version: 66.07
glider: 187
mission: 4
dive: 165
start: 5 4 111 14 58 30
data:
$ID,187
$MISSION,4
$DIVE,165
$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,-1584027.9
$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,32
$R_STBD_OVSHOOT,43
$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
$GPS1,040511,142852,4734.688,-12507.916,13,5.9,32,18.6
$_CALLS,10
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-78.7
$GPS2,040511,145752,4734.697,-12508.194,16,6.8,35,18.6
$SPEED_LIMITS,0.346,0.356
$TGT_NAME,HEADING
$TGT_LATLONG,4738.391,-12523.255
$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,459
$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,-146.6,0.0,0.0,0,82,0.00,0.00,-64.32,0.000,2,0.000,0.000,126,2272,2758,0,0,0,0,0,0
$GC,86,-1.02,-146.6,3.0,-5.2,10,115,9.85,2.42,-8.70,0.000,4,0.237,0.059,2612,734,3201,0,0,0,0,0,0
$GC,350,-1.01,-146.6,66.3,-24.9,59,357,0.00,2.35,0.00,0.000,6,0.000,0.046,2604,2237,3203,0,0,0,0,0,0
$GC,422,-0.99,-146.6,84.1,-22.9,72,429,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,2236,3203,0,0,0,0,0,0
$GC,494,-0.98,-146.6,98.0,-20.7,85,502,0.12,2.42,0.00,0.000,4,0.182,0.058,2625,3765,3204,0,0,0,0,0,0
$GC,522,-0.98,-146.6,103.3,-19.5,88,526,0.00,2.30,0.00,0.000,6,0.000,0.043,2625,2276,3204,0,0,0,0,0,0
$GC,657,-0.98,-146.6,126.5,-16.7,100,658,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2270,3204,0,0,0,0,0,0
$GC,785,-0.98,-146.6,148.2,-16.8,112,786,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2270,3205,0,0,0,0,0,0
$GC,913,-0.98,-146.6,169.9,-17.2,124,914,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2270,3204,0,0,0,0,0,0
$GC,1039,-0.98,-146.6,190.8,-16.2,136,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2270,3204,0,0,0,0,0,0
$GC,1166,-0.98,-146.6,212.1,-16.8,148,1168,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2270,3204,0,0,0,0,0,0
$GC,1295,-0.98,-146.6,233.2,-16.7,160,1296,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2270,3205,0,0,0,0,0,0
$GC,1421,-0.98,-146.6,253.4,-15.6,172,1422,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2270,3204,0,0,0,0,0,0
$GC,1548,-0.98,-146.6,273.1,-15.6,184,1549,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2270,3204,0,0,0,0,0,0
$GC,1676,-0.98,-146.6,292.9,-15.0,196,1677,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2270,3203,0,0,0,0,0,0
$STATE,1724,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1724,begin apogee
$GC,1730,-0.23,0.0,301.1,15.5,201,1859,0.75,0.00,119.10,0.757,6,0.141,0.000,2866,2085,2599,0,0,0,0,0,0
$STATE,1859,end apogee,CONTROL_FINISHED_OK
$STATE,1860,begin climb
$GC,1863,1.02,146.6,306.8,0.0,214,1994,1.17,0.00,124.60,0.732,6,0.079,0.000,3270,2085,2001,0,0,0,0,0,0
$GC,2119,0.99,146.6,259.6,24.3,238,2124,0.00,2.50,0.00,0.000,4,0.000,0.054,3270,3616,1993,0,0,0,0,0,0
$GC,2153,0.96,146.6,250.3,26.6,240,2161,0.00,2.45,0.00,0.000,6,0.000,0.042,3282,2105,1992,0,0,0,0,0,0
$GC,2289,0.92,146.6,216.2,26.1,253,2294,0.15,2.45,0.00,0.000,4,0.194,0.054,3247,3616,1991,0,0,0,0,0,0
$GC,2311,0.89,146.6,209.9,25.4,254,2318,0.00,2.40,0.00,0.000,6,0.000,0.042,3256,2104,1990,0,0,0,0,0,0
$GC,2446,0.87,146.6,178.0,24.3,267,2447,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,2101,1990,0,0,0,0,0,0
$GC,2573,0.85,146.6,148.1,23.3,279,2575,0.12,0.00,0.00,0.000,6,0.197,0.000,3228,2097,1990,0,0,0,0,0,0
$GC,2701,0.85,151.7,121.8,19.6,291,2705,0.00,2.42,0.00,0.000,4,0.000,0.057,3228,3615,1989,0,0,0,0,0,0
$GC,2730,0.84,151.7,115.7,21.1,293,2734,0.00,2.35,0.00,0.000,6,0.000,0.044,3237,2100,1988,0,0,0,0,0,0
$GC,2864,0.86,177.4,91.4,18.2,309,2898,0.00,2.50,24.42,0.618,4,0.000,0.057,3237,3614,1875,0,0,0,0,0,0
$GC,2985,0.86,177.4,66.3,21.7,330,2992,0.00,2.40,0.00,0.000,6,0.000,0.044,3248,2107,1870,0,0,0,0,0,0
$GC,3057,0.88,221.5,52.2,16.8,343,3098,0.00,2.50,35.83,0.596,4,0.000,0.053,3260,579,1697,0,0,0,0,0,0
$GC,3142,0.89,234.1,36.8,19.1,357,3163,0.00,2.40,11.18,0.542,6,0.000,0.045,3259,2084,1644,0,0,0,0,0,0
$GC,3228,0.89,234.1,19.9,20.6,372,3234,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,2084,1640,0,0,0,0,0,0
$GC,3299,0.96,344.5,7.9,12.1,385,3339,0.00,0.00,38.28,0.564,2,0.000,0.000,3259,2084,1451,0,0,0,0,0,0
$STATE,3340,end climb,SURFACE_DEPTH_REACHED
$STATE,3340,begin surface coast
$FINISH,0.4,1.022584
$STATE,3377,end surface coast,CONTROL_FINISHED_OK
$STATE,3377,begin surface
$SM_CCo,3396,131.85,0.527,1,0,469,522.49
$SM_GC,1.21,0.00,0.00,131.85,0.000,0.000,0.527,133,2258,469,-8.79,0.23,522.49
$IRIDIUM_FIX,4716.56,-12508.92,040511,141448
$TT8_MAMPS,0.027713
$HUMID,34.36
$INTERNAL_PRESSURE,8.9425
$TCM_TEMP,15.60
$XPDR_PINGS,0
$24V_AH,23.8,14.896
$10V_AH,10.3,9.149
$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,20.600,34.375,353.400,131.850,0.000,264.680,802.304,0.000,0.000,0.000,37.304,922.688,1775.721,526.644,1923.869,150.353,0.000,951.186,0.000,835.845,0.000,0.536,0.000
$DEVICE_MAMPS,237.150,65.790,757.350,527.085,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,270.145,299.235,538.763,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,23565,398
$CAP_FILE_SIZE,61529,0
$CFSIZE,260165632,206028800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040511,155833,4734.410,-12508.848,10,6.1,29,18.6