version: 66.07
glider: 187
mission: 4
dive: 159
start: 5 4 111 8 30 4
data:
$ID,187
$MISSION,4
$DIVE,159
$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,522.48901
$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,-1584020.4
$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,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,33
$R_STBD_OVSHOOT,36
$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
$GPS1,040511,080036,4737.172,-12504.778,15,1.1,31,18.6
$_CALLS,10
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-77.4
$GPS2,040511,082926,4736.842,-12504.644,17,1.6,17,18.6
$SPEED_LIMITS,0.346,0.356
$TGT_NAME,HEADING
$TGT_LATLONG,4740.535,-12519.715
$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,-146.6,0.0,0.0,0,82,0.00,0.00,-64.65,0.000,2,0.000,0.000,130,2261,2916,0,0,0,0,0,0
$GC,86,-1.02,-146.6,4.1,-9.0,10,108,9.80,2.40,-5.05,0.000,4,0.236,0.067,2603,3763,3200,0,0,0,0,0,0
$GC,225,-1.00,-146.6,49.5,-27.9,35,233,0.00,2.38,0.00,0.000,6,0.000,0.041,2603,2248,3202,0,0,0,0,0,0
$GC,298,-0.98,-146.6,66.8,-22.4,48,305,0.12,0.00,0.00,0.000,6,0.189,0.000,2633,2242,3202,0,0,0,0,0,0
$GC,370,-0.98,-146.6,82.8,-22.9,61,377,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2242,3202,0,0,0,0,0,0
$GC,442,-0.98,-146.6,96.8,-18.9,74,449,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2242,3203,0,0,0,0,0,0
$GC,517,-0.98,-146.6,109.8,-16.8,82,518,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2242,3203,0,0,0,0,0,0
$GC,643,-0.98,-146.6,129.2,-15.9,94,647,0.00,2.30,0.00,0.000,4,0.000,0.048,2633,738,3203,0,0,0,0,0,0
$GC,714,-0.98,-146.6,142.2,-16.7,100,721,0.00,2.33,0.00,0.000,6,0.000,0.046,2624,2260,3203,0,0,0,0,0,0
$GC,850,-0.98,-146.6,164.6,-17.6,113,851,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2260,3203,0,0,0,0,0,0
$STATE,900,end dive,TARGET_DEPTH_EXCEEDED
$STATE,900,begin apogee
$GC,906,-0.23,0.0,173.9,17.1,118,1027,0.77,0.00,117.32,0.669,6,0.145,0.000,2867,2082,2600,0,0,0,0,0,0
$STATE,1028,end apogee,CONTROL_FINISHED_OK
$STATE,1028,begin climb
$GC,1031,1.02,146.6,179.3,0.0,130,1165,1.20,2.62,122.18,0.643,4,0.084,0.053,3276,3611,2001,0,0,0,0,0,0
$GC,1187,0.98,146.6,156.2,24.3,144,1195,0.00,2.47,0.00,0.000,6,0.000,0.041,3288,2085,1996,0,0,0,0,0,0
$GC,1323,0.95,146.6,123.1,23.0,157,1328,0.00,2.47,0.00,0.000,4,0.000,0.052,3288,3613,1993,0,0,0,0,0,0
$GC,1357,0.92,146.6,114.7,24.1,159,1365,0.17,2.40,0.00,0.000,6,0.177,0.041,3251,2122,1992,0,0,0,0,0,0
$GC,1494,0.90,146.6,84.8,20.8,178,1501,0.00,2.45,0.00,0.000,4,0.000,0.050,3261,565,1992,0,0,0,0,0,0
$GC,1520,0.89,152.1,79.2,19.6,182,1535,0.00,2.45,4.53,0.436,6,0.000,0.044,3261,2112,1978,0,0,0,0,0,0
$GC,1601,0.89,176.2,65.1,18.3,196,1630,0.00,2.45,21.35,0.575,4,0.000,0.050,3272,578,1880,0,0,0,0,0,0
$GC,1649,0.91,195.0,56.3,18.6,203,1671,0.05,2.40,16.50,0.555,6,0.172,0.044,3247,2086,1804,0,0,0,0,0,0
$GC,1739,0.92,223.2,39.8,18.0,218,1767,0.00,2.47,23.55,0.558,4,0.000,0.050,3256,585,1689,0,0,0,0,0,0
$GC,1787,0.94,259.6,30.8,17.4,225,1823,0.00,2.38,29.95,0.555,6,0.000,0.044,3256,2066,1540,0,0,0,0,0,0
$GC,1890,1.05,388.1,16.5,10.8,242,1977,0.00,0.00,83.80,0.550,2,0.000,0.000,3255,2066,1112,0,0,0,0,0,0
$STATE,1977,end climb,SURFACE_DEPTH_REACHED
$STATE,1977,begin surface coast
$FINISH,0.3,1.001095
$STATE,2008,end surface coast,CONTROL_FINISHED_OK
$STATE,2008,begin surface
$SM_CCo,2027,90.05,0.501,1,0,469,522.49
$SM_GC,0.97,0.00,0.00,90.05,0.000,0.000,0.501,141,2266,469,-8.76,0.48,522.49
$IRIDIUM_FIX,4719.74,-12508.15,040511,080834
$TT8_MAMPS,0.027713
$HUMID,33.65
$INTERNAL_PRESSURE,8.96204
$TCM_TEMP,16.00
$XPDR_PINGS,0
$24V_AH,23.9,14.260
$10V_AH,10.3,8.849
$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,20.700,34.525,419.175,90.050,0.000,276.930,802.307,0.000,0.000,0.000,17.868,577.310,976.768,516.612,1676.836,132.784,0.000,867.945,0.000,595.263,0.000,0.537,0.000
$DEVICE_MAMPS,235.620,66.555,668.610,501.075,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,173.125,186.703,423.150,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297736
$DATA_FILE_SIZE,13597,260
$CAP_FILE_SIZE,48450,0
$CFSIZE,260165632,206282752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,040511,090619,4736.711,-12504.924,10,1.2,15,18.6