version: 66.07
glider: 187
mission: 4
dive: 41
start: 5 1 111 21 38 33
data:
$ID,187
$MISSION,4
$DIVE,41
$D_SURF,3
$D_FLARE,3
$D_TGT,120
$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,45
$T_MISSION,50
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51930
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0046000001
$HD_B,0.0099999998
$HD_C,1.34e-05
$HEADING,-1
$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,400
$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,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1583942.2
$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,2958
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$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,35
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,2515
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,70
$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
$GPS1,010511,213256,4757.252,-12455.837,12,1.8,12,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-77.2
$GPS2,010511,213738,4757.247,-12455.807,14,1.9,14,18.7
$SPEED_LIMITS,0.154,0.228
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.219,0.061
$KALMAN_X,6753.9,693.6,325.4,-7628.1,527.4
$KALMAN_Y,-9738.5,-445.7,182.4,-12826.3,-210.2
$MHEAD_RNG_PITCHd_Wd,262.2,189332,-18.9,-8.889
$D_GRID,120
$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,-0.80,-117.3,0.0,0.0,0,76,0.00,0.00,-58.12,0.000,2,0.000,0.000,134,2157,2354,0,0,0,0,0,0
$GC,79,-0.80,-117.3,3.1,-4.6,9,115,10.30,1.98,-16.75,0.000,4,0.239,0.067,2693,929,2996,0,0,0,0,0,0
$GC,287,-0.75,-117.3,36.7,-15.9,46,294,0.00,1.92,0.00,0.000,6,0.000,0.048,2687,2145,2998,0,0,0,0,0,0
$STATE,613,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,613,begin apogee
$GC,620,-0.19,0.0,84.0,12.4,107,719,0.62,0.00,93.93,0.615,6,0.140,0.000,2884,1952,2515,0,0,0,0,0,0
$STATE,721,end apogee,CONTROL_FINISHED_OK
$STATE,721,begin climb
$GC,723,0.80,117.3,88.1,0.0,121,827,0.95,2.08,96.20,0.594,4,0.085,0.051,3219,721,2035,0,0,0,0,0,0
$GC,863,0.76,117.3,73.0,15.0,142,870,0.00,2.00,0.00,0.000,6,0.000,0.046,3219,1950,2031,0,0,0,0,0,0
$GC,1186,0.73,117.3,31.1,11.9,203,1194,0.00,1.95,0.00,0.000,4,0.000,0.054,3228,727,2027,0,0,0,0,0,0
$GC,1434,0.71,143.7,8.3,7.5,249,1463,0.12,1.98,20.70,0.559,6,0.151,0.047,3190,1989,1929,0,0,0,0,0,0
$STATE,1562,end climb,SURFACE_DEPTH_REACHED
$STATE,1562,begin surface coast
$FINISH,1.9,1.022409
$STATE,1611,end surface coast,CONTROL_FINISHED_OK
$STATE,1612,begin surface
$SM_CCo,1630,133.45,0.532,1,0,884,400.08
$SM_GC,1.13,0.00,0.00,133.45,0.000,0.000,0.532,142,2164,884,-8.80,0.40,400.08
$IRIDIUM_FIX,4738.89,-12501.63,010511,202002
$TT8_MAMPS,0.026964
$HUMID,33.77
$INTERNAL_PRESSURE,8.99133
$TCM_TEMP,16.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.5,23.2
$24V_AH,24.1,6.361
$10V_AH,10.4,5.041
$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,20.375,12.425,210.825,133.450,0.000,27.236,43.502,108.789,0.500,0.000,15.040,645.983,111.385,370.564,829.316,104.962,33.327,658.577,0.000,659.308,0.000,5.477,0.000
$DEVICE_MAMPS,238.680,68.085,615.060,531.675,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,190.873,200.538,590.801,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297748
$DATA_FILE_SIZE,13618,280
$CAP_FILE_SIZE,32307,0
$CFSIZE,260165632,209235968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.255,162.2,1
$GPS,010511,220930,4757.061,-12455.799,45,1.4,51,18.7