version: 66.07
glider: 187
mission: 4
dive: 161
start: 5 4 111 10 17 46
data:
$ID,187
$MISSION,4
$DIVE,161
$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,-1584022.9
$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,30
$R_STBD_OVSHOOT,30
$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
$GPS1,040511,094832,4736.510,-12505.189,11,1.9,11,18.6
$_CALLS,10
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-76.7
$GPS2,040511,101708,4736.166,-12505.224,13,1.7,13,18.6
$SPEED_LIMITS,0.346,0.356
$TGT_NAME,HEADING
$TGT_LATLONG,4739.859,-12520.291
$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,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,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,-64.72,0.000,2,0.000,0.000,126,2246,2904,0,0,0,0,0,0
$GC,86,-1.02,-146.6,3.9,-8.2,10,109,9.90,2.42,-5.30,0.000,4,0.238,0.063,2608,3768,3199,0,0,0,0,0,0
$GC,328,-1.02,-146.6,68.3,-20.1,55,336,0.00,2.38,0.00,0.000,6,0.000,0.041,2608,2247,3201,0,0,0,0,0,0
$GC,400,-1.01,-146.6,83.7,-22.5,68,408,0.00,2.45,0.00,0.000,4,0.000,0.057,2597,3791,3202,0,0,0,0,0,0
$GC,427,-1.00,-146.6,89.3,-20.7,72,435,0.08,2.35,0.00,0.000,6,0.158,0.042,2619,2284,3202,0,0,0,0,0,0
$GC,500,-1.00,-146.6,102.2,-18.9,84,501,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2283,3203,0,0,0,0,0,0
$GC,626,-1.00,-146.6,125.7,-19.5,96,630,0.00,2.38,0.00,0.000,4,0.000,0.048,2619,739,3202,0,0,0,0,0,0
$GC,688,-1.00,-146.6,137.7,-17.9,101,693,0.00,2.38,0.00,0.000,6,0.000,0.046,2610,2293,3202,0,0,0,0,0,0
$GC,824,-1.00,-146.6,161.9,-18.0,113,825,0.00,0.00,0.00,0.000,6,0.000,0.000,2610,2293,3202,0,0,0,0,0,0
$STATE,937,end dive,TARGET_DEPTH_EXCEEDED
$STATE,938,begin apogee
$GC,944,-0.23,0.0,181.2,16.5,124,1065,0.82,0.00,117.45,0.672,6,0.146,0.000,2869,2080,2599,0,0,0,0,0,0
$STATE,1066,end apogee,CONTROL_FINISHED_OK
$STATE,1066,begin climb
$GC,1069,1.02,146.6,185.7,0.0,136,1199,1.17,0.00,122.47,0.648,6,0.081,0.000,3272,2080,2001,0,0,0,0,0,0
$GC,1328,1.00,146.6,138.0,23.2,161,1329,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,2080,1994,0,0,0,0,0,0
$GC,1455,0.97,146.6,109.2,22.8,173,1456,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,2080,1992,0,0,0,0,0,0
$GC,1579,0.95,146.6,79.8,20.7,193,1586,0.00,2.45,0.00,0.000,4,0.000,0.054,3272,3617,1991,0,0,0,0,0,0
$GC,1627,0.92,148.8,70.5,19.8,201,1635,0.08,2.40,0.00,0.000,6,0.179,0.041,3252,2104,1990,0,0,0,0,0,0
$GC,1701,0.96,208.7,57.3,15.7,214,1754,0.00,0.00,49.38,0.584,6,0.000,0.000,3252,2101,1748,0,0,0,0,0,0
$GC,1819,0.96,218.4,37.5,19.3,234,1833,0.00,0.00,8.75,0.510,6,0.000,0.000,3252,2100,1708,0,0,0,0,0,0
$GC,1900,0.98,248.8,22.7,17.8,248,1927,0.00,0.00,25.30,0.554,6,0.000,0.000,3252,2099,1584,0,0,0,0,0,0
$GC,1992,1.08,365.6,9.7,11.6,264,2040,0.15,0.00,45.15,0.550,2,0.082,0.000,3314,2099,1357,0,0,0,0,0,0
$STATE,2041,end climb,SURFACE_DEPTH_REACHED
$STATE,2041,begin surface coast
$FINISH,0.3,1.012180
$STATE,2068,end surface coast,CONTROL_FINISHED_OK
$STATE,2069,begin surface
$SM_CCo,2088,121.50,0.515,1,0,470,522.49
$SM_GC,1.12,0.00,0.00,121.50,0.000,0.000,0.515,128,2260,470,-8.82,0.28,522.49
$IRIDIUM_FIX,4719.74,-12502.92,040511,101021
$TT8_MAMPS,0.026964
$HUMID,33.61
$INTERNAL_PRESSURE,8.96204
$TCM_TEMP,16.00
$XPDR_PINGS,0
$24V_AH,23.9,14.462
$10V_AH,10.3,8.936
$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,20.875,19.750,368.500,121.500,0.000,263.967,802.341,0.000,0.000,0.000,14.442,623.451,1038.092,504.308,1673.004,120.005,0.000,822.583,0.000,609.464,0.000,0.536,0.000
$DEVICE_MAMPS,237.915,68.085,672.435,514.845,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,185.838,200.202,448.515,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297756
$DATA_FILE_SIZE,13613,276
$CAP_FILE_SIZE,44363,0
$CFSIZE,260165632,206217216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040511,105555,4735.943,-12505.548,37,1.4,37,18.6