version: 66.07
glider: 187
mission: 4
dive: 59
start: 5 2 111 9 23 11
data:
$ID,187
$MISSION,4
$DIVE,59
$D_SURF,4
$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,-7
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51930
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0046000001
$HD_B,0.0099999998
$HD_C,1.34e-05
$HEADING,300
$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,430
$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,-1583964.8
$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,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,2100
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,2535
$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
$GPS1,020511,091756,4753.560,-12454.731,11,2.0,11,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-74.8
$GPS2,020511,092250,4753.538,-12454.741,15,1.9,15,18.7
$SPEED_LIMITS,0.154,0.209
$TGT_NAME,HEADING
$TGT_LATLONG,4758.938,-12508.713
$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,326.3,20000,-20.7,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.75,-97.8,0.0,0.0,0,97,0.00,0.00,-78.88,0.000,2,0.000,0.000,138,2091,2771,0,0,0,0,0,0
$GC,100,-0.75,-97.8,4.0,-8.0,12,123,10.30,2.42,-3.38,0.000,4,0.237,0.063,2698,3621,2937,0,0,0,0,0,0
$GC,362,-0.72,-97.8,48.9,-14.3,60,370,0.00,2.40,0.00,0.000,6,0.000,0.041,2697,2096,2938,0,0,0,0,0,0
$GC,436,-0.69,-97.8,58.6,-13.1,73,444,0.15,2.45,0.00,0.000,4,0.170,0.060,2728,3617,2938,0,0,0,0,0,0
$GC,515,-0.67,-97.8,68.2,-12.2,87,523,0.00,2.38,0.00,0.000,6,0.000,0.044,2728,2106,2937,0,0,0,0,0,0
$GC,591,-0.66,-97.8,75.3,-8.0,100,598,0.00,2.38,0.00,0.000,4,0.000,0.051,2727,589,2938,0,0,0,0,0,0
$GC,608,-0.65,-97.8,77.0,-8.9,102,617,0.05,2.40,0.00,0.000,6,0.155,0.047,2746,2120,2938,0,0,0,0,0,0
$GC,684,-0.65,-97.8,82.0,-6.6,115,692,0.00,2.40,0.00,0.000,4,0.000,0.059,2738,3620,2938,0,0,0,0,0,0
$STATE,736,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,736,begin apogee
$GC,745,-0.23,0.0,85.9,7.1,124,829,0.45,0.00,78.53,0.615,6,0.135,0.000,2879,1946,2534,0,0,0,0,0,0
$STATE,830,end apogee,CONTROL_FINISHED_OK
$STATE,830,begin climb
$GC,832,0.75,97.8,88.3,0.0,136,922,0.90,2.55,81.65,0.595,4,0.084,0.052,3203,431,2136,0,0,0,0,0,0
$GC,944,0.72,97.8,77.9,13.6,152,951,0.00,2.47,0.00,0.000,6,0.000,0.045,3203,1973,2133,0,0,0,0,0,0
$GC,1017,0.68,97.8,66.9,15.4,165,1024,0.00,2.47,0.00,0.000,4,0.000,0.057,3203,3465,2129,0,0,0,0,0,0
$GC,1262,0.65,97.8,36.8,10.5,211,1270,0.15,2.25,0.00,0.000,6,0.159,0.041,3170,2037,2126,0,0,0,0,0,0
$GC,1335,0.66,120.0,31.0,7.5,224,1358,0.00,2.35,17.85,0.558,4,0.000,0.054,3170,3467,2044,0,0,0,0,0,0
$GC,1388,0.66,121.7,26.6,8.8,232,1396,0.00,2.25,0.00,0.000,6,0.000,0.042,3178,2050,2043,0,0,0,0,0,0
$GC,1461,0.67,136.5,20.3,8.0,245,1484,0.00,2.55,14.75,0.545,4,0.000,0.053,3190,441,1977,0,0,0,0,0,0
$GC,1497,0.68,146.4,17.3,8.3,250,1513,0.00,2.55,9.48,0.511,6,0.000,0.046,3190,2044,1938,0,0,0,0,0,0
$GC,1578,0.68,146.4,9.4,9.8,264,1586,0.00,2.33,0.00,0.000,4,0.000,0.057,3190,3466,1934,0,0,0,0,0,0
$STATE,1649,end climb,SURFACE_DEPTH_REACHED
$STATE,1649,begin surface coast
$FINISH,1.8,1.023194
$STATE,1729,end surface coast,CONTROL_FINISHED_OK
$STATE,1729,begin surface
$SM_CCo,1750,146.70,0.530,1,0,782,430.01
$SM_GC,0.99,0.00,0.00,146.70,0.000,0.000,0.530,145,2089,782,-8.79,-0.31,430.01
$IRIDIUM_FIX,4738.89,-12457.15,020511,080801
$TT8_MAMPS,0.027713
$HUMID,34.05
$INTERNAL_PRESSURE,8.98157
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,70.6,25.0
$24V_AH,24.2,7.593
$10V_AH,10.4,5.876
$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,20.450,43.400,202.250,146.700,0.000,28.348,37.679,127.735,0.500,0.000,16.294,686.083,105.195,422.953,863.138,128.481,0.000,747.675,0.000,687.134,0.000,5.483,0.000
$DEVICE_MAMPS,237.150,62.730,615.060,530.145,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,197.526,208.598,615.988,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297772
$DATA_FILE_SIZE,17003,292
$CAP_FILE_SIZE,43244,0
$CFSIZE,260165632,208703488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.273,169.6,1
$GPS,020511,095601,4753.371,-12454.694,13,1.1,30,18.7