version: 66.07
glider: 187
mission: 4
dive: 162
start: 5 4 111 11 1 15
data:
$ID,187
$MISSION,4
$DIVE,162
$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,-1584024.1
$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,35
$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
$GPS1,040511,105555,4735.943,-12505.548,37,1.4,37,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-75.4
$GPS2,040511,110037,4735.876,-12505.585,12,1.3,12,18.6
$SPEED_LIMITS,0.346,0.356
$TGT_NAME,HEADING
$TGT_LATLONG,4739.570,-12520.651
$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,269
$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,15,-1.02,-146.6,0.0,0.0,0,114,0.00,0.00,-96.40,0.000,2,0.000,0.000,128,2263,2856,0,0,0,0,0,0
$GC,117,-1.02,-146.6,3.6,-7.0,15,140,10.05,2.50,-6.30,0.000,4,0.239,0.072,2605,3765,3200,0,0,0,0,0,0
$GC,294,-1.01,-146.6,55.4,-22.8,47,301,0.00,2.40,0.00,0.000,6,0.000,0.041,2604,2247,3202,0,0,0,0,0,0
$GC,367,-0.99,-146.6,71.8,-20.6,60,373,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2240,3203,0,0,0,0,0,0
$GC,441,-0.97,-146.6,87.7,-22.0,73,448,0.12,0.00,0.00,0.000,6,0.184,0.000,2635,2240,3203,0,0,0,0,0,0
$GC,513,-0.97,-146.6,100.0,-15.9,86,520,0.00,2.45,0.00,0.000,4,0.000,0.059,2625,3773,3203,0,0,0,0,0,0
$GC,553,-0.97,-146.6,107.0,-16.0,90,561,0.00,2.42,0.00,0.000,6,0.000,0.042,2625,2228,3203,0,0,0,0,0,0
$GC,690,-0.97,-146.6,130.5,-18.2,103,694,0.00,2.28,0.00,0.000,4,0.000,0.049,2625,739,3203,0,0,0,0,0,0
$GC,741,-0.97,-146.6,140.2,-17.5,107,745,0.00,2.30,0.00,0.000,6,0.000,0.047,2614,2222,3203,0,0,0,0,0,0
$GC,876,-0.97,-146.6,163.7,-17.6,119,877,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2222,3204,0,0,0,0,0,0
$GC,1002,-0.97,-146.6,185.6,-16.9,131,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2222,3203,0,0,0,0,0,0
$GC,1129,-0.97,-146.6,206.6,-16.3,143,1130,0.00,0.00,0.00,0.000,6,0.000,0.000,2614,2222,3203,0,0,0,0,0,0
$GC,1258,-0.97,-146.6,228.9,-18.1,155,1262,0.00,2.28,0.00,0.000,4,0.000,0.049,2614,731,3203,0,0,0,0,0,0
$GC,1279,-0.97,-146.6,233.5,-18.1,156,1288,0.08,2.30,0.00,0.000,6,0.157,0.047,2627,2201,3203,0,0,0,0,0,0
$GC,1415,-0.97,-146.6,255.7,-16.5,169,1416,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2201,3203,0,0,0,0,0,0
$STATE,1496,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1496,begin apogee
$GC,1503,-0.23,0.0,269.2,16.2,177,1631,0.75,0.00,119.00,0.732,6,0.140,0.000,2869,2091,2598,0,0,0,0,0,0
$STATE,1632,end apogee,CONTROL_FINISHED_OK
$STATE,1632,begin climb
$GC,1634,1.02,146.6,274.6,0.0,190,1766,1.17,0.00,124.03,0.708,6,0.078,0.000,3273,2091,2002,0,0,0,0,0,0
$GC,1891,0.99,146.6,228.4,24.2,214,1895,0.00,2.47,0.00,0.000,4,0.000,0.054,3273,3616,1994,0,0,0,0,0,0
$GC,1912,0.96,146.6,222.3,25.4,215,1919,0.00,2.40,0.00,0.000,6,0.000,0.042,3285,2104,1992,0,0,0,0,0,0
$GC,2048,0.93,146.6,188.8,24.6,228,2050,0.15,0.00,0.00,0.000,6,0.194,0.000,3250,2097,1991,0,0,0,0,0,0
$GC,2174,0.91,146.6,159.8,21.9,240,2175,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,2098,1991,0,0,0,0,0,0
$GC,2301,0.90,146.6,131.9,20.7,252,2305,0.00,2.38,0.00,0.000,4,0.000,0.053,3260,588,1990,0,0,0,0,0,0
$GC,2340,0.88,146.6,123.0,22.6,255,2348,0.00,2.42,0.00,0.000,6,0.000,0.045,3260,2124,1990,0,0,0,0,0,0
$GC,2476,0.86,146.6,94.3,21.5,270,2484,0.12,0.00,0.00,0.000,6,0.197,0.000,3231,2127,1989,0,0,0,0,0,0
$GC,2548,0.89,190.8,81.1,16.8,283,2590,0.00,2.40,34.95,0.613,4,0.000,0.054,3230,3613,1820,0,0,0,0,0,0
$GC,2598,0.92,238.3,72.9,16.6,290,2645,0.00,2.42,39.00,0.597,6,0.000,0.043,3240,2101,1627,0,0,0,0,0,0
$GC,2713,0.93,238.3,50.3,20.6,309,2720,0.00,2.45,0.00,0.000,4,0.000,0.054,3252,567,1620,0,0,0,0,0,0
$GC,2750,0.96,265.0,43.2,18.1,315,2778,0.00,2.45,21.58,0.573,6,0.000,0.046,3252,2097,1518,0,0,0,0,0,0
$GC,2842,0.96,265.0,24.3,21.3,331,2849,0.00,2.45,0.00,0.000,4,0.000,0.054,3252,3624,1514,0,0,0,0,0,0
$GC,2857,0.96,265.0,21.0,21.8,333,2865,0.00,2.45,0.00,0.000,6,0.000,0.044,3263,2104,1514,0,0,0,0,0,0
$GC,2930,1.05,382.2,9.0,11.6,346,2971,0.00,0.00,38.97,0.562,2,0.000,0.000,3262,2101,1322,0,0,0,0,0,0
$STATE,2972,end climb,SURFACE_DEPTH_REACHED
$STATE,2972,begin surface coast
$FINISH,0.3,1.023267
$STATE,3005,end surface coast,CONTROL_FINISHED_OK
$STATE,3005,begin surface
$SM_CCo,3023,5.85,0.085,0,0,1295,320.12
$SM_GC,2.81,0.00,0.00,5.85,0.000,0.000,0.085,131,2257,1295,-8.81,0.20,320.12
$IRIDIUM_FIX,4719.74,-12503.70,040511,101011
$TT8_MAMPS,0.027713
$HUMID,35.31
$INTERNAL_PRESSURE,9.01087
$TCM_TEMP,14.80
$XPDR_PINGS,0
$24V_AH,23.8,14.544
$10V_AH,10.2,8.981
$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,20.925,43.600,377.525,5.850,0.000,27.545,35.158,116.574,0.000,0.000,13.066,815.336,992.432,441.397,941.955,148.252,0.000,867.964,0.000,772.767,0.000,0.535,0.000
$DEVICE_MAMPS,239.445,79.560,732.105,84.915,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,242.231,266.709,503.079,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20366,358
$CAP_FILE_SIZE,58118,0
$CFSIZE,260165632,206168064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040511,115255,4735.609,-12506.146,17,1.3,32,18.6