_FINISHED_OK
$STATE,1981,begin surface
$SM_CCo,2000,17.42,0.321,1,0,1294,320.12
$SM_GC,0.93,0.00,0.00,17.42,0.000,0.000,0.321,144,2263,1294,-8.76,0.31,320.12
$IRIDIUM_FIX,4722.92,-12502.92,040511,060614
$TT8_MAMPS,0.027713
$HUMID,34.95
$INTERNAL_PRESSURE,9.02063
$TCM_TEMP,15.90
$XPDR_PINGS,0
$24V_AH,23.9,14.132
$10V_AH,10.3,8.801
$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,20.825,39.650,356.900,17.425,0.000,27.140,36.598,116.446,0.000,0.000,12.914,585.762,400.885,439.710,778.746,126.623,0.000,780.249,0.000,609.130,0.000,0.536,0.000
$DEVICE_MAMPS,235.620,71.145,664.785,321.300,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,174.325,187.687,433.571,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297712
$DATA_FILE_SIZE,13651,260
$CAP_FILE_SIZE,44796,0
$CFSIZE,260165632,206331904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040511,080036,4737.172,-12504.778,15,1.1,31,18.6